CN112538694B - Sewing system - Google Patents

Abstract

The invention provides a sewing system, which can reduce the work load of operators. The device comprises: a conveying device (30) for picking up a member (P) to be sewn from the sheet material (S) subjected to the cutting treatment by the cutting device (20) and conveying the member to a sewing template (70); and a sewing machine (60) which holds the template (70) and sews the component (P), wherein the conveying device (30) also picks up the component (P) which is finished to be sewn from the template (70) and carries out the component to a specified carrying-out target. Thus, in addition to the sewing operation, the cut member is carried into the template and the sewn member is carried out.

Description

Sewing system

Technical Field

The present invention relates to a sewing system for sewing a cut-out object to be sewn.

Background

In a so-called electronic circulation sewing machine, if a cloth is provided in a cloth holding frame, the cloth holding frame is conveyed according to a preset sewing pattern, and sewing is automatically performed, thereby reducing the burden on an operator (for example, refer to patent document 1).

Patent document 1: japanese patent laid-open No. 2017-6590

However, the sewing machine of patent document 1 achieves a reduction in the load on the operator with respect to the sewing operation, but the sewing operation is only a part of the manufacturing process, and the operator still has to perform a large number of operations, and it cannot be said that the reduction in the load on the operation is sufficient.

Disclosure of Invention

The purpose of the present invention is to achieve further reduction in the workload of an operator.

The invention described in claim 1 is a sewing system, comprising:

A conveying device for picking up the member cut from the sheet material by the cutting device and conveying the member to a sewing template; and

A sewing machine for sewing the template relative to the member,

The conveying device also picks up the sewn component from the template and carries the component out to a specified carrying-out target.

The invention described in claim 2 is characterized in that, in the sewing system described in claim 1,

Comprises a transfer terminal which acquires part or all of the cutting data from the cutting device, transmits information for specifying the component based on the cutting data to the conveying device,

The conveying device has a pickup device having a plurality of pickup heads dispersed on the same plane, and picks up the member by selecting a part of the pickup heads from the plurality of pickup heads by information specifying the member.

The invention described in claim 3 is characterized in that, in the sewing system described in claim 2,

The pickup device has:

a first frame and a second frame that support the pickup head; and

A telescopic mechanism capable of adjusting the interval between the first frame and the second frame,

The spacing of the first and second frames is adjusted in correspondence with the information determining the component.

The invention described in claim 4 is characterized in that, in the sewing system described in claim 2 or 3,

A flow sensor is provided in a plurality of the pickup heads, the flow sensor detecting an air flow rate that generates attractive force,

The conveying device determines whether or not the member is not conveyed poorly with respect to the die plate based on the detected flow rate of the flow rate sensor.

The invention described in claim 5 is characterized in that, in the sewing system described in claim 4,

The template has a storage section that stores information for specifying a sewing pattern,

The conveying device includes a determination result recording unit that records a determination result of the conveyance failure in the storage unit of the template when the conveyance failure of the member with respect to the template is determined.

The invention according to claim 6 is the sewing system according to any one of claims 1 to 5,

The sewing machine is provided with a transfer mechanism having a work position for disposing the members on the template, a supply position for supplying the template to the sewing machine, and a carry-out position for carrying out the members from the template, and the transfer mechanism transfers a plurality of templates to any one of the positions.

The invention described in claim 7 is characterized in that, in the sewing system described in claim 6,

The template has: a lower plate; and a pressing plate supported in a vertically movable manner with respect to the lower plate,

The transfer mechanism includes a reclining lever that is pushed down by abutting against the pressing plate in the raised state when transferred from the work position to the supply position.

The invention according to claim 8 is characterized in that, in the sewing system according to any one of claims 1 to 7,

The conveying device has a reversing device that reverses the front and back sides of the member.

ADVANTAGEOUS EFFECTS OF INVENTION

The invention can further reduce the workload of operators.

Drawings

Fig. 1 is a perspective view showing an overall structure of a sewing system according to an embodiment of the present invention.

FIG. 2 is a top view of the sewing system.

Fig. 3 is a top view of a cut sheet material.

Fig. 4 is a top view of the template.

Fig. 5 is a side view of the template.

Fig. 6 is a top view of the nose tool.

Fig. 7 is a schematic block diagram of the pickup device.

Fig. 8 is a top view of the reversing device.

Fig. 9 is a top view of the transfer mechanism.

Fig. 10 is a block diagram showing various data and various instruction flows of each structure of the sewing system.

Description of the reference numerals

20. Cutting device

21. Cutting table

22. Working table

25. Control unit

30. Conveying device

31. Controller for controlling a power supply

35. Reversing device

40. Pickup device

44. Front end tool

442. Pick-up head

445. Flow sensor

50. Transfer mechanism

511. Lying rod

512. Push-up lever

52. A first transfer part

53. A second transfer part

54. A third transfer part

55 Label reader (determination result recording part)

60. Sewing machine

64. Controller for controlling a power supply

65 Label reader (recording part)

70. Template

71. Lower plate

72. Pressing plate

73 IC tag (storage)

80. Transfer terminal

100. Sewing system

200 CAD system

300. Production management server

D1 Work position

D2 Supply position

D3 Refund position

D4 Carry-out position

P component

P1 to P12 members

R movable region

S-shaped sheet material

Detailed Description

[ Integrated Structure of Sewing System ]

Next, a sewing system 100 according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is an oblique view showing the overall structure of the sewing system 100, and fig. 2 is a plan view.

The sewing system 100 includes: a conveying device 30 that picks up the member P to be sewn from the sheet material S cut by the cutting device 20 and conveys the member P to the sewing form 70; a sewing machine 60 for sewing the member P while holding the template 70; and a relay terminal 80 (not shown in fig. 1) for realizing cooperation of the above-described configurations.

