CN114000270B - Material clamping system for hemming device of cloth shade with zipper - Google Patents

Abstract

The invention provides a clamping system for a hemming device of a cloth cover with a zipper. The cloth with the zipper is: the slide fastener is stacked on top of a widthwise central portion parallel to the lateral side with respect to a cloth cover having edges formed by joining the longitudinal side and the lateral side by a curved side, and the longitudinal direction of the slide fastener is aligned parallel to the longitudinal side. The clamping system comprises: a material clamping device which is conveyed above the workbench through a conveying device under the state that the shielding cloth with the zipper is pressed to the workbench during hemming; and a length detector that detects a length of the zipped drape. The clamping device comprises: a transverse clamp for pressing the inner side of the transverse edge; a bending jig for pressing at least the inner side of the bending edge; a vertical clamp, which is controlled by whether the inner side of the vertical edge is pressed; and a connecting part for connecting the vertical clamp, the horizontal clamp and the bending clamp with the conveying device. The operation of the vertical clamp is controlled based on the length of the cloth with zipper as the detection result of the length detector.

Description

Material clamping system for hemming device of cloth shade with zipper

Technical Field

The cloth with a zipper (fly) is a member attached to the opening/closing portion of the cloth so that the cloth, skin, etc., inside the opening/closing portion is not visible from the outside. The cloth with a slide fastener to which the present invention is applied uses a slide fastener for opening and closing an opening and closing portion and a cloth called a cloth as parts. The present invention also relates to a material clamping system for pressing a cloth with a slide fastener in a hemming device for hemming the cloth with the slide fastener while conveying the cloth with the slide fastener. The hemming means that the edge of the cloth is hemmed so that the edge of the cloth does not come apart.

Background

As an example of a conventional hemming device for a cloth with a slide fastener, a hemming device is known, which includes: a workbench for placing a cloth with a zipper; the clamping device presses the shielding cloth with the zipper on the workbench; a sewing machine for hemming the cloth; and a conveying device for the gripping device, which conveys the gripping device (patent document 1).

The clamping device is used for pressing the central part of the shielding cloth with the zipper in the width direction, thereby pressing the zipper belt and the shielding cloth below the zipper belt together.

Prior art literature

Patent literature

Patent document 1: WO2018/216061A1

Disclosure of Invention

In order to stitch the cloth with the slide fastener neatly, it is desirable to press the vicinity (inner side) of the hemming portion (edge portion) in advance. In the case where the above-described sandwiching device is configured to press only the widthwise central portion of the cloth with a slide fastener, if the conveyance speed of the cloth with a slide fastener is increased to some extent, the widthwise edge portion of the cloth with a slide fastener is guided between the presser foot of the sewing machine and the table in a state of being lifted from the upper surface of the table, and the hemming is adversely affected. In particular, the hemming device of the above-described cloth with a zipper is used to hemm while rotating the cloth with a zipper, and thus, centrifugal force is applied to the cloth with a zipper when rotating the cloth with a zipper. Further, the edge portion of the cloth with a zipper tends to float from the upper surface of the table due to the centrifugal force.

Further, there are various kinds of cloth having different widths and lengths according to the needs of customers. Accordingly, there are a variety of types of zippered drapes. Therefore, the width direction position and the length direction range in which the cloth with a zipper is pressed at the time of hemming are different depending on the kind of the cloth with a zipper. In this way, it is desirable to be able to press the inner side of the edge portion of the cloth with a slide fastener against as many kinds of cloth with a slide fastener as possible.

The above-described material clamping device does not have a structure for covering cloths having different widths and lengths.

The present invention has been made in consideration of the above-described circumstances, and an object thereof is to press the inside of the edge portion of a cloth with a slide fastener against a cloth of at least one different type of width and length.

The invention relates to a clamping system for a hemming device of a cloth with a zipper. The hemming device of the cloth with a zipper, which is a precondition of the present invention, uses the cloth with a zipper as a sewing object. The cloth with a zipper is formed by superposing the zipper on the upper side of the central part of the width direction, which is the direction parallel to the transverse edge, and the length direction of the zipper is parallel to the longitudinal edge, and the cloth is provided with edges formed by jointing the longitudinal edge and the transverse edge extending in the crossing direction by a bending edge.

The material clamping system of the present invention comprises: a clamping device for pressing the cloth with the zipper on the workbench when the cloth with the zipper is hemmed by the sewing machine, and conveying the cloth with the zipper above the workbench by the conveying device in a state that the cloth with the zipper is pressed; a length detector for detecting a length of the cloth with the zipper in a direction parallel to the longitudinal edge; and a control device which controls the clamping device.

The clamping device comprises: a transverse jig for pressing the inner side of the transverse edge of the cloth with the zipper; a bending jig for pressing an inner side of at least a bending edge of the cloth with a slide fastener; a vertical clamp, which controls whether the inner side of the vertical edge of the cloth with the zipper is pressed or not; and a connecting part for connecting the vertical clamp, the horizontal clamp and the bending clamp with the conveying device. Further, the operation of the vertical clamp is controlled based on the length of the cloth with zipper as a result of the detection by the length detector.

The number of vertical jigs in the material clamping device is arbitrary, but in order to cope with a plurality of kinds of cloth with slide fastener having different lengths, the following configuration is desirable.

The clamping device is provided with a plurality of vertical clamps which are arranged in the length direction of the shielding cloth with the zipper.

The bending jig may be configured as follows, regardless of whether or not the bending jig presses only the inside of the bending edge of the cloth with a slide fastener, in order to enable the nip system to cope with a larger variety of cloth with slide fasteners having different lengths.

That is, the bending jig presses a range from the inside of the bending edge to the inside of the longitudinal edge in the edge of the cloth with a slide fastener.

The above-described material clamping system can cope with different types of length of cloth with a slide fastener, but in order to cope with different types of width of cloth with a slide fastener, it is desirable to have the following configuration.

That is, the nip system includes a width detector for detecting the width of the cloth with the slide fastener. The connection unit is provided with: a 1 st connecting part for connecting the conveying device and the transverse clamp; a 2 nd connecting part for connecting the vertical clamp and the bending clamp; and a traversing device for moving the 2 nd connecting part relative to the 1 st connecting part in the width direction of the cloth with the zipper. The traversing device controls the position of the 2 nd connection portion relative to the 1 st connection portion based on the detection result of the width detector.

The material clamping device may be provided with other clamps between the transverse clamp and the bending clamp, but in order to press the inner side of the edge of the cloth with the zipper as much as possible even if the width of the cloth with the zipper is different, the following structure is desirable.

That is, the clamping device is provided with an auxiliary clamp between the transverse clamp and the bending clamp, and the operation of whether the auxiliary clamp presses the inner side of the edge of the cloth with the zipper is controlled. The operation of the auxiliary clamp is controlled based on the detection result of the width detector.

Effects of the invention

The clamping system of the invention detects the length of the cloth with the zipper by using the length detector and controls the action of the vertical clamp based on the detection result, so the clamping system can cope with the cloth with the zipper with different lengths and press the inner side of the edge of the cloth with the zipper.

In the clamping system according to the present invention, if the clamping device includes a plurality of vertical jigs, the inner side of the edge of the cloth with a slide fastener can be pressed against the cloth with a slide fastener of a larger variety of different lengths than the case where the clamping device includes one vertical jig.

In the material clamping system of the present invention, if the bending jig presses a range from the inner side of the bending edge to the inner side of the longitudinal edge of the cloth with slide fastener, it is possible to cope with a larger variety of cloth with slide fastener having different lengths.

In addition, in the material clamping system of the present invention, if the width detector is provided and the connecting portion is provided with the traversing device, the traversing device controls the position of the 2 nd connecting portion with respect to the 1 st connecting portion of the connecting portion in the width direction of the cloth with a zipper based on the detection result of the width detector, so that it is also possible to cope with the different types of the width of the cloth with a zipper.

In the clamping system according to the present invention, if the auxiliary jig is provided between the transverse jig and the bending jig, the inner side of the edge of the cloth with slide fastener can be pressed more than in the case where only the transverse jig and the bending jig are provided.

Drawings

Fig. 1 is a perspective view of an example of a posture control device for a material clamping system according to a first embodiment of the present invention, viewed from above.

Fig. 2 is a perspective view of the posture keeping device from below.

Fig. 3 is a perspective view showing a transverse jig of the gripping device in the posture keeping device.

Fig. 4 is a perspective view showing a bending jig and a vertical jig of the clamping device.

Fig. 5 (a) is a perspective view showing an auxiliary clamp of the clamping device, (B) is a side view showing a state in which the auxiliary clamp is separated from the cloth with a zipper, and (C) is a side view showing a state in which the auxiliary clamp presses the cloth with a zipper.

