EP0468578A1 - Werkstückführungsvorrichtung und automatisches Nähverfahren - Google Patents

Werkstückführungsvorrichtung und automatisches Nähverfahren Download PDF

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Publication number
EP0468578A1
EP0468578A1 EP91201871A EP91201871A EP0468578A1 EP 0468578 A1 EP0468578 A1 EP 0468578A1 EP 91201871 A EP91201871 A EP 91201871A EP 91201871 A EP91201871 A EP 91201871A EP 0468578 A1 EP0468578 A1 EP 0468578A1
Authority
EP
European Patent Office
Prior art keywords
fabric
rotating member
roller
sphere
presser foot
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.)
Granted
Application number
EP91201871A
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English (en)
French (fr)
Other versions
EP0468578B1 (de
Inventor
Patrick Rouleau
Alain Rouleau
Jean-Pierre Touret
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.)
Individual
Original Assignee
Individual
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.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to AT91201871T priority Critical patent/ATE101211T1/de
Publication of EP0468578A1 publication Critical patent/EP0468578A1/de
Application granted granted Critical
Publication of EP0468578B1 publication Critical patent/EP0468578B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B35/00—Work-feeding or -handling elements not otherwise provided for
    • D05B35/10—Edge guides
    • D05B35/102—Edge guide control systems with edge sensors

