JP2015066386A - Sewing system and holding body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sewing system and a holding body which reduce possibility of reversely connecting the holding body for holding a sewing object.SOLUTION: A sewing system includes a pallet supply device and a plurality of sewing machines. The plurality of sewing machines include feeding mechanisms 6. The feeding mechanism 6 can move in the horizontal direction by holding a rear end part 811 of a pallet 801. The pallet supply device includes a plurality of pallet supply mechanisms 230. The pallet supply mechanism 230 can hold a front end part 812 of the pallet 801. The rear end part 811 and the front end part 812 of the pallet 801 include asymmetrical parts 85 formed asymmetrically with each other with a central part of the pallet 801 being the center. Out of the sewing machine and the pallet supply device, at least one of them notifies that the pallet 801 is normally connected or reversely connected with respect to the feeding mechanism 6 and the pallet supply mechanism 230, based on the asymmetrical parts 85.

Description

  The present invention relates to a sewing system that performs sewing and a holding body that holds a sewing object.

  Conventionally, there is a sewing system that performs sewing on a sewing object held by a holding body. For example, the sewing system described in Patent Literature 1 includes a plurality of sewing machines positioned on a circumference centered on one transport robot. The transport robot is rotatable and transports a jig for holding a cloth to be sewn to any sewing machine. For example, when performing a sewing operation in two sewing steps including a first step and a second step, the operator places the cloth on the first step jig. The transfer robot delivers the first process jig to the first process sewing machine. The sewing machine in the first process sews the fabric arranged in the jig for the first process. After completion of sewing, the transfer robot receives the first process jig from the sewing machine and transfers it to the work table. The operator removes the cloth from the first process jig and replaces it with the second process jig. The transfer robot passes the second process jig to the second process sewing machine. The sewing machine in the second process is sewn on the fabric placed in the jig for the second process. After the sewing is completed, the transfer robot receives the second process jig from the sewing machine.

  The jig includes an outer frame that holds the fabric with the inner frame. The outer frame includes a pair of sandwiching pieces projecting on both sides. The sandwich piece includes a through hole penetrating vertically. The transport robot includes a hand that holds a jig with a sandwich piece interposed therebetween. The sewing machine includes a pair of connecting pieces for connecting the jig. The connecting piece includes a protrusion that can be inserted into the through hole. When the transfer robot passes the jig to the sewing machine, the transfer robot passes the connecting piece of the sewing machine through the through hole of the sandwiching piece while holding the jig with the hand. When the transfer robot receives the jig from the sewing machine, the transfer robot grasps the jig with the hand and removes the sandwiching piece from the connecting piece.

JP-A-2-55081

  In the above-mentioned conventional sewing system, even if an operator mistakenly places the jig in the reverse direction, the hand on the transfer robot side and the connecting piece on the sewing machine side can fix the narrow piece of the jig. It is. For this reason, when the operator places the jig in the reverse direction and the connecting piece on the sewing machine side fixes the narrow piece of the jig, that is, when the jig is reversely connected to the sewing machine, the sewing operation of the sewing machine The jig may be damaged.

  An object of the present invention is to provide a sewing system and a holding body that reduce the possibility of reverse connection of a holding body that holds a sewing object.

  A sewing system according to a first aspect of the present invention includes a sewing machine that is sewed on a sewing object, an opposing device that is provided to face the sewing machine, and a holding body that holds the sewing object. In the sewing system for transferring the sewing machine between the sewing machine and the opposing device, the sewing machine has a needle bar that can move up and down, a workbench that is provided below the needle bar and has an upper surface that extends in the horizontal direction, and the needle. A first mechanism located between the bar and the workbench and capable of moving in a horizontal direction while holding the first end of the holding body, and the opposing device includes the first end of the holding body. A second mechanism capable of holding a second end facing the portion, wherein the first end and the second end of the holding body are asymmetric with respect to a central portion of the holding body At least one of the sewing machine and the counter device. One informs that the first end and the second end of the holding body are forwardly connected or reversely connected to the first mechanism and the second mechanism based on the asymmetric part. A notification unit is provided.

