JP2001521868A - Device for picking up and manipulating sheet-like flexible objects, especially expensive textiles - Google Patents

Abstract

(57) Abstract: A device for picking up and operating a sheet-like flexible object, particularly an expensive fabric, including a device for picking up and operating a sheet-like flexible object, especially an expensive fabric. Devices. The device includes a first grip member (13) for adsorbing an object to be picked up by contact, and a device capable of pressing the gripped object toward the grip member (13). At least one gripping structure (12) comprising a second gripping member (14) that acts on the opposite surface of the object to be sought to maintain it in a firm gripping state; The second grip member (14) is formed as a holding member together with the first jaw on which the first grip member is mounted, and the second jaw (16) moves forward and backward with respect to the first jaw (15). Can

Description

DETAILED DESCRIPTION OF THE INVENTION

TECHNICAL FIELD The subject of the present invention relates to a device for picking up and operating sheet-like flexible objects, in particular expensive textiles, according to the preamble of claim 1.

[0002] The invention also relates to a method for picking up and manipulating sheet-like flexible objects, in particular expensive textiles, using said device. BACKGROUND OF THE TECHNOLOGY Devices containing the above features are described in Tokyo Luki Ind. Co. Ltd. Japanese Patent Application Nos. 61101351 and 61101343 published under the names of Jpn.

[0003] These documents comprise a first suction gripping member which can be attached to one end face of the fabric to be manipulated by contact, and a fabric by acting on the opposite side of said end face. The use of a grip device including a second grip member that presses the first grip member toward the first grip member to maintain a firm grip will be described.

[0004] Referring to the gripping devices of these documents, in order to grip the fabric, the fabric is lifted to a certain height by means of a suction device (lowering a second gripping member, which is called a suction device). Pivoting to move directly beneath the fabric in the area and lifting it towards the fabric) is a relatively long and labor intensive process that requires restraint while waiting for the completion of the three tasks. It should be noted that this is done through a typical pick-up operation. Furthermore, once the fabric is lifted, the fabric in the area of the adsorption device undergoes a local deformation which, due to its own weight, exhibits its tendency to separate. Furthermore, this gripping device requires at least two independent actuators, one of which is subject to two distinctive actions, the gripping device being able to perform a gripping action exclusively at the periphery of the textile material, It should be noted that this is not appropriate for gripping. To this end, the gripping device takes up a large working space and penetrates the space outside the textile material to be manipulated.

[0005] It should also be noted that the proposed solution is designed exclusively to move the entire woven material and is not intended to pick up the cut and separate it from the raw material.

Finally, it should also be noted that this device does not have any means for properly handling particularly delicate and expensive materials such as cashmere, silk, etc., on which marks are likely to remain.

[0007] EP-A-0111739 describes a device for picking up and operating plastic sheets. Since this involves manipulating air-friendly materials, the device utilizes separate first and second gripping members, of which the first gripping member is It is a suction device, and the second grip member is a holding device. The action of the separate gripping members described has been proposed for the purpose of manipulating fabrics, especially for picking up and manipulating highly air-sensitive materials when they are placed between cut raw materials. Not something. DESCRIPTION OF THE INVENTION The problem on which the invention is based is that it is possible to grip firmly and lightly especially expensive fabrics and their cuts, which are rather difficult to pick up and manipulate, and at the same time also point out the prior art. To provide a new pick-up and operating device that avoids deficiencies.

[0008] This problem is solved by the operating device according to claim 1 of the present invention.

Further advantages are achieved by the technical solution described in the dependent claims. Preferred methods of carrying out the invention The features and advantages of the present invention will be apparent from the following detailed description of preferred embodiments, given by way of non-limiting example, with reference to the accompanying drawings.

In FIG. 1, a device for manipulating a flexible object is generally designated by the reference numeral 1, which is a Cartesian robot 4 which is conventional and will not be described separately. Utilizing the pick-up device 2 mounted on the vertical slide member 3 of FIG.

The pick-up device 2 comprises a cross member 3 a (FIG. 3) mounted on a slide member 3 by a mechanical arm 6, the cross member comprising three (or more) axes X, An angular orientation around Y, Z can be created. This mechanical arm 6 is of a construction known to those skilled in the art.

