EP0569519A1 - Device for producing seams in three-dimensional objects. - Google Patents

Device for producing seams in three-dimensional objects.

Info

Publication number
EP0569519A1
EP0569519A1 EP92905889A EP92905889A EP0569519A1 EP 0569519 A1 EP0569519 A1 EP 0569519A1 EP 92905889 A EP92905889 A EP 92905889A EP 92905889 A EP92905889 A EP 92905889A EP 0569519 A1 EP0569519 A1 EP 0569519A1
Authority
EP
European Patent Office
Prior art keywords
sewing machine
needle
fabric
manipulator
sewing
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
EP92905889A
Other languages
German (de)
French (fr)
Other versions
EP0569519B1 (en
Inventor
Automatische Naehsysteme Moll
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.)
Moll Automatische Naehsysteme GmbH
Original Assignee
Moll Automatische Naehsysteme GmbH
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 Moll Automatische Naehsysteme GmbH filed Critical Moll Automatische Naehsysteme GmbH
Publication of EP0569519A1 publication Critical patent/EP0569519A1/en
Application granted granted Critical
Publication of EP0569519B1 publication Critical patent/EP0569519B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B23/00—Sewing apparatus or machines not otherwise provided for
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2207/00—Use of special elements
    • D05D2207/02—Pneumatic or hydraulic devices
    • D05D2207/04—Suction or blowing devices
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2207/00—Use of special elements
    • D05D2207/05—Magnetic devices
    • D05D2207/06—Permanent magnets