Fig. 6 is a perspective view showing the belt-away device of the posture-holding device.

Fig. 7 (a), (B), and (C) are explanatory views sequentially showing operations when the belt is lifted away from the apparatus.

Fig. 8 (a) and (B) are bottom views showing a part of the posture keeping device in the case where the width of the cloth with a zipper is wide and in the case where the width is narrow.

Fig. 9 is a top view of the posture keeping device.

Fig. 10 is a hemming device including a zippered drape of a first embodiment of a nip system.

Description of the reference numerals

1: a shielding cloth with a zipper is provided,

1A: the longitudinal object is a long object,

2: the zipper is arranged on the side of the zipper,

2A: the zipper chain is provided with a zipper,

3: the shading cloth is arranged on the surface of the cloth,

3a: the transverse edges of the two-dimensional square-shaped steel plates are provided with a plurality of grooves,

3b: the edges of the strip are bent over,

3c: the longitudinal edges of the two-dimensional square-shaped steel plates are provided with a plurality of grooves,

4: the belt is provided with a plurality of belt-shaped belts,

4a: a suture thread is provided, wherein the suture thread is provided with a thread,

5: the teeth of the teeth row are arranged in a row,

6: the pull head is provided with a pull head,

7: the 1 st stop code is used for stopping the operation of the bicycle,

8: the 2 nd end-stop is used for stopping the code,

11: the tool device is provided with a cutting tool,

12: the clamping device is used for clamping the workpiece,

13: the working platform is provided with a working table,

13a, 13b: the plate portion is provided with a plurality of grooves,

13c: the through-hole is provided with a through hole,

14: the length of the tube is detected by the length detector,

15: the width of the strip is detected by a width detector,

16: a posture-keeping device, which is used for keeping the posture,

17: a sewing machine, which comprises a sewing machine,

17b: the cutting tool is used for cutting the workpiece,

18: a conveying device (multi-joint robot),

19: the control device is used for controlling the control device,

21: a material clamping device is arranged on the upper surface of the material clamping device,

22: the belt is remote from the device and,

24: a transverse clamping device is arranged on the upper surface of the horizontal clamping device,

25: the bending jig is used for bending the metal sheet,

26: a longitudinal clamp group is arranged on the upper surface of the lower support,

27: a connecting part, a connecting part and a connecting part,

28: the auxiliary fixture is used for fixing the auxiliary fixture,

29: a 1 st connecting portion, which is provided with a first connecting portion,

31: a 2 nd connecting portion (sub-plate),

32: the transverse moving device is used for the transverse moving device,

34: the 1 st impact-attenuating portion,

35: a connecting part for the conveying device,

36: a connecting part for the transverse fixture,

36a: the column is provided with a plurality of holes,

36b: the fixing plate is provided with a plurality of fixing holes,

38: a lower connecting part, which is connected with the lower connecting part,

38a: the insertion portion is provided with a plurality of insertion holes,

38b: the extending part is provided with a plurality of grooves,

39: an upper connecting part, which is connected with the upper connecting part,

39a: the through-hole is provided with a through hole,

39b: an external thread is provided on the outer surface of the outer sleeve,

41: the joint portion is provided with a plurality of grooves,

43: a top plate, a bottom plate and a top plate,

44: a base, a base seat and a base seat,

44a: a longitudinal plate portion, a plurality of vertical plates,

44b: the cross plate part is provided with a plurality of grooves,

44c: the engaging piece portion is provided with a plurality of engaging grooves,

44e: a through-hole part is arranged on the inner side of the inner side,

44f: the front-facing aperture is provided with a front-facing aperture,

44h: a through-hole part is arranged on the inner side of the inner side,

45: a guide mechanism part, which is used for guiding the guide mechanism part,

45a: the side posts of the column are arranged on the side walls,

45b: the guide block is provided with a plurality of guide grooves,

45c: the stop member is provided with a plurality of grooves,

46: the coil spring is compressed and the spring is compressed,

47: a 2 nd kind of impact-attenuating portion,

48: a transverse pressing part, a transverse pressing part and a transverse pressing part,

48a: the concave part is provided with a concave part,

48b: the slit is formed in the inner wall of the slot,

49: a space-forming portion for forming the space,

49a: a top plate,

49b: the hanging pin is provided with a hanging pin,

51: the cylinder device is provided with a cylinder device,

51a: the piston rod is provided with a piston rod,

51b: the cylinder shell is provided with a cylinder cover,

52: the coil spring is compressed and the spring is compressed,

53: the bottom plate is provided with a bottom plate,

55: the compression part is bent to be in a bent state,

56: a guide mechanism part, which is used for guiding the guide mechanism part,

56a: the first rod (1) is provided with a first rod,

56b: the 2 nd rod is arranged on the upper surface of the bottom plate,

56c: the embedded block is arranged on the inner side of the frame,

56d: the guide block is provided with a plurality of guide grooves,

58: a longitudinal clamp is arranged on the upper surface of the lower plate,

59: an assembling part is arranged on the inner side of the frame,

61: a vertical compression part is arranged on the upper surface of the frame,

62: the cylinder device is provided with a cylinder device,

62a: the piston rod is provided with a piston rod,

62b: the cylinder shell is provided with a cylinder cover,

63: the extension part of the rod is provided with a plurality of grooves,

63a: the hole is embedded in the inner wall of the shell,

63c: the stop member is provided with a plurality of grooves,

64: a guide mechanism part, which is used for guiding the guide mechanism part,

65: a groove forming portion for forming the groove,

65a: the groove is provided with a groove,

66: a cover part, which is arranged on the upper surface of the cover part,

67: the cover plate is arranged on the surface of the cover plate,

68: the groove block is provided with a groove block,

71: the dimensions of the plate are such that,

72: a guide mechanism part, which is used for guiding the guide mechanism part,

72a: the guide rail is provided with a plurality of guide grooves,

72b: the guide block is provided with a plurality of guide grooves,

73: the cylinder device is provided with a cylinder device,

73a: the cylinder shell is provided with a cylinder cover,

73b: the piston rod is provided with a piston rod,

74. 75: the connecting plate is connected with the connecting plate,

77: an auxiliary pressing part is arranged on the upper part of the lower part,

78: the cylinder device is provided with a cylinder device,

78a: the piston rod is provided with a piston rod,

78b: the cylinder shell is provided with a cylinder cover,

79: the connecting rod is connected with the connecting rod,

79a: the 1 st connecting rod is used for connecting the first connecting rod with the second connecting rod,

79b: a 2 nd kind of connecting rod, which is used for connecting the first connecting rod with the second connecting rod,

79c: a 3 rd connecting rod, which is used for connecting the first connecting rod and the second connecting rod,

79d: the main body of the stick is provided with a main body,

79e: the track portion is provided with a plurality of grooves,

81: a guide mechanism part, which is used for guiding the guide mechanism part,

81a, 81b: the guide block is provided with a plurality of guide grooves,

81h: the through-hole is provided with a through hole,

82: the fixing plate is provided with a plurality of fixing holes,

84: the insert sheet is provided with a plurality of grooves,

84a: the upper sheet part is provided with a plurality of grooves,

84b: the middle sheet part is provided with a plurality of grooves,

84c: the lower sheet part is provided with a plurality of grooves,

85: the cylinder device is provided with a cylinder device,

85a: the piston rod is provided with a piston rod,

85b: the cylinder shell is provided with a cylinder cover,

86: a rod connecting part, a connecting part and a connecting part,

86a: the fixing plate is provided with a plurality of fixing holes,

86b: the connecting rod is connected with the connecting rod,

86c: the main body of the stick is provided with a main body,

86d: the arm piece is provided with a plurality of arm pieces,

87: a guide mechanism part, which is used for guiding the guide mechanism part,

87a: the lower plate is provided with a plurality of grooves,

88: a rotation mechanism part, which is used for rotating the rotary mechanism part,

89: a partition plate;

89a: the space-apart portions are provided with a plurality of grooves,

89c: a downward groove is arranged on the bottom of the groove,

91: the axis of the shaft is provided with a plurality of grooves,

92: the relative mass of the two blocks is arranged,

92a: the holes are arranged in the holes and are used for the connection of the holes,

93: the coil spring is compressed and the spring is compressed,

94: the pressing-in part is provided with a pressing-in part,

94a: a rod-shaped part, a rod-shaped part and a rod-shaped part,

94b: a fixing part, a fixing part and a fixing part,

94c: the contact member is contacted with the contact member,

95: and a restriction portion.

Detailed Description

The hemming device of the cloth with the zipper takes the cloth with the zipper as a sewing object. As shown in fig. 10, the cloth with zipper 1 is a part of the elongated object 1A at a stage before being a sewing object. The elongated article 1A is formed by continuously disposing a plurality of zipped cloth covers 1 in the longitudinal direction thereof. Then, the elongated object 1A is cut at a position between the adjacent zipped cloth covers 1, thereby forming the zipped cloth cover 1.

