EP0585182B1 - Apparatus for moving automatically a sheet like workpiece relating to a tool - Google Patents

Apparatus for moving automatically a sheet like workpiece relating to a tool Download PDF

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Publication number
EP0585182B1
EP0585182B1 EP19930420327 EP93420327A EP0585182B1 EP 0585182 B1 EP0585182 B1 EP 0585182B1 EP 19930420327 EP19930420327 EP 19930420327 EP 93420327 A EP93420327 A EP 93420327A EP 0585182 B1 EP0585182 B1 EP 0585182B1
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EP
European Patent Office
Prior art keywords
belt
tool
transporter
chassis
frame
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
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EP19930420327
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German (de)
French (fr)
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EP0585182A1 (en
Inventor
Paul Romand
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D'ETUDES ET DE PROMOTION DE L'INDUSTRIE de la CHAUSSURE Ste
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D'ETUDES ET DE PROMOTION DE L'INDUSTRIE de la CHAUSSURE Ste
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Publication of EP0585182A1 publication Critical patent/EP0585182A1/en
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    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B21/00—Sewing machines with devices for automatically controlling movement of work-carrier relative to stitch-forming mechanism in order to obtain particular configuration of seam, e.g. programme-controlled for sewing collars, for attaching pockets
    • 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

Definitions

  • the invention relates to the manufacture of pieces of plies, such as textile, leather or other garments, by means of machines using at least one upper tool, working alone or cooperating with a counter tool placed under the ply, for carrying out stitching, trimming, perforating or the like.
  • the movement of the part relative to the tool's action area is ensured by the person guiding the operation and controlling the action of the tool.
  • This person therefore ensures, during the course of the operation, the orientation of the part relative to the tool and the adjustment of the forward speed, according to the characteristics of the phases of the work, with the possibility of releasing this part when the guide hand approaches the tool and take it up with the other hand beyond this zone.
  • the precision of successive repeats does not matter thanks to the visual control of the operator who guides the movement.
  • the parts which are of various shapes and indented are easily deformable, must be sufficiently held by their support so as not to move relative to it during its movements and during the action of the tool, so as to do not alter the precision and working speed of the operation in progress.
  • the support of this part must be able to offer, in the zone of action of the tool, spaces which, releasing the upper and lower faces of the part to allow the action of this tool and possibly that of the counterpart disposed on the other side of the part, promote the deformation of the part and the drive breaks.
  • Document WO-A-9 204 493 describes a device for automatically driving a piece of ply relative to another, of the type comprising electrical drive means controlled by a computer connected to a detection camera.
  • the object of the present invention is to provide a controlled automatic drive device which satisfies the constraints set out above.
  • any piece made up of two tablecloths in front of, for example, being linked by sewing their edges and arranged on one or on the two carpets is subjected, compared to the needle animated by an alternating vertical movement , to a displacement in translation resulting from the combination of the displacement which is provided to it by the two belts and the transverse displacement of these two belts relative to the frame, combination taking, or not, taking into account the pivoting of this frame.
  • the combination of the translation of the part with the pivoting of the frame allows the tool, and in this case with the needle, to perfectly follow the contours of the part while maintaining a constant position relative to the edge. of this room.
  • the various drive means are driven by electric motors connected to the control cabinet, so as to control the movements of the belts, the chassis and the frame in relation to the instantaneous position of the part, detected by the vision sensor (s).
  • This arrangement makes it possible to continuously adjust the position of the part relative to the tool, taking into account any deformation of this part by the work of the tool.
  • each conveyor belt is composed of a perforated band and a vacuum box which, disposed between the two strands of the band and carried by the carpet-carrying chassis, has a perforated wall arranged opposite of the active strand of this carpet
  • This arrangement improves the hold of the part and prevents it from sliding relative to the active strand of the carpet.
  • the device according to the invention is essentially composed, as shown in FIGS. 1 and 7, of a frame designated by the reference 2 and of a frame 3 carrying two conveyor belts 4.
  • the frame 2 is horizontal and is connected, by cross-pieces 5, to a central bearing 6, mounted to rotate freely relative to a frame 7.
  • the longitudinal axis of the bearing is vertical and passes through the action zone 9 of the 'tool 10.
  • the bearing 6 is tubular, that is to say has a central bore 12 for the passage of the counterpart 13 working with the tool 10.
  • This bearing is connected, by means of transmission, not shown, to an electric drive motor, the supply of which is under the control of a control cabinet.
  • the chassis 3 having a width less than that of the frame 2, is slidably mounted in the crosspieces of this frame.
  • the guiding of this sliding in translation is ensured by any known means, and for example, by rollers 14 rolling on the lower internal wings of the profiles constituting the cross members of the frame.
  • This chassis is connected, by connection means not shown, to motor means capable of communicating a displacement in both directions relative to the frame 2.
  • motor means are constituted by an electric motor whose power is under control of the aforementioned control cabinet.
  • the two belts 4 are arranged in the extension of one another with care, between them and substantially mid-length of the chassis 3, with an interval E of a value at least equal to the largest dimension of the tool 10 or counter tool 13.
  • Each of the belts 4 is constituted by an endless band 16 passing over two extreme drums, respectively, interior 17 and exterior 18.
  • Each drum 17, which is a motor, is set in rotation on a shaft 19, while each drum 18 is mounted to rotate freely on a shaft 20.
  • the two shafts 19 and 20, associated with each belt 4 extend on either side of the side members of the chassis 3, in which they are mounted free to rotate, while their ends are carried by the side members of the frame 2.
  • the ends of the shafts 19 are linked in rotation to one another and to motor means capable of imparting to them rotational movements of the same speed, in one direction or the other, to cause the conveyor belts to move.
  • These motor means consist of an electric motor, the supply of which is controlled by the control cabinet which, controlling the other motors, comprises means analyzing the information transmitted by at least one vision sensor disposed in the passing vertical axis. by the action area 9 of the tool.
  • the conveyor belt 16 of each of the belts 4 is provided with perforations 16a and is associated, between its two strands, with a vacuum box generally designated by the reference 22.
  • This box is fixed on the longitudinal members 3a of the chassis 3 and comprises, opposite the active strand of the belt, a wall 23 which is provided with large perforations 24. So that the interval between the external face of the wall 23 of the box is constant and the inner face of the strip 16, the wall 23 is separated from the other longitudinal wall 25 of the box by spacers 26 regularly distributed. Of course, this box is connected to a vacuum source, not shown.