Definitions

  • the invention relates to a device for producing seams on three-dimensional objects made of fabrics such as textile fabrics, leather, plastic or the like. Such devices are used for the manufacture of clothing, upholstery for seating and automobiles and for shoe manufacture.
  • three-dimensional objects such as covers are made of fabric by sewing pre-made two-dimensional blanks lying flat on top of one another with a sewing machine.
  • the two blanks are sewn together at a precisely defined distance from the cut edges.
  • the blanks have previously been provided with markings which must coincide with one another when sewing, it also being necessary to shift the blanks relative to one another during sewing.
  • the Assembling the blanks with a sewing machine is very time consuming and requires a high degree of routine for the operator who has to carry out the blanks and operate the sewing machine.
  • the performance possibilities of the sewing machine are not used by the relatively slow manual control.
  • the fabrics are fed by the sewing machine intermittently between the needle piercing movements.
  • DE 33 38 405 A1 discloses a device for producing three-dimensional articles with seams, in which a sewing machine is attached to a manipulator in the form of a robot arm. This sewing machine is moved by the manipulator in such a way that it is guided along the intended seam line of the two blanks to be sewn. A bobbin reaches under the blanks to be sewn and a hold-down presses against the top blank. The lower blank is supported by a bristle bed through which the bobbin moves.
  • a similar sewing device is known from EP 0 344 400 AI.
  • a sewing machine is attached to the manipulator arm of a robot, the details of which are not described, however.
  • the invention has for its object a Vorrich- to create seams on three-dimensional objects, which enables the production of flawless and distortion-free seams at high sewing speed.
  • the sewing machine has a sewing head, the movement of which is controlled in such a way that it stands still during the puncturing of the needle into the fabric relative to the holding device carrying the workpiece.
  • These standstill movements can be generated in different ways.
  • One possibility is to move the manipulator arm in coordination with the needle movements of the sewing machine along the intended seam line in such a way that it stands still during the piercing movements and pull-out movements of the needle and only moves the sewing machine when the needle is out of the workpiece ⁇ is drawn.
  • the sewing head is guided in a linearly movable manner on the manipulator arm, in such a way that, when the needle is in the fabric, it is moved back along the intended seam line relative to the manipulator arm at approximately the same speed and then when the needle is pulled out of the fabric, making up for the lost distance.
  • the manipulator arm can then be moved at a constant speed so that the tool center point of the manipulator moves at a constant speed along the seam line, but the sewing machine alternately falls back relative to the tool center point and then makes up for the loss of travel.
  • a guide is attached to the manipulator arm, which is always parallel to the intended seam line is aligned and along which the entire sewing machine is guided linearly.
  • the manipulator arm can be moved at a constant speed, while the reciprocating compensatory movements are carried out exclusively by the sewing head relative to the sewing machine.
  • a continuous movement of the manipulator rms has the advantage that the masses which are to be moved intermittently as a function of the stitch movements of the needle can be kept relatively small and that no mutual coordination between the manipulator movements and the needle movements of the needle is required.
  • the feed for sewing the seam takes place exclusively through the manipulator arm while the workpiece itself is stationary.
  • the holding device carrying the workpiece does not necessarily have to be absolutely fixed, but the holding device can also be attached such that it can be rotated, for example. It is important that the sewing machine itself is not a feed device and that the fabric is not pushed between two stitches.
  • the needle plate and the hold-down device are expediently moved apart when the needle is pulled out of the fabric.
  • the sewing head (or the entire sewing machine) can be moved a stitch length relative to the workpiece.
  • the fabric is then clamped between the throat plate and the holding-down device in order to obtain an exact position of the workpiece and an exact mutual assignment of the blanks to be sewn for the next needle stitch.
  • 1 is a holding device with blanks fixed thereon to be sewn together
  • FIG. 6 shows a side view of another embodiment, in which the sewing head can be moved linearly relative to the sewing machine.
  • FIG. 1 shows a holding device 10 which carries individual blanks which are placed against one another to form a three-dimensional hollow structure made of sheet material.
  • the workpiece to be produced, the blanks of which are fastened to the holding device 10, in the present case consists of the cover for an armrest of a motor vehicle.
  • the holding device 10 has a base body 11, around which a blank 12 in the form of a band-shaped strip is placed.
  • This blank 12 is fixed to the base body 11 by holding plates 13 which are pressed against the blank from the outside.
  • the blank 12 surrounds the base body 11.
  • the side of the ring formed by the blank 12 is to be closed by a blank 14 in the form of a side part to be sewn on.
  • the blank 14 is placed against the side surface of the base body 11 and held there by a holding plate 15 which is pressed against the base body.
  • the holding plates 13 and 15 can be held on the base body 11, for example, with magnets or by suction.
  • the blanks 12 and 14 are so large that they overlap in the circumferential edges and form edge strips 16 there (see also FIG. 3).
  • the seam 17 is produced at the root of these edge strips 16.
  • Fig. 2 shows the holding device 10, the one (Not shown) holder is fixedly attached, and a sewing machine 18 which is attached to a manipulator arm 19.
  • the manipulator arm 19 is part of the manipulator 20, which is an industrial robot with a large number of movement axes, for example with six or eight movement axes.
  • the manipulator 20 is numerically controlled in such a way that the tool center point, ie the point of action of a tool fixedly attached to the manipulator arm 19, can be moved along a predetermined movement path. Programming the manipulator
  • the manipulator arm 19 can be done in such a way that the manipulator arm 19 is manually guided with the attached tool along the intended processing line in a learning phase.
  • the path values recorded in this process are stored and then the manipulator 20 is controlled in such a way that the manipulator arm 19 controls the same movements that were carried out in the learning phase.
  • the tool attached to the manipulator arm consists of the sewing machine 18.
  • a linear guide 21 is attached to the manipulator arm 19, along which a carriage 22, which carries the sewing machine 18, can be moved.
  • the slide 22 is driven by a drive (not shown).
  • This drive can be the drive motor 23 of the sewing machine, it being possible for the carriage to move by means of a cam disk moved by this drive motor 23.
  • the drive motor 23 of the sewing machine 18 drives a drive mechanism via a belt drive 24.
  • shaft 25 which drives the components of the sewing machine in a known manner.
  • the sewing machine has a sewing head 26, which is arranged here in a fixed association with the sewing machine housing 18a.
  • the sewing head 26 includes the needle lever 27, which is attached to a reciprocating shaft 28 and carries the curved needle 29, a needle plate 30, which forms an abutment for the double-layered edge strip 16 and has a recess for the passage of the needle 29 , a hold-down device 31 opposite the throat plate 30 and a loop catcher 32 which is arranged behind the throat plate 30 and contains the lower thread advance.
  • the needle 29 is bent around the axis of the shaft 28.
  • the edge strip 16 is firmly clamped between the needle plate 30 and the hold-down device 31 during the stitching of the needle 29.
  • the needle plate 30 and the hold-down device 31 diverge in order to release the edge strip.
  • the opening and closing movement of the hold-down device 31 is controlled by the needle lever 27, which takes a stop 33 of the hold-down device 31 with it when the needle is pulled out of the fabric, so that the hold-down device acts against the action of the spring 34, which directs it in direction device on the needle plate 30 pulls, is lifted from the edge strip 16.
  • the needle plate 30 is also removed from the edge strip when the needle is pulled out. This is done in that an arm 35 carrying the needle plate 30 is moved by a cam control 36 synchronized with the needle lever movement.
  • a Sensor 37 is provided which detects the presence of the edge strip 16 and deactivates the sewing machine if an edge strip is not recognized.
  • This sensor can be a light barrier, for example, in which the light transmitter is attached to the throat plate 30 and the receiver is attached to the hold-down device 31.
  • the thread 38 coming from a thread spool runs over a roller 39, which is driven by a stepper motor, and further over a deflection pin 40 to the thread generator 41, which can be moved up and down in the rhythm of the needle movement From there, the thread 38 leads to a thread brake 42 provided on the needle lever 27 and further to the needle hole provided near the tip of the needle 29.
  • the stepping motor driving the roller 39 is activated in each cycle after the upward movement of the thread feeder 41 has ended in order to provide the thread quantity which corresponds to the predetermined stitch length.
  • a pressure roller presses the thread firmly against the roller 39 driven by the stepping motor, such that the thread is driven by the roller 39 without slippage.
  • the roller 39 is stationary, it is held by the stepping motor, so that it is not possible to pull the thread from the thread supply due to tensile forces acting behind the roller 39.
  • the carriage 22 is in its end position lying forward in the direction of movement of the manipulator arm 19. In this position, the point at which the needle 29 punctures the fabric represents the tool center point of the manipulator.
  • the manipulator arm 19 is moved by the manipulator 20 in such a way that the tool center point bends along the intended seam line.
  • a ntriebsmotor 23 of the sewing machine 18 - is in Ab ⁇ dependence on the movement of the manipulator is controlled such that the stitch length stays constant (the path from groove to groove) independently of the feed rate.
  • the speed component derived from the manipulators of the manipulator in the seam direction is compared with the speed of the sewing machine motor.
  • the needle plate 30 and the hold-down device 31 are moved towards one another.
  • the slide 22 is moved along the guide 21 against the feed movement carried out by the manipulator arm 19 (along the intended seam line), and at a speed which corresponds to the feed speed.
  • the sewing machine 18 remains stationary during the insertion of the needle 29 into the fabric relative to the holding device 10 or the workpiece, while the manipulator arm 19 is continuously moved on.
  • the prerequisite is that the manipulator arm 19 is aligned parallel to the intended seam direction.
  • FIG. 5 shows the upper representation of the stitch movements s of the needle 29, the amplitude being greater the further the needle tip has been advanced through the needle plate 30 from its retracted position.
  • the lower illustration shows the absolute speed v of the sewing machine 18, where v R is the constant feed speed of the manipulator arm 19.
  • v R is the constant feed speed of the manipulator arm 19.
  • the sewing machine 18 is in its front end position with respect to the manipulator arm 19 and it moves at the feed speed v.
  • the sewing machine 18 moves along the guide 21 in the opposite direction to the feed speed, so that the absolute speed becomes zero.
  • the sewing machine 18 is moved again along the guide 21 into the front end position, this displacement movement being superimposed on the feed speed v_ of the manipulator arm 19.
  • the carriage 22 remains in the front end position until the next stitch is carried out.
  • the carriage 22 is driven with respect to the guide 21 by the sewing machine drive and in synchronization with the needle movements.
  • the sewing machine 48 is firmly and rigidly connected to the manipulator arm (not shown) and the components of the sewing head 26 can be displaced counter to the intended sewing direction indicated by the arrow 49.
  • the components of the sewing machine 48 are provided with the same reference numerals insofar as they correspond to the components of the previously described sewing machine 18. The following description is limited to the differences between the sewing machine 48 and the sewing machine 18.
  • the needle lever 27 is not rigidly connected to the shaft 28, but can be displaced along this shaft.
  • the arm holding the hold-down device 31 is connected to the shaft 28 in a rotationally fixed manner, but is displaceable along this shaft.
  • the needle lever 27 and the hold-down device 31 are displaced using a fork 50 which is controlled by a cam disk and which engages in an annular groove in a sleeve 51 seated on the shaft 28 and is controlled synchronously with the needle drive
  • the throat plate 30 and the loop catcher 32 can be moved in the direction of the arrow 49 and in the opposite direction.
  • the seam 17 is sewn on the workpiece in such a way that the double-layered edge strip 16 protrudes outwards from the cuts. Following the production of the seam, the workpiece is turned over, with the outer surfaces during production coming to lie inwards.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)

Abstract

PCT No. PCT/EP91/02508 Sec. 371 Date Jul. 2, 1993 Sec. 102(e) Date Jul. 2, 1993 PCT Filed Dec. 24, 1991 PCT Pub. No. WO92/13986 PCT Pub. Date Aug. 20, 1992.For making seams on three-dimensional objects, a manipulator (20) is used at the manipulator arm (19) of which a sewing machine (18) is secured. The cuttings (12,14) to be sewn are fixed to a holding device (10), and the sewing machine (18) sews the protruding edge strips (16) which confront each other. The sewing machine (18) can be guided by the manipulator arm (19) along the intended seam line at constant speed. While the needle penetrates the material, the sewing machine being guided on a guide (21) by means of a carriage (22) is driven in a direction opposite to the feeding direction of the manipulator so that the sewing machine is at a temporary standstill with respect to the holding device (10). After completion of the stitch, the carriage (22) is advanced on the guide (21) in feeding direction so that the sewing machine catches up with the lag. With each stitch, the edge strip (16) is clamped between a needle plate and a presser of the sewing machine.