  An alerting | reporting part alert | reports that the holding body has forward-connected or reversely connected with respect to the 1st mechanism and the 2nd mechanism. For this reason, the operator can easily determine whether or not the direction in which the holder is arranged is correct. Therefore, it is possible to reduce the possibility that the sewing machine executes sewing while the holding body is reversely connected to the first mechanism and the second mechanism. Therefore, possibility that a holding body will be damaged by sewing operation | movement can be reduced. In addition, the operator can easily confirm the orientation of the holding body by confirming the asymmetric part. Therefore, the sewing system can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism.

  In the sewing system, the asymmetric part at one end of the first end part and the second end part is a notch part cut out in a direction from the one end part toward the other end part. The asymmetric part at the other end of the end part and the second end part is a non-notched part, and at least one of the first mechanism and the second mechanism is in contact with the non-notched part. The contact detection part which detects this may be provided, the said alerting | reporting part may judge whether the said notch part contact | abutted to the said contact detection part, and you may alert | report the judgment result. The operator can easily determine whether or not the orientation in which the holding body is arranged is correct by confirming the determination result notified by the notification unit. Therefore, the sewing system can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. Therefore, the sewing system can reduce the possibility that the holding body is damaged by the sewing operation.

  In the sewing system, the asymmetric part of one end of the first end and the second end is a metal part formed of metal, and the first end and the second end The asymmetric part at the other end is a non-metallic part formed of a non-metal, and at least one of the first mechanism and the second mechanism includes a metal sensor that detects the metal part, An alerting | reporting part may judge whether the said metal part was detected with the said metal sensor, and you may alert | report a judgment result. The operator can easily determine whether or not the orientation in which the holding body is arranged is correct by confirming the determination result notified by the notification unit. Therefore, the sewing system can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. Therefore, the sewing system can reduce the possibility that the holding body is damaged by the sewing operation.

  In the sewing system, the first end portion includes a pair of first gripped portions spaced in an orthogonal direction orthogonal to a direction in which the first end portion and the second end portion face each other, and the second end The portion includes a pair of second gripped portions that are separated in the orthogonal direction, and the distance between the pair of first gripped portions is different from the distance between the pair of second gripped portions, The mechanism is provided at a position corresponding to the pair of first gripped portions and includes a first gripping portion capable of gripping the first gripped portion, and the second mechanism is connected to the pair of second gripped portions. A second gripping portion provided at a corresponding position and capable of gripping the second gripped portion, wherein the notification portion is the first mechanism and the second mechanism, and the holding is performed when the holding body is reversely connected. You may alert | report by contacting the said holding body in the state which cannot hold | grip a body. Since the first mechanism and the second mechanism come into contact with the holding body in a state where they cannot be gripped, the operator cannot reversely connect the holding body to the first mechanism and the second mechanism. Therefore, the sewing system can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. Therefore, the sewing system can reduce the possibility that the holding body is damaged by the sewing operation.

  A holding body according to a second aspect of the present invention is a holding body that holds a sewing object and passes between a sewing machine and an opposing device provided facing the sewing machine, and is a first holding body that can be held by the sewing machine. An end, a second end corresponding to the first end, a second end corresponding to the first end, the first end and the second end; and a central portion of the holding body. Formed asymmetrically with respect to each other, and at least one of the sewing machine and the counter device notifies that the holding body is connected to the first mechanism and the second mechanism in the forward or reverse connection. And an asymmetric part used for the purpose. If it is informed that the asymmetric part is used and the holding body is connected to the first mechanism and the second mechanism in the normal connection or reverse connection, the operator can check whether the orientation of the holding body is correct. Can be easily determined. Therefore, the holding body can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. Therefore, the possibility that the holding body is damaged by the sewing operation is reduced. In addition, since the asymmetric part is provided, the operator can easily confirm the orientation of the holding body by confirming the asymmetric part. Therefore, the holding body can reduce the possibility that the sewing is performed in a state of being reversely connected to the first mechanism and the second mechanism.

  In the holding body, the asymmetric part at one end of the first end part and the second end part is a notch part cut out in a direction from the one end part toward the other end part. A non-notch part may be sufficient as the said asymmetric part of the other end part among an edge part and said 2nd edge part. If it is informed that the asymmetric part is used and the holding body is connected to the first mechanism and the second mechanism in the normal connection or reverse connection, the operator can check whether the orientation of the holding body is correct. Can be easily determined. Therefore, the holding body can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. In addition, since the asymmetric part is provided, the operator can easily confirm the orientation of the holding body by confirming the asymmetric part.

