EP0552343B1 - Sewing device - Google Patents

Sewing device Download PDF

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Publication number
EP0552343B1
EP0552343B1 EP92916939A EP92916939A EP0552343B1 EP 0552343 B1 EP0552343 B1 EP 0552343B1 EP 92916939 A EP92916939 A EP 92916939A EP 92916939 A EP92916939 A EP 92916939A EP 0552343 B1 EP0552343 B1 EP 0552343B1
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EP
European Patent Office
Prior art keywords
sewing machine
block
thread
gripper
shuttle
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 - Lifetime
Application number
EP92916939A
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German (de)
French (fr)
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EP0552343A1 (en
Inventor
Philipp Moll
Norbert Laschet
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Moll Automatische Naehsysteme GmbH
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Moll Automatische Naehsysteme GmbH
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Publication of EP0552343A1 publication Critical patent/EP0552343A1/en
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Publication of EP0552343B1 publication Critical patent/EP0552343B1/en
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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B19/00—Programme-controlled sewing machines
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B59/00—Applications of bobbin-winding or -changing devices; Indicating or control devices associated therewith
    • D05B59/04—Devices for changing the bobbin

Definitions

  • the invention relates to a sewing device with a sewing machine which can be moved by a robot arm or another movement device and e.g. can be guided along the intended seam line.
  • the usual sewing machines are stationary. They have a plate on which the suture material is placed and a hold-down device which presses the suture material against the plate. The needle sticks into the suture through a recess in the plate, the upper thread being carried along by the needle. There is an essentially drum-shaped hook under the needle plate, which contains a thread spool with the lower thread. The looper is driven synchronously with the needle movement and it creates a loop between the upper thread and the lower thread.
  • Such sewing machines require that the sewing material is transported by the sewing machine during sewing.
  • Sewing machines are also known which are attached to a movement device and which are moved along the intended seam line.
  • the movement device can be designed such that the sewing machine can carry out movements in three-dimensional space while the suture material is held on a suture material carrier.
  • the upper thread is drawn off a thread spool that is able to take up a relatively large amount of thread.
  • the lower thread on the other hand, is located on a bobbin, which is arranged in the hook and has a relatively small size and only a relatively small thread supply of e.g. 30 m in length (maximum 70 m in length). Therefore, this coil must be changed frequently.
  • Each change of the bobbin must be done manually by an operator, which takes a lot of time. The sewing machine is not operational during the entire time of changing the bobbin.
  • the invention has for its object to provide a sewing device in which the downtimes of the sewing machine for changing the bobbin are reduced.
  • the main motor and the parts used to transport the upper thread are components of a basic unit to which a looper block is exchangeably fastened.
  • the looper head carries the looper and the bobbin arranged in it and thus all components required for the movement and loop formation of the lower thread are required. If the lower thread bobbin is empty, the looper block as a whole can be removed and exchanged for a looper block with a full lower thread bobbin that was previously available. The coil is therefore replaced by inserting an entire gripper head. This change can be carried out automatically without manual intervention, while changing the spool in the gripper head requires manual intervention.
  • the bobbin can be changed manually or automatically on the gripper head remote from the base unit without having to be in a hurry because the base unit provided with a different gripper head can now continue to work as a sewing machine.
  • the base unit and the gripper block are connected by a coupling device for establishing the drive connection for the gripper.
  • the gripper movement is synchronized with the movement of the needle bar. Synchronization is not to be understood as meaning that the two components mentioned perform the same movements with one another, but that the movement sequences of these components are coordinated with one another.
  • the sewing machine has only one motor, namely the main motor, which drives both the needle movement and the gripper movement.
  • the coupling device consists of a coupling which is able to connect the output shaft of the basic unit to the input shaft of the gripper block.
  • a conventional clutch or a gear clutch can be used for this.
  • the coupling device consists of a plug-in coupling which connects the supply and control devices of the basic unit with corresponding lines of the gripper block, the drives of the main motor and gripper motor being coordinated with one another for the mentioned synchronous operation.
  • a change station with at least one receiving unit can be provided.
  • the movement device moves the sewing machine so that the hook block attached to the base unit is inserted into a receiving unit.
  • the hook block is locked in the holding unit and this hook block is unlocked on the sewing machine.
  • the sewing machine can then be moved to another pick-up unit which contains a hook block with a full bobbin.
  • a locking device can be provided for holding the input shaft of the gripper block. If the gripper shaft rotates, the synchronism between the needle lever and the gripper rotation would be disturbed the next time the gripper block is coupled to the basic unit. When driving the basic unit, it is ensured that the driving gear assumes a defined rotational position when it is reinserted and engages with the same tooth.
  • the sewing device according to the invention is particularly suitable for those cases in which the sewing machine is attached to a movement device, for example to a robot arm, is attached, which guides the sewing machine along a predetermined three-dimensional path and is also able to move the sewing machine to set down the looper block and to pick up a new looper block.
  • a movement device for example to a robot arm
  • the invention can also be used in sewing machines which are operated in a stationary manner and in which, when the bobbin has become empty, the entire looper block is exchanged for a new looper block with a full bobbin.
  • a suture carrier 10 is shown on which the blanks 11 and 12 to be sewn together are held.
  • the sewing machine 13 is guided by a movement device 14 along the seam line 15 provided.