In other words, the longitudinal object 1A includes a longitudinal fastener chain 2A and a plurality of cloths 3, and the plurality of cloths 3 are overlapped on the lower side of the fastener chain 2A and sewn to the fastener chain 2A in a state of being aligned along the longitudinal direction of the fastener chain 2A. The arrangement method of the cloth 3 may be such that the cloth is spaced apart in the longitudinal direction as shown in the drawings, but may be arranged adjacently in the longitudinal direction, although not shown in the drawings.

The fastener chain 2A is provided with a plurality of zippers 2 arranged continuously in the longitudinal direction thereof. The slide fastener 2 is formed by cutting the fastener chain 2A at a position between the adjacent slide fasteners 2, 2. Further, by cutting in this way, the cloth cover 1 with a zipper is formed in which the zipper 2 and the cloth cover 3 on the lower side of the zipper 2 are integrated.

The slide fastener 2 is an elongated member. Thus, the slide fastener 2 includes a longitudinal direction and a width direction orthogonal to each other in addition to the thickness direction. The length of the slide fastener 2 in the width direction is shorter than the length of the slide fastener 2 in the longitudinal direction.

The slide fastener 2 further includes: a pair of belts 4, 4 arranged to face each other in the width direction; a pair of element rows 5, 5 fixed to widthwise opposite side edge portions of the pair of strips 4, 4; a slider 6 that is guided so as to be movable with respect to the pair of element rows 5, 5 and opens and closes the pair of element rows 5, 5; and 1 st and 2 nd stop 7, 8 for stopping movement of the slider 6 at both ends in the longitudinal direction of the pair of element rows 5, 5.

One of the pair of tapes 4, 4 is sewn to the cloth 3 along the longitudinal direction by a stitch 4a on the side edge portion opposite to the opposite side edge portion in the width direction, and the other of the pair of tapes 4, 4 is not sewn to the cloth 3 and is overlapped with the cloth 3 only. Hereinafter, the belt 4 sewn by the stitches 4a may be referred to as a belt 4 on the sewing side, and the belt 4 not sewn may be referred to as a belt 4 on the non-sewing side.

The 1 st stop 7 is for contacting the slider 6 when the slider 6 is moved in a direction in which the pair of element rows 5, 5 are opened. The 1 st stopper 7 connects the pair of belts 4, 4.

The 2 nd stopper 8 is for contacting the slider 6 when the slider 6 is moved in the direction in which the pair of element rows 5, 5 are closed. In addition, the 2 nd stop 8 is fixed relative to one of the belts 4.

The element row 5 is a element row composed of a plurality of elements arranged in a row along the side edge portion of the tape 4 at intervals, or a element row composed of a monofilament bent in a coil shape or a zigzag shape and having continuous element portions corresponding to the plurality of elements.

The cloth 3 is a soft cloth. In the present embodiment, the cloth 3 has a rectangular shape and includes two sides facing each other in one direction and two sides facing each other in the other direction. More specifically, the cloth 3 has an elongated rectangular shape and includes two long sides and two short sides. In addition, the cloth 3 has 4 corners. As shown in fig. 1, the cloth 3 is cut into a smoothly curved shape at 1 of the 4 corners before being hemmed (hemmed).

The cut corner of the 4 corners is a corner on the side of the sewing side tape 4 sewn to the upper slide fastener 2 in the extending direction of the short side (hereinafter, referred to as the short side direction), and is a corner on the side of the 1 st stop 7 in the extending direction of the long side (hereinafter, referred to as the long side direction). In addition, not only the cloth 3 but also the sewing-side belt 4 is cut together with the cloth 3.

The smoothly curved shape is a track corresponding to 1/4 of a circle, that is, an arc in the illustrated example. Although not shown, the smoothly curved shape includes a trajectory corresponding to 1/4 of an ellipse, that is, an elliptical arc. Incidentally, the centers of the circles and ellipses are located on the side of the cloth 3, and the tangents of both ends of the circular arc shape and the elliptical arc shape become the long side and the short side located on both sides thereof.

Hereinafter, the term concerning the edge of the cloth 3 is determined as follows. The smoothly curved shape portion is referred to as a curved side 3b. The long side of the tangential line, which is one end point of the curved side 3b, is referred to as a longitudinal side 3c. In addition, a short side of a tangent line that is the other end point of the curved side 3b is referred to as a lateral side 3a. Therefore, a part of the edges of the cloth 3 is formed by smoothly joining the curved edges 3b with the lateral edges 3a and the longitudinal edges 3c extending straight in the intersecting direction, more specifically, in the orthogonal direction. The edges of the cloth 3 are formed by long sides, short sides, longitudinal sides 3c, lateral sides 3a, and curved sides 3b.

In the state before the corner cutting, the length of the shade 3 in the longitudinal direction is shorter than the length of the slide fastener 2, and the length of the shade 3 in the short side direction is longer than the length of the slide fastener 2 in the width direction. Since the slide fastener 2 is stacked on the intermediate portion in the short side direction of the cloth 3, both end portions in the short side direction (extending direction of the lateral side 3 a) of the cloth 3 protrude beyond both sides in the width direction of the slide fastener 2. The both longitudinal ends of the slide fastener 2 extend beyond the shade cloth 3 on both sides in the longitudinal direction. The width direction of the slide fastener 2 is a direction parallel to the lateral edge 3a, and is the width direction of the cloth cover 1 with slide fastener. The longitudinal direction of the slide fastener 2 is parallel to the longitudinal edge 3c, and is the longitudinal direction of the cloth cover 1 with slide fastener. Incidentally, since the excess length of the 1 st stop 7 side is shorter than the excess length of the 2 nd stop 8 side in the longitudinal direction of the slide fastener 2, one end in the longitudinal direction of the pair of tapes 4, 4 is located at substantially the same position as one end in the longitudinal direction of the shade cloth 3 (one end on the lateral side 3a side) with respect to the 1 st stop 7 side. The longitudinal direction of the cloth 3 (the extending direction of the longitudinal side 3 c) coincides with the longitudinal direction of the slide fastener 2. The parallelism may be judged to be parallel when visually examined, and is not strictly parallel.

Hemming the above-described zippered drape 1 is a hemming device of the zippered drape 1 comprising the first embodiment of the clamping system of the present invention. As shown in fig. 10, the hemming device of the slide fastener-attached shade 1 of the first embodiment includes: a conveying device (not shown) for the elongated object 1A, which conveys the elongated object 1A in the longitudinal direction of the elongated object 1A; a cutter device 11 for cutting the conveyed elongated object 1A at a position between the adjacent zipped cloths 1, 1; a gripper device 12 for gripping and conveying the slide fastener-equipped shade 1 separated from the longitudinal object 1A; a table 13 for placing the cloth shade 1 with the zipper carried by the clamp device 12; a length detector 14 for detecting the length (length parallel to the longitudinal side 3 c) of the zipped cloth cover 1; a width detector 15 for detecting the width (length parallel to the lateral side 3 a) of the slide fastener-equipped shade fabric 1; a posture holding device 16 for holding the posture of the slide fastener-attached shade cloth 1 on the table 13 for hemming; a sewing machine 17 for hemming the cloth 3 and provided on the table 13; and a conveying device 18 for the posture keeping device 16, which conveys the posture keeping device 16. The hemming device of the slide fastener-equipped shade fabric 1 is provided with a control device 19 for controlling various devices.

The table 13 has a planar upper surface. The table 13 has a curved shape in plan view, more specifically, an L-shape, and includes two plate portions 13a and 13b extending in orthogonal directions. A sewing machine 17 is provided at a portion where the two plate portions 13a and 13b intersect. A through hole 13c penetrating in the thickness direction of the plate is formed in a portion of the table 13 where the sewing machine 17 is provided, and a portion of a conveying tooth, not shown, serving as a conveying portion of the conveyor belt fastener cloth 1 is disposed in the through hole 13c. The feed teeth feed the tape fastener cloth 1 in accordance with the up-and-down movement of the sewing machine needle (not shown) of the sewing machine 17.

Thereafter, the direction is determined as follows. The direction orthogonal to the L-shape (extending direction of the two plate portions 13a, 13 b) in the plane view of the table 13 is two orthogonal straight directions. One of the straight directions is set as the front-rear direction, and the other straight direction is set as the left-right direction. The front-rear direction is the up-down direction in fig. 10. The front direction is the lower direction in fig. 10, and the rear direction is the upper direction in fig. 10. The left-right direction is the left-right direction in fig. 10. The left direction is the left direction in fig. 10, and the right direction is the right direction in fig. 10.