  In the holding body, the asymmetric part at one end of the first end and the second end is a metal part formed of metal, and the first end and the second end The asymmetric part at the other end may be a non-metal part formed of a non-metal. If it is informed that the asymmetric part is used and the holding body is connected to the first mechanism and the second mechanism in the normal connection or reverse connection, the operator can check whether the orientation of the holding body is correct. Can be easily determined. Therefore, the holding body can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. In addition, since the asymmetric part is provided, the operator can easily confirm the orientation of the holding body by confirming the asymmetric part.

  In the holding body, the first end portion includes a pair of first gripped portions spaced in an orthogonal direction orthogonal to a direction in which the first end portion and the second end portion face each other, and the second end The portion may include a pair of second gripped portions that are separated in the orthogonal direction, and a distance between the pair of first gripped portions may be different from a distance between the pair of second gripped portions. If it is informed that the asymmetric part is used and the holding body is connected to the first mechanism and the second mechanism in the normal connection or reverse connection, the operator can check whether the orientation of the holding body is correct. Can be easily determined. Therefore, the holding body can reduce the possibility that the sewing machine executes sewing in a state where the holding body is reversely connected to the first mechanism and the second mechanism. In addition, since the asymmetric part is provided, the operator can easily confirm the orientation of the holding body by confirming the asymmetric part.

The perspective view of the sewing system 300. FIG. The side view of the pallet supply apparatus 200. FIG. The top view of the pallet supply apparatus 200. FIG. The perspective view of the sewing machine 1 and the pallet supply mechanism 230. FIG. The top view of the pallet holding | maintenance part 70. FIG. The top view of the pallet 80. FIG. The front view of the parts supply apparatus 91. FIG. The side view of the parts supply apparatus 91. FIG. The block diagram of the electrical constitution of the pallet supply apparatus 200 and the parts supply apparatus 91. FIG. 1 is a block diagram of an electrical configuration of a sewing machine 1. FIG. The flowchart of a supply control process. The flowchart of a parts supply process. The figure which shows the delivery process of the pallet 80. FIG. The figure which shows the delivery process of the pallet 80. FIG. The figure which shows the delivery process of the pallet 80. FIG. The figure which shows the delivery process of the pallet 80. FIG. The figure which shows the delivery process of the pallet 80. FIG. The flowchart of a delivery control process. The flowchart following FIG. The top view of the sewing machine 1. FIG. The top view of the pallet 801 and pallet holding | maintenance part 70,235 of 2nd embodiment. The top view of the pallet 802 and pallet holding | maintenance part 70,235 of 3rd embodiment. The top view of the pallet 803 and pallet holding | maintenance part 70,235 of 4th embodiment.

  A first embodiment of the present invention will be described with reference to the drawings. A schematic configuration of a sewing system 300 including the sewing machine 1 will be described with reference to FIGS. 1 to 4. 4 are the front side, the rear side, the left side, and the right side of the sewing machine 1 included in the sewing system 300. In the following description, the top, bottom, left and right, front and back indicated by arrows in the figure are used. As shown in FIG. 1, the sewing system 300 arranges a plurality of (three in this embodiment) sewing machines 1 and two work desks 251 and 252 radially in plan view, with the pallet supply device 200 as the center. One sewing machine 1 out of a plurality of machines is provided with a parts supply device 91 for feeding the dough in a through hole 826 (see FIG. 6) of a pallet 80 described later. The sewing system 300 divides the sewing operation of the fabric (sewing object) having a specific shape held on the pallet 80 supplied by the pallet supply device 200 into three sewing processes, and each sewing process is executed by three sewing machines 1. System.