  • the movement device 14 here is a robot or manipulator with a manipulator arm 16.
  • the sewing machine 13 is attached to the manipulator arm 16, which can be moved or rotated along numerous axes.
  • the movement device 14 is controlled by a computer in such a way that the sewing machine 13 is moved exactly along the seam line 15.
  • the movement device 14 can transport the sewing machine 13 to the change station 20 shown in FIG. 2, which has two stationary receiving units 21 and 22.
  • the sewing machine 13 consists of a base unit 23 and a gripper block 24 detachably attached thereto.
  • the base unit 23 has a housing 25 with a cantilever arm 26, on which a needle bar 27 is attached pivotably about a horizontal axis 28.
  • the axis 28 is driven back and forth by the main motor (not shown) of the sewing machine.
  • the needle bar 27 carries a needle 29 which is curved around the axis 28 and which pierces through a recess of a hold-down 30 which is mounted coaxially to the axis 28.
  • a thread transmitter 31 is also mounted on the base unit 13, which is also from the main motor is driven back and forth and has an eyelet through which the upper thread 33 passes before it reaches the needle eye of the needle 29.
  • the bevel gear 41 protruding from the base unit 23 is driven by the output shaft 39, which in turn is driven by the main motor.
  • the gripper block 24 which is releasably attached to the underside of the housing 25 of the base unit 23, carries a needle plate 34 on a foot protruding in the direction of the hold-down device 30, against which the fabric to be sewn is pressed by the hold-down device 30.
  • the throat plate 34 has an opening for the passage of the needle 29. Behind the throat plate 34 is the hook 35, which contains the bobbin 36 for the lower thread.
  • the gripper 35 is rotated by a shaft 37 which is driven by the main motor contained in the base unit 13 via a coupling device 38. This rotation of the hook 35 is synchronized with the movements of the thread transmitter 31, the needle bar 27 and the hold-down device 30.
  • the hold-down device 30 presses the fabric against the stitch plate 34. Then the needle 29 executes the stitch, the upper thread 33 being entwined with the lower thread drawn off from the thread spool 36. Then the needle 29 is withdrawn and the hold-down device 30 is also moved back to release the fabric. Then the next feed step takes place along the intended seam line, which can be carried out by the movement device 14.
  • a corresponding feed device on the sewing machine 13.
  • the wave 37 protrudes from the housing of the gripper block 24 on both sides. At one end there is the gripper 35 and at the opposite end there is a double bevel gear 40 which, together with a bevel gear 41 of the basic unit 13, forms the coupling device 38. When the gripper block 24 is coupled to the base unit 13, the two bevel gears 40 and 41 come into mutual engagement with their toothings.
  • the gripper 35 fastened to the shaft 37 has a gripping structure 43 with thread guide tracks 44.
  • the gripping structure 43 encloses a bobbin case 45 in which the replaceable thread bobbin 36 for the lower thread is located.
  • the hook 35 has the function of knotting the upper thread and the lower thread in cooperation with the needle 29.
  • FIG. 5 shows the setting down of a gripper block 24 with an empty thread spool 36 in one take-up unit, while in the other take-up unit there is a gripper block 24 with a full thread spool 36 is located.
  • FIG. 6 shows the transfer of the base unit 23 from the hook block with an empty thread spool to the hook block with a full thread spool
  • FIG. 7 shows the removal of the now completed sewing machine with the hook block with a full thread spool from the holding unit 22.
  • the receiving units 21 and 22 are identical to one another.
  • Each receiving unit has a locking device 46 for holding the shaft 37 of the gripper block 24.
  • This locking device here consists of a piston-cylinder unit 47 which moves a pin 48 which can engage in the outer toothing of the double bevel gear 40 when the gripper block 24 is in the correct position in the receiving unit.
  • the locking device 46 prevents the shaft 37 from rotating when the bobbin 36 is replaced. This ensures that the base unit 23 receives the gripper block 24 in the same state as the gripper block has been set down. This is important so that the synchronization between the components of the base unit and the gripper block is not lost.
  • the locking of the gripper block and base unit is expediently provided such that the two parts can only be decoupled from one another in a very specific, defined phase position of the cycle of the main drive. In this way it is ensured that the uncoupling and the coupling of the gripper block always takes place in a defined phase position of the motor cycle, that is to say at very specific positions of the thread transmitter 31 and the needle lever 27.
  • such a locking device can also be provided on the gripper block 24, the locking of the shaft 37 always taking place when the gripper block is released from the basic unit.
  • each receiving unit 21, 22 has two laterally arranged piston-cylinder units 50, 51, which move clamping jaws 52 against the gripper block 24 from opposite sides and thereby hold the gripper block and fix it in the receiving unit.
  • the gripper block 24 is then unlocked by the base unit 23 and the base unit 23 is pulled off the movement device 14, the bevel gear 41 moving away from the gripper block 24 together with the base unit 23.
  • the gripper block 24 is provided with its own drive motor 53 for the shaft 37 of the gripper 35.
  • the drive motor 53 is controlled from the base unit 23, to which it is connected via control and supply cables 54.
  • the drive connection is established via a coupling device 38a designed as an electrical plug-in coupling, through which the synchronization between main motor and drive motor 53 is also achieved.
  • the drive motor 53 is expediently a motor that blocks the rotation of the shaft 37 in the switched-off state.
  • a sewing machine with a pivotable needle bar 27 instead of a sewing machine with a pivotable needle bar 27, a sewing machine with an axially moving needle bar can also be used within the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
  • Massaging Devices (AREA)
  • Manufacturing Of Electric Cables (AREA)

Abstract

A sewing machine (13) consists of a basic unit (13) comprising a main motor, the needle rod (27) and the thread take-up (31) and a shuttle block (24) releasably attached thereto which comprises the shuttle (35) with the bobbin (36) for the under-thread. To change an empty bobbin, the sewing machine attached to a robot arm is inserted in a receiver unit (21) in which the shuttle block (24) remains while the basic unit (23) is moved towards another shuttle block with a full thread bobbin (36a) and accepts it. There is no need for the time-consuming manual change of the thread bobbin for the under-thread on the sewing machine.