The cutting device 20, the conveying device 30, and the sewing machine 60 are arranged in a row in the horizontal direction, the arrangement direction is defined as the Y-axis direction, the direction that is horizontal and orthogonal to the Y-axis direction is defined as the X-axis direction, and the vertical up-down direction is defined as the Z-axis direction.

Note that, when the member P needs to be described separately for each size and shape, separate reference numerals are attached as in P1, P2, P3, …, but common reference numerals P are used when no special distinction is required.

In addition, in the sewing system 100 of the present embodiment, a case is illustrated in which the members P paired with each other in various sizes are sewn together to form a new member, but the present invention is not limited thereto, and all kinds of sewing operations for sewing the object to be sewn after cutting can be performed.

Cutting device

The cutting device 20 includes: a cutting table 21 for placing a sheet material S to be cut; a work table 22 for performing a work of picking up the member P from the cut sheet material S on the work table 22; a cutting head 23 on which a cutter for cutting is mounted; a moving mechanism 24 for arbitrarily moving the cutting head 23 along the X-Y plane; and a control unit 25 for controlling each unit of the cutting device 20 (see fig. 10).

The cutting table 21 and the work table 22 are both flat on the upper surface and set to the same height as each other.

The upper surface of the cutting table 21 and the upper surface of the table 22 are each constituted by a conveyor belt of a belt conveyor mechanism, and the sheet material S placed on the upper surface can be conveyed in the Y-axis direction. As a result, the conveyor belt on the upper surface of the cutting table 21 and the conveyor belt on the upper surface of the work table 22 can be driven at the same speed, and the sheet S placed on the upper surface of the cutting table 21 can be conveyed so as to be transferred from the cutting table 21 to the work table 22.

The cutting head 23 can support a cutter, not shown, in a downward direction and cut the sheet material S in the moving direction.

The moving mechanism 24 has: a rail 241 that movably supports the cutting head 23 in the X-axis direction; an X-axis motor, not shown, which serves as a moving drive source for the cutting head 23 on the rail 241 in the X-axis direction; and a Y-axis motor, not shown, which serves as a movement drive source for the cutting head 23 in the Y-axis direction.

The X-axis motor imparts a movement motion in the X-axis direction to the cutting head 23 via a linear motion mechanism such as a ball screw mechanism or a conveyor mechanism built in the rail 241.

The Y-axis motor imparts a movement motion in the Y-axis direction to the rail 241 via a linear motion mechanism such as a ball screw mechanism or a conveyor mechanism built in the cutting table 21.

The control unit 25 of the cutting device 20 acquires cutting data including information on the arrangement, size, shape, orientation, and the like of the plurality of members P to be formed for the sheet material S from an external CAD (computer-AIDED DESIGN) system, converts the cutting data into cutting control information for controlling the moving mechanism 24, and executes operation control of the moving mechanism 24.

The control unit 25 of the cutting device 20 is connected to the relay terminal 80 via a communication cable, and transmits component information (information for specifying a component) including the arrangement, size, shape, orientation, and the like of the plurality of components P to be formed for the sheet material S, included in the obtained cutting data, to the relay terminal 80.

The motors serving as driving sources of the belt conveyor mechanisms of the cutting table 21 and the work table 22 are detected by the encoders and input to the control unit 25.

[ Sewing machine ]

The sewing machine 60 is a so-called electronic circulation sewing machine, and includes: a main body 61 that is sewn by moving a needle up and down; a moving mechanism 62 for holding the template 70 and arbitrarily moving and positioning along the X-Y plane; a work table 63; and a controller 64 for controlling the sewing machine 60 (see fig. 10).

The main body 61 has the same structure as a known sewing machine such as a needle up-down movement mechanism and a pot mechanism.

The upper surface of the table 63 is horizontal along the X-Y plane, and the sewing operation of the member P is performed on the upper surface.

The moving mechanism 62 has: a holding unit for detachably holding the form 70; an X-axis motor as a moving drive source in the X-axis direction of the holding section; and a Y-axis motor serving as a Y-axis direction movement driving source of the holding portion.

The X-axis motor imparts a movement motion in the X-axis direction to the holding portion and the die plate 70 via a linear motion mechanism such as a ball screw mechanism or a conveyor mechanism.

The Y-axis motor imparts a movement motion in the Y-axis direction to the holding portion and the die plate 70 via a linear motion mechanism such as a ball screw mechanism or a conveyor mechanism.

The holding portion is configured to be capable of inserting and removing the connection pin, which can advance and retreat by an actuator such as a cylinder or a solenoid, into and from the connection hole provided in the die plate 70, and to be capable of attaching and detaching the die plate 70.

The controller 64 stores a plurality of pieces of sewing pattern data corresponding to a plurality of types of templates 70, and controls the operation of the moving mechanism 62 according to the sewing pattern data.

A tag reader/writer 65 (see fig. 9) serving as a recording unit for reading and writing data from and to an IC tag 73 of a template 70 described later is provided at a corner of the table 63.

Sheet material and template

As described above, the sheet material S is cut in accordance with the cutting control information based on the CAD data. Fig. 3 is a plan view of the cut sheet material S.

Here, a case where a plurality of members P1 to P12 are sheared from one sheet material S is illustrated.

The members P1 and P2 are paired, and sewn to each other in a bonded manner. The same applies to the members P3 and P4 and the members P5 and P6.

The members P7 to P12 are in the same relationship as the members P1 to P6, and the members P1 to P6 are set to L size (large size), and the members P7 to P12 are set to S size (small size).

The arrangement of the members P1 to P12 with respect to the sheet material S is entirely defined by CAD data.

Fig. 4 is a top view of the die plate 70, and fig. 5 is a side view.