One motor 8 controls the movement of another slide member 10 a, 10 b by the gear transmission mechanism 11. These other slide members 10a, 10b (FIG. 3) are driven by screws or equivalent mechanisms, also with a conventional reciprocating ball, and both are designated by the reference numeral 12, each of which has a corresponding slide. Two grip structures 12 mounted on the members 10a and 10b function to advance and retreat with respect to the center position on both sides of the gear transmission mechanism 11.

Since the two grip structures are the same, one of them will be described in detail. Each grip structure 12 includes a first grip member 13 and a second grip member 14 joined in the following manner. The second jaw 16 of the second grip member and the fixed first jaw 15 of the first grip member 13 are formed as a clamping mechanism. The second jaw may include an articulated parallelogram mechanis.
m) in accordance with the movement of the jaw defined by m), in which the first jaw is fixed to a parallelogram fixed bar 18 and the second jaw is connected to a connecting rod 19. Fixed. Fixed bar 18 and connecting rod 19
Are connected to each other by first and second rocker arms 20 and 21, and the rocker arm 20 is rotated with respect to the fixed bar 18 by a pneumatic jack 22.

The second jaw 16 is covered by a resilient pad 25 and, in the embodiment shown, is substantially square in plan.

The first jaw 15 is formed with a fork-like holding member 27 between the branch members 27a, 27b and a substantially square aperture 29, so that the first grip member 13 can preferably be released and replaced. A base 28 is provided for receiving in a manner. In a preferred embodiment of the present invention, the first grip member 13 includes the suction device 30 or
A mechanical grip device 33 covered by a hook, such as a needle, an adhesive surface or a peel fastener of the type known by the name Velcro,
Exchangeable between these. The suction device 30 has an attachment member 30a, by which the suction device is housed, and is guided between the branch members 27a, 27b and the perforated suction surface 30b communicating with the manifold 30c connected to the suction hose. Preferably, the mechanical grip device 33 moves back and forth with respect to the aperture 29. The reciprocation is performed by the jack actuator 32 between an operation position where the operation surface of the device 33 is located at the lower surface of the branch members 27a and 27b and a separation position where the device 33 is separated from the branch members 27a and 27b. The branch members 27a, 27b
When the movable jaw 16 is closed against the fixed jaw 15, it acts as a reaction member for conveniently separating the gripped fabric from the working position.

However, in the case of an adsorption device, the fabric can be easily separated by reversing the flow of air through the adsorption device 30, so that the vertical movement of the mechanical gripping device is unnecessary. is there.

Finally, a photovoltaic cell or other entity detector, indicated at 34, is mounted on the first jaw 15 to detect that the fabric to be manipulated has been gripped between the jaws 15,16. You.

Referring to FIGS. 10 to 12, a clothing material cut into a desired shape on a cutting table surface is indicated by reference numeral 50. The clothing material 50 should be taken out of the cut raw material indicated by reference numeral 51, if possible, without moving the cut raw material 51. This is because only the picking-up device of the present invention identifies other garment materials existing on the cutting table surface and finds the initial position of the garment material 50 stored by the cutting device.

In order for the Cartesian robot 4 to be arranged to grip and subsequently manipulate the garment material 50, the pick-up device 2 comprises a perforation of the suction device 30 in which each gripping structure 12 is substantially parallel to the cutting table surface. It is driven in such a way that the surface is on the garment to be gripped. Next, the cloth member 3a is lowered until the suction device 30 comes into contact with the clothing material to be picked up. When the suction device is energized, the garment material is adsorbed to the perforated working surface of the suction device at the desired light contact pressure,
It is lifted together with the cross member 3a. The lifting of the cross member 3a cooperates with the mechanical rotation of the arm 6 in the direction illustrated in FIG. That is, the rotation of the arm 6 is a rotation about an axis that is substantially parallel to the surface on which the second grip member closes (the surface on which the jaws 15 and 16 face each other). This raises the weight of the applied garment material and this is formed in a manner that is consistent with the deformation due to the mechanical properties of the garment material in between. This minimizes the tendency of the gripped fabric to separate and improves the firm grip characteristics of the suction device compared to simply lifting the fabric vertically upward, Ensuring that the fabric is properly held until the function of the grip member is completed.