Description

Vorrichtunσ zur Herstellung von Nähten an dreidimensionalen Gegenständen Device for the production of seams on three-dimensional objects
Die Erfindung betrifft eine Vorrichtung zur Herstellung von Nähten an dreidimensionalen Gegenständen aus Stoffen wie textilen Geweben, Leder, Kunststoff oder ähnlichem. Solche Vorrichtungen werden benutzt für die Herstellung von Bekleidung, von Polstern für Sitzmöbel und Automobile sowie für die Schuhherstellung.The invention relates to a device for producing seams on three-dimensional objects made of fabrics such as textile fabrics, leather, plastic or the like. Such devices are used for the manufacture of clothing, upholstery for seating and automobiles and for shoe manufacture.
üblicherweise werden dreidimensionale Gegenstände wie Hüllen aus Stoff dadurch hergestellt, daß vorgefertigte zweidimensionale Zuschnitte flach aufeinanderliegend mit einer Nähmaschine vernäht werden. Dabei werden die beiden Zuschnitte in einem genau festgelegten Abstand von den Schnittkanten miteinander vernäht. Die Zu¬ schnitte sind zuvor mit Markierungen versehen worden, die beim Nähen miteinander zur Deckung kommen müssen, wobei es auch erforderlich ist, die Zuschnitte während des Nähens relativ zueinander zu verschieben. Das Zusammenfügen der Zuschnitte mit einer Nähmaschine ist sehr zeitaufwendig und erfordert ein hohes Maß an Routine der Bedienungsperson, die die Zuschnitte führen und die Nähmaschine bedienen muß. Die Leistungsmög¬ lichkeiten der Nähmaschine werden durch die relativ langsame manuelle Kontrolle nicht ausgenutzt. Der Vorschub der Stoffe erfolgt durch die Nähmaschine intermittierend zwischen den Einstichbewegungen der Nadel.Usually three-dimensional objects such as covers are made of fabric by sewing pre-made two-dimensional blanks lying flat on top of one another with a sewing machine. The two blanks are sewn together at a precisely defined distance from the cut edges. The blanks have previously been provided with markings which must coincide with one another when sewing, it also being necessary to shift the blanks relative to one another during sewing. The Assembling the blanks with a sewing machine is very time consuming and requires a high degree of routine for the operator who has to carry out the blanks and operate the sewing machine. The performance possibilities of the sewing machine are not used by the relatively slow manual control. The fabrics are fed by the sewing machine intermittently between the needle piercing movements.
Aus DE 33 38 405 AI ist eine Vorrichtung zum Herstellen dreidimensionaler mit Nähten versehener Artikel be¬ kannt, bei der an einem Manipulator in Form eines Roboterarmes eine Nähmaschine befestigt ist. Diese Näh¬ maschine wird von dem Manipulator so bewegt, daß sie entlang der vorgesehenen Nahtlinie der beiden zu ver¬ nähenden Zuschnitte geführt wird. Eine Unterfadenspule greift unter die zu vernähenden Zuschnitte und ein Niederhalter drückt gegen den oberen Zuschnitt. Der untere Zuschnitt wird von einem Borstenbett gestützt, durch das sich die Unterfadenspule hindurchbewegt.DE 33 38 405 A1 discloses a device for producing three-dimensional articles with seams, in which a sewing machine is attached to a manipulator in the form of a robot arm. This sewing machine is moved by the manipulator in such a way that it is guided along the intended seam line of the two blanks to be sewn. A bobbin reaches under the blanks to be sewn and a hold-down presses against the top blank. The lower blank is supported by a bristle bed through which the bobbin moves.
Eine ähnliche Nähvorrichtung ist aus EP 0 344 400 AI bekannt. Auch hier ist an dem Manipulatorarm eines Roboters eine Nähmaschine befestigt, deren Einzelheiten jedoch nicht beschrieben sind.A similar sewing device is known from EP 0 344 400 AI. Here, too, a sewing machine is attached to the manipulator arm of a robot, the details of which are not described, however.
Bei den bekannten Vorrichtungen, bei denen eine Näh¬ maschine von einem Manipulator in einem dreidimen¬ sionalen System bewegt wird, besteht eine Schwierigkeit darin, eine saubere und verzugsfreie Naht zu erhalten und den Nähvorgang gleichwohl mit hoher Arbeitsge¬ schwindigkeit durchzuführen.In the known devices, in which a sewing machine is moved by a manipulator in a three-dimensional system, there is a difficulty in obtaining a clean and distortion-free seam and nevertheless performing the sewing process at high working speed.
Der Erfindung liegt die Aufgabe zugrunde, eine Vorrich- tung zur Herstellung von Nähten an dreidimensionalen Gegenständen zu schaffen, die bei hoher Nähgeschwindig- keit die Erzeugung von einwandfreien und verzugsfreien Nähten ermöglicht.The invention has for its object a Vorrich- to create seams on three-dimensional objects, which enables the production of flawless and distortion-free seams at high sewing speed.
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 weist die Näh¬ maschine einen Nähkopf auf, dessen Bewegung derart gesteuert ist, daß er während der Einstiche der Nadel in den Stoff relativ zu der das Werkstück tragenden Haltevorrichtung stillsteht. Diese Stillstandsbewe¬ gungen können auf unterschiedliche Weise erzeugt werden. Eine Möglichkeit besteht darin, den Manipu¬ latorarm in Koordination mit den Nadelbewegungen der Nähmaschine entlang der vorgesehenen Nahtlinie so zu bewegen, daß er bei den Einstichbewegungen und Auszugs- bewegungen der Nadel stillsteht und die Nähmaschine nur dann bewegt, wenn die Nadel aus dem Werkstück heraus¬ gezogen ist. Eine andere Möglichkeit sieht vor, daß der Nähkopf an dem Manipulatorarm linear bewegbar geführt ist, und zwar derart, daß er dann, wenn die Nadel sich im Stoff befindet, mit etwa derselben Geschwindigkeit relativ zum Manipulatorarm entlang der vorgesehenen Nahtlinie zurückbewegt wird und anschließend, wenn die Nadel aus dem Stoff herausgezogen wird, die verlorene Wegstrecke wieder aufholt. Der Manipulatorarm kann dann mit konstanter Geschwindigkeit so bewegt werden, daß der Toolcenterpoint des Manipulators sich mit konstan¬ ter Geschwindigkeit entlang der Nahtlinie bewegt, wobei jedoch die Nähmaschine abwechselnd gegenüber dem Tool¬ centerpoint zurückfällt und dann den Wegverlust wieder aufholt. Hierbei ist an dem Manipulatorarm eine Führung befestigt, die stets parallel zu der vorgesehenen Naht- linie ausgerichtet wird und entlang der die gesamte Nähmaschine linear geführt ist. Schließlich ist es auch möglich, die Haltevorrichtung für den Stoff mit dem Manipulatorarm zu bewegen, während die Nähmaschine stationär ist, wobei die gesamte Nähmaschine oder nur die Teile ihres Nähkopfes zur Durchführung der Mitgeh¬ bewegung linear bewegt werden.In the sewing device according to the invention, the sewing machine has