EP0569519B1 - Vorrichtung zur herstellung von nähten an dreidimensionalen gegenständen - Google Patents

Vorrichtung zur herstellung von nähten an dreidimensionalen gegenständen Download PDF

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Publication number
EP0569519B1
EP0569519B1 EP92905889A EP92905889A EP0569519B1 EP 0569519 B1 EP0569519 B1 EP 0569519B1 EP 92905889 A EP92905889 A EP 92905889A EP 92905889 A EP92905889 A EP 92905889A EP 0569519 B1 EP0569519 B1 EP 0569519B1
Authority
EP
European Patent Office
Prior art keywords
needle
sewing machine
movement
manipulator arm
stitch
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
EP92905889A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0569519A1 (de
Inventor
Philipp 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/de
Application granted granted Critical
Publication of EP0569519B1 publication Critical patent/EP0569519B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • 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 prefabricated 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 move the blanks relative to one another during the 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 A1.
  • 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 device the creation of seams on three-dimensional objects, which enables the production of perfect and distortion-free seams at high sewing speed.
  • the manipulator arm is continuously moved parallel to the seam line to be formed and the parts forming the seam perform a compensating movement directed parallel thereto, in such a way that the needle does not move relative to the sewing material during the pierced phase of its stitch formation movement and it moves during the punched out their stitch pattern movement along the seam line to be formed performs the compensating movement.
  • the device used for this comprises two solution variants.
  • the sewing machine has a sewing head, with either the sewing machine or the sewing head moving along the seam line to be formed and the movement of which is controlled such that during the pierced phase of the needle movement relative to the holding device carrying the workpiece stand still.
  • This standstill movement can be generated in different ways.
  • a first possibility provides that the sewing head is guided in a linearly displaceable manner on the manipulator arm, in such a way that during the pierced phase of the stitch formation movement of the needle at approximately the same speed relative to the manipulator arm along the intended one Seam line is moved back and then makes up for the lost distance during the cut out phase of the stitch formation movement of the needle.
  • the manipulator arm is 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 behind the tool center point and then makes up for the loss of travel.
  • a guide is attached to the manipulator arm, which is always aligned parallel to the intended seam line and along which the entire sewing machine is guided linearly.
  • the holding device for the workpiece is moved with the manipulator arm, the entire sewing machine or the sewing head being moved linearly to carry out the moving movement, but the sewing machine or the sewing head — apart from their movements returning to the starting position — but stationary are.
  • 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 arm has the advantage that the masses which are to be moved intermittently depending on the stitch formation movements of the needle are relative can be kept small and that no mutual coordination between the manipulator movements and the stitch formation movements of the needle is required.
  • the relative movement between the blanks and the sewing machine is generated by the manipulator arm.
  • the holding device does not necessarily have to be absolutely fixed, but rather can also be attached in such a way that it can be rotated, for example. It is important that the sewing machine itself has no feed device for the material to be sewn, and that it is not pushed between two stitches, ie during the pierced phase of the stitch formation movement of the needle.
  • the needle plate and the hold-down device are expediently moved apart during the pierced phase of the needle movement.
  • the sewing head or the sewing machine is moved further by a stitch length relative to the workpiece.
  • the workpiece 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 during the next pierced phase of the needle movement.
  • 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 encloses 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 peripheral 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 plurality of axes of movement, for example with six or eight axes of movement.
  • 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.
  • the manipulator 20 can be programmed in such a way that the manipulator arm 19 with the tool attached to it is guided manually along the intended processing line in a learning phase.
  • the path values recorded here are stored and the manipulator 20 is then 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 guide 21 is aligned transversely to the needle of the sewing machine 18 and runs parallel to the seam line 17 to be produced.
  • the carriage 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 shaft via a belt drive 24 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 connection to 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 arcuate 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 supply.
  • 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 separate 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 during the cut-out phase of the needle movement, so that the hold-down device acts against the action of the spring 34, which pulls it towards the needle plate 30 , is lifted off from the edge strip 16.
  • the throat plate 30 is also removed from the edge strip during the pierced phase of the needle movement. 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 stops 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 stepping motor, and further via a deflection pin 40 to the thread transmitter 41, which can be moved up and down in the rhythm of the needle movement. From there it leads the thread 38 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 stepper 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 stepper 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 of insertion of the needle 29 into 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 moves along the intended seam line.
  • the drive motor 23 of the sewing machine 18 is controlled in dependence on the movement of the manipulator arm in such a way that the stitch length (the path from puncture to puncture) remains constant irrespective of the feed speed of the manipulator arm 19.
  • the speed component in the seam direction which is derived from the position sensors of the manipulator, 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 carriage 22 is moved along the guide 21 counter to the feed movement carried out by the manipulator arm 19 (along the intended seam line), at a speed which corresponds to the feed speed.
  • the sewing machine 18 remains stationary during the pierced phase of the needle movement relative to the holding device 10 or to 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.
  • the carriage 22 is moved along the guide 21 back to the front end position, while the manipulator arm 19 continues its continuous feed movement.
  • FIG. 5 Here, in the upper representation, the chronological course of the stitch movements s of the needle 29 is shown, the amplitude being greater the further the needle tip has been pushed through the needle plate 30 from its retracted position.
  • the lower illustration shows the absolute speed v of the sewing machine 18, where v is the constant feed speed of the manipulator arm 19.
  • the sewing machine is in its front end position in relation 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 movement of the manipulator arm, so that the absolute speed becomes zero.
  • the sewing machine 18 is again moved into the front end position, this displacement movement being superimposed on the feed movement 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 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 are displaceable against 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 in a rotationally fixed manner to the shaft 28, but is displaceable along this shaft.
  • the displacement of the needle lever 27 and the hold-down device 31 takes place with a fork 50 controlled by a cam disk which engages in an annular groove of a sleeve 51 seated on the shaft 28 and is controlled synchronously with the needle drive.
  • the needle plate 30 and the loop catcher 32 can be moved in the direction of arrow 49 and in the opposite direction.
  • the seam 17 is sewn to the workpiece in such a way that the double-layered edge strip 16 protrudes outward from the blanks. Following the production of the seam, the workpiece is turned over, the surfaces lying outside during production coming to lie inwards.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
EP92905889A 1991-01-31 1991-12-24 Vorrichtung zur herstellung von nähten an dreidimensionalen gegenständen Expired - Lifetime EP0569519B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4102840 1991-01-31
DE4102840A DE4102840C1 (no) 1991-01-31 1991-01-31
PCT/EP1991/002508 WO1992013986A1 (de) 1991-01-31 1991-12-24 Vorrichtung zur herstellung von nähten an dreidimensionalen gegenständen