Description

Die Erfindung betrifft eine Nähvorrichtung mit einer Nähmaschine, die von einem Roboterarm oder einer anderen Bewegungsvorrichtung bewegbar ist und z.B. entlang der vorgesehenen Nahtlinie geführt werden kann.The invention relates to a sewing device with a sewing machine which can be moved by a robot arm or another movement device and e.g. can be guided along the intended seam line.

Die üblichen Nähmaschinen (z.B. gemäß dem Buch von Wilhelm Renters "Die Nähmaschine in Schule und Haus", 1951, Verl. Hermann Kayser, Kaiserslautern) sind ortsfest. Sie weisen eine Platte auf, auf die das Nahtmaterial aufgelegt wird, sowie einen Niederhalter, der das Nahtmaterial gegen die Platte drückt. Durch eine Ausnehmung der Platte hindurch sticht die Nadel in das Nahtgut hinein, wobei der Oberfaden von der Nadel mitgenommen wird. Unter der Stichplatte befindet sich ein im wesentlichen trommelförmiger Greifer, der eine Fadenspule mit dem Unterfaden enthält. Der Greifer ist synchron mit der Nadelbewegung angetrieben und er bewirkt eine Schlingenbildung zwischen dem Oberfaden und dem Unterfaden. Derartige Nähmaschinen setzen voraus, daß das Nähgut während des Nähens von der Nähmaschine transportiert wird.The usual sewing machines (eg according to the book by Wilhelm Renters "Die sewing machine in school and house", 1951, publisher Hermann Kayser, Kaiserslautern) are stationary. They have a plate on which the suture material is placed and a hold-down device which presses the suture material against the plate. The needle sticks into the suture through a recess in the plate, the upper thread being carried along by the needle. There is an essentially drum-shaped hook under the needle plate, which contains a thread spool with the lower thread. The looper is driven synchronously with the needle movement and it creates a loop between the upper thread and the lower thread. Such sewing machines require that the sewing material is transported by the sewing machine during sewing.

Bekannt sind ferner Nähmaschinen, die an einer Bewegungsvorrichtung angebracht sind und die entlang der vorgesehenen Nahtlinie bewegt werden. Die Bewegungsvorrichtung kann so ausgebildet sein, daß die Nähmaschine Bewegungen im dreidimensionalen Raum ausführen kann, während das Nahtmaterial auf einem Nahtmaterialträger festgehalten wird.Sewing machines are also known which are attached to a movement device and which are moved along the intended seam line. The movement device can be designed such that the sewing machine can carry out movements in three-dimensional space while the suture material is held on a suture material carrier.

Bei den Nähmaschinen wird der Oberfaden von einer Fadenspule abgezogen, die imstande ist, eine relativ große Fadenmenge aufzunehmen. Der Unterfaden befindet sich dagegen auf einer Spule, die im Greifer angeordnet ist und die relativ kleine Abmessungen hat und nur einen relativ geringen Fadenvorrat von z.B. 30 m Länge (maximal 70 m Länge) aufnehmen kann. Daher muß diese Spule häufig gewechselt werden. Jeder Wechsel der Unterfaden-Spule muß manuell von einer Bedienungsperson vorgenommen werden, was einen großen Zeitaufwand erfordert. Während der gesamten Zeit des Spulenwechsels ist die Nähmaschine nicht betriebsfähig.In the sewing machines, the upper thread is drawn off a thread spool that is able to take up a relatively large amount of thread. The lower thread, on the other hand, is located on a bobbin, which is arranged in the hook and has a relatively small size and only a relatively small thread supply of e.g. 30 m in length (maximum 70 m in length). Therefore, this coil must be changed frequently. Each change of the bobbin must be done manually by an operator, which takes a lot of time. The sewing machine is not operational during the entire time of changing the bobbin.

Der Erfindung liegt die Aufgabe zugrunde, eine Nähvorrichtung zu schaffen, bei der die Stillstandszeiten der Nähmaschine für den Spulenwechsel verringert sind.The invention has for its object to provide a sewing device in which the downtimes of the sewing machine for changing the bobbin are reduced.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß mit den im Patentanspruch 1 angegebenen Merkmalen.This object is achieved according to the invention with the features specified in claim 1.

Bei der erfindungsgemäßen Nähvorrichtung sind der Hauptmotor sowie die für den Transport des Oberfadens dienenden Teile Bestandteile einer Grundeinheit, an der ein Greiferblock auswechselbar befestigt ist. Der Greiferkopf trägt den Greifer und die darin angeordnete Unterfaden-Spule und somit sämtliche Komponenten, die für die Bewegung und die Schlingenbildung des Unterfadens erforderlich sind. Wenn die Unterfaden-Spule leer ist, kann der Greiferblock insgesamt entfernt und gegen einen Greiferblock mit voller Unterfaden-Spule ausgewechselt werden, der zuvor bereitgehalten wurde. Das Austauschen der Spule erfolgt also durch Einsetzen eines gesamten Greiferkopfes. Dieser Wechsel kann automatisch ohne manuellen Eingriff durchgeführt werden, während der Spulenwechsel im Greiferkopf manuelles Eingreifen erfordert. An dem von der Grundeinheit entfernten Greiferkopf kann der Spulenwechsel manuell oder automatisch vorgenommen werden, ohne daß dies in Eile durchgeführt werden müßte, weil die mit einem anderen Greiferkopf versehene Grundeinheit nunmehr als Nähmaschine bereits weiterarbeiten kann.In the sewing device according to the invention, the main motor and the parts used to transport the upper thread are components of a basic unit to which a looper block is exchangeably fastened. The looper head carries the looper and the bobbin arranged in it and thus all components required for the movement and loop formation of the lower thread are required. If the lower thread bobbin is empty, the looper block as a whole can be removed and exchanged for a looper block with a full lower thread bobbin that was previously available. The coil is therefore replaced by inserting an entire gripper head. This change can be carried out automatically without manual intervention, while changing the spool in the gripper head requires manual intervention. The bobbin can be changed manually or automatically on the gripper head remote from the base unit without having to be in a hurry because the base unit provided with a different gripper head can now continue to work as a sewing machine.