  As shown in FIG. 2, the pallet supply device 200 includes a base part 201, a rotary table 202, a plate member 213, a ball bearing 26, a drive mechanism 25, an air supply part 219, and an operation panel 240. The base part 201 is a frame body in which metal bars are assembled in a cubic shape. The base portion 201 includes four wheels 203 at the lower end portion and is movable. The plate member 213 is a plate-like member that covers a part of the upper end of the base portion 201. The plurality of ball bearings 26 are provided on the upper side of the plate member 213. The plurality of ball bearings 26 are arranged at substantially equal intervals in a circumferential shape around the rotation axis of the rotary table 202. The ball bearing 26 includes a cylindrical portion 261 provided on the plate member 213 and a metal ball 262 provided inside the cylindrical portion 261. The upper end of the metal sphere 262 is above the upper end of the cylindrical portion 261. The rotary table 202 is provided on the upper side of the ball bearing 26. The ball bearing 26 reduces friction with the rotary table 202 and supports the rotary table 202. The height of the upper surface of the rotary table 202 is substantially the same height as the upper surface of a work table 5 (see FIG. 4) of the sewing machine 1 described later. The height of the upper surface of the rotary table 202 may be slightly lower than the upper surface of the work table 5 of the sewing machine 1. The rotary table 202 is substantially circular in plan view, and its upper surface extends in the horizontal direction. When the rotary table 202 rotates about the vertical axis, the metal ball 262 rolls in the cylindrical portion 261 with the rotation of the rotary table 202 to reduce friction.

  The drive mechanism 25 is provided inside the base part 201 and rotationally drives the rotary table 202. The drive mechanism 25 includes a rotation shaft 265 and a table rotation motor 221. A rotating shaft 265 extending in the vertical direction is provided at the upper center of the base portion 201. The upper end of the rotary shaft 265 is fixed to the center of the rotary table 202 in plan view. The rotary table 202 rotates around the rotary shaft 265. The table rotation motor 221 is provided on the side of the rotation shaft 265 and is fixed to the bracket 220. The bracket 220 is fixed to the upper side of the table rotation motor 221 and the base portion 201. The table rotation motor 221 is electrically connected to a control device 210 (see FIG. 9) in the control box 214 via a harness (not shown). The control device 210 includes a CPU 211 (see FIG. 9), and controls the rotation of the rotary table 202 and the driving of the pallet supply mechanism 230 (see FIG. 3). A rotation shaft (not shown) of the table rotation motor 221 protrudes above the table rotation motor 221. The rotating shaft includes a drive gear (not shown) at the upper end. The drive gear is connected to a rotary gear (not shown) provided around the rotary shaft 265 via a speed reducer (not shown). The drive gear transmits the rotation of the rotation shaft of the table rotation motor 221 to the rotation shaft 265 via the reduction gear and the rotation gear. As the rotary shaft 265 rotates, the rotary table 202 rotates. The rotating shaft, the driving gear, and the rotating gear are located inside the bracket 220 that covers a part of the periphery of the rotating shaft 265.

  The air supply unit 219 is provided around the lower end of the rotating shaft 265. A plurality of air tubes 241 extend upward from the periphery of the air supply unit 219. The plurality of air tubes 241 are connected to the air cylinder 231 and the air cylinder 73 of the plurality of pallet supply mechanisms 230 (see FIG. 3), respectively. The air supply unit 219 rotates as the rotation shaft 265 rotates. As the air supply unit 219 rotates, the plurality of air tubes 241 rotate around the air supply unit 219. The air supply unit 219 includes a known rotary joint and does not get entangled even when the air tube 241 rotates, and can rotate infinitely. When the table rotation motor 221 is driven, the rotation shaft 265 rotates, and the rotation table 202 and the air supply unit 219 rotate about the rotation shaft 265.

  The pallet supply device 200 rotates the rotary table 202 by, for example, 72 degrees counterclockwise in plan view, and drives the pallet supply mechanism 230 to pallet 80 for each sewing machine 1 and work desks 251 and 252 (see FIG. 1). Supply and recovery. The work desk 251 is a desk where the worker performs an operation of placing the pallet 80 before sewing at a position where the pallet supply mechanism 230 holds the pallet 80. The work desk 252 is a desk on which the operator collects the pallet 80 that has been sewn by the sewing machine 1 and released by the pallet supply mechanism 230. The heights of the upper surfaces of the work tables 251 and 252 are substantially the same height as the upper surface of the rotary table 202, respectively. The heights of the upper surfaces of the work desks 251 and 252 may be slightly higher than the upper surface of the rotary table 202, respectively.

  The operation panel 240 is located between the two work tables 251 and 252 (see FIG. 1). An operator stands between the two work desks 251 and 252 and operates the operation panel 240. The operation panel 240 is electrically connected to the control device 210 (see FIG. 9) in the control box 214 via a harness (not shown). The operation panel 240 outputs a signal based on an instruction input by the worker to the control device 210.