The template 70 has: a lower plate 71 for placing a member P as a sewn object; and a pressing plate 72 supported so as to be capable of fluctuating rotation with respect to the lower plate 71, wherein if the pressing plate 72 is placed down so as to be parallel to the lower plate 71, the pressing plate is configured to hold the member P by being sandwiched therebetween. In the holding state of the member P, openings 711 to 713 (721 to 723) corresponding to the sewing pattern are formed in the overlapping arrangement of both the lower plate 71 and the pressing plate 72, so that the vicinity of the needle falling position can be pressed at the time of sewing.

The template 70 is prepared to correspond to a plurality of types of sewing pattern data individually. Here, a case is illustrated in which two templates 70 are used that correspond to the sewing pattern data in which the L-sized members P1 and P2, the L-sized members P3 and P4, and the L-sized members P5 and P6 are arranged at predetermined positions and the sewing pattern data in which the S-sized members P7 and P8, the L-sized members P9 and P10, and the L-sized members P11 and P12 are arranged at predetermined positions and the L-sized members are respectively sewn.

Since the template 70 is designed to correspond to the sewing pattern data alone as described above, as shown in fig. 4, an IC tag 73 as a storage unit such as RFID (radio frequency identifier) is provided, and the IC tag 73 stores data (information for specifying the sewing pattern) indicating an identification ID, a pattern data number, and the like for specifying the sewing pattern data corresponding to the template 70.

The conveying device 30 positions the L-sized members P1 and P2 (or P7 and P8) on the opening 711 of the lower plate 71, positions the L-sized members P3 and P4 (or P9 and P10) on the opening 712, and positions the L-sized members P5 and P6 (or P11 and P12) on the opening 713 with respect to the die plate 70 disposed at the work position D1 described later.

[ Conveying device ]

The conveying device 30 includes: a pickup device 40 that picks up the component P from the cutting device 20; a reversing device 35 for reversing the front and back sides of the member P; a transfer mechanism 50 for transferring each of the templates 70; and a controller 31 that controls each structure of the conveying device 30.

[ Conveying device: pick-up device

The pickup device 40 is disposed between the cutting device 20 and the transfer mechanism 50 in the Y-axis direction.

The pickup device 40 has a structure of an articulated robot including: a base 41 serving as a base; a first arm 42 rotatably supported on the base 41 about the Z axis; a second arm 43 rotatably supported by the first arm 42 about the Z axis; and a tip tool 44 supported by the second arm 43 so as to be capable of being lifted and lowered in the Z-axis direction and rotatable about the Z-axis. The pickup device 40 is not limited to the articulated type, and may be a robot of another type such as a multi-articulated type or an XYZ linear type.

With the above configuration, the pickup device 40 can position the tip tool 44 at an arbitrary position and at an arbitrary height within the range of the movable region R in a plan view, and can be oriented at an arbitrary angle around the Z axis.

Fig. 6 is a plan view of the tip tool 44, and fig. 7 is a schematic block diagram of the pickup device 40.

As shown, the front end tool 44 has: a frame 441; and a plurality of pickup heads 442 disposed downward from the frame 441.

The frame 441 supports four pickup heads 442, respectively, in a first frame 441a and a second frame 441b formed symmetrically in the X-axis direction in plan view, and supports two pickup heads 442 in the center in the X-axis direction. Further, the total of ten pickup heads 442 are rotatable about the Z axis with the center of gravity position on the figure of the frame 441 as the center. In the above description and the description of fig. 6, the arrangement of the respective structures of the tip tool 44 is described with reference to the X axis direction for convenience of description, but the present invention is not limited to the case of rotation about the Z axis.

Each pickup head 442 is constituted by a suction nozzle connected to a negative pressure source 443 such as a pump or an ejector via a hose, and picks up the component P by contact suction at the tip. The pickup head 442 is not limited to the contact suction type, and may be a non-contact suction type, a grip type, a needle punching type, or the like in which air is blown out radially outward to generate negative pressure in the center portion, and any type of pickup head suitable for the material of the member P may be used.

Each pickup head 442 is provided with a solenoid valve 444, and the suction state can be individually stopped. Solenoid valves 444 of each pick-up head 442 are controlled by the controller 31.

Further, each pickup head 442 is provided with a flow sensor 445, and the suction flow rate in each pickup head 442 can be individually detected. The detection signal of each flow sensor 445 is input to the controller 31.

The controller 31 controls the solenoid valves 444 so that, when the members P1 to P12 are picked up by the tip tool 44, only a part of the pickup heads 442 located at positions where the members can be attracted according to the shape of the members are in an attracted state. As a result, the pickup head 442 is brought into a suction stop state with respect to a part of the pickup head 442 deviated from the component P, and efficient suction can be performed only by the pickup head 442.

Of the ten pickup heads 442, the determination of which pickup head 442 is in a position capable of adsorbing according to the component shape may be performed by the controller 31 based on the shape and size of the component P included in the component information acquired from the transfer terminal 80, and the determination may be performed against the arrangement of the pickup heads 442, or may be performed by storing in advance correspondence table data defining the pickup heads 442 to be used for the respective components P1 to P12, and referring to the correspondence table data.

Further, a driving source of the air cylinders 446, 447 (or a motor or the like) may be provided between the first frame 441a and the second frame 441b, and a telescopic mechanism capable of adjusting the interval between the first frame 441a and the second frame 441b stepwise or arbitrarily may be provided, so that the frame 441 can be changed to an optimal size in accordance with the shape and size of the member P included in the member information.

[ Conveying device: reversing device

Fig. 8 is a plan view of the reversing device 35.

The reversing device 35 is disposed between the cutting device 20 and the transfer mechanism 50 in the Y-axis direction, and is disposed adjacent to the pickup device 40 in the X-axis direction.