Die Grundeinheit und der Greiferblock sind durch eine Kupplungseinrichtung zur Herstellung der Antriebsverbindung für den Greifer verbunden. Auf diese Weise erfolgt die Synchronisierung der Greiferbewegung mit der Bewegung der Nadelstange. Unter Synchronisierung ist nicht zu verstehen, daß die beiden genannten Komponenten untereinander gleiche Bewegungen ausführen, sondern daß die Bewegungsabläufe dieser Komponenten aufeinander abgestimmt sind.The base unit and the gripper block are connected by a coupling device for establishing the drive connection for the gripper. In this way, the gripper movement is synchronized with the movement of the needle bar. Synchronization is not to be understood as meaning that the two components mentioned perform the same movements with one another, but that the movement sequences of these components are coordinated with one another.

Normalerweise weist die Nähmaschine nur einen einzigen Motor auf, nämlich den Hauptmotor, der sowohl die Nadelbewegung als auch die Greiferbewegung treibt. In diesem Fall besteht die Kupplungseinrichtung aus einer Kupplung, die imstande ist, die Ausgangswelle der Grundeinheit mit der Eingangswelle des Greiferblocks zu verbinden. Hierzu kann eine übliche Kupplung oder eine Zahnradkupplung benutzt werden. Es ist aber auch möglich, den Greifer mit einem eigenen Antriebsmotor zu versehen. In diesem Fall besteht die Kupplungseinrichtung aus einer Steckkupplung, die Versorgungs-und Steuereinrichtungen der Grundeinheit mit entsprechenden Leitungen des Greiferblocks verbindet, wobei die Antriebe von Hauptmotor und Greifermotor für den erwähnten Synchronbetrieb aufeinander abgestimmt sind.Typically, the sewing machine has only one motor, namely the main motor, which drives both the needle movement and the gripper movement. In this case, the coupling device consists of a coupling which is able to connect the output shaft of the basic unit to the input shaft of the gripper block. A conventional clutch or a gear clutch can be used for this. But it is also possible to close the gripper with its own drive motor Mistake. In this case, the coupling device consists of a plug-in coupling which connects the supply and control devices of the basic unit with corresponding lines of the gripper block, the drives of the main motor and gripper motor being coordinated with one another for the mentioned synchronous operation.

Zum Auswechseln eines Greiferblocks kann eine Wechselstation mit mindestens einer Aufnahmeeinheit vorgesehen sein. Wenn das Ende des Fadenvorrats der Greiferspule festgestellt oder signalisiert wird, bewegt die Bewegungsvorrichtung die Nähmaschine so, daß der an der Grundeinheit angebrachte Greiferblock in eine Aufnahmeeinheit eingesetzt wird. In der Aufnahmeeinheit wird der Greiferblock verriegelt und an der Nähmaschine wird dieser Greiferblock entriegelt. Die Nähmaschine kann dann an eine andere Aufnahmeeinheit bewegt werden, die einen Greiferblock mit voller Spule enthält.To change a gripper block, a change station with at least one receiving unit can be provided. When the end of the thread supply of the hook bobbin is determined or signaled, the movement device moves the sewing machine so that the hook block attached to the base unit is inserted into a receiving unit. The hook block is locked in the holding unit and this hook block is unlocked on the sewing machine. The sewing machine can then be moved to another pick-up unit which contains a hook block with a full bobbin.

Um zu verhindern, daß die Spule oder der Greifer eines in einer Aufnahmeeinheit sitzenden Greiferblocks beim Spulenwechsel unbeabsichtigt verdreht wird, kann eine Arretiervorrichtung zum Festhalten der Eingangswelle des Greiferblocks vorgesehen sein. Bei einer Drehung der Greiferwelle würde beim nächstfolgenden Ankoppeln des Greiferblocks an die Grundeinheit der Synchronismus zwischen Nadelhebel und Greiferdrehung gestört sein. Beim Antrieb der Grundeinheit wird sichergestellt, daß beim Wiedereinsetzen das treibende Zahnrad eine definierte Drehstellung einnimmt und mit dem gleichen Zahn eingreift.In order to prevent the spool or the gripper of a gripper block seated in a receiving unit from being inadvertently rotated when changing the spool, a locking device can be provided for holding the input shaft of the gripper block. If the gripper shaft rotates, the synchronism between the needle lever and the gripper rotation would be disturbed the next time the gripper block is coupled to the basic unit. When driving the basic unit, it is ensured that the driving gear assumes a defined rotational position when it is reinserted and engages with the same tooth.