Definitions

  • the invention relates to a device for guiding a piece of fabric parallel to a predefined reference line, constituted in particular by an edge of the fabric; it relates to a device equipping a sewing machine of the traditional type comprising in particular a book-carrying plate and a mechanism with claws for advancing the fabric, associated with at least one needle; thereafter this mechanism and its accessories will be designated by the expression "presser foot”.
  • the invention extends to an automatic fabric sewing process, implemented by means of a sewing machine equipped with such a guide device. It also extends to improved sewing machines equipped with one or more guide devices according to the invention.
  • guide systems which move the fabric in the transverse direction in front of the needle in order to constantly bring the area to be sewn in front of the needle ; these systems generally comprise wheels or tracks on casters, arranged in the transverse direction upstream of the needle; these wheels or tracks are rotated in one direction or the other so as to be able to move the fabric transversely in both directions in order to make the appropriate position corrections.
  • the patents FR 2 585 683 and EU 0 216 644 describe a fabric guiding device which comprises a spherical wheel bearing against the fabric upstream of the presser foot and rotating in a single direction of rotation to ensure a drive and guiding the fabric in the sewing area; this spherical wheel is pivotally mounted about a vertical axis so as to be able to orient it according to different drive directions making it possible to bring the fabric back to the desired position.
  • the spherical wheel is rotated by friction by a roller which comes to bear on one side thereof in the horizontal plane containing the axis of said wheel.
  • the drive roller of the spherical wheel rotates at constant speed and its arrangement relative to the wheel ( lateral support in the horizontal plane containing the axis of rotation of the wheel) ensures an automatic modulation of the speed of rotation of said wheel when the latter changes orientation: in fact, the roller driven at constant speed of rotation ensures that level of contact a constant tangential speed of the wheel; when the latter takes an oblique orientation with respect to the roller (axes of the roller and of the wheel not parallel), the wheel driven in circles of smaller diameter rotates at greater speed.
  • This effect is favorable because the wheel then drives the fabric at a higher resulting speed, the component of which along the driving direction of the presser foot is constant whatever the orientation of the wheel; this component can therefore be brought to coincide permanently with the driving speed of the presser foot by adjusting once and for all the speed of rotation of the roller to an appropriate determined value.
  • the present invention proposes to provide a solution to the above-mentioned problem. It relates to a method for guiding the fabric and an improved device for implementing the type having a member rotating in one direction, in particular a sphere, which is caused to pivot around a vertical axis in order to orient it in directions. different fabric drive.
  • the subject of the invention is the mounting of one or more of these improved devices on a sewing machine of a type known per se (provided with a work-holding plate and a presser foot associated with at least one needle) to allow automatic sewing of pieces of fabric parallel to a predefined reference line, constituted in particular by an edge of the pieces.
  • the invention applies regardless of the purpose of sewing: sewing a ribbon, a belt, an elastic band at the edge of the workpiece, sewing a hem (the machine being provided with a device classic fabric folding), sewing two pieces together (the machine being provided with two guiding devices) ...
  • the objective of the invention is to allow obtaining a regular seam of good quality, whatever the fabric (in particular fine fabrics difficult to handle, stretch fabrics %), and this, by eliminating the difficulties of implementation encountered by the device of the same type described in the aforementioned patents.
  • Another objective is to provide a simple structure guiding device, which, mounted on a traditional type sewing machine, allows automatic stitching on fabrics of any thickness.
  • the process targeted by the invention is of the type in which a rotating member, orientable by pivoting about a vertical axis, is disposed in abutment against the fabric upstream of the presser foot so as to guide and entrain the fabric upstream of the sewing area;
  • the method according to the present invention is characterized in that said rotating member is driven in rotation by a roller bearing against said member in its upper zone traversed by the vertical pivot axis so that the support of the roller against the the rotating member leaves the latter free to pivot about the vertical axis whatever the coefficient of friction between the roller and the rotating member.
  • the roller is rotated at a variable speed depending on the orientation of the rotating member so that said rotating member generates a speed of movement of the fabric, the projection of which on the line of sewing is substantially equal to the running speed provided by the presser foot in the sewing area.
  • the roller is positioned above the rotating member so as to come into abutment with the upper zone of said rotating member opposite the zone of contact of said member with the tissue, the bearing zone of said roller with said rotating member being substantially situated on the vertical axis around which the pivoting of said rotating member takes place.
  • the fabric is longitudinally driven, permanently, upstream of the guide zone, and the position corrections are carried out by appropriately orienting the direction of this longitudinal drive; the rotating member is rotated by the roller by friction in an area which does not undergo any displacement during the pivoting of this member, so that the essential friction between the two surfaces of said members has no appreciable influence on the implementation of pivoting which can be ensured without particular difficulties.
  • the pivoting actuator which can be a rotary actuator, is controlled alternately between two opposite angular positions according to the state of the position signal.
  • the rotating member When the rotating member is placed in one or other of these extreme positions, it performs a correction on the fabric by introducing a transverse component in the running speed at its level; in addition, the roller is driven in this case at high speed by the drive motor (presence of the extreme position signal) so that the transverse component of the speed is not created to the detriment of the longitudinal component.
  • the position signal changes state very quickly, and the rotary actuator, controlled at high frequency, oscillates between the aforementioned extreme positions.