These second gripping members are actuated at the moment when the lifting allows the closing movement of the shapes 15, 16. The selected geometry of the articulated parallelogram mechanism allows the movable jaw 16 to make an appreciably small movement in a direction perpendicular to the plane of the first fixed jaw 15 and to a very limited extent of the fabric. After the lift has been performed, the two jaws can be closed. As the jack 22 moves the rocker arm 20, the second jaw 16 closes against the surface of the first jaw 15. It should be noted that the second jaw has a relatively large working surface and does not damage the fabric to be handled. When supplemented by the entire gripper, the surface of the first jaw is also wide, so that even the most delicate fabrics can be operated quite safely with a relatively small closing pressure between the two jaws.

Once the clamping means has been closed and separated from the cut material, the mechanical gripping device 33 continues the desired movement with the jack 32 (FIG. 9). As a result, under the pivoting movement of the mechanical arm 6, the two gripping structures 12 also pivot, and these gripping structures can be simultaneously and simultaneously detached from the fabric 50 without undesired displacement of the fabric. I do.

In this technique of collecting fabrics from a cutting table, the cut fabrics can be advantageously removed vertically from the raw material without being entangled with the cut raw material.
This has certain significance depending on the material and the shape of the fabric.

Among the major advantages of the present invention, the following should be noted.

The first gripping member is only required before the second gripping member intervenes, in order to lift only the edges (ie the minimum amount) of the fabric to be gripped, and the subsequent lifting The effect is fully supported by the second grip member.

The pick-up device is adaptable to different materials and different shapes due to the interchangeability of the first gripping member and the wide adaptability of the second gripping member.

The movement of the device is simple and simple in comparison with known devices with articulated arms.

The control and cooperation of the pick-up device is expedient, since the movement of several gripping structures mounted on the same cross member is performed in a coordinated manner.

Using several grip structures spaced on the cross member and using a single device or by moving multiple devices relative to each other along the cross member, It is possible to take up both fabrics.

Two or more textiles arranged symmetrically about a line can be picked up at the same time.

The speed at which the two jaws close is increased and only a minimal number of actuators are required for the action of the gripping structure.

A reliable grip is achieved thanks to a purely mechanical second grip stage.

A reliable grip is achieved in the first grip phase, thanks to the pivoting movement imparted to the pick-up device.

The fabric can be gripped even in the central area of the fabric by folding the fabric into two parts and overlapping each other.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of an apparatus for manipulating a flexible object including a pick-up device of the present invention.

2 is an enlarged perspective view of one detail of the device of FIG. 1;

FIG. 3 is a perspective view of a pick-up device provided in the apparatus of FIG. 1;

FIG. 4 is a front view of a pickup device included in the apparatus of FIG. 1;

FIG. 5 is a side view of a grip member of the picking-up device provided in the preceding drawings.

FIG. 6 is a perspective view of a grip member of the picking-up device provided in the preceding drawings.

FIG. 7 is a perspective view of a detail of the device of FIGS.

FIG. 8 is a side view of another detail of FIGS.

FIG. 9 is a side view of another detail of the alternative structure of the grip member of FIGS.

FIG. 10 is a schematic view of the device of the invention in one of the different stages of operation.

FIG. 11 is a schematic view of the device of the invention in one of the different stages of operation.

FIG. 12 is a schematic view of the device of the invention in one of the different stages of operation.

──────────────────────────────────────────────────続 き Continuation of front page (81) Designated country EP (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, IT, LU, MC, NL, PT, SE ), OA (BF, BJ, CF, CG, CI, CM, GA, GN, GW, ML, MR, NE, SN, TD, TG), AP (GH, GM, KE, LS, MW, SD, SZ, UG, ZW), EA (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM), AL, AM, AT, AU, AZ, BA, BB, BG, BR, BY, CA, CH, CN, CU, CZ, DE, DK, EE, ES, FI, GB, GE, GH, GM, HR, HU, ID, IL, IS, JP, KE, KG, KP , KR, KZ, LC, LK, LR, LS, LT, LU, LV, MD, MG, MK, MN, MW, MX, NO, NZ, PL, PT, RO, RU, SD, SE, SG, SI, SK, SL, TJ, TM, TR, TT, UA, UG, US, UZ, VN, YU, ZWF Term (Reference) 3F101 CA05 CA10 CB01 CC01 LA16 LB11 3F343 FA08 FB15 GA01 GB01 GC01 GD01 JC10 JC12 KB04 KB05 LA04 LA15