  • FIG. 6 shows that, at least at the level of the driving drum 17, the vertical wall 27 of the box 22 serves to support a pad 28 ensuring the positioning of the end element 17a of the drum 17, by its fork-shaped part engaging in a groove 28 of this part.
  • This figure also highlights that the drum 17, and each of its end pieces 17a, are crossed by a longitudinal bore of square section ensuring their setting in rotation on the motor shaft 19, also of square section.
  • a vision sensor which transmits its information to the control cabinet.
  • Known means arranged in this cabinet, such as a computer, or a programmable automaton, compare the information received with reference information and trigger the supply of all or part of the electric motors controlling the operation of the device. drive so that the latter brings the part 30 in a position allowing the execution of the first phase of work, and for example sewing.
  • FIGS 2 to 5 illustrate the different possibilities offered by the device.
  • FIG. 2 represents the ideal solution in which the sewing area of the piece 30 is in the working axis x'-x of the machine and in the median plane of the conveyor belts 4. Under these conditions, the advance of the part in the direction of the needle is ensured by the movement in the direction of arrow 31 of the only belts 4.
  • FIG. 3 represents another simple solution according to which the zone to be sewn is in the working axis x'-x of the machine and is parallel to the direction of translation of the carpet carrier 3 in frame 2.
  • the part 30 is moved by this belt holder 3, until its edge comes into the zone 9 of action of the tool, and in this case l needle 10.
  • the assembly of the belt holder and the two belts is therefore moved in the direction of arrow 32, or in the opposite direction, to obtain the advance movement of the part with respect to the needle.
  • the frame 2 is pivoted first pivoted so as to bring each of these seams parallel to the working direction x'-x of the sewing machine.
  • the piece is moved in the direction of arrow 36, that is to say according to the result of the movement of the belts 4, according to the arrows 31 of the belts 3 and of the movement of the carpet holder 3, according to arrows 32.
  • the linear speed of the belts 4, and / or the speed of translation of the belt carrier 2 is adjusted so that the advance of the part 30 relative to the tool 10 is close to the ideal value allowing the '' expected stitches.
  • This device therefore makes it possible, whatever the initial position of the part and the deformations which it may undergo during the action of the tool, to move this part, without it being able to slide relative to the belts 4, thanks to depression, and so that the part to be subjected to the action of the tool is well oriented relative to this tool.
  • a support 40 which, parallel to the frame 2, is mounted free in translation in fixed slides 42 of the frame 7. These slides are parallel to each other and to the working direction x'-x of the tool 10
  • the central bearing 6 of the frame 2 is mounted to rotate freely on the support 40.
  • the latter is connected to motor means capable of imparting to it at least one movement, in the direction of the arrow 43, each time that the tool crosses the room.
  • the linear speed of this movement is equal to the theoretical speed of the part 30 relative to the tool, but in the opposite direction, so as to instantly cancel the movement which is communicated to this part by the other elements of the device.
  • this movement is provided by a motor connected, with the interposition of a clutch, to the drive means of the support 40.
  • the movement in the opposite direction is provided by a return spring, not shown.
  • the conveyor belts 4 are used alone, but they can also, in other embodiments, be used with secondary belts improving the plating of the part on them, and arranged opposite. their strand crossed by the suction of the box 22.
  • Figures 8 to 10 show different configurations of these means, depending on the size of the tool, in diameter and height, and according to its position, in the upper or lower part.
  • the tool 10a is arranged in the lower part and the counter tool 13a is arranged in the upper part.
  • This counter tool has a large diametrical dimension requiring to give the interval E1 between the edges facing the belts 4, a large value favoring the deformations of the part in plies 30a. To remedy this, this part 30a is supported in this interval by two secondary belts 50.
  • the active strand 50a that is to say the upper strand of each of these belts 50, is separated from the lower active strand 4b of the belt 4 by a distance at most equal to the thickness of the part 30a, so that the depression coming from the box 22 and passing through the active strand 4b presses against this strand, the active strand 50a of the secondary belt 50, outside the zones where this strand 50a is in contact with the part 30a.
  • each of the secondary belts 50 which is also carried by the carpet carrier chassis 3, is driven in translation only by the carpet 4 with which it is associated.
  • FIG. 8 also shows that the two belts 50 are arranged in the extension of one another and separated by an interval 51, of very low value considerably improving the hold of the part hanging on the crosspiece of space E between the carpet 4.
  • the tool 10b is in the upper position, while the counter tool 13b is in the lower position. It is therefore the two belts 4 which are separated by an interval E2 of low value, while the two secondary belts 50 are separated by a space S2 of significant value to allow the passage of the counter tool 13b.
  • the two belts 4 are arranged at the level of the counter tool 13c and are therefore separated by an interval E3 of significant value, while the two secondary belts 50 are arranged in the upper part and separated by an interval S3 of low value.
  • the secondary belts 50 can also be driven by the motor for driving the belts 4, provided that the movement transmission means communicate to their band speeds and directions of movement identical to those of the belts of the belts 4.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Description

L'invention est relative à la fabrication de pièces en nappes, telles que des vêtements en textile, cuir ou autre, au moyen de machines mettant en oeuvre au moins un outil supérieur, travaillant seul ou coopérant avec un contre outil disposé sous la nappe, pour assurer des opérations de piquage, de parage, de perforation ou similaire.The invention relates to the manufacture of pieces of plies, such as textile, leather or other garments, by means of machines using at least one upper tool, working alone or cooperating with a counter tool placed under the ply, for carrying out stitching, trimming, perforating or the like.

Avec la technique manuelle, le déplacement de la pièce par rapport à la zone d'action de l'outil est assuré par la personne guidant l'opération et commandant l'action de l'outil. Cette personne assure donc, pendant le déroulement de l'opération, l'orientation de la pièce par rapport à l'outil et l'ajustement de la vitesse d'avancement, en fonction des caractéristiques des phases du travail, avec la possibilité de lâcher cette pièce lorsque la main de guidage approche de l'outil et de la reprendre avec l'autre main au-delà de cette zone. Dans ces conditions, la précision des reprises successives importe peu grâce au contrôle visuel de l'opérateur qui guide le déplacement.With the manual technique, the movement of the part relative to the tool's action area is ensured by the person guiding the operation and controlling the action of the tool. This person therefore ensures, during the course of the operation, the orientation of the part relative to the tool and the adjustment of the forward speed, according to the characteristics of the phases of the work, with the possibility of releasing this part when the guide hand approaches the tool and take it up with the other hand beyond this zone. Under these conditions, the precision of successive repeats does not matter thanks to the visual control of the operator who guides the movement.