a sewing head, the movement of which is controlled in such a way that it stands still during the puncturing of the needle into the fabric relative to the holding device carrying the workpiece. These standstill movements can be generated in different ways. One possibility is to move the manipulator arm in coordination with the needle movements of the sewing machine along the intended seam line in such a way that it stands still during the piercing movements and pull-out movements of the needle and only moves the sewing machine when the needle is out of the workpiece ¬ is drawn. Another possibility provides that the sewing head is guided in a linearly movable manner on the manipulator arm, in such a way that, when the needle is in the fabric, it is moved back along the intended seam line relative to the manipulator arm at approximately the same speed and then when the needle is pulled out of the fabric, making up for the lost distance. The manipulator arm can then be moved at a constant speed so that the tool center point of the manipulator moves at a constant speed along the seam line, but the sewing machine alternately falls back relative to the tool center point and then makes up for the loss of travel. In this case, a guide is attached to the manipulator arm, which is always parallel to the intended seam line is aligned and along which the entire sewing machine is guided linearly. Finally, it is also possible to move the holding device for the fabric with the manipulator arm while the sewing machine is stationary, the entire sewing machine or only the parts of its sewing head being moved linearly in order to carry out the moving movement.
Im Rahmen der Erfindung liegt es ferner, die Näh¬ maschine fest an dem Manipulatorarm anzubringen und den Nähkopf oder dessen einzelne Komponenten entlang linearer Verschiebewege so zu bewegen, daß der Nähkopf bei den Stichbewegungen der Nadel relativ zum Werkstück stillsteht. Auch hierbei kann der Manipulatorarm mit konstanter Geschwindigkeit bewegt werden, während die hin- und hergehenden Ausgleichsbewegungen ausschlie߬ lich von dem Nähkopf relativ zur Nähmaschine durchge¬ führt werden.It is also within the scope of the invention to firmly attach the sewing machine to the manipulator arm and to move the sewing head or its individual components along linear displacement paths in such a way that the sewing head is stationary relative to the workpiece during the stitch movements of the needle. Here, too, the manipulator arm can be moved at a constant speed, while the reciprocating compensatory movements are carried out exclusively by the sewing head relative to the sewing machine.
Eine kontinuierliche Bewegung des Manipulator rms hat den Vorteil, daß die Massen, die intermittierend in Abhängigkeit von den Stichbewegungen der Nadel zu bewegen sind, relativ klein gehalten werden können und daß keine gegenseitige Abstimmung zwischen den Manipu¬ latorbewegungen und den Stichbewegungen der Nadel erforderlich ist.A continuous movement of the manipulator rms has the advantage that the masses which are to be moved intermittently as a function of the stitch movements of the needle can be kept relatively small and that no mutual coordination between the manipulator movements and the needle movements of the needle is required.
Bei der erfindungsgemäßen Nähvorrichtung erfolgt der Vorschub zum Nähen der Naht ausschließlich durch den Manipulatorarm, während das Werkstück selbst still¬ steht. Dabei muß die das Werkstück tragende Halte¬ vorrichtung nicht unbedingt absolut feststehen, sondern die Haltevorrichtung kann auch so angebracht sein, daß sie beispielsweise gedreht werden kann. Wichtig ist, daß die Nähmaschine selbst keine VorschubVorrichtung aufweist und daß der Stoff zwischen zwei Stichen nicht weitergeschoben wird.In the sewing device according to the invention, the feed for sewing the seam takes place exclusively through the manipulator arm while the workpiece itself is stationary. The holding device carrying the workpiece does not necessarily have to be absolutely fixed, but the holding device can also be attached such that it can be rotated, for example. It is important that the sewing machine itself is not a feed device and that the fabric is not pushed between two stitches.
Um eine Relativbewegung des Nähkopfes in bezug auf das Werkstück zwischen zwei Stichen zu ermöglichen, werden zweckmäßigerweise die Stichplatte und der Niederhalter auseinanderbewegt, wenn die Nadel aus dem Stoff heraus¬ gezogen ist. In diesem Zustand kann der Nähkopf (oder die gesamte Nähmaschine) relativ zu dem Werkstück um eine Stichlänge weiterbewegt werden. Danach wird der Stoff zwischen Stichplatte und Niederhalter wieder eingespannt, um für den nächsten Nadelstich eine exakte Position des Werkstücks und eine exakte gegenseitige Zuordnung der zu vernähenden Zuschnitte zu erhalten.In order to enable a relative movement of the sewing head with respect to the workpiece between two stitches, the needle plate and the hold-down device are expediently moved apart when the needle is pulled out of the fabric. In this state, the sewing head (or the entire sewing machine) can be moved a stitch length relative to the workpiece. The fabric is then clamped between the throat plate and the holding-down device in order to obtain an exact position of the workpiece and an exact mutual assignment of the blanks to be sewn for the next needle stitch.
Im folgenden werden unter Bezugnahme auf die Zeich¬ nungen Ausführungsbeispiele der Erfindung näher erläutert.Exemplary embodiments of the invention are explained in more detail below with reference to the drawings.
Es zeigen:Show it:
Fig. 1 eine Haltevorrichtung mit daran fixierten, miteinander zu vernähenden Zuschnitten,1 is a holding device with blanks fixed thereon to be sewn together,
Fig. 2 eine Darstellung der Haltevorrichtung zusammen mit dem Manipulator und der darin befestigten Nähmaschine,2 shows the holding device together with the manipulator and the sewing machine fastened therein,
Fig. 3 einen Schnitt entlang der Linie III-Ill von Fig. 2,3 shows a section along the line III-III of FIG. 2,
Fig. 4 eine Stirnansicht der Nähmaschine,4 is an end view of the sewing machine,
Fig. 5 ein Diagramm der zeitlichen Zuordnung der Bewe¬ gungen des Nähkopfes zu den Stichbewegungen der - 6 -5 shows a diagram of the temporal assignment of the movements of the sewing head to the stitch movements of the - 6 -
Nadel undNeedle and
Fig. 6 eine Seitenansicht einer anderen Ausführungs¬ form, bei der der Nähkopf relativ zur Näh¬ maschine linear bewegbar ist.6 shows a side view of another embodiment, in which the sewing head can be moved linearly relative to the sewing machine.