Die erfindungsgemäße Nähvorrichtung eignet sich insbesondere für solche Fälle, bei denen die Nähmaschine an einer Bewegungsvorrichtung, z.B. an einem Roboterarm, angebracht ist, der die Nähmaschine entlang eines vorbestimmten dreidimensionalen Weges führt und auch imstande ist, die Nähmaschine zum Absetzen des Greiferblocks und zum Aufnehmen eines neuen Greiferblocks zu bewegen. Die Erfindung ist jedoch auch bei solchen Nähmaschinen anwendbar, die stationär betrieben werden und bei denen, wenn die Unterfadenspule leer geworden ist, der gesamte Greiferblock gegen einen neuen Greiferblock mit voller Unterfadenspule ausgewechselt wird.The sewing device according to the invention is particularly suitable for those cases in which the sewing machine is attached to a movement device, for example to a robot arm, is attached, which guides the sewing machine along a predetermined three-dimensional path and is also able to move the sewing machine to set down the looper block and to pick up a new looper block. However, the invention can also be used in sewing machines which are operated in a stationary manner and in which, when the bobbin has become empty, the entire looper block is exchanged for a new looper block with a full bobbin.

Im folgenden werden unter Bezugnahme auf die Zeichnungen Ausführungsbeipiele der Erfindung näher erläutert.Exemplary embodiments of the invention are explained in more detail below with reference to the drawings.

Es zeigen:

Fig. 1
eine schematische perspektivische Darstellung der Nähvorrichtung,
Fig. 2
eine schematische Darstellung der Nähmaschine vor dem Einsetzen des Greiferblocks in eine Wechselstation,
Fig. 3
einen Schnitt durch den die Fadenspule enthaltenden Greifer,
Fig. 4
eine Seitenansicht des Greifers,
Fig. 5
das Einsetzen des Greiferblocks der Nähmaschine in eine Aufnahmeeinheit der Wechselstation,
Fig. 6
das Bewegen der Grundeinheit zu einer benachbarten Aufnahmeeinheit derselben Wechselstation,
Fig. 7
das Fortbewegen der nunmehr wieder komplettierten Nähmaschine aus der zweiten Aufnahmeeinheit,
Fig. 8
einen Schnitt entlang der Linie VIII-VIII von Fig. 5 und
Fig. 9
eine Nähmaschine gemäß einer zweiten Ausführungsform, bei der der Greiferblock einen eigenen Motor aufweist, in einer Aufnahmeeinheit.
Show it:
Fig. 1
2 shows a schematic perspective illustration of the sewing device,
Fig. 2
1 shows a schematic representation of the sewing machine before inserting the hook block into a changing station,
Fig. 3
a section through the gripper containing the thread spool,
Fig. 4
a side view of the gripper,
Fig. 5
inserting the gripper block of the sewing machine into a receiving unit of the changing station,
Fig. 6
moving the basic unit to an adjacent receiving unit of the same exchange station,
Fig. 7
the advancement of the sewing machine, which has now been completed again, from the second receiving unit,
Fig. 8
a section along the line VIII-VIII of Fig. 5 and
Fig. 9
a sewing machine according to a second embodiment, in which the hook block has its own motor, in a receiving unit.

In Fig. 1 ist ein Nahtmaterialträger 10 dargestellt, an dem die miteinander zu vernähenden Zuschnitte 11 und 12 festgehalten werden. Die Nähmaschine 13 wird von einer Bewegungsvorrichtung 14 entlang der vorgesehenen Nahtlinie 15 geführt. Die Bewegungsvorrichtung 14 ist hier ein Roboter oder Manipulator mit einem Manipulatorarm 16. An dem Manipulatorarm 16, der entlang zahlreicher Achsen bewegt oder gedreht werden kann, ist die Nähmaschine 13 befestigt. Die Bewegungsvorrichtung 14 wird von einem Computer in der Weise gesteuert, daß die Nähmaschine 13 exakt entlang der Nahtlinie 15 bewegt wird. Die Bewegungsvorrichtung 14 kann die Nähmaschine 13 zu der in Fig. 2 dargestellten Wechselstation 20 transportieren, die zwei ortsfeste Aufnahmeeinheiten 21 und 22 aufweist. Die Nähmaschine 13 besteht aus einer Grundeinheit 23 und einem lösbar daran befestigten Greiferblock 24. Die Grundeinheit 23 weist ein Gehäuse 25 auf mit einem Auslegerarm 26, an dem eine Nadelstange 27 um eine horizontale Achse 28 schwenkbar angebracht ist. Die Achse 28 ist von dem (nicht dargestellten) Hauptmotor der Nähmaschine hin- und hergehend angetrieben. Die Nadelstange 27 trägt eine Nadel 29, die um die Achse 28 herum gekrümmt ist und die durch eine Ausnehmung eines Niederhalters 30 hindurchsticht, welcher koaxial zur Achse 28 gelagert ist. An der Grundeinheit 13 ist ferner ein Fadengeber 31 gelagert, der ebenfalls von dem Hauptmotor hin- und hergehend angetrieben ist und der eine Öse aufweist, durch die der Oberfaden 33 hindurchführt, bevor er das Nadelöhr der Nadel 29 erreicht.In Fig. 1, a suture carrier 10 is shown on which the blanks 11 and 12 to be sewn together are held. The sewing machine 13 is guided by a movement device 14 along the seam line 15 provided. The movement device 14 here is a robot or manipulator with a manipulator arm 16. The sewing machine 13 is attached to the manipulator arm 16, which can be moved or rotated along numerous axes. The movement device 14 is controlled by a computer in such a way that the sewing machine 13 is moved exactly along the seam line 15. The movement device 14 can transport the sewing machine 13 to the change station 20 shown in FIG. 2, which has two stationary receiving units 21 and 22. The sewing machine 13 consists of a base unit 23 and a gripper block 24 detachably attached thereto. The base unit 23 has a housing 25 with a cantilever arm 26, on which a needle bar 27 is attached pivotably about a horizontal axis 28. The axis 28 is driven back and forth by the main motor (not shown) of the sewing machine. The needle bar 27 carries a needle 29 which is curved around the axis 28 and which pierces through a recess of a hold-down 30 which is mounted coaxially to the axis 28. A thread transmitter 31 is also mounted on the base unit 13, which is also from the main motor is driven back and forth and has an eyelet through which the upper thread 33 passes before it reaches the needle eye of the needle 29.