As described above, the members P1 to P12 are all sewn together in a state of being superimposed in pairs. On the other hand, the sheet material S determines the front and back surfaces, and in the final finished product, it is necessary to perform sewing so that the back surface does not appear at the position where the eyes reach.

Therefore, the paired members P need to be bonded and sewn with the back surfaces facing each other.

In a state where the members P1 to P12 have just been cut out from the sheet material S, all the members P1 to P12 are in a state where the front surface (or the back surface) is directed upward.

Therefore, with respect to one of the paired members P2, P4, P6, P8, P10, P12, when being conveyed from the cutting device 20 to the die plate 70, the sheet material S is reversed on both sides thereof via the reversing device 35.

As shown in fig. 8, the reversing device 35 includes: a first adsorption plate 36 disposed on the upstream side in the conveying direction of the member P; a second adsorption plate 37 disposed on the downstream side in the conveying direction of the member P; and a rotation motor 38 that rotates the first adsorption plate 36 reversely.

The first suction plate 36 and the second suction plate 37 are rectangular with the same size, and are connected by a hinge 39 rotatable about the X axis.

Further, suction ports 362 and 372 for sucking the member P are provided on both the suction surface 361 of the first suction plate 36 and the suction surface 371 of the second suction plate 37.

Each suction port 362 of the first suction plate 36 is connected to a pump or an ejector serving as a suction source via an electromagnetic valve, and all suction ports 362 can be switched between a suction state and a suction stop state at once.

The suction ports 372 of the second suction plate 37 are also connected to a pump and an ejector serving as suction sources via solenoid valves, and all the suction ports 372 can be switched between a suction state and a suction stop state at once.

The solenoid valve of the first adsorption plate 36 and the solenoid valve of the second adsorption plate 37 are each independently controlled by the controller 31.

The rotation motor 38 rotates the first suction plate 36 via the hinge 39, and can be switched to a standby state in which the suction surface 361 of the first suction plate 36 and the suction surface 371 of the second suction plate 37 face upward, and a reverse state in which the suction surface 361 of the first suction plate 36 and the suction surface 371 of the second suction plate 37 face close to each other.

The controller 31 sets the reversing device 35 to a standby state, and adsorbs the member P by setting only the suction port 362 of the first adsorption plate 36 to a suction state by the solenoid valve of the first adsorption plate 36.

After the first suction plate 36 is rotated by the rotation motor 38 to be in the reverse state, the suction port 362 of the first suction plate 36 is in the suction stop state, and the suction port 372 of the second suction plate 37 is in the suction state. Then, the first suction plate 36 is rotated and returned to the standby state, and the member P whose front and rear sides are reversed is sucked and held on the suction surface of the second suction plate 37. In this state, the solenoid valve of the second suction plate 37 is switched to the suction stop state, and the pickup device 40 picks up the reversed member P.

[ Conveying device: transfer mechanism ]

Fig. 9 is a plan view of the transfer mechanism 50.

The transfer mechanism 50 sequentially transfers the die plate 70 to the following positions: a work position D1, in which the pickup device 40 disposes the member P on the die plate 70; a supply position D2, at which the template 70 is supplied to the sewing machine 60; a returning position D3 for returning from the sewing machine 60 after sewing is completed; and a carry-out position D4 for carrying out the member P from the die plate 70.

The transfer mechanism 50 includes: a mounting table 51 for mounting the template 70; a first transfer unit 52 that transfers the template 70 from the work position D1 to the supply position D2; a second transfer unit 53 that transfers the template 70 from the return position D3 to the carry-out position D4; a third transfer unit 54 that transfers the template 70 from the carry-out position D4 to the work position D1; and a tag reader/writer 55 as a determination result recording unit that reads and writes data from and to the IC tag 73 of the template 70 located at the work position D1.

The mounting table 51 has a mounting surface along the X-Y plane, and a work position D1 and a carry-out position D4 are adjacently set in the X-axis direction on one end side (cutting device 20 side) in the Y-axis direction on the mounting surface. Further, a supply position D2 and a return position D3 are set adjacently in the X-axis direction on the other end side (sewing machine 60 side) in the Y-axis direction on the mounting surface of the mounting table 51.

The work position D1 and the supply position D2 are adjacent to each other in the Y-axis direction, and the return position D3 and the carry-out position D4 are adjacent to each other in the Y-axis direction.

The work position D1 and the carry-out position D4 are located in the movable region R of the pickup device 40.

The first transfer portion 52 is provided on the mounting table 51, and includes a coupling pin that can be moved in and out from the mounting surface, and a traction mechanism that pulls the template 70 toward the sewing machine 60 side in the Y-axis direction via the coupling pin.

The connecting pin can be inserted into a receiving hole (not shown) formed in the lower plate 71 of the die plate 70, and can be moved in and out by an actuator such as a cylinder or a solenoid.

The traction mechanism imparts a traction motion in the Y-axis direction to the connecting pin by a ball screw mechanism or a conveyor mechanism.

Further, a sensor 513 is provided for monitoring whether or not the template 70 is accurately transferred on the line of the first transfer portion 52, and after the sensor 513 detects that the transfer of the template 70 is completed, the transferred template 70 is accurately positioned by inserting the positioning pins 514 into the positioning holes of the template 70.

The second transfer portion 53 is provided on the mounting table 51, and includes a coupling pin that can be moved in and out from the mounting surface, and a traction mechanism that pulls the die plate 70 toward the cutting device 20 side in the Y-axis direction via the coupling pin. The specific structure of the coupling pin and the traction mechanism is the same as that of the first transfer portion 52.