In Fig. 1 ist eine Haltevorrichtung 10 dargestellt, die einzelne Zuschnitte trägt, welche zur Bildung eines dreidimensionalen Hohlgebildes aus Flächenmaterial gegeneinandergesetzt werden. Das herzustellende Werk¬ stück, dessen Zuschnitte an der Haltevorrichtung 10 befestigt werden, besteht im vorliegenden Fall aus der Hülle für eine Armlehne eines Kraftfahrzeugs.1 shows a holding device 10 which carries individual blanks which are placed against one another to form a three-dimensional hollow structure made of sheet material. The workpiece to be produced, the blanks of which are fastened to the holding device 10, in the present case consists of the cover for an armrest of a motor vehicle.
Die Haltevorrichtung 10 weist einen Grundkörper 11 auf, um den ein Zuschnitt 12 in Form eines bandförmigen Streifens herumgelegt wird. Dieser Zuschnitt 12 wird durch Halteplatten 13, die von außen gegen den Zu¬ schnitt gedrückt werden, am Grundkörper 11 fixiert. Der Zuschnitt 12 umschließt den Grundkörper 11. Die Seite des von dem Zuschnitt 12 gebildeten Ringes soll durch einen Zuschnitt 14 in Form eines anzunähenden Seiten¬ teiles verschlossen werden. Der Zuschnitt 14 wird gegen die Seitenfläche des Grundkörpers 11 gesetzt und dort von einer Halteplatte 15, die gegen den Grundkörper gedrückt wird, festgehalten. Das Festhalten der Halte¬ platten 13 und 15 am Grundkörper 11 kann beispielsweise mit Magneten oder durch Saugwirkung erfolgen.The holding device 10 has a base body 11, around which a blank 12 in the form of a band-shaped strip is placed. This blank 12 is fixed to the base body 11 by holding plates 13 which are pressed against the blank from the outside. The blank 12 surrounds the base body 11. The side of the ring formed by the blank 12 is to be closed by a blank 14 in the form of a side part to be sewn on. The blank 14 is placed against the side surface of the base body 11 and held there by a holding plate 15 which is pressed against the base body. The holding plates 13 and 15 can be held on the base body 11, for example, with magnets or by suction.
Die Zuschnitte 12 und 14 sind so groß, daß sie sich in den umlaufenden Rändern überlappen und dort Rand¬ streifen 16 bilden (s. auch Fig. 3). An der Wurzel dieser Randstreifen 16 wird die Naht 17 erzeugt.The blanks 12 and 14 are so large that they overlap in the circumferential edges and form edge strips 16 there (see also FIG. 3). The seam 17 is produced at the root of these edge strips 16.
Fig. 2 zeigt die Haltevorrichtung 10, die an einem (nicht dargestellten) Halter ortsfest angebracht ist, und eine Nähmaschine 18, die an einem Manipulatorarm 19 angebracht ist. Der Manipulatorarm 19 ist Bestandteil des Manipulators 20, bei dem es sich hier um einen Industrieroboter mit einer Vielzahl von Bewegungsachsen handelt, beispielsweise mit sechs oder acht Bewegungs¬ achsen. Der Manipulator 20 ist numerisch derart ge¬ steuert, daß der Toolcenterpoint, also der Wirkungs¬ punkt eines an dem Manipulatorarm 19 fest angebrachten Werkzeugs, entlang einer vorbestimmten Bewegungεbahn bewegt werden kann. Die Programmierung des ManipulatorsFig. 2 shows the holding device 10, the one (Not shown) holder is fixedly attached, and a sewing machine 18 which is attached to a manipulator arm 19. The manipulator arm 19 is part of the manipulator 20, which is an industrial robot with a large number of movement axes, for example with six or eight movement axes. The manipulator 20 is numerically controlled in such a way that the tool center point, ie the point of action of a tool fixedly attached to the manipulator arm 19, can be moved along a predetermined movement path. Programming the manipulator
20 kann in der Weise erfolgen, daß der Manipulatorarm 19 mit dem daran befestigen Werkzeug entlang der vorge¬ sehenen Bearbeitungslinie manuell in einer Lernphase geführt wird. Die hierbei aufgenommenen Bahnwerte werden gespeichert und anschließend wird der Manipula¬ tor 20 so gesteuert, daß der Manipulatorarm 19 die¬ selben Bewegungen gesteuert ausführt, die in der Lern¬ phase durchgeführt worden sind. Das am Manipulatorarm befestigte Werkzeug besteht im vorliegenden Fall aus der Nähmaschine 18.20 can be done in such a way that the manipulator arm 19 is manually guided with the attached tool along the intended processing line in a learning phase. The path values recorded in this process are stored and then the manipulator 20 is controlled in such a way that the manipulator arm 19 controls the same movements that were carried out in the learning phase. In the present case, the tool attached to the manipulator arm consists of the sewing machine 18.
Am Manipulatorarm 19 ist eine lineare Führung 21 befestigt, längs der ein Schlitten 22, welcher die Nähmaschine 18 trägt, bewegt werden kann. Die FührungA linear guide 21 is attached to the manipulator arm 19, along which a carriage 22, which carries the sewing machine 18, can be moved. The leadership
21 ist quer zur Nadel der Nähmaschine 18 ausgerichtet und sie verläuft parallel zu der zu erzeugenden Naht¬ linie 17. Der Schlitten 22 wird von einem (nicht darge¬ stellten) Antrieb angetrieben. Dieser Antrieb kann der Antriebsmotor 23 der Nähmaschine sein, wobei die Schlittenbewegung durch eine von diesem Antriebsmotor 23 bewegte Nockenscheibe erfolgen kann.21 is aligned transversely to the needle of the sewing machine 18 and runs parallel to the seam line 17 to be produced. The slide 22 is driven by a drive (not shown). This drive can be the drive motor 23 of the sewing machine, it being possible for the carriage to move by means of a cam disk moved by this drive motor 23.
Gemäß Fig. 3 treibt der Antriebsmotor 23 der Näh¬ maschine 18 über einen Riementrieb 24 eine Antriebs- welle 25, die in bekannter Weise die Komponenten der Nähmaschine antreibt. Die Nähmaschine weist einen Nähkopf 26 auf, der hier in fester Zuordnung zum Näh¬ maschinengehäuse 18a angeordnet ist. Zum Nähkopf 26 gehören der Nadelhebel 27, der an einer hin- und hergehend gedrehten Welle 28 angebracht ist und die bogenförmige Nadel 29 trägt, eine Stichplatte 30, die ein Widerlager für den doppellagigen Randstreifen 16 bildet und eine Aussparung für den Durchtritt der Nadel 29 aufweist, einen der Stichplatte 30 gegenüberliegen¬ den Niederhalter 31 und einen Schiingenfänger 32, der hinter der Stichplatte 30 angeordnet ist und den Unter- fadenvorraü enthält. Die Nadel 29 ist um die Achse der Welle 28 herum gebogen.According to FIG. 3, the drive motor 23 of the sewing machine 18 drives a drive mechanism via a belt drive 24. shaft 25, which drives the components of the sewing machine in a known manner. The sewing machine has a sewing head 26, which is arranged here in a fixed association with the sewing machine housing 18a. The sewing head 26 includes the needle lever 27, which is attached to a reciprocating shaft 28 and carries the curved needle 29, a needle plate 30, which forms an abutment for the double-layered edge strip 16 and has a recess for the passage of the needle 29 , a hold-down device 31 opposite the throat plate 30 and a loop catcher 32 which is arranged behind the throat plate 30 and contains the lower thread advance. The needle 29 is bent around the axis of the shaft 28.
