EP0093624B1 - Gripper for textile sheets or the like - Google Patents

Gripper for textile sheets or the like Download PDF

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Publication number
EP0093624B1
EP0093624B1 EP83400351A EP83400351A EP0093624B1 EP 0093624 B1 EP0093624 B1 EP 0093624B1 EP 83400351 A EP83400351 A EP 83400351A EP 83400351 A EP83400351 A EP 83400351A EP 0093624 B1 EP0093624 B1 EP 0093624B1
Authority
EP
European Patent Office
Prior art keywords
gripper
secured
station
hand
jack
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP83400351A
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German (de)
French (fr)
Other versions
EP0093624A1 (en
Inventor
Jacques Fort
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Les Applications Industrielles Vosgiennes Ste
Original Assignee
"les Applications Industrielles Vosgiennes" Par Abreviation "sapivog" Ste
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by "les Applications Industrielles Vosgiennes" Par Abreviation "sapivog" Ste filed Critical "les Applications Industrielles Vosgiennes" Par Abreviation "sapivog" Ste
Publication of EP0093624A1 publication Critical patent/EP0093624A1/en
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Publication of EP0093624B1 publication Critical patent/EP0093624B1/en
Expired legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
    • A41H43/00—Other methods, machines or appliances
    • A41H43/02—Handling garment parts or blanks, e.g. feeding, piling, separating or reversing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles

Definitions

  • the invention relates to a gripper which is particularly applicable to a destacking device and capable of removing tablecloth after tablecloth from a textile mattress or the like obtained for example by cutting with a saw.
  • the latter mainly describes a device based on the well-known principle of picking up by roller, sheet by sheet, the ream of paper of a duplicator.
  • the device in question offers no unitary grip security by the fact that each time the jaws are brought together, the movable jaw and the presser of which it is integral move not only the ply to be taken but also the plies immediately placed below.
  • the present invention relates to a gripper gripper device which does not have the drawbacks of those which have just been analyzed, while being of a simple and inexpensive construction.
  • This gripper for textile machine comprises a gripper and means for opening and closing this gripper.
  • Said clamp comprises a fixed central part provided laterally and on each side with an elastic part, two branches crossing to form the gripping spout, each of the branches, integral with the central part (PC) via the elastic part being provided with a button.
  • the opening-closing means consist of two fingers (one per branch) movable vertically and being able to come periodically, in their low position, to apply to said keys in order to deform the elastic parts and modify the crossing of the constituent parts of the spout.
  • the present invention also relates to an installation for transferring and feeding a work station of a textile machine, comprising a gripper as defined above, characterized in that the fixed plate of the gripper is integral with a horizontally movable carriage, integral with the rod of a fixed jack, said carriage transferring the ply withdrawn by the spout, from the sampling station to the processing station before returning to its initial position at said sampling station.
  • the PH gripper comprises a vertically fixed part constituted by the fixed plate PF of which is integral, on the one hand a jack VR1 and on the other hand by means of spacers such as AND a second plate fixed PFS.
  • this central part PC is extended by an elastic part PE of one of the branches B1 (or B2) which intersect to form the gripping beak BC.
  • T1 (or T2) key, the use of which will be described later.
  • two fingers (D1-D2) are used, carried by a movable plate (Pm) secured to the piston rod of the cylinder VR1.
  • Pm movable plate
  • the movable stage is guided by fixed rods GD sliding in the bushings FR of this stage (fig. 2).
  • These fingers D1 and D2 are adjustable in height thanks to a threaded part screwing into the plate TM.
  • This height adjustment is very important because it allows you to carefully adjust the action of the fingers D1-D2 on the keys T1-T2 and hence the degree of opening of the spout, opening which must be appropriate to the nature of the textile to be sampled.
  • the gripper which has just been described is incorporated in a destacker device itself included in an installation for feeding a textile machine, for example a sewing machine.
  • the fixed plate PF (fig. 5) is part of a carriage CH sliding on a rail R and being able to be moved from a destacking station PD to a treatment station PT by means of a jack VR3 of which the rod is integral of the CH trolley.
  • the unstacking station is completed by a movable table TMA on which the MA mattress is placed, consisting of a stack of sheets, for example cut simultaneously.
  • This table is integral with the end of the rod of a cylinder VR2 fixed to the frame BF.
  • This TMA table is integral with TMG guides sliding in BD sockets fixed on the BF frame. At each operation, this cylinder VR2 presents the upper ply of the mattress MA to the beak BC of the clamp so that the latter grasps it as has just been said.
  • the jack VR2 can lower the table TMA while the carriage CH moved by the jack VR3 transfers the piece entered from the unstacking station PD to the processing station PT symbolically represented by the table TP.
  • the BC spout opens, abandons the seized tablecloth.
  • the carriage then returns to its initial position.
  • the gripper which has just been described is particularly reliable because of the adjustment means which it is provided with, which allow, inter alia, to place the open BC spout (FIG. 3) flush with the upper ply without significant pressure on it.
  • the setting is made under the effect of the slight pressure due to the elastic branches B1 and B2 which change orientation when T1 and T2 go up.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Treatment Of Fiber Materials (AREA)