Although not shown in detail, the clamp device 12 includes a clamp for grasping (holding) the slide fastener-equipped shade 1 and a moving device for moving the clamp. The moving device of the jig device 12 includes: a jig main body capable of holding and releasing the slide fastener-attached cloth 1; a motor as a power source that drives the clamp body; and a control circuit that controls rotation of the motor. The detector for detecting the rotation angle of the motor in the control circuit is an encoder, and functions as a length detector 14 for detecting the length of the longitudinal edge 3c of the slide fastener-attached shade cloth 1. Disposed between the clamp device 12 and the table 13 is a width detector 15.

The width detector 15 detects the presence or absence of the slide fastener-attached shade cloth 1. In the present embodiment, one width detector 15 is provided. More specifically, the width detector 15 is provided at a position lower than the upper surface of the table 13 using, for example, a reflection type detector. Thus, when the zipped drape 1 is moved to the table 13, the width detector 15 detects the presence or absence of the zipped drape 1.

The sewing machine 17 includes: a sewing machine presser foot (not shown) supported above the table 13 so as to be movable up and down, and pressing the slide fastener-attached shade 1 by cooperation with the table 13; a sewing needle (not shown) moving up and down; a conveying tooth (not shown) for conveying the cloth 1 of the belt fastener; and a cutter 17b which is arranged around the presser foot of the sewing machine in a plan view and cuts the cloth 1 with the zipper.

The conveyor 18 for the posture keeping device 16 is an articulated robot 18, in other words, a mechanical arm. The multi-joint robot 18 is known, and not shown in detail, but includes a plurality of arms and a plurality of joints connecting the arms to each other. The joint is a driving unit that enables the other arm to rotate or to move straight with respect to the one arm. The articulated robot 18 is connected to a posture holding device 16 at an arm corresponding to a distal end portion of the mechanical arm.

As shown in fig. 1 and 2, the posture keeping device 16 includes: a clamping device 21 for clamping the cloth 1 with the zipper by pressing the cloth 1 with the zipper against the table 13 and cooperating with the table 13; and a tape separating device 22 for separating one end of the tape 4 on the non-sewing side on the hemming side (the 1 st stop 7 side) from the cloth 3 on the upper side of the cloth 1 with the zipper before hemming on the table 13. Hereinafter, description will be made with reference to a state in which the cloth with zipper 1 is sandwiched.

The material clamping device 21 is described with reference to a state in which the inside of the edge of the slide fastener tape shade 1 is pressed. The material clamping device 21 includes: a transverse jig 24 for pressing the inner side of the transverse edge 3a of the cloth 1 with a zipper; a bending jig 25 pressing at least the inner side of the bending edge 3b of the edge of the zipped cloth shade 1; a vertical clamp group 26 whose operation of pressing the inner side of the vertical edge 3c at a plurality of positions is controlled; a connecting unit 27 for connecting the vertical clamp group 26, the horizontal clamp 24, and the bending clamp 25 to the conveyor 18 (the multi-joint robot 18); and an auxiliary jig 28 whose operation of pressing the inner side of the edge of the slide fastener-attached shade 1 between the transverse jig 24 and the bending jig 25 is controlled.

The connecting portion 27 includes: a 1 st connection unit 29 for connecting the conveyor 18 (the multi-joint robot 18) and the transverse jig 24; a 2 nd connecting portion 31 for connecting the vertical clamp group 26 and the bending clamp 25; and a traversing device 32 that moves the 2 nd coupling portion 31 in the left-right direction with respect to the 1 st coupling portion 29.

As shown in fig. 3, the 1 st connecting portion 29 includes: a 1 st impact alleviating unit 34 for alleviating an impact when the slide fastener-equipped cloth 1 is pressed against the table 13; a connecting portion 35 for the conveyor 18, which is connected to the 1 st impact relaxing portion 34 and to an arm of the conveyor 18 (the articulated robot 18); and a connecting portion 36 for the transverse jig 24, which is connected to the 1 st impact relaxing portion 34 and to the transverse jig 24.

The coupling unit 35 for the conveying device 18 includes: a lower connecting portion 38 connected to the upper surface of the 1 st impact relaxing portion 34; an upper connecting portion 39 connected to the conveyor 18; and a joint 41 that joins the lower connecting portion 38 and the upper connecting portion 39 between the upper and lower portions of the lower connecting portion 38 and the upper connecting portion 39.

The lower connecting portion 38 includes: an insertion portion 38a that penetrates in the up-down direction and into which the arm of the articulated robot 18 is inserted; and an extension portion 38b extending in a flange shape on the outer periphery of the insertion portion 38a and fixed to the upper surface of the 1 st impact mitigation portion 34.

The upper connecting portion 39 is formed in a C-shape penetrating in the up-down direction, and is configured to allow the arm of the articulated robot 18 to be inserted into the inner surface side in the aperture direction. The upper connecting portion 39 is provided with through holes 39a penetrating in opposite directions at both ends in the circumferential direction of the C-shape. The upper connecting portion 39 connects both ends of the C-shape in the circumferential direction with a screw pair by the through hole 39a, thereby narrowing the diameter of the C-shape and fastening the arm on the inner surface side in the diameter direction. The screw pair is a combination of the external screw thread 39b and an internal screw thread, not shown.

The 1 st impact reduction unit 34 includes: a top plate 43 and a base 44 which are vertically separated and opposed; a guide mechanism 45 that guides the top plate 43 so as to be movable relative to the base 44 in the up-down direction; and a compression coil spring 46 that is disposed between the top plate 43 and the base 44 and that maintains a space between the top plate 43 and the base 44.

The base 44 and the top plate 43 each have a thickness direction of up and down.

The base 44 is formed by turning left and right in a substantially L-shaped configuration in a plan view. That is, the base 44 includes: a vertical plate portion 44a extending in the front-rear direction; a cross plate portion 44b extending in the left-right direction; and a joining piece portion 44c joining the front end of the vertical plate portion 44a and the right end of the horizontal plate portion 44 b. The position on the left side of the left end of the horizontal plate portion 44b and the front side of the front end of the horizontal plate portion 44b is a position where the fastener-attached shade fabric 1 is pressed. The lower surface of the cross plate portion 44b is described together with details of the cross jig 24 to be discussed later.

As shown in fig. 3, the front-rear direction and the left-right direction of the top plate 43 are shorter than the front-rear direction and the left-right direction of the base 44. The top plate 43 is disposed so as to overlap the front portions of both the joint piece portion 44c and the lateral plate portion 44b and the rear portion of the vertical plate portion 44a in the front-rear direction and is disposed so as to overlap the right portion of the lateral plate portion 44b and the left portion of the vertical plate portion 44a in the left-right direction in a plan view.

The guide mechanism 45 includes: a rail post 45a which stands from a plurality of portions of the base 44 and penetrates the top plate 43; a guide block 45b which is in a cylindrical shape guided so as to be movable in the up-down direction along the column 45a and which protrudes downward from the top plate 43; and a stopper 45c that determines the furthest interval between the top plate 43 and the base 44 and protrudes in a flange shape from the outer periphery of the upper portion of the post 45 a. Incidentally, the top plate 43 and the guide block 45b are integral members. In addition, the fence 45a passes through the inner space of the compression coil spring 46 to position the compression coil spring 46.

The connecting portion 36 for the transverse jig 24 includes: a plurality of posts 36a fixed to the upper surface of the top plate 43; and a fixing plate 36b fixed to the upper surfaces of the posts 36 a. The fixing plate 36b extends forward from above the column 36a, and the transverse jig 24 is fixed to the lower surface of the front portion thereof.

The transverse jig 24 includes: a 2 nd impact alleviation portion 47 fixed to the fixing plate 36b; a lateral pressing portion 48 which is disposed so as to be spaced downward from the 2 nd impact relaxing portion 47 and presses the inner side of the lateral edge 3a of the slide fastener-attached cloth 1; and a space forming portion 49 that joins the 2 nd impact relaxing portion 47 and the lateral pressing portion 48, and forms a space portion for disposing a portion of the belt away from the device 22 between the 2 nd impact relaxing portion 47 and the lateral pressing portion 48.

The 2 nd impact reduction unit 47 includes: a cylinder device 51; a compression coil spring 52 that is fitted through a portion of the piston rod 51a of the cylinder device 51 that protrudes outward from the cylinder housing 51 b; and a bottom plate 53 fixed to a distal end portion (lower end portion) of the piston rod 51 a.