The third transfer portion 54 is provided on the mounting table 51, and includes a coupling pin capable of moving in and out from the mounting surface, and a traction mechanism for drawing the die plate 70 in the X-axis direction via the coupling pin. The specific structure of the coupling pin and the traction mechanism is substantially the same as that of the first transfer portion 52. But the traction direction of the traction mechanism is oriented in the X-axis direction.

The transfer of the template 70 from the supply position D2 to the return position D3 is performed by the moving mechanism 62 of the sewing machine 60.

The third transfer unit 54 is also provided with a sensor 515 for monitoring whether or not the template 70 is transferred accurately on the line thereof, and after the sensor 515 detects that the transfer of the template 70 is completed, the transferred template 70 is accurately positioned by inserting the positioning pins 516 into the positioning holes of the template 70.

As described above, the die plate 70 is configured such that the pressing plate 72 can be rotated up and down with respect to the lower plate 71.

A push-up lever 512 is provided at the carry-out position D4 of the mounting table 51 of the transfer mechanism 50, and the push-up lever 512 is configured to push up the holding-state pressing plate 72 by a through hole, not shown, provided in the lower plate 71, to thereby move the pressing plate up and down.

The push-up lever 512 can be moved in and out from the mounting surface of the mounting table 51 by an actuator such as a motor, a cylinder, or a solenoid, and rapidly pushes up the pressing plate 72 with respect to the die plate 70 transferred from the returning position D3 to the carry-out position D4 by the second transfer portion 53.

The push-up levers 512 are provided at both ends of the template 70 in the X-axis direction.

In addition, a lying bar 511 is provided near the sewing machine side end in the Y axis direction of the work position D1 and the carry-out position D4 of the mounting table 51, along the X axis direction.

The reclining lever 511 is provided at a position slightly higher than the thickness of the template 70 in the state of being pressed by the pressing plate 72, and is provided slightly closer to the sewing machine 60 than the push-up lever 512 described above in the Y-axis direction.

As shown in fig. 5, when the platen 70 in which the pressing plate 72 is in a raised state (opened state) at the work position D1 is transferred to the supply position D2, the pressing plate 72 is pushed by the platen 511, and the member P can be held.

When the form 70 is transferred from the carry-out position D4 to the return position D3, the pressing plate 72 of the form 70 is closed, and therefore, does not interfere with the lying bar 511 and passes through it.

In addition, the reclining lever 511 is disposed so that, when the pressing plate 72 is pushed up by the push-up lever 512 at the carry-out position D4, the pressing plate 72 is inclined toward the sewing machine 60 side, and the reclining lever 511 is relied on. Thereby, the pressing plate 72 can maintain the undulating state.

Further, adjacent to the carry-out position D4, the sewn member P is put on standby on the cutting device 20 side in the Y-axis direction, and the conveying self-moving body 101 is conveyed to the sewing device or the sewing system in the next step. The self-moving body 101 for conveyance can stack the sewn member P on the upper mounting surface, and if the amount of the member P reaches a certain level, the member P autonomously starts to move and conveys the sewn member P to the destination. If the conveyance is completed, the conveyance is autonomously returned to the waiting position adjacent to the carry-out position D4.

Further, the stacking device driven by the operator may be disposed at the waiting position adjacent to the carry-out position D4 instead of the conveyance self-moving body 101.

[ Transfer terminal ]

Fig. 10 is a block diagram showing various data and various instruction flows of the respective configurations of the sewing system 100.

The relay terminal 80 is constituted by an information processing terminal such as a personal computer, and is connected in a state capable of data communication with the controller 25 of the cutting device 20 and the controller 31 of the conveying device 30. Specifically, they are connected by wire via a communication cable, but may also be connected by wireless communication.

The relay terminal 80 is connected to an external production management server 300 that manages production management information in the slit production through a network line.

[ Sewing action of Sewing System ]

The flow of the process of the entire sewing system 100 at the time of sewing will be described with the process performed by the relay terminal 80 included.

First, trimming data for performing trimming is input from the CAD system 200 to the control unit 25 of the trimming device 20.

Then, the control unit 25 of the cutting device 20 generates cutting control information based on the cutting data, and transmits component information (information for specifying the component) including the arrangement, size, shape, orientation, and the like of the plurality of components P to be formed with respect to the sheet material S, which are included in the cutting data, to the relay terminal 80.

The control unit 25 periodically transmits operation information indicating an operation status such as cutting execution, cutting completion, waiting, etc. of the cutting device 20 to the relay terminal 80.

In contrast, the relay terminal 80 notifies the cutting device 20 of a command to permit or stop the start of the cutting operation, in contrast to the current operation status acquired from the operation information of the conveyor 30.

When the start of the cutting operation is permitted, the control unit 25 of the cutting device 20 executes the cutting operation of the sheet material S in accordance with the cutting control information.

The cutting device 20 controls the moving mechanism 24 on the cutting table 21, and performs cutting by the cutting head 23 in accordance with a pattern defined by cutting data. Then, the cut sheet S is conveyed to a predetermined position on the table 22 by the cooperative operation of the belt conveyor mechanisms of the cutting table 21 and the table 22.

On the other hand, the relay terminal 80 transmits the operation status of the cutting device 20 to the production management server 300 by the operation information acquired from the cutting device 20. In the production management server 300, the actual sewing performance, progress status, and the like of the sewing system 100 are recorded, and the progress status is recorded based on the operation information of the cutting device 20.

The relay terminal 80 notifies the conveying device 50 of a command to permit or stop the start of the conveying operation in accordance with the operation information acquired from the cutting device 20. For example, when the operation information from the cutting device 20 is content indicating completion of the cutting process (completion of conveyance of the sheet material S up to the table 22), a permission command for notifying the start of the conveyance operation is issued to the conveying device 50.