  As shown in FIGS. 1 and 3, the pallet supply device 200 includes a plurality of pallet supply mechanisms 230 on the upper surface of the rotary table 202. The number of pallet supply mechanisms 230 is equal to or greater than the number of feed mechanisms 6 (described later) of the sewing machine 1. In the present embodiment, there are five pallet supply mechanisms 230. That is, the number of pallet supply mechanisms 230 is the same as the total number of the sewing machines 1 and the two work tables 251 and 252. The turntable 202 arranges each pallet supply mechanism 230 radially in plan view around the rotation axis of the turntable 202. The pallet supply mechanisms 230 are arranged equiangularly (in this embodiment, at intervals of 72 degrees) in the circumferential direction of the upper surface of the rotary table 202. The sewing machine 1 and the work desks 251 and 252 are arranged corresponding to the pallet supply mechanisms 230 arranged at equal angles.

  As shown in FIG. 3, each pallet supply mechanism 230 includes an air cylinder 231. The air cylinder 231 is fixed to the upper surface of the rotary table 202. The piston rod 231 </ b> A (see FIG. 14) of the air cylinder 231 advances and retreats in the radial direction of the rotary table 202. The piston rod 231 </ b> A includes a pallet holding portion 235 to which the pallet 80 can be attached and detached at the radially outer end of the rotary table 202. The configuration of the pallet holding portion 235 is substantially the same as that of the pallet holding portion 70 provided in the sewing machine 1, and detailed description thereof will be described later.

  The pallet supply mechanism 230 drives the air cylinder 231 with air supplied by a compressor (not shown), and horizontally moves the pallet holding part 235 between the delivery position and the retracted position. In the delivery position, the pallet holding portion 235 holds the pallet 80, the piston rod 231A advances to the sewing machine 1 or the work desks 251 and 252 side, that is, the outside of the rotary table 202, and the feed mechanism 6 (described later) ) And the position where the pallet 80 is delivered to and from. Delivery is receipt and delivery. The retracted position is such that the pallet 80 remains sewn even if the rotary table 202 rotates while the pallet supply mechanism 230 holds the pallet 80 with the piston rod 231A retracting into the pallet supply device 200 side, that is, inside the rotary table 202. The position does not interfere with 1. The retracted position is separated from the sewing machine 1 from the delivery position. The pallet supply device 200 rotates the rotary table 202 when in the retracted position, and moves the pallet supply mechanism 230 to a position facing the feed mechanism 6 of the sewing machine 1. The pallet 80 holds a sewing object (for example, a cloth) to be sewn by the sewing machine 1 between the upper plate 82 and the lower plate 81 from above and below. The configuration of the pallet 80 will be described later.

  As shown in FIG. 3, the turntable 202 has five holes 322 that penetrate the turntable 202 up and down. The hole 322 is located between each of the five pallet supply mechanisms 230. In a state where the drive mechanism 25 (see FIG. 2) rotates the rotary table 202 and moves to a position where the plurality of pallet supply mechanisms 230 and the plurality of feed mechanisms 6 face each other, below the position of the hole 322, An air cylinder 323 that extends vertically is provided. The air cylinder 323 includes a fixed pin 324 extending in the vertical direction at the upper end. When the air cylinder 323 is driven, the fixing pin 324 moves upward and is inserted into the hole 322. Therefore, the air cylinder 323 and the fixing pin 324 block the rotation of the rotary table 202. The air cylinder 323 may be provided at any position below the five holes 322.

  The configuration of the sewing machine 1 will be described. The configuration of the three sewing machines 1 is substantially the same. Therefore, hereinafter, the description of the configuration of one sewing machine 1 is applied mutatis mutandis to the description of the configuration of other sewing machines 1. As shown in FIG. 4, the sewing machine 1 includes a bed portion 2, a pedestal column portion 3, and an arm portion 4. The bed unit 2 is disposed on the table 95. The table 95 is fixed on a support table 96 (see FIG. 1), and the height of the upper surface of the work table 5 is aligned with the upper surface of the rotary table 202. The bed portion 2 extends in the front-rear direction and includes a vertical hook (not shown) and the like inside. The pedestal portion 3 extends upward from the rear side of the bed portion 2. The pedestal 3 includes a sewing machine motor 112 (see FIG. 10) and the like. The arm portion 4 extends forward from the upper end of the pillar portion 3 so as to face the upper surface of the bed portion 2 and includes a front end portion 7 at the front end. The arm unit 4 includes a main shaft, a needle bar drive mechanism (not shown), and the like. The needle bar 10 extends downward from the lower end of the front end portion 7. The sewing needle 11 can be attached to and detached from the lower end of the needle bar 10. The sewing machine 1 includes a control box (not shown) that stores the control device 100 (see FIG. 10) below the table 95.