The cylinder device 51 is used to position and hold the compression coil spring 52 in cooperation with the bottom plate 53. In more detail, this is as follows. The piston rod 51a of the cylinder device 51 is held in a state protruding downward from the cylinder housing 51 b. Thus, a space is formed between the bottom plate 53 and the cylinder housing 51 b. A compression coil spring 52 is disposed in the space, and a piston rod 51a passes through the inside of the compression coil spring 52. That is, the piston rod 51a functions as a rod passing through the compression coil spring 52. The cylinder housing 51b functions as a guide member that guides the rod 51a serving as a rod so as to be unable to be separated and movable up and down. Further, the cylinder housing 51b and the bottom plate 53 function as upper and lower members that press the upper and lower sides of the compression coil spring 52. A space forming portion 49 is fixed below the piston rod 51a via a bottom plate 53.

The space forming section 49 includes: a top plate 49a fixed below the bottom plate 53 and disposed above the lateral pressing portion 48; and a plurality of hanging pins 49b which extend downward from a plurality of portions of the lower surface of the top plate 49a, and hang the lateral pressing portions 48. Further, the top plate 49a is a plate larger than the bottom plate 53.

The lateral pressing portion 48 is a plate extending in the front-rear direction. The rear portion of the lateral pressing portion 48 is located at the middle portion of the lateral plate portion 44b in the lateral direction and at a position further to the rear than the forefront end of the lateral plate portion 44 b. The front portion of the lateral pressing portion 48 is located on the front side of the front end of the lateral plate portion 44 b. The front portion of the lateral pressing portion 48 protrudes rightward from the rear portion of the lateral pressing portion 48. That is, the lateral pressing portion 48 has an L-shape. The L-shaped ends serve as fixing portions for the suspension pins 49 b.

The cross plate portion 44b includes a penetrating portion 44e penetrating in the vertical direction so that a suspension pin 49b fixed to the rear portion of the cross pressing portion 48 passes therethrough. The penetration portion 44e is formed in a portion corresponding to an upper portion of the rear portion of the lateral pressing portion 48. A forward hole 44f that opens forward is formed in the lower surface of the transverse plate portion 44b on the left side with respect to the through-hole 44e, and the slider 6 of the slide fastener 2 is disposed between the forward hole 44f and the table 13.

The front portion of the lower surface of the lateral pressing portion 48 is pressed against the cloth cover 1 with a zipper, and the front portion is projected downward from the rear portion. A front portion of the lower surface of the lateral pressing portion 48 (a portion pressed against the zipped cloth 1) is formed with irregularities so as to increase friction. The lateral pressing portion 48 is disposed on the front side with respect to the lateral plate portion 44 b. On the other hand, the 2 nd coupling portion 31 is disposed above the vertical plate portion 44 a.

The 2 nd coupling portion 31 is a sub-plate 31 facing upward of the base 44 as shown in fig. 4. The sub-plate 31 connects the traversing device 32, the bending jig 25, and the vertical jig group 26. Incidentally, the sub-plate 31 is connected to the traversing device 32 at its lower surface, to the bending jig 25 at its front surface, and to the vertical jig group 26 at the left side of its upper surface.

The bending jig 25 includes: a curved pressing portion 55 that presses from the inside of the curved side 3b to the inside of the longitudinal side 3c in the edge of the slide fastener-attached shade fabric 1; and a guide mechanism 56 for the bending jig 25, which connects the bending press section 55 and the sub-plate 31, and guides the bending press section 55 to be movable in the left-right direction with respect to the cross-plate section 44b of the base 44.

The guide mechanism 56 for the bending jig 25 includes: a 1 st lever 56a extending forward from the sub-plate 31; a 2 nd rod 56b extending leftward from the distal end portion of the 1 st rod 56 a; a fitting block 56c that is fitted to a left end portion, which is a distal end portion of the 2 nd lever 56b, on the horizontal plate portion 44b of the base 44 so as to be engaged in the up-down direction, and that extends from above the horizontal plate portion 44b to the left side of the left end of the horizontal plate portion 44 b; and front and rear guide blocks 56d, 56d which are fixed to the cross plate portion 44b in a state of supporting the fitting block 56c from front and rear, and guide the fitting block 56c so as to be movable to the left and right.

The fitting block 56c is located at a penetrating portion 44h formed by penetrating the horizontal plate portion 44b in the up-down direction, and the penetrating portion 44h is located at a middle portion of the horizontal plate portion 44b in the front-back direction and is opened from the left side surface to the left side.

A curved pressing portion 55 is fixed to the lower surface of the fitting block 56 c.

The curved pressing portion 55 is a plate extending in the front-rear direction. The curved pressing portion 55 is formed such that the left side thereof is linear parallel to the front-rear direction corresponding to the vertical side 3c in plan view, and the front side thereof is formed in a smoothly curved shape corresponding to the curved side 3b, in other words, is formed in an elliptical arc shape or an arc shape extending smoothly and continuously to the right side with respect to the front end of the left side. The vertical clamp group 26 is disposed on the rear side with respect to the curved pressing portion 55.

As shown in fig. 4 and 9, the vertical clamp group 26 includes: a plurality of vertical jigs 58 arranged in the longitudinal direction (the extending direction of the vertical side 3c, and also the front-rear direction) of the slide fastener-attached shade fabric 1; and an assembling portion 59 for assembling all the vertical jigs 58 in a state capable of operating individually.

The vertical clamp 58 includes: a vertical pressing portion 61 for controlling whether or not the inner side of the vertical edge 3c of the slide fastener-equipped shade 1 is pressed; a cylinder device 62 as an actuator for operating the vertical compression portion 61 in a direction inclined with respect to a direction of a load transmitted from the slide fastener-equipped shade fabric 1 to the vertical compression portion 61; a rod extension member 63 that connects the tip of the piston rod 62a of the cylinder device 62 and the vertical pressing portion 61 and extends in a direction in which the piston rod 62a is extended; and a guide mechanism 64 that guides the rod extension member 63 so as to be movable in the expansion and contraction direction of the piston rod 62 a.

The guide mechanism 64 is a tube, and has an inner surface corresponding to the outer peripheral surface of the rod extension member 63 (a shape slightly larger than the outer peripheral surface of the rod extension member 63) so that the penetrating direction of the tube coincides with the extending and contracting direction of the piston rod 62 a. More specifically, the guide mechanism 64 includes: a groove forming portion 65 having a groove 65a formed in an upper surface thereof for movably guiding the lever extension member 63; and a cover 66 fixed to the groove forming portion 65 in a state of covering the upper surface of the groove 65 a. The cover 66 is a part of a cover plate 67 extending in the front-rear direction. That is, the cover plate 67 is formed by continuously forming all the cover portions 66 in the front-rear direction. The groove forming portion 65 is also a part of the groove block 68 extending in the front-rear direction. That is, the groove block 68 is also formed by the groove forming portion 65 continuing in the front-rear direction. The assembly portion 59 is integral with the groove block 68.

The assembly portion 59 and the groove block 68 are a single plate 71, and more specifically, the plate 71 with a level difference. The upper surface of the plate 71 is formed in a shape protruding upward from the left side than the right side, and the lower surface of the plate 71 is formed in a flat surface. The lower surface portion of the plate 71 serves as the assembly portion 59, and is placed on the upper surface of the sub-plate 31. The left portion of the upper surface of the plate 71 serves as a groove 68, and all the rod extension members 63 are placed thereon. A cylinder housing 62b of the cylinder device 62 for the vertical clamp 58 is fixed to the right end surface of the plate 71.

The cylinder device 62 tilts the extension and contraction direction of the piston rod 62a with respect to the up-down direction. More specifically, the extension and contraction direction of the piston rod 62a is a left-right direction in a plan view, and is inclined with respect to the up-down direction in a front view (when viewed from the front-rear direction), and the extension direction of the piston rod 62a with respect to the cylinder housing 62b is a left-down direction. Coupled to the distal end of the piston rod 62a is a rod extension 63.

The rod extension member 63 has a fitting hole 63a provided at the right end of the upper surface to which the distal end of the piston rod 62a is fitted. The front-rear width of the left side of the fitting hole 63a is wider than the front-rear width of the right side, and the depth of the left side is deeper than the depth of the right side. The distal end portion of the piston rod 62a has a shape corresponding to the fitting hole 63a. Thus, when the piston rod 62a is moved in the expansion and contraction direction, the rod extension member 63 follows.

Further, a stopper 63c for determining the limit position of the extension direction of the piston rod 62a is fixed to the rod extension member 63. More specifically, the stopper 63c is fixed to the right side surface of the lever extension member 63, and protrudes from the right side surface in a state of being opposed to the right side surface of the groove block 68. When the piston rod 62a is moved in the extension direction, the stopper 63c contacts the groove block 68 at the limit position in the extension direction, and when the piston rod 62a is moved in the retraction direction, a gap is formed between the stopper 63c and the groove block 68.

The distal end portion (left end portion) of the lever extension member 63 protrudes leftward from the guide mechanism portion 64. The vertical pressing portion 61 is fixed to the lower surface of the distal end portion of the rod extension member 63.