Der Randstreifen 16 ist während des Stichs der Nadel 29 zwischen der Stichplatte 30 und dem Niederhalter 31 fest eingespannt. Wenn die Nadel aus dem Randstreifen 16 herausgezogen ist, gehen die Stichplatte 30 und der Niederhalter 31 auseinander, um den Randstreifen frei¬ zugeben. Die öffnungs- und Schließbewegung des Nieder¬ halters 31 wird durch den Nadelhebel 27 gesteuert, der bei aus dem Stoff herausgezogener Nadel einen Anschlag 33 des Niederhalters 31 mitnimmt, so daß der Nieder¬ halter gegen die Wirkung der Feder 34, die ihn in Rich¬ tung auf die Stichplatte 30 zieht, vom Randstreifen 16 abgehoben wird.The edge strip 16 is firmly clamped between the needle plate 30 and the hold-down device 31 during the stitching of the needle 29. When the needle is pulled out of the edge strip 16, the needle plate 30 and the hold-down device 31 diverge in order to release the edge strip. The opening and closing movement of the hold-down device 31 is controlled by the needle lever 27, which takes a stop 33 of the hold-down device 31 with it when the needle is pulled out of the fabric, so that the hold-down device acts against the action of the spring 34, which directs it in direction device on the needle plate 30 pulls, is lifted from the edge strip 16.
Auch die Stichplatte 30 wird bei herausgezogener Nadel vom Randstreifen entfernt. Dies geschieht dadurch, daß ein die Stichplatte 30 tragender Arm 35 durch eine mit der Nadelhebelbewegung synchronisierte Nockensteuerung 36 bewegt wird.The needle plate 30 is also removed from the edge strip when the needle is pulled out. This is done in that an arm 35 carrying the needle plate 30 is moved by a cam control 36 synchronized with the needle lever movement.
An der S-ichoiatüe 30 bzw. am Niederhalrer 31 ist ein Sensor 37 vorgesehen, der das Vorhandensein des Rand¬ streifens 16 erkennt und die Nähmaschine außer Betrieb setzt, wenn ein Randstreifen nicht erkannt wird. Dieser Sensor kann beispielsweise eine Lichtschranke sein, bei der der Lichtsender an der Stichplatte 30 und der Empfänger am Niederhalter 31 angebracht ist.On the S-ichoiatüe 30 or on the Niederhalrer 31 is a Sensor 37 is provided which detects the presence of the edge strip 16 and deactivates the sewing machine if an edge strip is not recognized. This sensor can be a light barrier, for example, in which the light transmitter is attached to the throat plate 30 and the receiver is attached to the hold-down device 31.
Gemäß Fig. 4 verläuft der von einer (nicht dargestell¬ ten) Garnspule kommende Faden 38 über eine Rolle 39, die von einem Schrittmotor angetrieben wird, und weiter über einen Umlenkstift 40 zu dem im Rhythmus der Nadel¬ bewegung auf- und abbewegbaren Fadengeber 41. Von dort führt der Faden 38 zu einer am Nadelhebel 27 vorge¬ sehenen Fadenbremse 42 und weiter zu dem in der Nähe der Spitze der Nadel 29 vorgesehenen Nadelloch. Der die Rolle 39 treibende Schrittmotor wird in jedem Zyklus nach Beendigung der Aufwärtsbewegung des Fadengebers 41 in Funktion gesetzt, um diejenige Fadenmenge bereitzu¬ stellen, die der vorgegebenen Stichlänge entspricht. Eine Andrückrolle drückt den Faden fest gegen die von dem Schrittmotor angetriebene Rolle 39, derart, daß der Faden von der Rolle 39 schlupffrei angetrieben wird. Wenn die Rolle 39 stillsteht, wird sie von dem Schritt¬ motor festgehalten, so daß kein Nachziehen des Fadens von dem Fadenvorrat durch hinter der Rolle 39 wirkende Zugkräfte möglich ist.According to FIG. 4, the thread 38 coming from a thread spool (not shown) runs over a roller 39, which is driven by a stepper motor, and further over a deflection pin 40 to the thread generator 41, which can be moved up and down in the rhythm of the needle movement From there, the thread 38 leads to a thread brake 42 provided on the needle lever 27 and further to the needle hole provided near the tip of the needle 29. The stepping motor driving the roller 39 is activated in each cycle after the upward movement of the thread feeder 41 has ended in order to provide the thread quantity which corresponds to the predetermined stitch length. A pressure roller presses the thread firmly against the roller 39 driven by the stepping motor, such that the thread is driven by the roller 39 without slippage. When the roller 39 is stationary, it is held by the stepping motor, so that it is not possible to pull the thread from the thread supply due to tensile forces acting behind the roller 39.
Es sei angenommen, daß der Schlitten 22 sich in seiner in Bewegungsrichtung des Manipulatorarms 19 vorn liegenden Endstellung befindet. In dieser Position stellt die Einstichstelle der Nadel 29 in den Stoff den Toolcenterpoint des Manipulators dar. Der Manipulator¬ arm 19 wird vom Manipulator 20 so bewegt, daß der Tool¬ centerpoint sich entlang der vorgesehenen Nahtlinie beweot. Der Antriebsmotor 23 der Nähmaschine 18 -ist in Ab¬ hängigkeit von der Bewegung des Manipulatorarms derart gesteuert, daß die Stichlänge (der Weg von Einstich zu Einstich) unabhängig von der Vorschubgeschwindigkeit konstant bleibt. Hierzu wird die von den Weggebern des Manipulators abgeleitete Geschwindigkeitskomponente in Nahtrichtung mit der Geschwindigkeit des Nähmaschinen¬ motors verglichen. Bevor die Spitze der Nadel 29 in den Randstreifen 16 eindringt, werden die Stichplatte 30 und der Niederhalter 31 gegeneinanderbewegt. Gleich¬ zeitig wird der Schlitten 22 längs der Führung 21 ent¬ gegen der von dem Manipulatorarm 19 ausgeführten Vor- schubbewegung (längs der vorgesehenen Nahtlinie) bewegt, und zwar mit einer Geschwindigkeit, die der Vorschubgeschwindigkeit entspricht. Dadurch bleibt die Nähmaschine 18 während des Einstichs der Nadel 29 in den Stoff relativ zur Haltevorrichtung 10 bzw. zum Werkstück stillstehen, während der Manipulatorarm 19 kontinuierlich weiterbewegt wird. Voraussetzung ist, daß der Manipulatorarm 19 parallel zur vorgesehenen Nahtrichtung ausgerichtet ist. Wenn die Nadel 29 wieder aus dem Stoff herausgezogen ist, wird der Schlitten 22 längs der Führung 21 wieder in die vordere Endstellung bewegt, während der Manipulatorarm 19 seine kontinuier¬ liche Vorschubbewegung fortsetzt.It is assumed that the carriage 22 is in its end position lying forward in the direction of movement of the manipulator arm 19. In this position, the point at which the needle 29 punctures the fabric represents the tool center point of the manipulator. The manipulator arm 19 is moved by the manipulator 