  • the fabric is driven by the drive generators in a very rapid succession of zigzags of very small amplitude around a medium direction; it thus moves along a resulting direction parallel to the driving direction of the presser foot; in this case, the extreme position detector does not provide a signal and the roller is driven at low speed by the drive motor: the rotating member rotates more slowly, the slow speed of the roller being adjusted so that said rotating member then conditions a speed of movement of the fabric substantially equal to that generated by the presser foot.
  • the rapid speed of the rotating member is adjusted to condition a resulting speed of movement of the fabric of the order of 1% to 5% greater than the slow speed, such that the projection of this fast speed on the longitudinal plane is substantially equal to said slow speed .
  • the rotating member comprises a sphere of elastic material which is secured by a lateral cap of its surface on a support axis.
  • This carrier axis is mounted on the actuator so as to pivot around the horizontal axis of rotation, which passes through the center of the sphere.
  • the center of the sphere and the upper bearing zone of the roller on the sphere are substantially aligned on the vertical axis around which the alternating pivotings of said sphere take place.
  • the above-mentioned guiding device is carried by the movable ascending / descending member of a jack whose body is fixed on the frame of the sewing machine, in view to allow the guide device to descend to the working position in front of the needle or to raise it to the high position so as to release the front of said needle. It is thus possible, before and after the sewing operation, to completely release the work-holding plate from the sewing machine in order to carry out the various operations of placing or removing the fabric.
  • the invention extends to the guiding device defined above as such, as well as to improved sewing machines equipped with at least one such guiding device.
  • the guide device 1 shown in FIGS. 1 to 13 is mounted on a sewing machine 2 of the left head type; conventionally, this machine comprises a frame 3, a work-holding plate 4, a presser foot 5 associated with a needle 6 with their conventional drive kinematics (claw feed mechanism, etc.), means of distribution of the threads ...
  • the aim of the example is to sew an elastic ribbon of belt E at the edge of a piece of fabric and the machine is provided with conventional means of feeding and guiding this elastic ribbon towards the sewing area (not shown).
  • the presser foot 5 is arranged in the vicinity of an angle of the work-holding plate 4; this angle is delimited by a rounded edge Ra and by an edge Rb perpendicular to the previous one (parallel to the seam line).
  • the guide device according to the present invention is intended to guide the piece of fabric which rests on the work-holding plate 4 so as to allow a seam to be produced parallel to the edge of the fabric without the aid of an operator.
  • This guide device is carried by a pneumatic cylinder 7 whose body 7a is secured by means of a part 8 on the frame 2 of the machine and whose movable rod 7b is secured at its end to a support bracket 9 of the device guide.
  • the cylinder 7 is arranged with a low inclination relative to the vertical so as to be able to move the guide device between a working position (FIG. 1) where it is located just in front of the presser foot 5 and the needle 6 of the machine, and a raised position ( Figure 2) where the front of these members is fully released.
  • the movement of the jack is guided by rods 23 which allow the guide device to undergo perfect translation without angular movement.
  • the guide device In the low position, the guide device is placed in front of the presser foot 5 in the vicinity of the aforementioned angle of the work-holding plate 4.
  • the presser foot 5 is attached to a cable 10 (which can best be seen in FIG. 7) which passes through a lumen made in the support bracket 9 and has at its upper free end a stud which automatically raises the presser foot when the guide device reaches its high position.
  • the machine is equipped with an optical detector of the presence of the fabric 11, capturing the light reflected by a small plate 11 a located near the presser foot 5 (towards the inside of the fabric, i.e. near the edge Rb); in the event of tissue appearing at its level, this detector controls the operation of the jack 7 and the descent of the guide device towards its working position; when the fabric disappears, it controls the lifting of the jack 7.
  • a proximity sensor equips the jack 7 in order to detect the instant when the rod reaches its lower deployed position corresponding to the position of guide device work. This sensor controls the start of the sewing machine when the guide device reaches this working position; it also controls the starting of the rotation drive means of the rotary member of this device and that of its alternating pivoting actuator.
  • the sphere 12 which may be a hollow rubber ball is transversely offset with respect to the presser foot 5 so as to come into contact with the fabric in an area closer to the edge Rb than the presser foot.
  • This sphere is bonded by a lateral cap of its surface on a substantially horizontal carrier axis 21, which revolves in a light of the movable bracket 13 so that said sphere is free to rotate around an axis XX 'passing through its center 0.
  • the movable bracket 13 is fixed to the rod 14b of the rotary actuator 14 so that the extension of the vertical axis YY 'of said rod passes through the center 0 of the sphere.
  • the pivotings imposed by the rotary actuator changes the orientation of the axis XX 'around which the sphere rotates without changing the spatial position thereof.
  • the sphere 12 is arranged vertically above the rounded edge Ra of the work-carrying plate 4, so that its center (0) is slightly offset towards the outside of said plate as illustrated in FIGS. 7 and 10; the sphere and the rounded edge have in the contact zone a common tangent Tc inclined with respect to the horizontal.
  • the fabric is entrained by the sphere at the level of the fold which it forms in line with the rounded edge Ra; at this fold, it benefits from a greater stiffness, which contributes to reducing the risks of puckering, even in the case of very light fabrics.
  • Blowing means 27 are provided below the rounded edge Ra of the work-holding plate in order to detach the fabric from the vertical edge of said plate and thus to put it in a better position to be driven by the sphere 12.
  • the work-holding plate 4 preferably comprises a small rounded flank 28 situated below the edge Rb in the vicinity of the sphere 12. This guiding of the fabric further improves the conditions of entrainment of the latter by the sphere 12 .
  • the rotary actuator 14 is a pneumatic actuator of known type, with adjustable angular amplitude; its low inertia allows it to change position at high frequency greater than five swivels per second and up to ten to fifteen swivels per second.