Si on sait déjà automatiser le contrôle de la position de la pièce, au moyen de capteurs de vision associés à un asservissement réagissant sur des moteurs électriques entraînant un support portant la pièce, l'automatisation de cette fonction d'entraînement n'a pas pu, jusqu'à ce jour, être réalisé de manière satisfaisante en raison de nombreux problèmes rencontrés, tant en ce qui concerne la nature des pièces, leur tenue par les moyens d'entraînement et leur positionnement précis par rapport à un outil, devant conserver la possibilité de travailler sur toute la surface de la pièce.If we already know how to automate the control of the position of the part, by means of vision sensors associated with a servo reacting on electric motors driving a support carrying the part, the automation of this drive function could not , to date, be carried out satisfactorily due to many problems encountered, both with regard to the nature of the parts, their holding by the drive means and their precise positioning relative to a tool, having to maintain the possibility to work on the entire surface of the room.

En effet, les pièces qui sont de formes variées et échancrées sont aisément déformables, doivent être suffisamment tenues par leur support pour ne pas se déplacer par rapport à lui lors de ses mouvements et lors de l'action de l'outil, de manière à ne pas altérer la précision et la vitesse de travail de l'opération en cours.Indeed, the parts which are of various shapes and indented are easily deformable, must be sufficiently held by their support so as not to move relative to it during its movements and during the action of the tool, so as to do not alter the precision and working speed of the operation in progress.

Par ailleurs, et alors que l'action de l'outil doit pouvoir s'effectuer sur toute la surface de la pièce, le support de cette pièce doit pouvoir offrir, dans la zone d'action de l'outil, des espaces qui, dégageant les faces supérieures et inférieures de la pièce pour permettre l'action de cet outil et éventuellement celle du contre partie disposée de l'autre côté de la pièce, favorisent la déformation de la pièce et les ruptures d'entraînement.Furthermore, and while the action of the tool must be able to be carried out over the entire surface of the part, the support of this part must be able to offer, in the zone of action of the tool, spaces which, releasing the upper and lower faces of the part to allow the action of this tool and possibly that of the counterpart disposed on the other side of the part, promote the deformation of the part and the drive breaks.

Le document WO-A-9 204 493 décrit un dispositif pour entraîner automatiquement une pièce en nappes par rapport à une autre, du type comportant des moyens d'entrainement électriques contrôlés par un ordinateur relié à une caméra de détection.Document WO-A-9 204 493 describes a device for automatically driving a piece of ply relative to another, of the type comprising electrical drive means controlled by a computer connected to a detection camera.

La présente invention a pour but de fournir un dispositif d'entraînement automatique contrôlé qui satisfait aux contraintes exposées ci-dessus.The object of the present invention is to provide a controlled automatic drive device which satisfies the constraints set out above.

A cet effet, le dispositif selon l'invention comprend :

  • un cadre horizontal solidaire d'un palier central, monté libre en rotation autour d'un axe vertical passant par la zone d'action de l'outil et relié à des moyens d'entraînement, aptes à le faire pivoter dans un sens ou dans l'autre sur au moins une fraction de tour,
  • un châssis horizontal monté coulissant transversalement dans le cadre et relié à des moyens d'entraînement, aptes à provoquer sa translation dans le cadre, dans un sens ou dans l'autre,
  • et, portés par ce châssis, au moins deux tapis transporteurs qui, composés chacun d'une bande sans fin passant sur deux tambours extrêmes montés libres en rotation dans les longerons du châssis horizontal, sont disposés dans le prolongement l'un de l'autre avec ménagement, entre eux et à mi longueur du châssis, d'un espace pour le passage de l'outil ou du contre outil, et sont reliés à des moyens d'entraînement communs, aptes à leur communiquer des déplacements identiques dans un sens ou dans l'autre.
To this end, the device according to the invention comprises:
  • a horizontal frame secured to a central bearing, mounted free to rotate about a vertical axis passing through the action zone of the tool and connected to means drive, able to rotate it in one direction or the other by at least a fraction of a turn,
  • a horizontal frame mounted to slide transversely in the frame and connected to drive means, capable of causing it to translate in the frame, in one direction or the other,
  • and, carried by this chassis, at least two conveyor belts which, each composed of an endless belt passing over two extreme drums mounted free in rotation in the longitudinal members of the horizontal chassis, are arranged in the extension of one another with care, between them and at mid-length of the chassis, a space for the passage of the tool or the counter-tool, and are connected to common drive means, capable of communicating to them identical movements in one direction or in the other.

Avec ce dispositif, toute pièce composée de deux nappes devant, par exemple, être liées par couture de leurs bords et disposée sur l'un ou sur les deux tapis, est soumise, par rapport à l'aiguille animée d'un mouvement vertical alternatif, à un déplacement en translation résultant de la combinaison du déplacement qui lui est procuré par les deux tapis et du déplacement transversal de ces deux tapis par rapport au cadre, combinaison prenant, ou non, en compte le pivotement de ce cadre. En effet, la combinaison de la translation de la pièce avec le pivotement du cadre permet à l'outil, et en l'occurrence à l'aiguille, de suivre parfaitement les contours de la pièce tout en conservant une position constante par rapport au bord de cette pièce.With this device, any piece made up of two tablecloths in front of, for example, being linked by sewing their edges and arranged on one or on the two carpets, is subjected, compared to the needle animated by an alternating vertical movement , to a displacement in translation resulting from the combination of the displacement which is provided to it by the two belts and the transverse displacement of these two belts relative to the frame, combination taking, or not, taking into account the pivoting of this frame. Indeed, the combination of the translation of the part with the pivoting of the frame allows the tool, and in this case with the needle, to perfectly follow the contours of the part while maintaining a constant position relative to the edge. of this room.