Description

L'invention se rapporte à un préhenseur particulièrement applicable à un dispositif dépileur et susceptible de prélever nappe après nappe dans un matelas textile ou similaire obtenu par exemple par découpage à la scie.The invention relates to a gripper which is particularly applicable to a destacking device and capable of removing tablecloth after tablecloth from a textile mattress or the like obtained for example by cutting with a saw.

Dans le même but, on a déjà proposé diverses solutions : mécaniques comme dans le GB-A-1414899, électriques comme dans le BE-A-672325, pneumatiques comme dans l'US-A-3 588 091 ou dans une variante du brevet anglais précité.For the same purpose, various solutions have already been proposed: mechanical as in GB-A-1414899, electric as in BE-A-672325, pneumatic as in US-A-3 588 091 or in a variant of the patent cited above.

Ce dernier décrit principalement un dispositif basé sur le principe bien connu du prélèvement par galet, feuille par feuille de la rame de papier d'un duplicateur.The latter mainly describes a device based on the well-known principle of picking up by roller, sheet by sheet, the ream of paper of a duplicator.

Si pour un papier, matériau ayant une certaine « tenue dans le plan de la feuille, il n'y a qu'un fonctionnement accidentellement défectueux, il n'en est pas de même si le système est utilisé pour déplacer un matériau mou comme un tissu.If for a paper, a material having a certain "hold in the plane of the sheet, there is only an accidentally faulty operation, it is not the same if the system is used to move a soft material such as a tissue.

Le brevet belge précité décrit un préhenseur à deux mors, dont l'un se déplace parallèlement à l'autre sous l'effet d'un électro-aimant.The aforementioned Belgian patent describes a gripper with two jaws, one of which moves parallel to the other under the effect of an electromagnet.

Le dispositif en cause n'offre aucune sécurité de prise unitaire par le fait qu'à chaque rapprochement des mors, le mors mobile et le presseur duquel il est solidaire déplacent non seulement la nappe à prélever mais aussi les nappes immédiatement placées au-dessous.The device in question offers no unitary grip security by the fact that each time the jaws are brought together, the movable jaw and the presser of which it is integral move not only the ply to be taken but also the plies immediately placed below.

La présente invention se rapporte à un dispositif préhenseur à pince qui ne présente pas les inconvénients de ceux qui viennent d'être analysés, tout en étant d'une construction simple et peu coûteuse.The present invention relates to a gripper gripper device which does not have the drawbacks of those which have just been analyzed, while being of a simple and inexpensive construction.