Das aus der Grundeinheit 23 heraus vorstehende Kegelrad 41 wird von der Ausgangswelle 39 angetrieben, welche ihrerseits vom Hauptmotor angetrieben ist.The bevel gear 41 protruding from the base unit 23 is driven by the output shaft 39, which in turn is driven by the main motor.

Der an der Unterseite des Gehäuses 25 der Grundeinheit 23 lösbar befestigte Greiferblock 24 trägt an einem in Richtung auf den Niederhalter 30 abstehenden Fuß eine Stichplatte 34, gegen die der zu nähende Stoff von dem Niederhalter 30 gedrückt wird. Die Stichplatte 34 weist eine Öffnung für den Durchgang der Nadel 29 auf. Hinter der Stichplatte 34 befindet sich der Greifer 35, der die Fadenspule 36 für den Unterfaden enthält. Der Greifer 35 wird durch eine Welle 37 gedreht, welche über eine Kupplungseinrichtung 38 von dem in der Grundeinheit 13 enthaltenen Hauptmotor angetrieben ist. Diese Drehung des Greifers 35 ist mit den Bewegungen des Fadengebers 31, der Nadelstange 27 und des Niederhalters 30 synchronisiert.The gripper block 24, which is releasably attached to the underside of the housing 25 of the base unit 23, carries a needle plate 34 on a foot protruding in the direction of the hold-down device 30, against which the fabric to be sewn is pressed by the hold-down device 30. The throat plate 34 has an opening for the passage of the needle 29. Behind the throat plate 34 is the hook 35, which contains the bobbin 36 for the lower thread. The gripper 35 is rotated by a shaft 37 which is driven by the main motor contained in the base unit 13 via a coupling device 38. This rotation of the hook 35 is synchronized with the movements of the thread transmitter 31, the needle bar 27 and the hold-down device 30.

Vor jedem Stich der Nadel 29 drückt der Niederhalter 30 den Stoff gegen die Stichplatte 34. Dann führt die Nadel 29 den Stich aus, wobei der Oberfaden 33 mit dem von der Fadenspule 36 abgezogenen Unterfaden verschlungen wird. Anschließend wird die Nadel 29 zurückgezogen und der Niederhalter 30 wird ebenfalls zurückbewegt, um den Stoff freizugeben. Danach erfolgt der nächste Vorschubschritt entlang der vorgesehenen Nahtlinie, der von der Bewegungsvorrichtung 14 ausgeführt werden kann. Alternativ ist es auch möglich, eine entsprechende Vorschubvorrichtung an der Nähmaschine 13 vorzusehen. Die Welle 37 ragt an beiden Seiten aus dem Gehäuse des Greiferblocks 24 heraus. An ihrem einen Ende befindet sich der Greifer 35 und am entgegengesetzten Ende befindet sich ein Doppel-Kegelrad 40, das zusammen mit einem Kegelrad 41 der Grundeinheit 13 die Kupplungseinrichtung 38 bildet. Wenn der Greiferblock 24 an die Grundeinheit 13 angekuppelt wird, kommen dabei die beiden Kegelräder 40 und 41 mit ihren Verzahnungen in gegenseitigen Eingriff.Before each stitch of the needle 29, the hold-down device 30 presses the fabric against the stitch plate 34. Then the needle 29 executes the stitch, the upper thread 33 being entwined with the lower thread drawn off from the thread spool 36. Then the needle 29 is withdrawn and the hold-down device 30 is also moved back to release the fabric. Then the next feed step takes place along the intended seam line, which can be carried out by the movement device 14. Alternatively, it is also possible to provide a corresponding feed device on the sewing machine 13. The wave 37 protrudes from the housing of the gripper block 24 on both sides. At one end there is the gripper 35 and at the opposite end there is a double bevel gear 40 which, together with a bevel gear 41 of the basic unit 13, forms the coupling device 38. When the gripper block 24 is coupled to the base unit 13, the two bevel gears 40 and 41 come into mutual engagement with their toothings.

Gemäß Fign. 3 und 4 weist der an der Welle 37 befestigte Greifer 35 eine Greifstruktur 43 mit Fadenführungsbahnen 44 auf. Die Greifstruktur 43 umschließt eine Spulenkapsel 45, in welcher sich die auswechselbare Fadenspule 36 für den Unterfaden befindet. Der Greifer 35 hat die Funktion des Verknotens von Oberfaden und Unterfaden im Zusammenwirken mit der Nadel 29.According to FIGS. 3 and 4, the gripper 35 fastened to the shaft 37 has a gripping structure 43 with thread guide tracks 44. The gripping structure 43 encloses a bobbin case 45 in which the replaceable thread bobbin 36 for the lower thread is located. The hook 35 has the function of knotting the upper thread and the lower thread in cooperation with the needle 29.