20 in such a way that the tool center point bends along the intended seam line. A ntriebsmotor 23 of the sewing machine 18 -is in Ab¬ dependence on the movement of the manipulator is controlled such that the stitch length stays constant (the path from groove to groove) independently of the feed rate. For this purpose, the speed component derived from the manipulators of the manipulator in the seam direction is compared with the speed of the sewing machine motor. Before the tip of the needle 29 penetrates into the edge strip 16, the needle plate 30 and the hold-down device 31 are moved towards one another. At the same time, the slide 22 is moved along the guide 21 against the feed movement carried out by the manipulator arm 19 (along the intended seam line), and at a speed which corresponds to the feed speed. As a result, the sewing machine 18 remains stationary during the insertion of the needle 29 into the fabric relative to the holding device 10 or the workpiece, while the manipulator arm 19 is continuously moved on. The prerequisite is that the manipulator arm 19 is aligned parallel to the intended seam direction. When the needle 29 is pulled out of the fabric again, the slide 22 is moved along the guide 21 back to the front end position, while the manipulator arm 19 continues its continuous feed movement.
Diese Bewegungsverhältnisse sind in Fig. 5 dargestellt. Hier ist in der oberen Darstellung der zeitliche Ver¬ lauf der Stichbewegungen s der Nadel 29 dargestellt, wobei die Amplitude umso größer ist, je weiter die Nadelspitze aus ihrer Rückzugsposition durch die Stich¬ platte 30 hindurch vorgeschoben worden ist. In der unteren Darstellung ist die absolute Geschwindigkeit v der Nähmaschine 18 dargestellt, wobei vR die konstante Vorschubgeschwindigkeit des Manipulatorarms 19 is_. Solange keine Stichbewegungen ausgeführt werden, befindet sich die Nähmaschine 18 in ihrer vorderen Endstellung in bezug auf den Manipulatorarm 19 und sie bewegt sich mit der Vorschubgeschwindigkeit v . Bei einer Stichbewegung bewegt sich die Nähmaschine 18 längs der Führung 21 in Gegenrichtung zur Vorschub¬ geschwindigkeit, so daß die Absolutgeschwindigkeit zu Null wird. Nach dem Herausziehen der Nadelspitze aus dem Stoff wird die Nähmaschine 18 längs der Führung 21 wieder in die vordere Endstellung bewegt, wobei sich diese Verschiebebewegung zur Vorschubgeschwindigkeit v_ des Manipulatorarms 19 überlagert. In der vorderen Endstellung verbleibt der Schlitten 22 solange, bis der nächste Stich ausgeführt wird. Der Antrieb des Schlit¬ tens 22 in bezug auf die Führung 21 erfolgt durch den Nähmaschinenantrieb und in Synchronisation mit den Nadelbewegunge .These movement relationships are shown in FIG. 5. Here the upper representation shows the temporal course of the stitch movements s of the needle 29, the amplitude being greater the further the needle tip has been advanced through the needle plate 30 from its retracted position. The lower illustration shows the absolute speed v of the sewing machine 18, where v R is the constant feed speed of the manipulator arm 19. As long as no stitch movements are carried out, the sewing machine 18 is in its front end position with respect to the manipulator arm 19 and it moves at the feed speed v. During a stitch movement, the sewing machine 18 moves along the guide 21 in the opposite direction to the feed speed, so that the absolute speed becomes zero. After the needle tip has been pulled out of the fabric, the sewing machine 18 is moved again along the guide 21 into the front end position, this displacement movement being superimposed on the feed speed v_ of the manipulator arm 19. The carriage 22 remains in the front end position until the next stitch is carried out. The carriage 22 is driven with respect to the guide 21 by the sewing machine drive and in synchronization with the needle movements.
Bei dem Ausführungsbeispiel von Fig. 6 ist die Näh¬ maschine 48 fest und starr mit dem (nicht dargestell¬ ten) Manipulatorarm verbunden und die Komponenten des Nähkopfes 26 sind entgegen der vorgesehenen, durch den Pfeil 49 bezeichneten Nährichtung verschiebbar. Die Komponenten der Nähmaschine 48 sind, sofern sie den Komponenten der zuvor beschriebenen Nähmaschine 18 entsprechen, mit denselben Bezugszeichen versehen. Die nachfolgende Beschreibung beschränkt sich auf die Unterschiede der Nähmaschine 48 gegenüber der Näh¬ maschine 18.In the embodiment of FIG. 6, the sewing machine 48 is firmly and rigidly connected to the manipulator arm (not shown) and the components of the sewing head 26 can be displaced counter to the intended sewing direction indicated by the arrow 49. The components of the sewing machine 48 are provided with the same reference numerals insofar as they correspond to the components of the previously described sewing machine 18. The following description is limited to the differences between the sewing machine 48 and the sewing machine 18.
Bei der Nähmaschine 48 ist der Nadelhebel 27 nicht starr mit der Welle 28 verbunden, sondern längs dieser Welle verschiebbar. In gleicher Weise ist auch der den Niederhalter 31 tragende Arm mit der Welle 28 drehfeεt verbunden, jedoch entlang dieser Welle verschiebbar. Die Verschiebung des Nadelhebels "27 und -des Nieder¬ halters 31 erfolgt mit einer von einer Nockenscheibe gesteuerten Gabel 50, die in eine Ringnut einer auf der Welle 28 sitzenden Hülse 51 eingreift und synchron mit dem Nadelantrieb gesteuert ist. In ähnlicher Weise ist auch die Stichplatte 30 und der Schiingenfänger 32 in Richtung des Pfeiles 49 und in Gegenrichtung verschieb¬ bar.In the sewing machine 48, the needle lever 27 is not rigidly connected to the shaft 28, but can be displaced along this shaft. In the same way, the arm holding the hold-down device 31 is connected to the shaft 28 in a rotationally fixed manner, but is displaceable along this shaft. The needle lever 27 and the hold-down device 31 are displaced using a fork 50 which is controlled by a cam disk and which engages in an annular groove in a sleeve 51 seated on the shaft 28 and is controlled synchronously with the needle drive The throat plate 30 and the loop catcher 32 can be moved in the direction of the arrow 49 and in the opposite direction.
Die Naht 17 wird an dem Werkstück in der Weise genäht, daß der doppellagige Randstreifen 16 von den Zuschnit¬ ten nach außen absteht. Im Anschluß an die Herstellung der Naht wird das Werkstück gewendet, wobei die bei der Herstellung außenliegenden Flächen nach innen zu liegen komme . The seam 17 is sewn on the workpiece in such a way that the double-layered edge strip 16 protrudes outwards from the cuts. Following the production of the seam, the workpiece is turned over, with the outer surfaces during production coming to lie inwards.