Ce préhenseur pour machine textile comporte une pince de préhension et des moyens pour ouvrir et fermer cette pince. Ladite pince comprend une pièce centrale fixe pourvue latéralement et de chaque côté d'une partie élastique, deux branches se croisant pour constituer le bec de préhension, chacune des branches, solidaire de la partie centrale (PC) par l'intermédiaire de la partie élastique étant pourvue d'une touche.This gripper for textile machine comprises a gripper and means for opening and closing this gripper. Said clamp comprises a fixed central part provided laterally and on each side with an elastic part, two branches crossing to form the gripping spout, each of the branches, integral with the central part (PC) via the elastic part being provided with a button.

Les moyens d'ouverture-fermeture sont constitués par deux doigts (un par branche) mobiles verticalement et pouvant venir périodiquement, dans leur position basse, appliquer sur lesdites touches en vue de déformer les parties élastiques et modifier le croisement des parties constitutives du bec.The opening-closing means consist of two fingers (one per branch) movable vertically and being able to come periodically, in their low position, to apply to said keys in order to deform the elastic parts and modify the crossing of the constituent parts of the spout.

La présente invention a également pour objet une installation de transfert et d'alimentation d'un poste de travail d'une machine textile, comportant un préhenseur tel que ci-dessus défini, caractérisée en ce que la platine fixe du préhenseur est solidaire d'un chariot mobile horizontalement, solidaire de la tige d'un vérin fixe, ledit chariot transférant la nappe prélevée par le bec, du poste de prélèvement au poste de traitement avant de revenir à sa position initiale audit poste de prélèvement.The present invention also relates to an installation for transferring and feeding a work station of a textile machine, comprising a gripper as defined above, characterized in that the fixed plate of the gripper is integral with a horizontally movable carriage, integral with the rod of a fixed jack, said carriage transferring the ply withdrawn by the spout, from the sampling station to the processing station before returning to its initial position at said sampling station.

D'autres particularités et avantages apparaîtront à la lecture de la description et des revendications qui suivent, faites en regard des dessins sur lesquels :

  • la figure 1 représente, en élévation, le préhenseur objet de l'invention en position fermé ;
  • la figure 2 est une vue de profil correspondant à la figure 1 ;
  • les figures 3 et 4 sont des vues schématiques montrant les deux autres positions des branches formant le bec de préhension ;
  • la figure 5 est une vue d'ensemble d'une installation comportant un dispositif dépileur utilisant le préhenseur visible aux figures précédentes.
Other features and advantages will appear on reading the description and the claims which follow, made with reference to the drawings in which:
  • Figure 1 shows, in elevation, the gripper object of the invention in the closed position;
  • Figure 2 is a side view corresponding to Figure 1;
  • Figures 3 and 4 are schematic views showing the other two positions of the branches forming the gripping spout;
  • Figure 5 is an overview of an installation comprising a destacker using the gripper visible in the previous figures.

Comme on le voit sur ces figures, le préhenseur PH comporte une partie fixe verticalement constituée par la platine fixe PF de laquelle est solidaire, d'une part un vérin VR1 et d'autre part au moyen d'entretoises telles que ET une seconde platine fixe PFS.As can be seen in these figures, the PH gripper comprises a vertically fixed part constituted by the fixed plate PF of which is integral, on the one hand a jack VR1 and on the other hand by means of spacers such as AND a second plate fixed PFS.

Contre cette seconde platine fixe PFS est fixée la partie centrale PC de la pince P.Against this second fixed plate PFS is fixed the central part PC of the clamp P.

De chaque côté, cette partie centrale PC se prolonge par une partie élastique PE de l'une des branches B1 (ou B2) qui se croisent pour former le bec BC de préhension.On each side, this central part PC is extended by an elastic part PE of one of the branches B1 (or B2) which intersect to form the gripping beak BC.

Chaque branche est pourvue d'une touche T1 (ou T2) dont l'usage sera décrit plus loin.Each branch is provided with a T1 (or T2) key, the use of which will be described later.