The vertical pressing portion 61 is a plate extending in the front-rear direction. Further, the traversing device 32 moves the vertical clamp group 26 including all the vertical pressing portions 61 in the left-right direction.

The traverse device 32 includes: a guide mechanism 72 that guides the sub-plate 31 so as to be movable in the left-right direction on the base 44; and a cylinder device 73 as an actuator, which is coupled to the base 44 and the sub-plate 31, and moves the sub-plate 31 relative to the base 44.

The guide mechanism 72 includes: a guide rail 72a fixed to an upper surface of the vertical plate portion 44a of the base 44 and extending in the left-right direction; and a guide block 72b that moves along the guide rail 72a and is fixed to the lower surface of the sub-plate 31.

The traverse device 32 includes two coupling plates 74 and 75 in addition to the guide mechanism 72 and the cylinder device 73. The first connecting plate 74 is a plate connecting the cylinder housing 73a of the cylinder device 73 and the base 44, and is fixed to the base 44 in a state of standing on the right side of the upper surface of the vertical plate portion 44a, and is fixed to the lower portion of the left end surface of the cylinder housing 73 a. The second connecting plate 75 is a plate connecting the sub-plate 31 and the piston rod 73b of the cylinder device 73, and has a lower portion fixed to the right end surface of the sub-plate 31 and an upper portion fixed to the distal end portion of the piston rod 73 b.

The clamping device 21 is in a state of pressing a wide variety of zipped cloth 1 when the traversing device 32 relatively approaches the vertical clamp group 26 and the bending clamp 25 to the horizontal clamp 24, and is in a state of pressing a wide variety of zipped cloth 1 when the traversing device 32 relatively separates the vertical clamp group 26 and the bending clamp 25 to the horizontal clamp 24. In the case of pressing a wide variety of the slide fastener-attached shade 1, the auxiliary jig 28 is used as shown in fig. 5.

The auxiliary jig 28 includes: an auxiliary pressing portion 77, which controls whether the inner side of the edge of the cloth 1 with the zipper is pressed; a cylinder device 78 as an actuator for operating the auxiliary pressing portion 77 in a direction inclined with respect to a direction (up-down direction) of a load transmitted from the slide fastener-provided shade fabric 1 to the auxiliary pressing portion 77; a connecting rod 79 connecting the piston rod 78a of the cylinder device 78 and the auxiliary pressing portion 77; and a guide mechanism 81 that guides the connecting rod 79 so as to be movable in the expansion and contraction direction of the piston rod 78 a. The auxiliary jig 28 further includes a fixing plate 82 for fixing the cylinder housing 78b of the cylinder device 78 to the upper surface of the cross plate portion 44b in a state separated from the cross plate portion 44 b.

The fixing plate 82 is fixed to the rear side of the upper surface of the cross plate portion 44b so as to stand upright with respect to the cross plate portion 44b, and is fixed with respect to the cylinder housing 78 b. The cylinder housing 78b is fixed in a state in which the extension and contraction direction of the piston rod 78a is inclined with respect to the up-down direction. The extension and contraction direction of the piston rod 78a is a front-rear direction in plan view.

The connecting rod 79 includes: a 1 st connection rod 79a connected to the tip end of the piston rod 78a and extending in the extending direction of the piston rod 78 a; a 2 nd connecting rod 79b connected to the tip of the 1 st connecting rod 79a and extending leftward with respect to the 1 st connecting rod 79 a; and a 3 rd connection rod 79c connected to the tip end of the 2 nd connection rod 79b and extending from the 2 nd connection rod 79b in a direction (obliquely downward direction) away from the 1 st connection rod 79a in the expansion and contraction direction of the piston rod 78 a.

The 3 rd connecting rod 79c is also a guide rail guided by the guide mechanism 81. The 3 rd connecting rod 79c as a guide rail includes: a rod main body 79d extending in the expansion and contraction direction of the piston rod 78 a; and a rail portion 79e protruding from at least one of the left and right side surfaces of the rod main body 79d and extending in the expansion and contraction direction of the piston rod 78 a.

The guide mechanism 81 is a block having a through hole 81h formed therein for movably guiding the 3 rd connecting rod 79 c. The block of the guide mechanism 81 is formed as follows: the penetrating direction of the penetrating hole 81h is aligned with the moving direction of the 3 rd connecting rod 79c (the extending and contracting direction of the piston rod 78 a), and the inner surface of the penetrating hole 81h is aligned with the outer peripheral surface of the 3 rd connecting rod 79c (a shape slightly larger than the outer peripheral surface of the 3 rd connecting rod 79 c).

More specifically, the block of the guide mechanism 81 is composed of left and right guide blocks 81a and 81 b. The left and right guide blocks 81a, 81b are fixed to the left end portion of the front surface of the cross plate portion 44 b. Grooves (not shown) for guiding the rail portions 79e of the 3 rd coupling rod 79c are formed in the left and right opposite side surfaces of the left and right guide blocks 81a and 81 b.

An auxiliary pressing portion 77 is integrally formed at the distal end portion (lower end portion) of the 3 rd connecting rod 79c guided by the guide mechanism portion 81. That is, in the present embodiment, the 3 rd connecting rod 79c and the auxiliary pressing portion 77 are a rod-shaped integral member. Then, as the 3 rd connecting rod 79c moves downward, the lower end of the auxiliary pressing portion 77 protrudes downward from the guide mechanism 81, and the auxiliary pressing portion 77 presses the inner side of the edge of the slide fastener tape shade 1.

In the case of the narrow type of cloth 1 with a slide fastener, the auxiliary pressing portion 77 is disposed at a position above the sewing-side belt 4 in a state where the piston rod 78a of the cylinder 78 is contracted as shown in fig. 5 (B) and 8 (a). On the other hand, in the case of the wide type of cloth 1 with a slide fastener, as shown in fig. 5C and 8B, the piston rod 78a is extended, and the sewing-side belt 4 is pressed against the table 13 (see fig. 1). In the case where the clamping device 21 presses the wide type of cloth 1 with a slide fastener, as shown in fig. 8 (B), the auxiliary pressing portions 77, the lateral pressing portions 48, the bending pressing portions 55, and the vertical pressing portions 61 are arranged so as to follow the shape of the edge of the cloth 1 with a slide fastener. Further, the lateral pressing portion 48, the bending pressing portion 55, and the edge portion of the lower surface of the longitudinal pressing portion 61 (the portion along the edge of the slide fastener-attached shade fabric 1) are formed with irregularities for preventing slipping.

As shown in fig. 2, the belt distance device 22 is fixed to the base 44 of the clamping device 21 including the auxiliary clamp 28, the vertical clamp group 26, the bending clamp 25, and the horizontal clamp 24.

As shown in fig. 6 and 7, the belt distance device 22 includes: an insertion sheet 84 interposed between the cloth 3 and the belt 4; a cylinder device 85 as an actuator that moves the insertion piece 84 in the left-right direction; a rod connecting portion 86 connecting the piston rod 85a of the cylinder device 85 and the insertion piece 84; a guide mechanism 87 that guides the rod coupling portion 86 so as to be movable in the expansion and contraction direction of the piston rod 85 a; and a rotation mechanism 88 for rotating the insertion piece 84 by a predetermined angle to lift the non-sewing side belt 4. The belt is further provided with a spacer 89a for fixing the cylinder housing 85b of the cylinder device 85 to the cross plate 44b of the base 44, in addition to the belt separating device 22.

The cylinder device 85 sets the extension and contraction direction of the piston rod 85a to the left and right directions, sets the extension direction of the piston rod 85a to the direction away from the belt 4 (right direction), and sets the contraction direction of the piston rod 85a to the direction approaching the belt 4 (left direction). The cylinder case 85b is fixed to the spacer 89a. The spacer 89a is a part of a single plate 89 (hereinafter referred to as "spacer 89"), and is a rear side part. The front portion of the spacer 89 is projected forward from the cross plate portion 44b, and constitutes a part of the guide mechanism 87, which will be described in detail later.

The guide mechanism 87 is a tube, and has a shape (a shape slightly larger than the outer peripheral surface of the rod coupling portion 86) such that the penetrating direction of the tube coincides with the left-right direction and such that the inner surface of the tube corresponds to the outer peripheral surface of the rod coupling portion 86. The guide mechanism 87 is disposed on the front side with respect to the cross plate 44 b. Specifically, the guide mechanism 87 includes: a front side portion of the partition 89; and a lower plate 87a fixed to a lower surface of a front side portion of the partition 89 in a state of abutting against a front surface of the diaphragm portion 44 b.