Il est évident que les différents moyens d'entraînement sont animés par des moteurs électriques connectés à l'armoire d'asservissement, de manière à commander les déplacements des tapis, du châssis et du cadre en rapport avec la position instantanée de la pièce, détectée par le ou les capteurs de vision.It is obvious that the various drive means are driven by electric motors connected to the control cabinet, so as to control the movements of the belts, the chassis and the frame in relation to the instantaneous position of the part, detected by the vision sensor (s).

Cet agencement permet d'ajuster en permanence la position de la pièce par rapport à l'outil, en prenant en compte les éventuelles déformations de cette pièce par le travail de l'outil.This arrangement makes it possible to continuously adjust the position of the part relative to the tool, taking into account any deformation of this part by the work of the tool.

Dans une forme d'exécution, chaque tapis transporteur est composé d'une bande perforée et d'un caisson à dépression qui, disposé entre les deux brins de la bande et porté par le châssis porte-tapis, comporte une paroi perforée disposée en regard du brin actif de ce tapisIn one embodiment, each conveyor belt is composed of a perforated band and a vacuum box which, disposed between the two strands of the band and carried by the carpet-carrying chassis, has a perforated wall arranged opposite of the active strand of this carpet

Cet agencement améliore la tenue de la pièce et évite tout glissement de celle-ci par rapport au brin actif du tapis.This arrangement improves the hold of the part and prevents it from sliding relative to the active strand of the carpet.

D'autres caractéristiques et avantages ressortiront de la description qui suit en référence au dessin schématique annexé, représentant plusieurs formes d'exécution de ce dispositif.

  • Figure 1 est une vue en perspective représentant, de façon schématique, les éléments essentiels d'une forme d'exécution de ce dispositif,
  • Figures 2 à 5 sont des vues schématiques en plan par dessus montrant les conditions de déplacement d'une pièce d'habillement en cours de couture au moyen du dispositif d'entraînement,
  • Figure 6 est une vue en perspective partielle, avec coupe partielle, montrant plus en détails, et à échelle agrandie, une forme d'exécution des tapis du dispositif,
  • Figure 7 est une vue de côté en coupe du dispositif de figure 1,
  • Figures 8, 9 et 10 sont des vues de côté en coupe montrant d'autres formes d'exécution de ces tapis.
Other characteristics and advantages will emerge from the description which follows with reference to the attached schematic drawing, representing several embodiments of this device.
  • FIG. 1 is a perspective view schematically showing the essential elements of an embodiment of this device,
  • FIGS. 2 to 5 are schematic plan views from above showing the conditions of movement of a piece of clothing during sewing by means of the drive device,
  • FIG. 6 is a partial perspective view, with partial section, showing in more detail, and on an enlarged scale, an embodiment of the belts of the device,
  • FIG. 7 is a side view in section of the device of FIG. 1,
  • Figures 8, 9 and 10 are sectional side views showing other embodiments of these carpets.

Le dispositif selon l'invention est essentiellement composé, comme montré aux figures 1 et 7, d'un cadre désigné par la référence 2 et d'un châssis 3 portant deux tapis transporteurs 4.The device according to the invention is essentially composed, as shown in FIGS. 1 and 7, of a frame designated by the reference 2 and of a frame 3 carrying two conveyor belts 4.

Le cadre 2 est horizontal et est relié, par des croisillons 5, à un palier central 6, monté libre en rotation par rapport à un bâti 7. L'axe longitudinal du palier est vertical et passe par la zone d'action 9 de l'outil 10. Dans la forme d'exécution représentée, le palier 6 est tubulaire, c'est à dire comporte un alésage central 12 pour le passage de la contre partie 13 travaillant avec l'outil 10. Ce palier est relié, par des moyens de transmission non représentés, à un moteur électrique d'entraînement dont l'alimentation est sous le contrôle d'une armoire d'asservissement.The frame 2 is horizontal and is connected, by cross-pieces 5, to a central bearing 6, mounted to rotate freely relative to a frame 7. The longitudinal axis of the bearing is vertical and passes through the action zone 9 of the 'tool 10. In the embodiment shown, the bearing 6 is tubular, that is to say has a central bore 12 for the passage of the counterpart 13 working with the tool 10. This bearing is connected, by means of transmission, not shown, to an electric drive motor, the supply of which is under the control of a control cabinet.

Le châssis 3, présentant une largeur inférieure à celle du cadre 2, est monté coulissant dans les traverses de ce cadre. Le guidage de ce coulissement en translation est assuré par tous moyens connus, et par exemple, par des galets 14 roulant sur les ailes internes inférieurs des profilés constituant les traverses du cadre. Ce châssis est relié, par des moyens de liaison non représentés, à des moyens moteurs aptes à lui communiquer un déplacement dans les deux sens par rapport au cadre 2. Ces moyens moteurs sont constitués par un moteur électrique dont l'alimentation est sous le contrôle de l'armoire d'asservissement précitée.The chassis 3, having a width less than that of the frame 2, is slidably mounted in the crosspieces of this frame. The guiding of this sliding in translation is ensured by any known means, and for example, by rollers 14 rolling on the lower internal wings of the profiles constituting the cross members of the frame. This chassis is connected, by connection means not shown, to motor means capable of communicating a displacement in both directions relative to the frame 2. These motor means are constituted by an electric motor whose power is under control of the aforementioned control cabinet.

Les deux tapis 4 sont disposés dans le prolongement l'un de l'autre avec ménagement, entre eux et sensiblement à mi longueur du châssis 3, d'un intervalle E d'une valeur au moins égale à la plus grande dimension de l'outil 10 ou du contre outil 13.The two belts 4 are arranged in the extension of one another with care, between them and substantially mid-length of the chassis 3, with an interval E of a value at least equal to the largest dimension of the tool 10 or counter tool 13.

Chacun des tapis 4 est constitué par une bande sans fin 16 passant sur deux tambours extrêmes, respectivement, intérieur 17 et extérieur 18. Chaque tambour 17, qui est moteur, est calé en rotation sur un arbre 19, tandis que chaque tambour 18 est monté libre en rotation sur un arbre 20.Each of the belts 4 is constituted by an endless band 16 passing over two extreme drums, respectively, interior 17 and exterior 18. Each drum 17, which is a motor, is set in rotation on a shaft 19, while each drum 18 is mounted to rotate freely on a shaft 20.