Avantageusement, la pince est constituée en cinq pièces - un fil d'acier trempé constituant les parties PC-PE = un second fil d'acier replié en fourche à extrémités repliées (B1) un troisième fil aussi en acier se terminant par un crochet et deux dominos assemblant entre eux, deux à deux, les fils précités, ces dominos constituant en outre les touches T1 et T2.Advantageously, the clamp is made up of five parts - a hardened steel wire constituting the PC-PE parts = a second steel wire folded in a fork with folded ends (B1) a third wire also in steel ending in a hook and two dominoes joining together, two by two, the above-mentioned wires, these dominoes further constituting the keys T1 and T2.

Il est aisé de comprendre que si la partie centrale PC est maintenue fixe et que l'on produit une poussée sur ces touches, le croisement des branches B1 et B2 en sera modifié, le bec BC va s'ouvrir (fig. 3) puis se refermer quand la pression diminue (fig. 4).It is easy to understand that if the central part PC is kept fixed and that a push is produced on these keys, the crossing of the branches B1 and B2 will be modified, the beak BC will open (fig. 3) then close when the pressure decreases (fig. 4).

Pour obtenir donc l'ouverture et la fermeture de la pince, on utilise deux doigts (D1-D2) portés par une platine mobile (Pm) solidaire de la tige du piston du vérin VR1. Pour diriger les doigts en direction des touches T1-T2, la platine mobile est guidée par tiges GD fixes coulissant dans les douilles-fourreaux FR de cette platine (fig. 2).To obtain therefore the opening and closing of the clamp, two fingers (D1-D2) are used, carried by a movable plate (Pm) secured to the piston rod of the cylinder VR1. To direct the fingers in the direction of the keys T1-T2, the movable stage is guided by fixed rods GD sliding in the bushings FR of this stage (fig. 2).

Ces doigts D1 et D2 sont réglables en hauteur grâce à une partie filetée vissant dans la platine TM.These fingers D1 and D2 are adjustable in height thanks to a threaded part screwing into the plate TM.

Ce réglage en hauteur est très important car il permet de régler minutieusement l'action des doigts D1-D2 sur les touches T1-T2 et partant le degré d'ouverture du bec, ouverture qui doit être appropriée à la nature du textile à prélever.This height adjustment is very important because it allows you to carefully adjust the action of the fingers D1-D2 on the keys T1-T2 and hence the degree of opening of the spout, opening which must be appropriate to the nature of the textile to be sampled.

Avantageusement, le préhenseur qui vient d'être décrit est incorporé dans un dispositif dépileur lui-même compris dans une installation d'alimentation d'une machine textile par exemple une machine à coudre.Advantageously, the gripper which has just been described is incorporated in a destacker device itself included in an installation for feeding a textile machine, for example a sewing machine.

Pour ce, la platine fixe PF (fig. 5) fait partie d'un chariot CH coulissant sur un rail R et pouvant être déplacé depuis un poste de dépilage PD à un poste de traitement PT grâce à un vérin VR3 dont la tige est solidaire du chariot CH.For this, the fixed plate PF (fig. 5) is part of a carriage CH sliding on a rail R and being able to be moved from a destacking station PD to a treatment station PT by means of a jack VR3 of which the rod is integral of the CH trolley.

Le poste de dépilage est complété par une table mobile TMA sur laquelle est disposé le matelas MA constituée par un empilage de nappes par exemple coupées simultanément.The unstacking station is completed by a movable table TMA on which the MA mattress is placed, consisting of a stack of sheets, for example cut simultaneously.

Cette table est solidaire de l'extrémité de la tige d'un vérin VR2 fixé au bâti BF.This table is integral with the end of the rod of a cylinder VR2 fixed to the frame BF.

Cette table TMA est solidaire de guides TMG coulissant dans des douilles BD fixées sur le bâti BF. A chaque opération, ce vérin VR2 présente la nappe supérieure du matelas MA au bec BC de la pince pour que celui-ci s'en saisisse comme il vient d'être dit.This TMA table is integral with TMG guides sliding in BD sockets fixed on the BF frame. At each operation, this cylinder VR2 presents the upper ply of the mattress MA to the beak BC of the clamp so that the latter grasps it as has just been said.