The relay terminal 80 calculates the arrangement of the components P in the coordinate system of the pickup device 40 based on the information such as the arrangement, size, shape, and orientation of the components P, which are developed by the cutting process of the sheet material S at the predetermined position of the table 22, from the component information acquired from the cutting device 20. In addition, the center of gravity position and the like of each member P are also calculated. Further, these pickup coordinates and the component information are sent to the controller 31 of the conveying device 30.

The controller 31 of the conveying device 30 receives, from the transfer terminal 80, a permission instruction for starting the conveying operation, component information, and pickup coordinates of the component. In addition, the pickup coordinates may be calculated not by the relay terminal 80 but by the controller 31.

For example, as shown in fig. 3, when the members P1 to P12 are cut out from the sheet material S, the members P1 to P12 are picked up.

For each of the components P1 to P12, a pickup head 442 to be used is selected, and only the selected pickup head 442 is brought into a suction state by the solenoid valve 444.

Then, the center of gravity position of the pattern connecting the selected plurality of pickup heads 442 is obtained, and the tip tool 44 is positioned so that the center of gravity coincides with the center of gravity position of the member P to be picked up, and the picking up is performed.

In the component information, which of the components P1 to P12 is the object of the reversing operation is recorded. Based on this information, the controller 31 of the conveying device 30 determines whether or not the picked-up member P is the reversing object, and if not, the member P is directly conveyed to the template 70 waiting at the work position D1 of the transfer device 50.

In addition, when the picked-up member P is the reversing object, the member P is conveyed to the suction surface 361 of the first suction plate 36 of the reversing device 35.

In the reversing device 35, only the suction port 362 of the suction surface 361 of the first suction plate 36 is brought into a suction state in advance, and the conveyed member P is separated from the distal end tool 44 and sucked.

Then, under the control of the controller 31, the reversing device 35 rotates the first suction plate 36 by the rotation motor 38 to a reversed state, sets the suction port 362 of the first suction plate 36 to a suction stop state, and sets the suction port 372 of the second suction plate 37 to a suction state.

Then, the first suction plate 36 is rotated and returned to the standby state, and the member P whose front and rear sides are reversed is sucked and held on the suction surface of the second suction plate 37. In this state, the electromagnetic valve of the second adsorption plate 37 is switched to the suction stop state.

At this time, the arrangement movement in the coordinate system of the pickup device 40 of the member P is reversed, but since the rotation axis position of the first suction plate 36 of the reversing device 35 is known, the symmetrical position and shape with respect to the rotation axis can be obtained by calculation.

Therefore, the picking of the component P is performed again by selecting the pick-up head 442 and positioning the tip tool 44 based on the determined position and the shape of the reversed component P.

Further, the member P is conveyed to the die plate 70 waiting at the work position D1 of the transfer device 50.

In the pickup device 40, the suction flow rate of each pickup head 442 is individually detected by the flow rate sensor 445 with respect to the selected pickup head 442.

When the pickup head 442 properly suctions the member P, the detected flow rate is reduced to a certain extent, but when the member P is not suctioned, the detected flow rate of all the pickup heads 442 selected is not reduced. If the member P is not oriented in the proper direction, the detection flow rate of a part of the selected pickup 442 is not reduced.

Accordingly, the controller 31 periodically determines that the pickup devices 40 are defective in conveyance during the pickup of the pickup devices 40, and notifies the relay terminal 80 of conveyance errors when the conveyance is determined to be defective. Further, the occurrence of the conveyance failure is recorded by the tag reader/writer 55 with respect to the IC tag 73 of the template 70 waiting at the work position D1.

In contrast, the relay terminal 80 that received the conveyance error transmits the occurrence of the conveyance failure to the production management server 300. In the production management server 300, a case where a conveyance failure occurs in the template 70 currently being picked up is recorded.

If the controller 31 acquires the component information from the relay terminal 80, the controller 31 refers to the table data indicating the correspondence relationship between the component and the template 70, which is included in the component information. For example, the member information is recorded with members P1 to P6 having L-size and members P7 to P12 having S-size formed on the sheet material S, and sewing is performed in the order of L-size and S-size.

Accordingly, in the table data, templates 70 corresponding to the L-size members P1 to P6, templates 70 corresponding to the S-size members P7 to P12, templates 70 to be used first from the L-size templates 70, and the like are recorded.

Therefore, when the setting operation of the component P by the pickup device 40 is started, first, it is determined whether or not the L-size template 70 is arranged at the work position D1 by reading the IC tag 73 of the template 70 by the tag reader/writer 55.

When the setting operation of the members P7 to P12 is started after all of the members P1 to P6 of the L size are set, it is determined whether or not the template 70 corresponding to the S size is arranged at the operation position D1.

When the member P to be sewn based on the member information and the template 70 at the work position D1 match, the current situation is maintained with respect to the arrangement of the template 70.

When the first transfer portion 52, the sewing machine 60, the second transfer portion 53, and the third transfer portion 54 are not in agreement, the template 70 at the work position D1 is transferred to the carry-out position D4 without sewing.

Further, the next template 70 at the carry-out position D4 is transferred to the work position D1, and control is performed to dispose the appropriate template 70 at the work position D1.

The controller 31 has positioning information such as the arrangement and orientation of the members P in advance with respect to the L-size die plate 70 and the S-size die plate 70, and thereby the pickup device 40 can position the members P1 to P12 at an appropriate target position of the appropriate die plate 70 and arrange them.

If the template 70 at the work position D1 is provided for all the members P arranged in the arrangement, the template 70 is transferred to the supply position D2 by the first transfer portion 52. By this movement, the pressing plate 72 in the undulating state of the template 70 is pushed down by the lying lever 511 to be in a pressed state.

The template 70 at the carry-out position D4 is transferred to the work position D1 by the third transfer unit 54.