  • This jack comprises end-of-travel stops 14c and 14d which make it possible to adjust its pivoting amplitude to a value 2 a of the order of 20 ° to 30 0 , in particular to a value of the order of 24 °. As already indicated, these stops serve to detect the instants when the rotary actuator reaches one or the other of its extreme angular positions (thanks to proximity sensors 24a, 24b).
  • the driving generators BR of the sphere have a direction Di angularly offset towards l inside the fabric of the angle a with respect to the longitudinal direction so that the rotation of the sphere ensures a longitudinal drive of the fabric with a transverse minority component directed towards the inside of the fabric (figure 11); in the second position , the drive generators BR has a direction D 2 angularly offset towards the edge B of the fabric of the angle a and the rotation of the sphere ensures a longitudinal drive with a transverse minority component soiled towards the edge (figure 12).
  • the roller 16 for driving in rotation of the sphere is located above the sphere 12 along a horizontal transverse axis ZZ 'so as to come into abutment with the upper zone of said sphere (upper pole Su thereof). ci) opposite the lower zone of contact of the sphere with the tissue.
  • This upper area Su of contact between the roller 16 and the sphere 12 is located on the vertical axis YY 'passing through the center 0, around which the sphere is made to pivot alternately by the rotary actuator 14. This area Su does not move during these pivotings so that, whatever the drive friction of the roller on the sphere, the contact of the latter does not hinder the execution of the pivotings.
  • the roller 16 is carried by the motor shaft 22 of the electric motor 15, a motor shaft located above the carrier axis of the sphere 12.
  • the motor 15 is fixed to the rear of the bracket -support 9 and its motor shaft 22 passes through a hole in the movable bracket 13.
  • the detector 17 is a conventional type optical detector, capturing the light reflected by a plate 17a carried by the work-holding plate 4.
  • the optical detector (17) is associated with means for adjusting its transverse position in to allow the position of the seam to be adjusted relative to the edge of the fabric. In the longitudinal direction, the detector 17 is disposed between the presser foot 5 and the rotating sphere 12, which corresponds to the optimal guiding efficiency.
  • the optical information delivered by the detector 17 is transformed by a cell into an electrical signal which is processed in the circuit 18 to send a position signal Sp to the electropneumatic distributor 19 associated with the rotary actuator 14.
  • the signal Sp has a state, called state 1, corresponding to the position of the sphere 12 for which its drive generators have the direction Di: the fabric is driven longitudinally with a tendency to slide transversely in the opposite direction from its edge ( Figure 11) ; the detector plate 17a which was covered by the fabric is exposed.
  • the detector 17 detects an absence of tissue and the signal Sp goes into its other state, called state 2, corresponding to the position of the sphere 12 in which its drive generators have the direction D 2 : the tissue is always driven longitudinally but with a tendency to slide transversely towards its edge ( Figure 12).
  • state 2 corresponding to the position of the sphere 12 in which its drive generators have the direction D 2 : the tissue is always driven longitudinally but with a tendency to slide transversely towards its edge ( Figure 12).
  • the rotary actuator 14 biased on one side and on the other at high frequency oscillates between the aforementioned extreme positions: the figures 6 and 13 illustrate these alternative pivotings which can reach a high frequency (greater than 5 hertz).
  • the driving generators BR of the sphere 12 drive the fabric in a resulting direction Dc parallel to the line of sewing.
  • the extreme position detector 24 then does not deliver any signal.
  • the sensors 24e, 24b of this extreme position detector 24 are connected to means 25 for shaping the signal, which, from the received signal, generates a signal Pe with two states (for example state 1 in the event of detection of extreme stable position and state 0 otherwise corresponding to an oscillation between the extreme positions).
  • This signal is delivered to control means 26 to which the drive fitter 15 of the roller 16 is controlled.
  • This motor is a two-speed electric motor, one slow capable, for example, of rotating the sphere 12 at 100 revolutions / minute, the other faster able to rotate it at 103 revolutions / minute.
  • the control means 26 condition the rapid rotation when the signal Pe is representative of an extreme position and the slow speed otherwise.
  • the guide device therefore drives the fabric upstream of the sewing area in a generally longitudinal direction and guides it permanently by creating a transverse component if necessary in order to obtain a seam parallel to its edge; this drive cooperates with that of the presser foot to avoid the risks of wrinkling, puckering, etc.
  • the edge of the fabric is symbolized in B, in C the seam line to be made and, as already indicated, in D 1 , D 2 1st directions of fabric drive by the sphere 12, when the latter is in its opposite extreme positions; these drive directions D 1 and D 2 are symmetrical with respect to the longitudinal direction Dc (the latter being parallel to the drive direction of the presser foot).
  • Dc the longitudinal direction of the presser foot
  • the fabric is guided by an elastic tongue 29 which is placed in the transverse direction between the sphere 12 and the presser foot 5 as shown in the figures; this tab in elastic support on the fabric avoids a transverse sliding of the latter at the end of sewing.
  • This tongue 29 can be vertically movable and slaved so as to descend against the fabric only at the end of the seam when the end of the fabric arrives near the sphere 12.
  • the device described above can be used in any application where a seam is to be made along a fabric edge in order to automate this operation. If several sheets of fabric are to be sewn, a guide device is provided to guide each sheet.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Details Of Garments (AREA)
  • Prostheses (AREA)
  • Hydroponics (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
EP91201871A 1990-07-27 1991-07-16 Werkstückführungsvorrichtung und automatisches Nähverfahren Expired - Lifetime EP0468578B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT91201871T ATE101211T1 (de) 1990-07-27 1991-07-16 Werkstueckfuehrungsvorrichtung und automatisches naehverfahren.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9009728 1990-07-27
FR9009728A FR2665191B1 (fr) 1990-07-27 1990-07-27 Dispositif de guidage de tissu et procede de couture automatique.