Après la prise, le vérin VR2 peut descendre la table TMA alors que le chariot CH déplacé par le vérin VR3 transfert la pièce saisie du poste de dépilage PD au poste de traitement PT symboliquement représenté par la table TP.After setting, the jack VR2 can lower the table TMA while the carriage CH moved by the jack VR3 transfers the piece entered from the unstacking station PD to the processing station PT symbolically represented by the table TP.

Le bec BC s'ouvre, abandonne la nappe saisie.The BC spout opens, abandons the seized tablecloth.

Le chariot revient alors à sa position initiale.The carriage then returns to its initial position.

Il faut remarquer que le préhenseur qui vient d'être décrit est particulièrement fiable du fait des moyens de réglage dont il est pourvu, qui permettent entr'autres, de placer le bec BC ouvert (fig. 3) à fleur de la nappe supérieure sans pression appréciable sur celle-ci. La prise se fait sous l'effet de la légère pression due aux branches élastiques B1 et B2 qui changent d'orientation quand T1 et T2 remontent.It should be noted that the gripper which has just been described is particularly reliable because of the adjustment means which it is provided with, which allow, inter alia, to place the open BC spout (FIG. 3) flush with the upper ply without significant pressure on it. The setting is made under the effect of the slight pressure due to the elastic branches B1 and B2 which change orientation when T1 and T2 go up.

Claims (5)

1. Gripper (PH) for a textile machine, comprising gripping tongs (P) and means of opening and closing these tongs, characterised in that, on the one hand, the said tongs (P) possess a fixed central piece (PC) provided laterally and on each side with an elastic part (PE), two arms (B1 and B2) intersecting to form the gripping jaw (BC), each of the arms, secured to the central part (PC) by means of the elastic part, being provided with a contact (T1-T2), and in that, on the other hand, these opening and closing means consist of two fingers (D1-D2) (one for each arm) which can move vertically and which, in their low position, can periodically come up against the said contacts (T1-T2) in order to deform the elastic parts (PE) and alter the point of intersection of the component parts of the jaw (BC).
2. Gripper according to Claim 1, characterised in that it incorporates a vertically fixed plate (PF), to which are secured on the one hand the central piece (PC) and on the other hand a jack (VR1).
3. Gripper according to one of the preceding Claims, characterised in that it incorporates a vertically movable plate (PM), to which are secured the end of the piston of this jack (VR1) and these fingers (D1-D2).
4. Gripper according to Claim 3, characterised in that the movement of the movable plate (PM) is guided by rods (GD) secured to the fixed plate (PF) and sliding in sleeves (FR) fastened to the movable plate (PM).
5. Transfer and supply installation for a work station (TP) of a textile machine, incorporating a gripper according to one of the preceding Claims, characterised in that the fixed plate (PF) of the gripper (PM) is secured to a horizontally movable carriage (CH) secured to the rod of a fixed jack (VR3), the said carriage transferring the sheet picked up by the jaw from the pick-up station (PD) to the processing station (PT), before returning to its initial position at the said pick-up station.
EP83400351A 1982-03-19 1983-02-21 Gripper for textile sheets or the like Expired EP0093624B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8204706 1982-03-19
FR8204706A FR2523560A1 (en) 1982-03-19 1982-03-19 PREHENSEUR FOR TEXTILE TABLECLOTH OR SIMILAR

Publications (2)

Publication Number Publication Date
EP0093624A1 EP0093624A1 (en) 1983-11-09
EP0093624B1 true EP0093624B1 (en) 1986-05-07

Family

ID=9272185

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83400351A Expired EP0093624B1 (en) 1982-03-19 1983-02-21 Gripper for textile sheets or the like

Country Status (5)

Country Link
US (1) US4526363A (en)
EP (1) EP0093624B1 (en)
JP (1) JPS58172135A (en)
DE (1) DE3363345D1 (en)
FR (1) FR2523560A1 (en)