  The sewing machine 1 includes a work table 5 and a feeding mechanism 6 above the bed portion 2. The work table 5 is located below the needle bar 10 and has an upper surface extending in the horizontal direction. The work table 5 includes a needle plate (not shown). The upper surface of the needle plate and the upper surface of the work table 5 are substantially the same height. The needle plate has a needle hole 13 through which the sewing needle 11 can be inserted at a position directly below the sewing needle 11 attached to the needle bar 10.

  The feed mechanism 6 includes a pallet holding part 70, a frame support part 65, an arm part 64, an elevating part 62, a presser frame 63, an air cylinder (not shown), an X-axis moving mechanism (not shown), and a Y-axis moving mechanism (not shown). ). The frame support portion 65 is located behind the work table 5. The frame support portion 65 includes an arm portion 64 that extends forward, and fixes the pallet holding portion 70 below the arm portion 64. The pallet holding part 70 extends in the left-right direction and has a configuration in which a pallet 80 (described later) can be attached and detached. The arm part 64 supports the elevating part 62 at its tip so that it can be raised and lowered. An air cylinder (not shown) is provided on the arm portion 64 and connected to the elevating portion 62. The feed mechanism 6 drives the air cylinder with air supplied from a compressor (not shown), and moves the lift unit 62 up and down. The elevating part 62 connects the presser frame 63 to the lower end. The presser frame 63 is a rectangular frame-shaped plate member. When the elevating part 62 moves downward, the presser frame 63 descends. The presser frame 63 holds the pallet 80 held by the pallet holding unit 70 during sewing from above with the work table 5 to prevent the pallet 80 from being lifted. The feed mechanism 6 horizontally moves the presser frame 63 and the pallet holding unit 70 supported by the frame support unit 65 in the X-axis direction (left-right direction) and the Y-axis direction (front-rear direction). The X-axis moving mechanism and the Y-axis moving mechanism are provided inside the bed portion 2. The X-axis moving mechanism uses the X-axis motor 114 (see FIG. 10) as a drive source and moves the frame support part 65 and the pallet holding part 70 in the X-axis direction. The Y-axis movement mechanism uses the Y-axis motor 116 (see FIG. 10) as a drive source and moves the frame support part 65 and the pallet holding part 70 in the Y-axis direction.

  The configuration of the pallet holding units 70 and 235 will be described. Note that the pallet holding unit 235 provided in the pallet supply mechanism 230 has substantially the same configuration as the pallet holding unit 70. Therefore, the detailed description of the configuration of the pallet holding unit 235 applies the description of the configuration of the pallet holding unit 70 mutatis mutandis.

  As shown in FIG. 5, the pallet holding part 70 includes a main body part 71, an air cylinder 73, a pair of left and right connecting parts 74, a pair of left and right gripping parts 75, and two pallet sensors 76. The main body 71 extends in the left-right direction. The left and right ends of the main body 71 have support grooves 72 formed in a U shape in plan view from the front end to the rear. The support groove 72 is formed so that the groove width in the left-right direction on the front end side is larger than that on the rear end side. The support groove 72 is a groove into which a first pin 841 (see FIG. 6) of the pallet 80 described later is fitted. The air cylinder 73 is provided at the center in the left-right direction on the upper surface of the main body 71. The connecting portion 74 extends from the left and right ends of the air cylinder 73 to the left and right, respectively. The left connecting portion 74 is fixed to the air cylinder 73. The right connecting portion 74 is fixed to a piston rod (not shown) of the air cylinder 73.