Publications (2)

Publication Number Publication Date
EP0468578A1 true EP0468578A1 (de) 1992-01-29
EP0468578B1 EP0468578B1 (de) 1994-02-02

Family

ID=9399250

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91201871A Expired - Lifetime EP0468578B1 (de) 1990-07-27 1991-07-16 Werkstückführungsvorrichtung und automatisches Nähverfahren

Country Status (10)

Country Link
US (1) US5186115A (de)
EP (1) EP0468578B1 (de)
JP (1) JPH04297293A (de)
AT (1) ATE101211T1 (de)
DE (1) DE69101131T2 (de)
FR (1) FR2665191B1 (de)
IL (1) IL98956A (de)
MA (1) MA22237A1 (de)
PT (1) PT98434B (de)
TN (1) TNSN91065A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997047797A1 (fr) * 1996-06-14 1997-12-18 Patrick Rouleau Dispositif de guidage de materiau a coudre applique au droit du pied-presseur, procede de couture automatique et machine a coudre
FR2749862A1 (fr) * 1996-06-14 1997-12-19 Rouleau Patrick Dispositif de guidage de materiau a coudre applique lateralement et commande en tout ou rien, procede de couture automatique et machine a coudre
FR2749861A1 (fr) * 1996-06-14 1997-12-19 Rouleau Patrick Dispositif de guidage de materiau a coudre applique au droit du pied-presseur, procede de couture automatique et machine a coudre
WO2006082369A2 (en) * 2005-02-02 2006-08-10 Bassey Utip Manipulator apparatus and drive elements therefor

Families Citing this family (13)

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JPH0675379U (ja) * 1993-04-13 1994-10-25 ジューキ株式会社 ミシンの生地端制御装置
US5370072A (en) * 1993-09-17 1994-12-06 Union Special Corporation Automatic alignment of material and positioning at the stitch forming location
JPH0796091A (ja) * 1993-09-30 1995-04-11 Matsuka Shoten:Kk 敷物周縁部の縫製装置
US5461999A (en) * 1994-04-06 1995-10-31 Marcangelo; Steven Edge guiding apparatus for sewing machines
US5704304A (en) * 1994-05-27 1998-01-06 Burton & Noonan Level lining apparatus and method
US5572940A (en) * 1994-05-27 1996-11-12 Burton & Noonan Folding and sewing apparatus
US5893204A (en) 1996-11-12 1999-04-13 Dresser Industries, Inc. Production process for casting steel-bodied bits
US5367966A (en) * 1994-06-08 1994-11-29 The Charles Stark Draper Laboratory, Inc. Automatic edge sewing system and method
US7351142B2 (en) * 1997-03-21 2008-04-01 Walker Digital, Llc Method and apparatus for facilitating play of fractional value lottery games
JPH10288065A (ja) * 1997-04-17 1998-10-27 Honda Motor Co Ltd 内燃機関の空燃比制御装置
US8573145B2 (en) * 2010-03-18 2013-11-05 Stephen Lang Dickerson Feed mechanism that advances fabric
JP6552233B2 (ja) * 2015-03-20 2019-07-31 蛇の目ミシン工業株式会社 ミシン
JP6660692B2 (ja) * 2015-09-11 2020-03-11 蛇の目ミシン工業株式会社 ミシン