The front side portion of the partition 89 and the lower plate 87a are in close contact at both end portions in the front-rear direction in the up-down direction, and are separated at the intermediate portion in the front-rear direction. The divided portion becomes a space portion of the cylinder of the guide mechanism portion 87. More specifically, the front portion of the partition 89 has a downward groove 89c penetrating in the left-right direction and opening downward toward the lower plate 87a at the middle portion in the front-rear direction. The lower plate 87a is fixed to the front side portion of the partition 89 in a state of blocking the opening of the downward groove 89c, whereby the guide mechanism 87 is formed in a cylindrical shape. The lever coupling portion 86 is inserted through the guide mechanism portion 87 so as to be movable laterally.

The lever connecting portion 86 includes: a fixing plate 86a fixed to the tip of the piston rod 85 a; and a connecting rod 86b that connects the fixing plate 86a and the insertion piece 84 and is guided by the guide mechanism 87.

The fixing plate 86a has a left-right direction as a thickness direction. A distal end of the piston rod 85a is fixed to a rear portion of the fixing plate 86a, and a connecting rod 86b is fixed to a lower surface of a front portion of the fixing plate 86 a.

The connecting rod 86b includes: a rod main body 86c extending in the left-right direction; and a pair of arm pieces 86d, 86d protruding from the left end of the rod body 86c in the front-rear left direction. A receiving space for receiving an upper portion of the insertion piece 84 is formed between the pair of arm pieces 86d, 86d (left side of the connecting rod 86 b).

The insert 84 includes: an upper piece portion 84a which is housed between the pair of arm pieces 86d, 86d and is rotatably supported; a middle piece 84b extending forward from a lower end of the upper piece 84 a; and a lower piece 84c extending obliquely downward and leftward from the front end of the middle piece 84 b.

The middle piece 84b is placed on the lateral pressing portion 48. As shown in fig. 1 and 3, the portion of the lateral pressing portion 48 on which the middle piece portion 84b is placed is a stepped lower concave portion 48a.

The lower piece 84c is accommodated in the slit 48b formed in the lateral pressing portion 48 except for the distal end portion. The slit 48b is formed to penetrate the lateral pressing portion 48 in the vertical direction and to open to the left. The tip end portion of the lower sheet portion 84c protrudes leftward from the slit 48b (lateral pressing portion 48) and is inserted between the non-sewing side belt 4 and the cloth 3.

As shown in fig. 6 and 7, the upper portion of the upper piece 84a protrudes upward from the pair of arm pieces 86d and 86 d. The rotation mechanism 88 rotates the insertion piece 84 by a predetermined angle by the upper portion of the upper piece 84 a.

The rotation mechanism 88 includes: a shaft 91 that is provided to the pair of arm pieces 86d, 86d so as to penetrate the upper piece portion 84a of the insertion piece 84, and rotatably supports the insertion piece 84; a counter block 92 fixed to the upper surface of the tip end portion (left end portion) of the rod main body 86c of the connecting rod 86b in a state of being opposed to the upper portion of the upper piece portion 84a on the right side; a compression coil spring 93 housed in a contracted state between the opposing block 92 and the upper piece 84 a; a press-in portion 94 fixed to an upper surface of a front side portion of the separator 89 and pressing in the upper piece portion 84a against an elastic force of the compression coil spring 93; and a restriction portion 95 that restricts the rotation of the insertion piece 84 toward the table 13 against the elastic force of the compression coil spring 93, and is fixed to the lower surface of the tip end portion of the rod main body 86c of the connecting rod 86 b.

A hole 92a is formed in the left surface of the opposing block 92, and the compression coil spring 93 is partially accommodated in the hole 92a.

The press-fit portion 94 includes: a rod-shaped portion 94a extending in the left-right direction in a state of covering the front side portion of the upper surface of the partition 89, the opposing block 92, and the upper side of the insertion piece 84; a fixing portion 94b extending downward from the right end portion of the rod portion 94a and fixed to the upper surface of the partition 89; and a touching piece 94c extending downward from the left end portion of the rod-shaped portion 94a and for touching the upper portion of the upper piece 84 a.

The contact 94c is separated from the upper piece portion 84a of the insertion piece 84 in the leftward direction in a state where the piston rod 85a of the cylinder device 85 is extended, and presses the upper piece portion 84a of the insertion piece 84 in the rightward direction in a state where the piston rod 85a is contracted.

Controlling the various means described above is a control means 19. The control device 19 controls the hemming device in the following order of 1) to 8).

1) First, the control device 19 drives a conveying device for the elongated object 1A, not shown. The conveyor conveys the elongated object 1A in the longitudinal direction thereof so that the elongated object 1A faces the table 13.

2) Subsequently, the control device 19 drives the cutter device 11. The cutter device 11 cuts the longitudinal object 1A between the adjacent zipped cloths 1, 1.

3) Next, the control device 19 drives the clamp device 12. The gripper device 12 moves while grasping the cloth 1 with a zipper separated by the cutter device 11, and places the cloth 1 with a zipper on the table 13. Specifically, the jig device 12 places the slide fastener-equipped shade cloth 1 on the rear portion of the plate portion 13a extending in the front-rear direction in the table 13.

3-1) at this time, the posture maintaining device 16 stands by at a position (initial position) which is laterally of the rear part of the table 13 and is separated from the table 13. The control device 19 calculates the length of the slide fastener-equipped shade 1 based on the detection result of the encoder (length detector 14) of the clamp device 12, and controls the cylinder device 62 of the vertical clamp 58 of the vertical clamp group 26 based on the calculation result, thereby controlling whether or not to move the position of the vertical pressing portion 61 to the position where the slide fastener-equipped shade 1 is pressed. That is, when the length of the cloth with a fastener 1 is a length that can sufficiently press the inner side of the longitudinal side 3c of the cloth with a fastener 1 by only the bending jig 25, the control device 19 controls the cylinder device 62 of the longitudinal jig 58 so that all the longitudinal pressing portions 61 of the longitudinal jig 58 are arranged at the standby position. On the other hand, when the length of the cloth with a fastener 1 is a length at which the inner side of the longitudinal side 3c of the cloth with a fastener 1 cannot be sufficiently pressed by the bending jig 25 alone, the control device 19 controls the cylinder device 62 of the longitudinal jig 58 so as to place the vertical pressing portion 61 required in all the longitudinal jigs 58 at the operating position.

3-2) when the zipped cloth 1 is moved toward the table 13, the width detector 15 on the upstream side of the table 13 detects the presence or absence of the zipped cloth 1. When the width detector 15 detects the cloth 1 with a zipper, the control device 19 determines that the cloth 1 with a zipper is wide, controls the cylinder device 73 of the traversing device 32 of the clamping device 21 so that the vertical clamp group 26 and the bending clamp 25 are arranged at wide positions, and controls the cylinder device 78 of the auxiliary clamp 28 so that the auxiliary pressing portion 77 of the auxiliary clamp 28 is arranged at an operating position. When the width detector 15 does not detect the cloth with a zipper 1, the control device 19 determines that the cloth with a zipper 1 is of a narrow width, controls the cylinder device 73 of the traversing device 32 of the gripper device 21 so that the vertical clamp group 26 and the bending clamp 25 are arranged at the narrow position, and controls the cylinder device 78 of the auxiliary clamp 28 so that the auxiliary pressing portion 77 of the auxiliary clamp 28 is arranged at the standby position.

In this way, the control device 19 controls the cylinder device 73 of the traverse device 32 based on the detection result of the width detector 15, thereby controlling the position (the position in the lateral direction) of the 2 nd coupling portion 31 with respect to the 1 st coupling portion 29, and further controlling the operation of the vertical clamp 58, and further controlling the operation of the cylinder device 78 of the auxiliary clamp 28, that is, the auxiliary clamp 28 based on the detection result of the width detector 15.

4) Next, the control device 19 drives the multi-joint robot 18. The multi-joint robot 18 moves the posture keeping device 16 down after moving onto the zipped cloth 1, whereby the gripping device 21 of the posture keeping device 16 presses the inner side of the edge of the zipped cloth 1 against the table 13, and the gripping device 21 and the table 13 cooperate to grip the zipped cloth 1. At least the lateral pressing portion 48 and the bending pressing portion 55 press the inner side of the edge of the slide fastener-attached shade cloth 1 against the table 13. At this time, the insertion piece 84 of the tape separator 22 of the posture keeping device 16 is placed on the cloth 3 of the slide fastener-attached cloth 1 at a position laterally (right side in fig. 7 a) with respect to the non-sewing-side tape 4, that is, at a standby position. The restricting portion 95 is brought into contact with the lower piece portion 84c of the insert piece 84, and restricts the insert piece 84 from rotating by the restoring force of the compression coil spring 93.