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US4641827A (en) * 1983-06-02 1987-02-10 Richard R. Walton Fabric pickup and the like
US4892298A (en) * 1983-06-02 1990-01-09 Richard R. Walton Device and method for pickup of sheet-form flexible fabric or the like
FR2547801B2 (en) * 1983-06-24 1986-01-03 Vosgienne Applications Ind INSTALLATION FOR GRIPPING, TRANSFERRING AND TURNING A TEXTILE TABLECLOTH
FR2576295B1 (en) * 1985-01-22 1987-03-27 Vosgienne Applications Ind GRIPPER FOR TEXTILE OR THE LIKE TABLECLOTH
JPH0418996Y2 (en) * 1985-07-30 1992-04-28
JPS62175364A (en) * 1986-01-28 1987-08-01 Chikaharu Iwasaki Automatic fabric pick-up and conveying device
US4784381A (en) * 1987-05-18 1988-11-15 Union Special Corporation Cloth pickup device
JPH07100068B2 (en) * 1988-01-14 1995-11-01 ユニ・チャーム株式会社 Device for attaching elastic member to worn article
DE3929100A1 (en) * 1989-09-01 1991-03-14 Liba Maschf DEVICE FOR FEEDING A TIE INSERT TO THE SUPPORT TABLE FOR A TIE SEWING MACHINE
US5018715A (en) * 1989-09-19 1991-05-28 Red Kap Industries Fabric pickup device
US5248177A (en) * 1992-01-30 1993-09-28 Wrangler Fabric pickup device
US5465951A (en) * 1994-01-19 1995-11-14 Design Technology Corporation Fabric piece handling system
US5727487A (en) * 1995-10-02 1998-03-17 Design Technology Corporation Combining and binding conveyor system
US5806845A (en) * 1995-10-30 1998-09-15 Design Technology Corporation Fabric piece handling system
DK1040065T3 (en) * 1997-12-17 2002-07-08 Ferag Ag Clamp for holding flat objects
US8230794B1 (en) 2004-02-05 2012-07-31 James Haas Holding system and method for a workbench
US8047890B1 (en) 2004-02-05 2011-11-01 James Haas Toy construction set and method
US8142128B1 (en) 2004-02-05 2012-03-27 James Haas Anchor and method for anchoring
DE102013010437B4 (en) 2013-06-24 2023-08-24 M. Mohsen Saadat Modular needle gripper
WO2016070358A1 (en) * 2014-11-05 2016-05-12 安徽永成电子机械技术有限公司 Bionic bag opening device for automatic filling line
CN106894172B (en) * 2016-10-31 2021-01-12 张克强 Sewing machine fabric clamping device
CN109278062B (en) * 2018-08-31 2021-04-02 苏州柔触机器人科技有限公司 Fabric grabbing method and fabric unstacking method thereof

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US3253824A (en) * 1964-11-18 1966-05-31 L & L Mfg Inc Apparatus for separating pieces from a stack, and the like
US3588091A (en) * 1968-11-08 1971-06-28 Stone Mfg Co Apparatus and method for picking up and transporting cloth pieces from a stack
US3813094A (en) * 1972-06-06 1974-05-28 Usm Corp Mechanism for transfering flexible work pieces
GB1414899A (en) * 1973-01-17 1975-11-19 Bessmann H Method and machine for taking up and holding in readiness flat and flexible workpieces
JPS5150176A (en) * 1975-04-23 1976-05-01 Meinan Machinery Works BENYATANPANNOMOCHIAGEHOHO
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JPS602542A (en) * 1983-05-20 1985-01-08 Fuji Xerox Co Ltd Jam detecting device in paper conveying path

Also Published As

Publication number Publication date
DE3363345D1 (en) 1986-06-12
FR2523560A1 (en) 1983-09-23
FR2523560B1 (en) 1984-06-22
JPS58172135A (en) 1983-10-08
EP0093624A1 (en) 1983-11-09
US4526363A (en) 1985-07-02

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