Citations (2)

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Publication number Priority date Publication date Assignee Title
FR2585683A1 (fr) * 1985-08-02 1987-02-06 Bertin & Cie Dispositif d'entrainement pour ensemble de guidage de feuilles de materiau souple destinees a former un assemblage tridimensionnel
US4836119A (en) * 1988-03-21 1989-06-06 The Charles Stark Draper Laboratory, Inc. Sperical ball positioning apparatus for seamed limp material article assembly system

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DE3665894D1 (en) * 1985-08-02 1989-11-02 Bertin & Cie Guiding device for sewing three-dimensional soft work pieces upon sewing machines
FR2594065A1 (fr) * 1986-02-11 1987-08-14 Aaron Rene Ets Dispositif de guidage automatique de materiaux deformables sous forme de feuilles
DE3804576A1 (de) * 1987-03-28 1988-10-06 Heidelberger Druckmasch Ag Vorrichtung zum foerdern und ausrichten von bogen bei bogenverarbeitenden maschinen
US4719864A (en) * 1987-05-11 1988-01-19 The Charles Stark Draper Laboratory, Inc. Limp material seam joining apparatus with rotatable limp material feed assembly
US4825787A (en) * 1987-05-20 1989-05-02 Porter Sewing Machines, Inc. Method and apparatus for guiding fabric to a sewing machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2585683A1 (fr) * 1985-08-02 1987-02-06 Bertin & Cie Dispositif d'entrainement pour ensemble de guidage de feuilles de materiau souple destinees a former un assemblage tridimensionnel
US4836119A (en) * 1988-03-21 1989-06-06 The Charles Stark Draper Laboratory, Inc. Sperical ball positioning apparatus for seamed limp material article assembly system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997047797A1 (fr) * 1996-06-14 1997-12-18 Patrick Rouleau Dispositif de guidage de materiau a coudre applique au droit du pied-presseur, procede de couture automatique et machine a coudre
FR2749862A1 (fr) * 1996-06-14 1997-12-19 Rouleau Patrick Dispositif de guidage de materiau a coudre applique lateralement et commande en tout ou rien, procede de couture automatique et machine a coudre
FR2749861A1 (fr) * 1996-06-14 1997-12-19 Rouleau Patrick Dispositif de guidage de materiau a coudre applique au droit du pied-presseur, procede de couture automatique et machine a coudre
US5941187A (en) * 1996-06-14 1999-08-24 Rouleau; Patrick Device for guiding a sewn material perpendicularly to a presser foot, automatic sewing method and sewing machine
WO2006082369A2 (en) * 2005-02-02 2006-08-10 Bassey Utip Manipulator apparatus and drive elements therefor
WO2006082369A3 (en) * 2005-02-02 2007-01-18 Bassey Utip Manipulator apparatus and drive elements therefor

Also Published As

Publication number Publication date
FR2665191B1 (fr) 1992-11-20
US5186115A (en) 1993-02-16
DE69101131T2 (de) 1994-07-14
FR2665191A1 (fr) 1992-01-31
PT98434A (pt) 1993-09-30
IL98956A (en) 1994-06-24
EP0468578B1 (de) 1994-02-02
MA22237A1 (fr) 1992-04-01
IL98956A0 (en) 1992-07-15
DE69101131D1 (de) 1994-03-17
TNSN91065A1 (fr) 1992-10-25
PT98434B (pt) 1998-12-31
ATE101211T1 (de) 1994-02-15
JPH04297293A (ja) 1992-10-21

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