Since the L-sized members P1 to P6 and the S-sized members P7 to P12 are formed on the sheet material S of the table 22, when the L-sized members P1 to P6 are provided on the preceding template 70, the pickup device 40 continues to perform the operation of providing the members P7 to P12 on the S-sized template 70 transferred to the work position D1 while the sewing is performed on the L-sized members P1 to P6 by the sewing machine 60.

In the conveying operation of the conveying device 30 described above, the controller 31 periodically transmits operation information indicating operation conditions such as the operation of the pickup device 40, the reversing device 35, and the transfer mechanism 50, the completion of the operation, and the waiting time to the relay terminal 80.

In contrast, the relay terminal 80 transmits the operation status of the conveyor 30 to the production management server 300 based on the operation information acquired from the conveyor 30. In the production management server 300, the progress status is recorded based on the operation information of the conveying apparatus 30.

On the other hand, the sewing machine 60 waits at a position where the holding portion of the moving mechanism 62 can hold the template 70 at the feeding position D2, and if the template 70 is transferred to the feeding position D2 by the transfer mechanism 50, it is promptly held.

The template 70 may be recognized as reaching the supply position D2 by receiving a notification from the controller 31 via a communication cable connecting the controller 31 of the conveyor 30 and the controller 64 of the sewing machine 60, or the tag reader/writer 65 of the sewing machine 60 may be configured to recognize by detecting the IC tag 73 of the template 70. The sewing machine 60 may be provided with a dedicated sensor for detecting the template 70 at the supply position D2.

If the holding unit of the moving mechanism 62 holds the template 70 at the supply position D2, the tag reader/writer 65 reads information specifying a sewing pattern such as a pattern number recorded in the IC tag 73 of the template 70.

Accordingly, the sewing pattern data corresponding to the sewing is specified, and the controller 64 controls the main body 61 and the moving mechanism 62 to perform the sewing of each member P according to the sewing pattern. If sewing of all the members P with respect to the template 70 is completed, the template 70 is moved to the return position D3, and the retained state of the template 70 in the retaining portion is released.

When the IC tag 73 of the die plate 70 is read, the controller 64 does not perform sewing when occurrence of a conveyance failure is recorded, moves the die plate 70 to the returning position D3, and releases the die plate 70 held in the holding portion.

In the sewing operation of the sewing machine 60 described above, the controller 64 periodically transmits operation information indicating an operation state such as an operation being performed, an operation being completed, or a waiting state to the controller 31 of the conveying device 30. The controller 31 of the conveyor 30 also transmits the operation information of the sewing machine 60 when periodically transmitting the operation information of itself to the relay terminal 80.

In contrast, the relay terminal 80 transmits the operation status of the sewing machine 60 to the production management server 300 based on the operation information of the sewing machine 60 acquired from the conveyor 30. In the production management server 300, the progress status is recorded based on the operation information of the sewing machine 60.

If the template 70 is conveyed to the refund position D3, the second transfer portion 53 of the transfer mechanism 50 promptly holds the template 70.

The transfer mechanism 50 may be configured to recognize that the template 70 reaches the refund position D3 by receiving a notification from the controller 64 via a communication cable that connects the controller 31 of the conveyor 30 and the controller 64 of the sewing machine 60, or may be configured to have a dedicated sensor that detects the template 70 at the refund position D3.

The template 70 in the returning position D3 is transferred from the returning position D3 to the carry-out position D4 by the second transfer portion 53. In the carry-out position D4, the push-up lever 512 is operated, and the pressing plate 72 of the die plate 70 is in a wavy state. Thereby, each paired member P after sewing is released from the pressed state.

As described above, since the controller 31 has positioning information such as the arrangement and orientation of the components P and positional information of the carry-out position D4 with respect to the die plate 70, it is possible to select the pick-up head 442 of the pick-up device 40 and position the tip tool 44 with respect to the components P.

Further, since the waiting position in the movable region R of the conveyance self-moving body 101 also has position information in advance, the controller 31 controls the pickup device 40 to place each component P of the template 70 on the upper placement surface of the conveyance self-moving body 101 and perform the carry-out operation.

If all the members P of the template 70 are moved out, the controller 31 requests permission of the transfer operation of the template 70 from the moving-out position D4 to the work position D1.

In contrast, the relay terminal 80 determines whether or not another template 70 is present at the work position D1, in comparison with the current operation status obtained from the operation information of the conveyor 30, and notifies the instruction for permitting or stopping the transfer operation from the carry-out position D4 to the work position D1 in accordance with the determination result.

When the transfer operation of the template 70 from the carry-out position D4 to the work position D1 is permitted, the controller 31 executes the transfer operation.

The above-described processing and actions are repeatedly performed for each sheet material S.

[ Technical Effect of embodiments of the invention ]

As described above, the sewing system 100 includes: a conveying device 30 that picks up the member P cut from the sheet material S by the cutting device 20 and conveys the member P to the sewing form 70; and a sewing machine 60 for sewing the member P while holding the template 70.

The conveyor 30 is configured to pick up the sewn member P from the panel 70 and carry it out to a predetermined carry-out position, that is, to the upper mounting surface of the moving body 101.

Therefore, in the sewing system 100, a large number of work steps from the carrying in, sewing, and carrying out of the member P from the cutting device 20 can be performed autonomously, and the work load of the operator can be significantly reduced.

The sewing system 100 further includes a relay terminal 80, and the relay terminal 80 acquires a part or all of the cutting data from the cutting device 20, transmits the component information based on the cutting data to the conveying device 30, and the conveying device 30 selects a part from the plurality of pick-up heads 442 based on the component information to perform operation control for picking up the component P.

Therefore, in the pickup device 40, an efficient pickup operation can be performed without operating the unnecessary pickup head 442.