Wenn beim Nähen gemäß Fig. 1 die Fadenspule 36 für den Unterfaden leer geworden ist, bringt die Bewegungsvorrichtung 14 die gesamte Nähmaschine 13 gemäß Fig. 2 in eine Aufnahmeeinheit 21 der Wechselstation 20. Dort wird die Nähmaschine abgesetzt und der Greiferblock 24 wird in der Aufnahmeeinheit 21 fixiert und festgehalten. Dann wird die Verbindung zwischen Grundeinheit 23 und Greiferblock 24 gelöst und die Bewegungsvorrichtung transportiert die Grundeinheit 23 zu der anderen Aufnahmeeinheit 22, die einen Greiferblock 24 mit voller Fadenspule 36a enthält. Der Greiferblock 24 wird nun mit der Grundeinheit 23 verbunden und aus der Aufnahmeeinheit 22 herausgenommen. Die Nähmaschine ist dann sofort wieder betriebsbereit. Fig. 5 zeigt das Absetzen eines Greiferblocks 24 mit leerer Fadenspule 36 in der einen Aufnahmeeinheit, während sich in der anderen Aufnahmeeinheit ein Greiferblock 24 mit voller Fadenspule 36 befindet. Fig. 6 zeigt das Überführen der Grundeinheit 23 von dem Greiferblock mit leerer Fadenspule zu dem Greiferblock mit voller Fadenspule und Fig. 7 zeigt das Entfernen der nunmehr komplettierten Nähmaschine mit dem Greiferblock mit voller Fadenspule aus der Aufnahmeeinheit 22.1, when the bobbin 36 for the lower thread has become empty during the sewing according to FIG. 1, the movement device 14 brings the entire sewing machine 13 according to FIG 21 pinned and held. Then the connection between the base unit 23 and the hook block 24 is released and the movement device transports the base unit 23 to the other receiving unit 22, which contains a hook block 24 with a full bobbin 36a. The gripper block 24 is now connected to the base unit 23 and removed from the receiving unit 22. The sewing machine is then immediately ready for use again. FIG. 5 shows the setting down of a gripper block 24 with an empty thread spool 36 in one take-up unit, while in the other take-up unit there is a gripper block 24 with a full thread spool 36 is located. 6 shows the transfer of the base unit 23 from the hook block with an empty thread spool to the hook block with a full thread spool, and FIG. 7 shows the removal of the now completed sewing machine with the hook block with a full thread spool from the holding unit 22.

Die Aufnahmeeinheiten 21 und 22 sind untereinander gleich ausgebildet. Jede Aufnahmeeinheit weist eine Arretiervorrichtung 46 zum Festhalten der Welle 37 des Greiferblocks 24 auf. Diese Arretiervorrichtung besteht hier aus einer Kolbenzylindereinheit 47, die einen Stift 48 bewegt, welcher in die äußere Verzahnung des Doppelkegelrades 40 eingreifen kann, wenn sich der Greiferblock 24 in der richtigen Position in der Aufnahmeeinheit befindet. Durch die Arretiervorrichtung 46 wird verhindert, daß die Welle 37 sich beim Auswechseln der Fadenspule 36 verdrehen kann. Dadurch wird sichergestellt, daß die Grundeinheit 23 den Greiferblock 24 in demselben Zustand aufnimmt, wie der Greiferblock abgesetzt worden ist. Dies ist wichtig, damit die Synchronisation zwischen den Komponenten von Grundeinheit und Greiferblock nicht verloren geht. Zweckmäßigerweise ist die Verriegelung von Greiferblock und Grundeinheit so vorgesehen, daß beide Teile nur bei einer ganz bestimmten definierten Phasenlage des Zyklus des Hauptantriebs voneinander entkoppelt werden können. Auf diese Weise wird sichergestellt, daß das Abkoppeln und das Ankoppeln des Greiferblocks stets in einer definierten Phasenlage des Motorzyklus erfolgt, also bei ganz bestimmten Stellungen von Fadengeber 31 und Nadelhebel 27.The receiving units 21 and 22 are identical to one another. Each receiving unit has a locking device 46 for holding the shaft 37 of the gripper block 24. This locking device here consists of a piston-cylinder unit 47 which moves a pin 48 which can engage in the outer toothing of the double bevel gear 40 when the gripper block 24 is in the correct position in the receiving unit. The locking device 46 prevents the shaft 37 from rotating when the bobbin 36 is replaced. This ensures that the base unit 23 receives the gripper block 24 in the same state as the gripper block has been set down. This is important so that the synchronization between the components of the base unit and the gripper block is not lost. The locking of the gripper block and base unit is expediently provided such that the two parts can only be decoupled from one another in a very specific, defined phase position of the cycle of the main drive. In this way it is ensured that the uncoupling and the coupling of the gripper block always takes place in a defined phase position of the motor cycle, that is to say at very specific positions of the thread transmitter 31 and the needle lever 27.

Alternativ zu der an der Aufnahmeeinheit vorgesehenen Arretiervorrichtung 46 kann eine solche Arretiervorrichtung auch am Greiferblock 24 vorgesehen sein, wobei die Verriegelung der Welle 37 immer dann erfolgt, wenn der Greiferblock von der Grundeinheit gelöst wird.As an alternative to the locking device 46 provided on the receiving unit, such a locking device can also be provided on the gripper block 24, the locking of the shaft 37 always taking place when the gripper block is released from the basic unit.