5) Next, the control device 19 drives the cylinder device 85 with the belt away from the device 22, causing the piston rod 85a to retract. Thus, as shown in fig. 7 (B), the lower sheet portion 84c of the insertion sheet 84 is inserted between the cloth 3 and the non-sewn side belt 4. When the piston rod 85a is further contracted, as shown in fig. 7 (C), the contact piece 94C contacts the upper piece portion 84a of the insertion piece 84 and is pushed in rightward, and the insertion piece 84 is rotated by an angle corresponding to the pushed-in amount, so that the non-sewing side tape 4 is lifted up, and the inside of the edge of the cloth 1 with a slide fastener can be sewn by the sewing machine 17.

6) Next, the control device 19 drives the multi-joint robot 18 to convey the posture holding device 16 in a state of sandwiching the cloth 1 with a zipper before hemming toward the sewing machine 17, and thereafter, the control device 19 drives the multi-joint robot 18 to convey the edge portion of the cloth 1 with a zipper by the sewing machine 17 in order of the lateral side 3a, the curved side 3b, and the longitudinal side 3c while driving the sewing machine 17. More specifically, the conveyance is continuously performed by a before-hemming conveyance in which the posture keeping device 16 is conveyed straight toward the sewing machine 17, and by a hemming conveyance in which the posture keeping device 16 is conveyed in accordance with the shape of the edge of the slide fastener-attached shade 1. In addition, the conveyance corresponding to the shape of the curved edge 3b in the hemming conveyance is conveyance in which a rotation direction of a substantially semicircle is depicted in a plan view.

The sewing machine 17 sews the lateral edge 3a before the conveyance in the rotation direction. During the conveyance in the rotation direction, the sewing machine 17 cuts the 1 corner of the cloth 3 together with the sewing-side belt 4 by the cutter 17b of the sewing machine 17, thereby forming a curved edge 3b, and hemming the cloth 3 together with the sewing-side belt 4 along the curved edge 3 b. After the conveyance in the rotation direction, the sewing machine 17 sews the vertical edge 3 c.

7) After hemming, the control device 19 stops the sewing machine 17, drives the multi-joint robot 18 to return the posture holding device 16 to the initial position, and drives the cylinder device 85 of the belt distance device 22 to return the insertion piece 84 to the standby position.

8) By repeating the steps 1) to 7), the hemming device continuously hemms the shade cloth 1 with the zipper.

The gripping system of the first embodiment is formed of the control device 19, the width detector 15, the length detector 14, and the gripping device 21 described above. Further, the clamping system according to the first embodiment detects the length of the cloth with a zipper 1 by the length detector 14, and controls the operation of the vertical clamp group 26 based on the detection result, so that the inner side of the edge (hemming portion) of the cloth with a zipper 1 can be pressed against the cloth with a zipper 1 of different lengths.

In the clamping system according to the first embodiment, since the clamping device 21 includes the vertical clamp group 26 (the plurality of vertical clamps 58), the inner side of the edge of the cloth 1 with a zipper can be pressed against a larger variety of cloth 1 with a zipper having different lengths than the case where the clamping device 21 includes one vertical clamp 58.

In the clamping system according to the first embodiment, since the bending jig 25 is used to clamp the region from the inside of the bending edge 3b to the inside of the longitudinal edge 3c of the edge of the cloth 1 with a slide fastener, the inside of the longitudinal edge 3c of the cloth 1 with a slide fastener can be clamped only by the bending jig 25 depending on the length of the longitudinal edge 3c of the cloth 1 with a slide fastener, and in the case where the inside of the longitudinal edge 3c of the cloth 1 with a slide fastener cannot be clamped only by the bending jig 25, the inside of the longitudinal edge 3c of the cloth 1 with a slide fastener can be clamped by the longitudinal jig 58 required in the longitudinal jig group 26. That is, the clamping system of the first embodiment can cope with a larger variety of zipped fly 1 having different lengths.

Further, since the nip system according to the first embodiment includes the width detector 15 and the coupling portion 27 includes the traversing device 32, the traversing device 32 can control the position of the 2 nd coupling portion 31 with respect to the 1 st coupling portion 29 of the coupling portion 27 in the width direction of the cloth with a zipper based on the detection result of the width detector 15, and thus can cope with the types (two kinds of cloth with a zipper 1) of different widths of the cloth with a zipper 1.

In addition, since the clamping system of the first embodiment is provided with the auxiliary clamp 28 between the transverse clamp 24 and the bending clamp 25, in the case of the wide cloth with a slide fastener 1, the inner side of the edge of the cloth with a slide fastener 1 can be more compressed than in the case of the cloth with a slide fastener having only the transverse clamp 24 and the bending clamp 25.

The present invention is not limited to the above-described embodiments, and can be appropriately modified within a range not departing from the gist thereof. The width detector 15 is used to detect the presence or absence of the cloth 1 with a zipper, that is, to detect the width of the cloth 1 with a zipper in two stages in the above embodiment, but the present invention is not limited to this, and may be a detector that actually detects the width of the cloth 1 with a zipper.

Claims (5)

1. A clamping system for a hemming device of a cloth shade with a zipper is characterized in that,

The material clamping system takes a shielding cloth (1) with a zipper as a sewing object, the shielding cloth (1) with the zipper is formed by superposing a zipper (2) on the upper side of the central part of the shielding cloth (3) in the width direction which is the direction parallel to a transverse edge (3 a), the length direction of the zipper (2) is parallel to a longitudinal edge (3 c) of the shielding cloth (3), the shielding cloth (3) is provided with an edge formed by the longitudinal edge (3 c), the transverse edge (3 a) and a bending edge (3 b), the longitudinal edge (3 c) and the transverse edge (3 a) are jointed by the bending edge (3 b), and the longitudinal edge (3 c) and the transverse edge (3 a) extend in the crossing direction,

the material clamping system comprises:

a material clamping device (21) which presses the cloth (1) with the zipper to a workbench (13) when the cloth (1) with the zipper is hemmed by a sewing machine (17), and is conveyed above the workbench (13) by a conveying device (18) in a state that the cloth (1) with the zipper is pressed;

a length detector (14) that detects the length of the zipped cloth (1) in a direction parallel to the longitudinal edge (3 c); and

A control device (19) for controlling the clamping device (21),

the material clamping device (21) is provided with: a transverse jig (24) for pressing the inner side of the transverse edge (3 a) of the zippered drape (1); a bending jig (25) for pressing the edge of the zippered drape (1) in a range from the inside of the bending edge (3 b) to the inside of the longitudinal edge (3 c); a vertical clamp (58) which controls whether the inner side of the vertical edge (3 c) of the cloth (1) with zipper is pressed or not; and a connecting section (27) for connecting the vertical clamp (58), the horizontal clamp (24), and the bending clamp (25) to the conveying device (18),

whether the longitudinal clamp (58) presses the inner side of the longitudinal edge (3 c) is controlled based on the length of the cloth (1) with the zipper, wherein the length of the cloth (1) with the zipper is obtained based on the detection result of the length detector (14).

2. The clamping system for hemming device of a zippered drape of claim 1, wherein,

the material clamping device (21) is provided with a plurality of vertical clamps (58) which are arranged in the length direction of the shielding cloth (1) with the zipper.

3. A material clamping system for a hemming device of a zippered drape as claimed in claim 1 or 2, wherein,

the clamping system is provided with a width detector (15) for detecting the width of the shielding cloth (1) with the zipper,

the connection unit (27) is provided with: a 1 st connection unit (29) that connects the transport device (18) and the transverse jig (24); a 2 nd connecting portion (31) that connects the vertical clamp (58) and the bending clamp (25); and a traversing device (32) for moving the 2 nd connecting part (31) relative to the 1 st connecting part (29) in the width direction of the cloth (1) with the zipper,

the traversing device (32) controls the position of the 2 nd connecting portion (31) relative to the 1 st connecting portion (29) based on the detection result of the width detector (15).

4. A material clamping system for a hemming device of a zippered drape as claimed in claim 1 or 2, wherein,

the clamping system is provided with a width detector (15) for detecting the width of the shielding cloth (1) with the zipper,

the clamping device (21) is provided with an auxiliary clamp (28) between the transverse clamp (24) and the bending clamp (25), whether the auxiliary clamp (28) presses the inner side of the edge of the cloth (1) with the zipper or not is controlled,

The operation of the auxiliary jig (28) is controlled based on the detection result of the width detector (15).

5. A material clamping system for a hemming device of a zippered drape as claimed in claim 3, wherein,

the clamping device (21) is provided with an auxiliary clamp (28) between the transverse clamp (24) and the bending clamp (25), whether the auxiliary clamp (28) presses the inner side of the edge of the cloth (1) with the zipper or not is controlled,

the operation of the auxiliary jig (28) is controlled based on the detection result of the width detector (15).

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