Claims

PATENTANSPRÜCHE PATENT CLAIMS
1. Vorrichtung zur Herstellung von Nähten an Gegen¬ ständen, mit einer Haltevorrichtung (10) zum Fest¬ halten von miteinander zu vernähenden Zuschnitten (12,14) und einem Manipulator (20), der mit einem Manipulatorarm (19) eine Relativbewegung zwischen einer Nähmaschine (18) und der Haltevorrichtung entlang der vorgesehenen Nahtlinie verursacht, d a d u r c h g e k e n n z e i c h n e t , daß die Nähmaschine (18) einen Nähkopf (26) mit einer Stichplatte (30) als Gegenlager für den Stoff, einem den Stoff gegen die Stichplatte drückenden Niederhalter (31) und einer quer zum Stoff bewegbaren Nadel (29) aufweist und daß der Nähkopf (26) derart gesteuert ist, daß er während der Einstiche der Nadel (29) in den Stoff relativ zu der Haltevorrichtung (10) stillsteht.1. Device for producing seams on objects, with a holding device (10) for holding blanks (12, 14) to be sewn together and a manipulator (20) which, with a manipulator arm (19), performs a relative movement between a Sewing machine (18) and the holding device along the intended seam line, characterized in that the sewing machine (18) has a sewing head (26) with a stitch plate (30) as a counter-bearing for the fabric, a hold-down device (31) pressing the fabric against the stitch plate has a needle (29) which can be moved transversely to the fabric and that the sewing head (26) is controlled in such a way that it remains stationary relative to the holding device (10) during the puncturing of the needle (29) into the fabric.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeich¬ net, daß der Manipulatorarm (19) derart gesteuert ist, daß sich der Nähkopf (26) bei fester Zuord¬ nung zum Manipulatorarm mit einer Vorschubge¬ schwindigkeit entlang der vorgesehenen Nahtlinie kontinuierlich bewegt und daß der Nähkopf (26) relativ zum Manipulatorarm (19) parallel zu der Vorschubrichtung derart angetrieben ist, daß er während der Einstiche entgegen der Vorschubrich¬ tung und zwischen zwei Einstichen in Vorschub¬ richtung bewegt wird.2. Device according to claim 1, characterized gekennzeich¬ net that the manipulator arm (19) is controlled such that the sewing head (26) with fixed assignment to the manipulator arm with a feed speed along the intended seam line moves continuously and that Sewing head (26) relative to the manipulator arm (19) is driven parallel to the feed direction in such a way that it is moved in the feed direction against the feed direction during the punctures and between two punctures.
3. Vorrichtung nach Anspruch 2, dadurch gekennzeich¬ net, daß der Nähkopf (26) an der Nähmaschine (18) in fester Position angeordnet ist und daß die gesamte Nähmaschine (18) an dem Manipularorarm (19) parallel zur Vorschubrichtung bewegbar ist.3. Apparatus according to claim 2, characterized gekennzeich¬ net that the sewing head (26) on the sewing machine (18) is arranged in a fixed position and that the entire sewing machine (18) on the manipulator arm (19) is movable parallel to the feed direction.
4. Vorrichtung nach Anspruch 2, dadurch gekennzeich¬ net, daß die Nähmaschine (48) an dem Manipulator¬ arm (19) in bezug auf das Nähmaschinengehäuse (18a) parallel zur Vorschubrichtung bewegbar ist.4. The device according to claim 2, characterized gekennzeich¬ net that the sewing machine (48) on the Manipulator¬ arm (19) with respect to the sewing machine housing (18 a) is movable parallel to the feed direction.
5. Vorrichtung nach einem der Ansprüche 1-4, dadurch gekennzeichnet, daß die Stichplatte (30) und der Niederhalter (31) auseinanderbewegt werden, wenn die Nadel (29) aus dem Stoff herausbewegt ist, und zur Einspannung des Stoffs gegeneinanderbewegt werden, bevor die Nadel wieder in den Stoff ein¬ dringt.5. Device according to one of claims 1-4, characterized in that the throat plate (30) and the hold-down (31) are moved apart when the needle (29) is moved out of the fabric, and are moved against each other for clamping the fabric before the needle penetrates the fabric again.
6. Vorrichtung nach einem der Ansprüche 1-5, dadurch gekennzeichnet, daß am Nähkopf (26) mindestens ein Sensor (37) zur Ermittlung der Anwesenheit von Stoff zwischen Niederhalter (31) und Stichplatte (30) vorgesehen ist.6. Device according to one of claims 1-5, characterized in that on the sewing head (26) at least one sensor (37) for determining the presence of fabric between the hold-down device (31) and the throat plate (30) is provided.
7. Vorrichtung nach einem der Ansprüche 1-6, dadurch gekennzeichnet, daß die Nadel (29) an einem dreh¬ fest mit einer Welle (28) verbundenen Nadelarm (27) angebracht und um die Welle (28) herum gekrümmt ist.7. Device according to one of claims 1-6, characterized in that the needle (29) on a rotationally fixed to a shaft (28) connected to the needle arm (27) and is curved around the shaft (28).
8. Vorrichtung nach einem der Ansprüche 1-7, dadurch gekennzeichnet, daß der Antriebsmotor (23) der Nähmaschine (18) in Abhängigkeit von der Bewegung des Manipulatorarms (19) derart gesteuert ist, daß die Stichlänge unabhängig von der Vorschubge¬ schwindigkeit konstant bleibt. 8. Device according to one of claims 1-7, characterized in that the drive motor (23) of the sewing machine (18) is controlled in dependence on the movement of the manipulator arm (19) such that the stitch length remains constant regardless of the feed rate .
9. Vorrichtung nach einem der Ansprüche 1-8, dadurch gekennzeichnet, daß die Nähmaschine einen Faden¬ vorschub mit einem Schrittmotor aufweist, der für jeden Zyklus der Nadelbewegung eine Fadenmenge zur Verfügung stellt, welche einer eingestellten Stichlänge entspricht. 9. Device according to one of claims 1-8, characterized in that the sewing machine has a Faden¬ feed with a stepper motor, which provides a thread quantity for each cycle of the needle movement, which corresponds to a set stitch length.
EP92905889A 1991-01-31 1991-12-24 Device for producing seams in three-dimensional objects Expired - Lifetime EP0569519B1 (en)

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DE4102840 1991-01-31
PCT/EP1991/002508 WO1992013986A1 (en) 1991-01-31 1991-12-24 Device for producing seams in three-dimensional objects

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EP0569519B1 EP0569519B1 (en) 1996-03-27

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EP (1) EP0569519B1 (en)
JP (1) JP2646041B2 (en)
AT (1) ATE136069T1 (en)
DE (1) DE4102840C1 (en)
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WO1992013986A1 (en) 1992-08-20
ES2085006T3 (en) 1996-05-16
ATE136069T1 (en) 1996-04-15
JP2646041B2 (en) 1997-08-25
EP0569519B1 (en) 1996-03-27
DE4102840C1 (en) 1992-10-15
US5381743A (en) 1995-01-17
JPH06511395A (en) 1994-12-22

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