  One end portion of the gripping portion 75 is rotatably connected to the distal end portion of the connecting portion 74. The other end of the grip portion 75 has a bowl shape. The gripping portions 75 are respectively arranged below the left and right end portions of the main body portion 71. The grip portion 75 is fixed to the main body portion 71 at the center portion so as to be rotatable. When the air cylinder 73 is driven and the piston rod advances, the left connecting portion 74 moves to the left, and the right connecting portion 74 moves to the right. When the pair of connecting portions 74 move to the left and right according to the driving of the air cylinder 73, the pair of gripping portions 75 rotate about the fixed position of the main body portion 71, respectively. The left gripping part 75 and the right gripping part 75 rotate in directions opposite to each other in plan view. The gripping portion 75 rotates to an open position where the support groove 72 is open to the front of the main body portion 71 and a gripping position where the front end of the support groove 72 is closed. The grip portion 75 and the support groove 72 grip the first pin 841 of the pallet 80 in cooperation when the grip portion 75 is in the grip position. The two pallet sensors 76 are provided closer to the center than the left and right ends of the main body 71. The pallet sensor 76 is a switch type sensor, and is turned on when the end of the pallet 80 comes into contact with the switch terminal 761.

  As shown in FIG. 13, the pallet holding part 235 includes a main body part 236, an air cylinder 237, a pair of connecting parts 238, and a pair of gripping parts 239. The support grooves 2361 are grooves provided at both ends in the extending direction of the main body 236 and into which second pins 842 of the pallet 80 described later are fitted. The pallet holding part 235 does not have a configuration corresponding to the two pallet sensors 76 of the pallet holding part 70.

  The configuration of the pallet 80 will be described. In the following description, the direction of the pallet 80 is assumed to follow the direction of the sewing machine 1 when the pallet holding unit 70 of the sewing machine 1 holds the pallet 80 (see FIG. 4). That is, the left side, right side, upper side, lower side, front side, and back side in FIG. 6 are the left side, right side, rear side, front side, upper side, and lower side of the pallet 80, respectively.

  As shown in FIG. 6, the pallet 80 includes a rectangular lower plate 81 and an upper plate 82. The lower plate 81 and the upper plate 82 in this embodiment are made of synthetic resin. The lower plate 81 and the upper plate 82 may be made of metal, for example. The size of the upper plate 82 is smaller than the size of the lower plate 81. The upper plate 82 is disposed on the upper side of the lower plate 81. The rear end portion of the lower plate 81 protrudes rearward from the rear end of the upper plate 82 and includes a plate-like metal plate 831 extending in the left-right direction on the upper surface. The length in the left-right direction of the metal plate 831 corresponds to the positions of the two pallet sensors 76 provided in the pallet holding part 70 of the sewing machine 1. The front end portion of the lower plate 81 projects forward from the front end of the upper plate 82, and includes a plate-like metal plate 832 extending in the left-right direction on the upper surface. The length of the metal plate 832 in the left-right direction is substantially the same as the length of the metal plate 831 in the left-right direction. The upper plate 82 is fixed to the metal plate 831 with a hinge 824 at two locations at the rear end. The hinge 824 is a flexible plate material. The upper end of the upper plate 82 can swing in the vertical direction with a hinge 824 as a fulcrum. When holding the fabric on the pallet 80, the operator places the fabric on the lower plate 81 with the lower surface of the upper plate 82 and the upper surface of the lower plate 81 spaced apart, and closes the upper surface of the upper plate 82 and the upper surface of the lower plate 81 close to the upper plate. The dough is sandwiched between 82 and the lower plate 81.

  The pallet 80 has a pair of first pins 841 at the rear end 811. The pair of first pins 841 are separated in the left-right direction orthogonal to the direction in which the rear end portion 811 and the front end portion 812 face each other. In the present embodiment, the pair of first pins 841 are provided in the vicinity of both left and right ends of the metal plate 831 and protrude upward from the upper surface of the metal plate 831. The pallet 80 has a pair of second pins 842 at the front end 812. The pair of second pins 842 are separated in the left-right direction orthogonal to the direction in which the rear end portion 811 and the front end portion 812 face each other. In the present embodiment, the pair of second pins 842 are provided in the vicinity of both left and right ends of the metal plate 832 and protrude upward from the upper surface of the metal plate 832. In the present embodiment, the first pin 841 on the sewing machine 1 side is positioned above the work table 5 and the second pin 842 on the pallet supply device 200 side rotates while the pallet holding unit 235 holds the pallet 80. Located above the table 202. Therefore, when the pallet holding unit 235 holds the pallet 80, the pallet 80 is always in a state of straddling between the work table 5 and the rotary table 202.