Comme le montre la figure 1, les deux arbres 19 et 20, associés à chaque tapis 4, s'étendent de part et d'autre des longerons du châssis 3, dans lesquels ils sont montés libres en rotation, alors que leurs extrémités sont portées par les longerons du cadre 2. Les extrémités des arbres 19 sont liées en rotation l'une à l'autre et à des moyens moteurs aptes à leur communiquer des mouvements de rotation de même vitesse, dans un sens ou dans l'autre, pour provoquer le déplacement des bandes transporteuses des tapis. Ces moyens moteurs sont constitués par un moteur électrique dont l'alimentation est contrôlée par l'armoire d'asservissement qui, contrôlant les autres moteurs, comporte des moyens analysant les informations transmises par au moins un capteur de vision disposé dans l'axe vertical passant par la zone d'action 9 de l'outil.As shown in FIG. 1, the two shafts 19 and 20, associated with each belt 4, extend on either side of the side members of the chassis 3, in which they are mounted free to rotate, while their ends are carried by the side members of the frame 2. The ends of the shafts 19 are linked in rotation to one another and to motor means capable of imparting to them rotational movements of the same speed, in one direction or the other, to cause the conveyor belts to move. These motor means consist of an electric motor, the supply of which is controlled by the control cabinet which, controlling the other motors, comprises means analyzing the information transmitted by at least one vision sensor disposed in the passing vertical axis. by the action area 9 of the tool.

Dans la forme d'exécution représentée à la figure 6, la bande transporteuse 16 de chacun des tapis 4 est munie de perforations 16a et est associée, entre ses deux brins, à un caisson à dépression désigné de façon générale par la référence 22. Ce caisson est fixé sur les longerons 3a du châssis 3 et comporte, en regard du brin actif du tapis, une paroi 23 qui est munie de larges perforations 24. Afin que soit constant l'intervalle entre la face extérieure de la paroi 23 du caisson et la face intérieure de la bande 16, la paroi 23 est séparée de l'autre paroi longitudinale 25 du caisson par des entretoises 26 régulièrement réparties. Bien entendu, ce caisson est raccordé à une source de vide, non représentée.In the embodiment shown in FIG. 6, the conveyor belt 16 of each of the belts 4 is provided with perforations 16a and is associated, between its two strands, with a vacuum box generally designated by the reference 22. This box is fixed on the longitudinal members 3a of the chassis 3 and comprises, opposite the active strand of the belt, a wall 23 which is provided with large perforations 24. So that the interval between the external face of the wall 23 of the box is constant and the inner face of the strip 16, the wall 23 is separated from the other longitudinal wall 25 of the box by spacers 26 regularly distributed. Of course, this box is connected to a vacuum source, not shown.

La figure 6 montre, qu'au moins au niveau du tambour moteur 17, la paroi verticale 27 du caisson 22 sert de support à un coussinet 28 assurant le positionnement de l'élément extrême 17a du tambour 17, par sa partie en forme de fourche s'engageant dans une gorge 28 de cette pièce. Cette figure met également en évidence que le tambour 17, et chacune de ses pièces extrêmes 17a, sont traversés par un alésage longitudinal de section carrée assurant leur calage en rotation sur l'arbre moteur 19, également de section carrée.FIG. 6 shows that, at least at the level of the driving drum 17, the vertical wall 27 of the box 22 serves to support a pad 28 ensuring the positioning of the end element 17a of the drum 17, by its fork-shaped part engaging in a groove 28 of this part. This figure also highlights that the drum 17, and each of its end pieces 17a, are crossed by a longitudinal bore of square section ensuring their setting in rotation on the motor shaft 19, also of square section.

Lorsqu'une pièce 30, composée de deux nappes d'étoffe ou autres, est disposée sur l'un des tapis 4, sa position est détectée par un capteur de vision qui transmet ses informations à l'armoire d'asservissement. Des moyens connus, disposés dans cette armoire, tel qu'un ordinateur, ou un automate programmable, comparent les informations reçues avec des informations de référence et déclenchent l'alimentation de tout ou partie des moteurs électriques commandant le fonctionnement du dispositif d'entraînement de manière que ce dernier amène la pièce 30 dans une position permettant l'exécution de la première phase de travail, et par exemple de couture.When a piece 30, composed of two layers of fabric or the like, is placed on one of the belts 4, its position is detected by a vision sensor which transmits its information to the control cabinet. Known means, arranged in this cabinet, such as a computer, or a programmable automaton, compare the information received with reference information and trigger the supply of all or part of the electric motors controlling the operation of the device. drive so that the latter brings the part 30 in a position allowing the execution of the first phase of work, and for example sewing.

Les figures 2 à 5 illustrent les différentes possibilités offertes par le dispositif.Figures 2 to 5 illustrate the different possibilities offered by the device.

La figure 2 représente la solution idéale dans laquelle la zone à coudre de la pièce 30 est dans l'axe de travail x'-x de la machine et dans le plan médian des tapis transporteurs 4. Dans ces conditions, l'avance de la pièce en direction de l'aiguille est assurée par le mouvement dans le sens de la flèche 31 des seuls tapis 4.FIG. 2 represents the ideal solution in which the sewing area of the piece 30 is in the working axis x'-x of the machine and in the median plane of the conveyor belts 4. Under these conditions, the advance of the part in the direction of the needle is ensured by the movement in the direction of arrow 31 of the only belts 4.

La figure 3 représente une autre solution simple selon laquelle la zone à coudre est dans l'axe de travail x'-x de la machine et est parallèle à la direction de translation du porte tapis 3 dans le cadre 2. Dans ces conditions, après avoir été posée sur l'un des tapis 4, la pièce 30 est déplacée par ce porte-tapis 3, jusqu'à ce que son bord vienne dans la zone 9 d'action de l'outil, et en l'occurrence de l'aiguille 10. L'ensemble du porte tapis et des deux tapis est donc déplacé dans le sens de la flèche 32, ou en sens inverse, pour obtenir le mouvement d'avance de la pièce par rapport à l'aiguille.FIG. 3 represents another simple solution according to which the zone to be sewn is in the working axis x'-x of the machine and is parallel to the direction of translation of the carpet carrier 3 in frame 2. Under these conditions, after having been placed on one of the belts 4, the part 30 is moved by this belt holder 3, until its edge comes into the zone 9 of action of the tool, and in this case l needle 10. The assembly of the belt holder and the two belts is therefore moved in the direction of arrow 32, or in the opposite direction, to obtain the advance movement of the part with respect to the needle.