Gemäß Fig. 8 weist jede Aufnahmeeinheit 21,22 zwei seitlich angeordnete Kolbenzylindereinheiten 50,51 auf, die Klemmbacken 52 von entgegengesetzten Seiten her gegen den Greiferblock 24 bewegen und den Greiferblock dadurch festhalten und in der Aufnahmeeinheit fixieren. Danach wird der Greiferblock 24 von der Grundeinheit 23 entriegelt und die Grundeinheit 23 wird von der Bewegungsvorrichtung 14 abgezogen, wobei sich das Kegelrad 41 zusammen mit der Grundeinheit 23 vom Greiferblock 24 entfernt.According to FIG. 8, each receiving unit 21, 22 has two laterally arranged piston-cylinder units 50, 51, which move clamping jaws 52 against the gripper block 24 from opposite sides and thereby hold the gripper block and fix it in the receiving unit. The gripper block 24 is then unlocked by the base unit 23 and the base unit 23 is pulled off the movement device 14, the bevel gear 41 moving away from the gripper block 24 together with the base unit 23.

Bei dem Ausführungbeispiel von Fig. 9 ist der Greiferblock 24 mit einem eigenen Antriebsmotor 53 für die Welle 37 des Greifers 35 versehen. Der Antriebsmotor 53 wird von der Grundeinheit 23 aus gesteuert, mit der er über Steuer- und Versorgungskabel 54 verbunden ist. Die Herstellung der Antriebsverbindung erfolgt über eine als elektrische Steckkupplung ausgebildete Kupplungseinrichtung 38a, durch die auch die Synchronisation zwischen Hauptmotor und Antriebsmotor 53 erreicht wird. Der Antriebsmotor 53 ist zweckmäßigerweise ein Motor, der in abgeschaltetem Zustand das Drehen der Welle 37 blockiert.9, the gripper block 24 is provided with its own drive motor 53 for the shaft 37 of the gripper 35. The drive motor 53 is controlled from the base unit 23, to which it is connected via control and supply cables 54. The drive connection is established via a coupling device 38a designed as an electrical plug-in coupling, through which the synchronization between main motor and drive motor 53 is also achieved. The drive motor 53 is expediently a motor that blocks the rotation of the shaft 37 in the switched-off state.

Anstelle einer Nähmaschine mit schwenkbarer Nadelstange 27 kann im Rahmen der Erfindung auch eine Nähmaschine mit axial bewegter Nadelstange verwendet werden.Instead of a sewing machine with a pivotable needle bar 27, a sewing machine with an axially moving needle bar can also be used within the scope of the invention.

Claims (6)

  1. A sewing device with a sewing machine (13), comprising a movable needle bar (27) driven by a main motor as well as a shuttle (35) with a thread bobbin (36) driven synchronously with said needle bar,
    characterized in that
    said sewing machine (13) consists of a basic unit (23) containing said main motor and said needle bar (27), and a shuttle block (24) replaceably mounted thereto which contains said shuttle (35), and in that said basic unit (23) and said shuttle block (24) are interconnected by a coupling means (38;38a) for establishing a drive connection for said shuttle (35).
  2. The sewing device according to claim 1, characterized in that said coupling means (38) connects an output shaft (39) of said basic unit (23) driven by said main motor to a shaft (37) of said shuttle block (24).
  3. The sewing device according to claim 1, characterized in that said coupling means (38a) connects said basic unit (23) via a control and supply cable (54) to said shuttle block (24) which comprises an own drive motor (53).
  4. The sewing device according to one of the claims 1-3, characterized in that a change station (20) with at least one reception unit (21,22) for taking over and retaining a shuttle block (24) detached from said basic unit (23) is provided.
  5. The sewing device according to claim 4, characterized in that said change station (20) comprises at least two reception units (21,22), one of which, respectively, contains a shuttle block (24) for changing the thread bobbin (36), while the other one is free for taking over a shuttle block (24) from said sewing machine.
  6. The sewing device according to one of the claims 1-5, characterized in that said reception unit (20) comprises a retention device (46) for retaining said shaft (37) of said shuttle block (24).
EP92916939A 1991-08-14 1992-08-11 Sewing device Expired - Lifetime EP0552343B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4126788 1991-08-14
DE4126788A DE4126788C1 (en) 1991-08-14 1991-08-14
PCT/EP1992/001837 WO1993004229A1 (en) 1991-08-14 1992-08-11 Sewing device

Publications (2)

Publication Number Publication Date
EP0552343A1 EP0552343A1 (en) 1993-07-28
EP0552343B1 true EP0552343B1 (en) 1995-10-25

Family

ID=6438229

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Application Number Title Priority Date Filing Date
EP92916939A Expired - Lifetime EP0552343B1 (en) 1991-08-14 1992-08-11 Sewing device

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Country Link
EP (1) EP0552343B1 (en)
JP (1) JPH06504225A (en)
KR (1) KR950014368B1 (en)
AT (1) ATE129533T1 (en)
DE (2) DE4126788C1 (en)
ES (1) ES2079201T3 (en)
WO (1) WO1993004229A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10026242A1 (en) * 2000-05-26 2001-11-29 Bayerische Motoren Werke Ag Device for changing the upper thread

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3125973A (en) * 1960-05-28 1964-03-24 Arrangement in sewing machines for exchanging bobbins
US4223618A (en) * 1978-02-09 1980-09-23 Gateway Industries, Inc. Automatic bobbin changer and apparatus for a sewing machine

Also Published As

Publication number Publication date
EP0552343A1 (en) 1993-07-28
KR930703498A (en) 1993-11-30
WO1993004229A1 (en) 1993-03-04
DE4126788C1 (en) 1992-11-26
ATE129533T1 (en) 1995-11-15
JPH06504225A (en) 1994-05-19
ES2079201T3 (en) 1996-01-01
DE59204137D1 (en) 1995-11-30
KR950014368B1 (en) 1995-11-25

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