Publications (2)

Publication Number Publication Date
EP0569519A1 EP0569519A1 (de) 1993-11-18
EP0569519B1 true EP0569519B1 (de) 1996-03-27

Family

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Application Number Title Priority Date Filing Date
EP92905889A Expired - Lifetime EP0569519B1 (de) 1991-01-31 1991-12-24 Vorrichtung zur herstellung von nähten an dreidimensionalen gegenständen

Country Status (7)

Country Link
US (1) US5381743A (no)
EP (1) EP0569519B1 (no)
JP (1) JP2646041B2 (no)
AT (1) ATE136069T1 (no)
DE (1) DE4102840C1 (no)
ES (1) ES2085006T3 (no)
WO (1) WO1992013986A1 (no)

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US9809176B2 (en) 2011-07-08 2017-11-07 Inteva Products, Llc Method for stitching vehicle interior components and components formed from the method
JP6253139B2 (ja) * 2013-10-03 2017-12-27 スターテクノ株式会社 内装材用表皮材ステッチ模様形成装置における糸送り装置
CN104172668B (zh) * 2014-09-12 2015-09-30 安徽天有轻纺织品有限公司 鞋体侧缝机
CN105256471A (zh) * 2015-11-26 2016-01-20 宁波慈星股份有限公司 一种实现3d缝纫的方法
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JP6439004B2 (ja) * 2016-04-28 2018-12-19 株式会社松屋アールアンドディ 縫製装置及び縫製方法
CN106037119A (zh) * 2016-07-25 2016-10-26 信泰(福建)科技有限公司 一体鞋面制造方法及一体编织鞋面
JP2018027106A (ja) * 2016-08-15 2018-02-22 Juki株式会社 ミシン及び縫製システム
JP6854610B2 (ja) * 2016-09-16 2021-04-07 Juki株式会社 縫製システム
CN107237059A (zh) * 2017-07-25 2017-10-10 宁波慈星股份有限公司 一种基于机器人3d缝纫的缝纫轨迹纠偏方法及装置
US10875189B2 (en) 2018-02-06 2020-12-29 City University Of Hong Kong System and method for manipulating deformable objects
JP7224112B2 (ja) * 2018-05-21 2023-02-17 Juki株式会社 縫製システム
WO2020026667A1 (ja) * 2018-08-02 2020-02-06 本田技研工業株式会社 縫製装置及び縫製方法
CN110468508B (zh) * 2019-09-17 2021-04-20 湖北三江航天红阳机电有限公司 一种回转体气凝胶缝合设备
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CN110983672B (zh) * 2019-12-18 2022-02-22 广东智媒云图科技股份有限公司 一种绣线装置
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Also Published As

Publication number Publication date
EP0569519A1 (de) 1993-11-18
JP2646041B2 (ja) 1997-08-25
JPH06511395A (ja) 1994-12-22
WO1992013986A1 (de) 1992-08-20
DE4102840C1 (no) 1992-10-15
ATE136069T1 (de) 1996-04-15
ES2085006T3 (es) 1996-05-16
US5381743A (en) 1995-01-17

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