Lorsque les coutures 34 ou 35 devant être réalisées ne sont parallèles, ni à la direction de déplacement des tapis 4, ni à la direction de translation du châssis porte tapis, comme montré aux figures 4 et 5, le cadre 2 est pivoté d'abord pivoté de manière à amener, chacune de ces coutures parallèlement à la direction de travail x'-x de la machine à coudre. Pour chaque couture, le déplacement de la pièce s'effectue dans le sens de la flèche 36, c'est à dire suivant la résultante du déplacement des tapis 4, selon les flèches 31 des tapis 3 et du déplacement du porte tapis 3, selon les flèches 32 . Il est évident que la vitesse linéaire des tapis 4, et/ou la vitesse de translation du porte tapis 2, est réglée de manière que l'avance de la pièce 30 par rapport à l'outil 10 soit proche de la valeur idéale permettant l'obtention des points de couture attendus.When the seams 34 or 35 to be produced are not parallel, neither to the direction of movement of the belts 4, nor to the direction of translation of the belt carrier chassis, as shown in FIGS. 4 and 5, the frame 2 is pivoted first pivoted so as to bring each of these seams parallel to the working direction x'-x of the sewing machine. For each seam, the piece is moved in the direction of arrow 36, that is to say according to the result of the movement of the belts 4, according to the arrows 31 of the belts 3 and of the movement of the carpet holder 3, according to arrows 32. It is obvious that the linear speed of the belts 4, and / or the speed of translation of the belt carrier 2, is adjusted so that the advance of the part 30 relative to the tool 10 is close to the ideal value allowing the '' expected stitches.

Ce dispositif permet donc, quelle que soit la position initiale de la pièce et les déformations que celle-ci peut subir pendant l'action de l'outil, de déplacer cette pièce, sans qu'elle puisse glisser par rapport aux tapis 4, grâce à la dépression, et de manière que la partie devant subir l'action de l'outil soit bien orienté par rapport à cet outil.This device therefore makes it possible, whatever the initial position of the part and the deformations which it may undergo during the action of the tool, to move this part, without it being able to slide relative to the belts 4, thanks to depression, and so that the part to be subjected to the action of the tool is well oriented relative to this tool.

Dans les applications où il est recommandé de suspendre le déplacement de la pièce 30 pendant la pénétration de l'aiguille, par exemple, dans le cas de piqûres de nappes en cuir, soit les moteurs électriques assurant l'entraînement des tapis 4 et du porte tapis 3, sont alimentés à travers des moyens interrompant leur alimentation chaque fois que l'outil traverse la pièce, soit il est fait usage de moyens complémentaires qui vont maintenant être décrits en référence à la figure 1.In applications where it is recommended to suspend the movement of the piece 30 during penetration of the needle, for example, in the case of stitching of leather tablecloths, that is to say the electric motors ensuring the driving of the belts 4 and of the holder belts 3, are fed through means interrupting their feeding each once the tool passes through the part, either use is made of additional means which will now be described with reference to FIG. 1.

Ces moyens sont constitués par un support 40 qui, parallèle au cadre 2, est monté libre en translation dans des glissières fixes 42 du bâti 7. Ces glissières sont parallèles entre elles et à la direction de travail x'-x de l'outil 10. Le palier central 6 du cadre 2 est monté libre en rotation sur le support 40. Celui-ci est relié à des moyens moteurs aptes à lui communiquer au moins un déplacement, dans le sens de la flèche 43, chaque fois que l'outil traverse la pièce. La vitesse linéaire de ce déplacement est égale à celle théorique de la pièce 30 par rapport à l'outil, mais de sens inverse, de manière à annuler instantanément le déplacement qui est communiqué à cette pièce par les autres éléments du dispositif. En pratique, ce mouvement est assuré par un moteur relié, avec interposition d'un embrayage, aux moyens d'entraînement du support 40. Le déplacement en sens inverse est assuré par un ressort de rappel, non représenté.These means are constituted by a support 40 which, parallel to the frame 2, is mounted free in translation in fixed slides 42 of the frame 7. These slides are parallel to each other and to the working direction x'-x of the tool 10 The central bearing 6 of the frame 2 is mounted to rotate freely on the support 40. The latter is connected to motor means capable of imparting to it at least one movement, in the direction of the arrow 43, each time that the tool crosses the room. The linear speed of this movement is equal to the theoretical speed of the part 30 relative to the tool, but in the opposite direction, so as to instantly cancel the movement which is communicated to this part by the other elements of the device. In practice, this movement is provided by a motor connected, with the interposition of a clutch, to the drive means of the support 40. The movement in the opposite direction is provided by a return spring, not shown.

Dans la description qui précède, les tapis transporteurs 4 sont utilisés seuls, mais ils peuvent aussi, dans d'autres formes d'exécution, être utilisés avec des tapis secondaires améliorant le plaquage de la pièce sur eux, et disposés en vis à vis de leur brin traversé par l'aspiration du caisson 22.In the above description, the conveyor belts 4 are used alone, but they can also, in other embodiments, be used with secondary belts improving the plating of the part on them, and arranged opposite. their strand crossed by the suction of the box 22.

Les figures 8 à 10 représentent différentes configurations de ces moyens, selon l'encombrement de l'outil, en diamètre et hauteur, et selon sa position, en partie supérieure ou inférieure.Figures 8 to 10 show different configurations of these means, depending on the size of the tool, in diameter and height, and according to its position, in the upper or lower part.

A la figure 8, l'outil 10a est disposé en partie inférieure et le contre outil 13a est disposé en partie supérieure. Ce contre outil présente une grande dimension diamétrale exigeant de donner à l'intervalle E1 entre les bords en vis à vis des tapis 4, une grande valeur favorisant les déformations de la pièce en nappes 30a. Pour remédier à cela, cette pièce 30a est supportée dans cet intervalle par deux tapis secondaires 50. Le brin actif 50a, c'est à dire le brin supérieur de chacun de ces tapis 50, est séparé du brin actif inférieur 4b du tapis 4 par une distance au plus égale à l'épaisseur de la pièce 30a, de manière que la dépression provenant du caisson 22 et traversant le brin actif 4b plaque contre ce brin, le brin actif 50a du tapis secondaire 50, hors des zones où ce brin 50a est en contact avec la pièce 30a.In FIG. 8, the tool 10a is arranged in the lower part and the counter tool 13a is arranged in the upper part. This counter tool has a large diametrical dimension requiring to give the interval E1 between the edges facing the belts 4, a large value favoring the deformations of the part in plies 30a. To remedy this, this part 30a is supported in this interval by two secondary belts 50. The active strand 50a, that is to say the upper strand of each of these belts 50, is separated from the lower active strand 4b of the belt 4 by a distance at most equal to the thickness of the part 30a, so that the depression coming from the box 22 and passing through the active strand 4b presses against this strand, the active strand 50a of the secondary belt 50, outside the zones where this strand 50a is in contact with the part 30a.