Claims (13)

[Claims] 1. The second grip member (14) is formed as a holding member together with the first jaw to which the first grip member is mounted, and the second jaw (16) is
A first grip member (13), which is capable of moving back and forth with respect to the first jaw (15); A second to keep the object pressed in a firmly gripped state by pressing the object towards the first gripping member (13) and acting on the surface of the object to be picked up Grip member (1
A device for picking up and manipulating sheet-like flexible objects, in particular expensive textiles, comprising at least one gripping structure (12) comprising 4). 2. The second jaw (16) is such that the second jaw (16) gradually moves toward the first jaw (15) and gradually toward the surface of the first jaw (15). 2. The jaw according to claim 1, wherein the actuator is associated with one actuator that performs a predefined relative movement between the jaws (15, 16), the two jaws being maintained substantially parallel to each other. device. 3. The actuator comprises an articulated parallelogram mechanism, wherein the first jaw (15) is fixed to a parallelogram fixing bar (18) and the second jaw (16). ) Is mounted on a parallelogram connecting rod (19). 4. The at least one gripping structure (12) is guided on the cross member (3a) surface such that it can be moved and adjusted along the cross member, and the direct drive means (8, 11) is Device according to one or more of the preceding claims, provided for moving at least one gripping structure (12) along a member (3a). 5. The device according to claim 4, wherein the two or more grip structures are provided on the same cross member. 6. The at least one gripping structure (12) includes a jaw (15).
, 16) articulated mechanical arms (1) about a first axis substantially parallel to the closure plane (
6), wherein the arm is driven to rotate about the axis and in a manner consistent with the deformation caused by the weight of the gripped object during lifting. A device according to one or more of the preceding claims, wherein the device is oriented in a closed plane. 7. Device according to one or more of the preceding claims, wherein the first jaw (15) has an aperture (29) through which the first gripping member (13) acts. 8. The first jaw (15) comprises a fork-shaped member (27), the aperture (29) being defined between branch members (27a, 27b) of said member. Devices. 9. The gripping device according to claim 7, wherein the first gripping member is selected from a suction device and a mechanical gripping device, for example, comprising a needle, an adhesive surface or the like. device. 10. The first gripping member (13) is releasably releasable from the first jaw (15) and the mechanical gripping device (33) and the sucking member (30) are exchangeable.
10. The device of claim 9, wherein the device is associated with 11. The corresponding working surface of the first jaw against which the second jaw is biased when closed is defined by at least one branch (27a, 27b) and the base of the fork-like member. Item 10. The device according to one or more of items 8 to 10. 12. Lifting by the first gripping member (13) is limited to only one edge of the object to be picked up, and the remaining lifting and / or manipulation of the object is performed by the second gripping member. It is characterized in that it is effectively performed by the operation of (14), wherein the first grip member (13) of the grip structure (12) is attracted to the surface of the object to be gripped by contact. Lifting the object by the first gripping member, and subsequently moving the gripped object to the first
Sheet-like, including pressing against the gripping member (13) of the object and acting on the opposite surface of the object to be picked up, thereby maintaining the object in a firmly gripped state. For handling flexible materials, especially expensive textiles. 13. The arm (6) is substantially parallel to the closing surface of the jaws (15, 16) of the second gripping member (14) while lifting at least the edge of the object to be picked up. Driven to pivot about an axis, the gripped object is oriented in the closed plane in a manner consistent with deformations caused by its own weight and / or mechanical properties of the object during lifting. At least one gripping structure (12) is articulated about an axis substantially parallel to the closing plane of the jaws (15, 16) of the second gripping member (14). Method according to claim 12, mounted on a mechanical arm (6).