The pickup device 40 is provided with a flow sensor 445 that detects the flow rate of air that causes the plurality of pickup heads 442 to generate suction force, and the conveyance device 30 determines whether or not the conveyance of the member P with respect to the die plate 70 is defective based on the detected flow rate of the flow sensor 445.

Therefore, the occurrence of the conveyance failure can be detected during the pickup operation, and the inspection step can be omitted, thereby realizing efficient and rapid sewing.

The template 70 includes an IC tag 73 for storing information specifying a sewing pattern such as a pattern number, and the conveying device 30 includes a tag reader/writer 55, and when the tag reader/writer 55 determines that the conveyance of the member P relative to the template 70 is defective, the IC tag 73 of the template 70 records a result of the determination of the conveyance defect.

Therefore, since the occurrence of the conveyance failure can be directly obtained from the die plate 70, even when the conveyance failure is detected and when there is a temporal deviation from the start of execution of the sewing with respect to the die plate 70, the die plate 70 included in the conveyance failure member P can be more reliably specified, and the contamination of defective products due to the conveyance failure can be suppressed, and highly reliable sewing can be realized.

The sewing system 100 further includes a transfer mechanism 50, and the transfer mechanism 50 transfers the plurality of templates 70 to the following positions: a work position D1, in which the member P is disposed on the die plate 70; a supply position D2, at which the template 70 is supplied to the sewing machine 60; a returning position D3 for returning from the sewing machine 60 after sewing is completed; and a carry-out position D4 for carrying out the member P from the die plate 70.

Accordingly, by disposing the plurality of templates 70 at any one of the positions D1 to D4, different operations can be performed with respect to each template 70, and more efficient sewing operations can be realized.

Further, since the transfer mechanism 50 includes the reclining lever 511, and the reclining lever 511 is brought into contact with the pressing plate 72 in the raised and lowered state and is pushed down when being transferred from the work position D1 to the supply position D2, the pressing plate 72 can be pushed down by the transfer operation of the die plate 70, and a dedicated actuator is not required, so that the reduction in the number of components and the simplification of control can be achieved.

Further, since the conveying device 30 includes the reversing device 35, the reversing device 35 reverses the front and back sides of the members P, and therefore, when it is necessary to reverse a part of the plurality of members P collectively cut out from the sheet material S, the reversing device can be automatically performed, and further reduction of the work load of the operator can be achieved.

In addition, the conveyor 30 of the sewing system 100 has a plurality of templates 70 corresponding to different sewing patterns, and the templates corresponding to the component information notified from the relay terminal 80 are supplied to the sewing machine 60.

Therefore, the misalignment between the member P supplied from the conveyor device 30 and the template 70 can be avoided, the work load of the operator can be significantly reduced, and the poor sewing can be avoided, thereby realizing highly reliable sewing.

In addition, since the template 70 has the IC tag 73, the IC tag 73 stores information specifying the sewing pattern, and the sewing machine performs sewing according to the sewing pattern specified by the information recorded by the IC tag 73, it is possible to realize sewing with higher reliability while avoiding defective sewing.

[ Others ]

The transfer mechanism 50 includes: a work position D1; a supply position D2, at which the template 70 is supplied to the sewing machine 60; a returning position D3 for returning from the sewing machine 60 after sewing is completed; and a carry-out position D4 from which the member P is carried out from the die plate 70, but the refund position D3 can be omitted by sharing the supply position D2 and the refund position D3.

In addition, the positions where the templates 70 are arranged may be further increased. In this case, more excellent templates 70 can be used.

Claims (6)

1. A sewing system, characterized by comprising:

A conveying device for picking up the member cut from the sheet material by the cutting device and conveying the member to a sewing template; and

A sewing machine for sewing the template relative to the member,

The conveying device also picks up the sewn component from the template and carries out the component to a specified carrying-out target,

The sewing system comprises a transfer terminal which acquires part or all of cutting data from the cutting device, sends information for determining the component based on the cutting data to the conveying device,

The conveying device has a pickup device having a plurality of pickup heads dispersed on the same plane, the conveying device picks up the member by selecting a part of the pickup heads from the plurality of pickup heads by information specifying the member,

The pickup device has:

a first frame and a second frame that support the pickup head; and

A telescopic mechanism capable of adjusting the interval between the first frame and the second frame,

The spacing of the first and second frames is adjusted in correspondence with the information determining the component.

2. The sewing system of claim 1, wherein the sewing machine is configured to perform the sewing process,

A flow sensor is provided in a plurality of the pickup heads, the flow sensor detecting an air flow rate that generates attractive force,

The conveying device determines whether or not the member is not conveyed poorly with respect to the die plate based on the detected flow rate of the flow rate sensor.

3. The sewing system of claim 2, wherein the sewing machine is configured to perform the sewing process,

The template has a storage section that stores information for specifying a sewing pattern,

The conveying device includes a determination result recording unit that records a determination result of the conveyance failure in the storage unit of the template when the conveyance failure of the member with respect to the template is determined.

4. The sewing system of any of claims 1-3, wherein the sewing machine comprises a sewing machine frame,

The sewing machine is provided with a transfer mechanism having a work position for disposing the members on the template, a supply position for supplying the template to the sewing machine, and a carry-out position for carrying out the members from the template, and the transfer mechanism transfers a plurality of templates to any one of the positions.

5. The sewing system of claim 4, wherein the sewing machine is configured to perform the sewing operation,

The template has: a lower plate; and a pressing plate supported in a vertically movable manner with respect to the lower plate,

The transfer mechanism includes a reclining lever that is pushed down by abutting against the pressing plate in the raised state when transferred from the work position to the supply position.

6. The sewing system of any of claims 1-3, wherein the sewing machine comprises a sewing machine frame,

The conveying device has a reversing device that reverses the front and back sides of the member.