Grâce à cet agencement, chacun des tapis secondaires 50, qui est également porté par le châssis porte tapis 3, est entraîné en translation uniquement par le tapis 4 auquel il est associé. La figure 8 montre également que les deux tapis 50 sont disposés dans le prolongement l'un de l'autre et séparés par un intervalle 51, de très faible valeur améliorant considérablement la tenue de la pièce pendant sur la traverse de l'espace E entre le tapis 4.Thanks to this arrangement, each of the secondary belts 50, which is also carried by the carpet carrier chassis 3, is driven in translation only by the carpet 4 with which it is associated. FIG. 8 also shows that the two belts 50 are arranged in the extension of one another and separated by an interval 51, of very low value considerably improving the hold of the part hanging on the crosspiece of space E between the carpet 4.

Dans la forme d'exécution représentée à la figure 9, l'outil 10b est en position supérieure, tandis que le contre outil 13b est en position inférieure. Ce sont donc les deux tapis 4 qui sont séparés par un intervalle E2 de faible valeur, tandis que les deux tapis secondaires 50 sont séparés par un espace S2 de valeur importante pour permettre le passage du contre outil 13b.In the embodiment shown in Figure 9, the tool 10b is in the upper position, while the counter tool 13b is in the lower position. It is therefore the two belts 4 which are separated by an interval E2 of low value, while the two secondary belts 50 are separated by a space S2 of significant value to allow the passage of the counter tool 13b.

Dans la forme d'exécution représentée à la figure 10, les deux tapis 4 sont disposés au niveau du contre outil 13c et sont donc séparés par un intervalle E3 de valeur importante, tandis que les deux tapis secondaires 50 sont disposés en partie supérieure et séparés par un intervalle S3 de faible valeur.In the embodiment shown in FIG. 10, the two belts 4 are arranged at the level of the counter tool 13c and are therefore separated by an interval E3 of significant value, while the two secondary belts 50 are arranged in the upper part and separated by an interval S3 of low value.

Les tapis secondaires 50 peuvent aussi être entraînés par le moteur d'entraînement des tapis 4, pourvu que les moyens de transmission de mouvement communiquent à leur bande des vitesses et sens de déplacement identiques à ceux des bandes des tapis 4.The secondary belts 50 can also be driven by the motor for driving the belts 4, provided that the movement transmission means communicate to their band speeds and directions of movement identical to those of the belts of the belts 4.

Ces tapis secondaires permettent non seulement d'améliorer le pincement de la pièce 30a, 30b, 30c prise en sandwich, entre eux et les tapis transporteurs 4 principaux, mais aussi d'assurer l'obturation des ouvertures des tapis 4, pour réduire le débit de vide, et d'accompagner de manière prolongée la pièce dans l'espace entre les tapis 4. Le dernier avantage est particulièrement important pour les petites pièces ou pour les pièces ayant tendance à se déformer lors de leur passage dans l'intervalle entre les tapis 4.These secondary belts make it possible not only to improve the clamping of the piece 30a, 30b, 30c sandwiched between them and the main conveyor belts 4, but also to ensure the closure of the openings of the belts 4, in order to reduce the flow of vacuum, and to accompany the piece for a long time in the space between the belts 4. The last advantage is particularly important for small pieces or for pieces that tend to deform during their passage in the interval between the carpet 4.

Pour faciliter la compréhension de l'invention, il n'a pas paru utile de décrire les moyens d'entraînement reliant les moteurs électriques au palier central 6, aux arbres 19 d'entraînement des tapis 4, et au châssis porte-tapis 3, car il s'agit de dispositions bien connues de l'Homme de l'Art. Cependant, il est précisé que, dans une forme d'exécution, visant à alléger la masse du cadre 2 et du châssis 3 et supprimer tous balourds dus à la présence de moteurs électriques sur ces éléments. Les trois moteurs assurant la rotation du cadre 2, le déplacement des tapis 4 et du porte-tapis 3, sont fixés sur le bâti 7 ou sur le support 40, et transmettent chacun leur mouvement à des câbles ou courroies, passant autour du palier central. Des poulies disposées aux angles du cadre 2 renvoient les câbles ou courroies, respectivement, jusqu'aux poulies d'entraînement des arbres 19 et jusqu'au châssis 3.To facilitate understanding of the invention, it did not seem useful to describe the drive means connecting the electric motors to the central bearing 6, to the shafts 19 for driving the belts 4, and to the belt carrier chassis 3, because these are provisions well known to those skilled in the art. However, it is specified that, in one embodiment, aimed at reducing the mass of the frame 2 and the frame 3 and eliminating any imbalances due to the presence of electric motors on these elements. The three motors ensuring the rotation of the frame 2, the movement of the belts 4 and of the belt carrier 3, are fixed on the frame 7 or on the support 40, and each transmit their movement to cables or belts, passing around the central bearing . Pulleys arranged at the corners of the frame 2 return the cables or belts, respectively, to the drive pulleys of the shafts 19 and to the chassis 3.

Il ressort de la description qui précède que, quelles que soient ses formes de réalisation, le dispositif selon l'invention permet :

  • de toujours dégager la zone d'action de l'outil sur les deux faces de la pièce en cours de traitement,
  • de tenir parfaitement la pièce afin qu'elle ne glisse pas par rapport à ses moyens d'entraînement, lorsqu'elle est travaillée par l'outil,
  • quelle que soit la position initiale de la pièce et la position sur cette pièce de la zone devant être traitée par l'outil, d'orienter cette pièce de manière que, dans la zone d'action de l'outil, la zone à travailler soit parallèle à une direction de référence, tout en ayant la possibilité d'adapter cette position à la trajectoire désirée et aux déformations de cette pièce,
  • et enfin, d'obtenir dans la zone de l'outil, un entraînement précis et à la vitesse requise par le fonctionnement de l'outil, ou la régularité du travail.
It appears from the above description that, whatever its embodiments, the device according to the invention allows:
  • always clear the action area of the tool on both sides of the part being processed,
  • to hold the part perfectly so that it does not slip relative to its drive means, when it is worked by the tool,
  • whatever the initial position of the part and the position on this part of the zone to be treated by the tool, orient this part so that, in the zone of action of the tool, the zone to be worked either parallel to a reference direction, while having the possibility of adapting this position to the desired trajectory and to the deformations of this part,
  • and finally, to obtain in the tool area, precise training and at the speed required by the operation of the tool, or the regularity of the work.

Claims (9)

  1. Device for automatically driving one sheet-like piece with respect to another, of the type including electric driving means whose supply is controlled by a control box connected to at least one visual sensor detecting the position of the sheet, characterized in that it comprises:
    - a horizontal frame (2) fastened to a central bearing (6), mounted so as to rotate freely about a vertical axis passing through the active zone (9) of the tool (10) and connected to driving means, these being capable of pivoting it in one direction or in the other over at least one fraction of a revolution;
    - a horizontal chassis (3) mounted so as to slide transversely in the frame (2) and connected to driving means capable of causing it to move translationally in the frame, in one direction or in the other;
    - and, carried by this chassis (3), at least two belt transporters (4) which, each being composed of an endless belt (16) passing over two end drums (17-18) mounted so as to rotate freely in the longitudinal members of the horizontal chassis (3), are placed in mutual alignment with provision, between them and halfway along the chassis (3), of a space (E) for the passage of the tool (10) or of the counter-tool (13) and are connected to common driving means, these being able to communicate to them identical movements, in one direction or in the other.
  2. Device according to Claim 1, characterized in that in each of the belt transporters (4), at least the drive drum (17) is rotationally locked, with the possibility of longitudinal sliding, onto a horizontal shaft (19) whose ends are mounted so as to rotate freely in the longitudinal members of the belt-transporter-carrying chassis (3) and are connected, by drive means, to an electric motor common to the two belt transporters (4).
  3. Device according to either of Claims 1 and 2, characterized in that each belt transporter (4) is composed of a belt (16) provided with perforations (16a) and with a suction box (22) which, placed between the two sides of the belt and carried by the belt-transporter-carrying chassis (3), includes a perforated wall (22) placed opposite the conveying side of this belt transporter.
  4. Device according to any one of Claims 1 to 3, characterized in that each belt transporter (4) is associated with a secondary belt transporter (50) carried by the belt-transporter-carrying chassis (3) and the conveying side (50a) of which is separated from the conveying side of the belt-transporter (4) by a distance at most equal to the thickness of the sheet-like piece (30).
  5. Device according to Claim 4, characterized in that each secondary belt transporter (50) is driven by the pressing, due to the action of the suction, of the free part of its conveying side against the conveying side of the belt transporter (4).
  6. Device according to Claim 4, characterized in that the secondary belt transporter (50) is connected to drive means capable of communicating to it movements in the same direction and with the same speed as those of the belt transporter with which it interacts.
  7. Device according to any one of Claims 4 to 6, characterized in that the two secondary belt transporters (50) are placed in mutual horizontal alignment and are separated, halfway along the chassis (3), by a space (S) for the passage of the tool (10) or of the counter-tool (13).
  8. Device according to any one of Claims 1 to 7, characterized in that the electric motor driving the belt transporters (4) is supplied via means interrupting its supply every time the tool passes through the piece.
  9. Device according to any one of Claims 1 to 7, characterized in that the central bearing (6) of the frame (2) is mounted so as to rotate freely in a support (40) which, being parallel to the frame (2), is mounted so as to move freely in translation in the fixed slideways (42), which are parallel to the working direction (x'-x) of the tool (10), this support being connected, on the one hand, to driving means capable of moving it, instantaneously, and every time that the tool (10) passes through the piece (30), with a linear speed equal to that which the piece possesses in the vertical working axis of the tool (10), but in the opposite direction to that of this piece, and, on the other hand, to return means bringing it back to its starting position, during the interval between two traverses of the piece by the tool.
EP19930420327 1992-07-28 1993-07-27 Apparatus for moving automatically a sheet like workpiece relating to a tool Expired - Lifetime EP0585182B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9209593A FR2694308B1 (en) 1992-07-28 1992-07-28 Device for automatically driving a workpiece in relation to a tool.
FR9209593 1992-07-28

Publications (2)

Publication Number Publication Date
EP0585182A1 EP0585182A1 (en) 1994-03-02
EP0585182B1 true EP0585182B1 (en) 1996-06-05

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Application Number Title Priority Date Filing Date
EP19930420327 Expired - Lifetime EP0585182B1 (en) 1992-07-28 1993-07-27 Apparatus for moving automatically a sheet like workpiece relating to a tool

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Country Link
EP (1) EP0585182B1 (en)
DE (1) DE69302974T2 (en)
ES (1) ES2089765T3 (en)
FR (1) FR2694308B1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9407960D0 (en) * 1994-04-22 1994-06-15 British United Shoe Machinery Workpiece clamping and feeding device
DE19716333C1 (en) * 1997-04-18 1998-09-10 Beckmann Gmbh Fabric holder for high speed sewing machine

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4327653A (en) * 1980-01-21 1982-05-04 Levi Strauss & Co. Continuous sewer
JPS59181185A (en) * 1983-03-30 1984-10-15 蛇の目ミシン工業株式会社 Drive apparatus of embroidering frame
DE4004231A1 (en) * 1990-02-12 1991-08-14 Msi Naehautomaten Entwicklungs Fabric workpiece movement - has pivot bearing on a guide arm fixed to a further guide arm to give sliding on two axes with workpiece rotation
GB9019091D0 (en) * 1990-09-01 1990-10-17 British United Shoe Machinery Automatic sewing machine system

Also Published As

Publication number Publication date
FR2694308B1 (en) 1994-09-30
EP0585182A1 (en) 1994-03-02
FR2694308A1 (en) 1994-02-04
DE69302974D1 (en) 1996-07-11
ES2089765T3 (en) 1996-10-01
DE69302974T2 (en) 1996-10-10

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