  The lower plate 81 has a through hole (not shown) penetrating the lower plate 81 in the vertical direction and a hollow portion (not shown) that is a portion recessed from the upper surface to the lower surface at the center. The through hole is formed in the recess. The pallet 80 is a member used when sewing a cloth having a specific shape. The hollow portion has a shape corresponding to a specific shape of the fabric. The operator inserts the fabric into the indented portion to prevent the displacement of the fabric during sewing. The through hole is a hole through which the sewing needle 11 passes during sewing.

  The upper plate 82 has through holes 825 and 826 corresponding to paths 828 and 829 through which the sewing needle 11 passes during sewing at the center. The through holes 825 and 826 are positioned so as to overlap with the through holes of the lower plate 81 when the lower surface of the upper plate 82 and the upper surface of the lower plate 81 are close to each other. Of the three sewing machines 1, one sewing machine 1 moves the sewing needle 11 relative to the pallet 80 and sews along the path 828 in the sewing process. The other sewing machine 1 sews a pattern along a path 829 in a part 941 (see FIG. 7), which is a fabric having a specific shape, disposed in the through hole 826 in the sewing process. The remaining one sewing machine 1 sewes a specific pattern on other parts (not shown) in the sewing process. In this way, the pallet 80 is formed in a shape that can execute all of the sewing processes that are executed by the plurality of sewing machines 1.

  The parts supply device 91 will be described. The parts supply device 91 is a device that arranges the parts 941 in the through holes 826 (see FIG. 6) of the pallet 80. The sewing machine 1 sews a part 941 arranged in the through hole 826 by the parts supply device 91 to a sewing object that the pallet 80 holds in advance between the upper plate 82 and the lower plate 81 (see FIG. 6). In the following description, the left side, the right side, the upper side, the lower side, the front side, and the rear side in FIG. 7 are the left side, the right side, the upper side, the lower side, the front side, and the rear side, respectively.

  As shown in FIG. 1, the parts supply device 91 is provided on a table 95 of one sewing machine 1 out of three. In the present embodiment, the parts supply device 91 is provided on the table 95 of the sewing machine 1 adjacent to the work desk 251. As shown in FIGS. 7 and 8, the parts supply device 91 includes a first support part 911, a second support part 912, two rail parts 913, a moving part 914, and a parts supply part 915. The first support portion 911 extends obliquely upward and forward from the upper surface of the table 95. The first support portion 911 is fixed to the right front portion of the table 95 with a screw (not shown). The second support part 912 includes an extended wall part 931 and side wall parts 932 and 933. The extending wall portion 931 extends in the left-right direction. The right end portion of the extending wall portion 931 is fixed to the front end of the first support portion 911. The side wall portions 932 and 933 extend forward from the left and right ends of the extending wall portion 931, respectively.

  The two rail portions 913 are installed between the side wall portions 932 and 933 and extend in the left-right direction. The moving unit 914 includes a plate unit 916, a nozzle 918, an air cylinder 919, and an air tube 920. In FIG. 7, the moving part 914 is shown at each of the left end part and the right end part of the second support part 912, but this shows the left end position and the right end position in the moving range of the moving part 914. The parts supply device 91 has one moving unit 914. The left end position is the front right of the sewing machine 1.

  The plate portion 916 engages with the rail portion 913 so as to be movable in the left-right direction along the rail portion 913. The air cylinder 919 is provided on the front surface of the plate portion 916, and a piston rod (not shown) extends in the vertical direction. The nozzle 918 is provided at the lower end of the air cylinder 919. The air cylinder 919 moves the nozzle 918 between the upper end position and the lower end position (see FIG. 7). One end of each of the four air tubes 920 is connected to the nozzle 918. The other end of the air tube 920 is connected to a vacuum (not shown). The nozzle 918 has a suction port (not shown) at the lower end for sucking the part 941 by suction using vacuum. The moving unit 914 moves in the left-right direction by the force of air supplied by a compressor (not shown).

  As shown in FIG. 8, the parts supply unit 915 includes a pair of first support plates 921, a second support plate 922, a pair of pulleys 923, 924, a belt 925, a first lift plate 926, a second lift plate 927, and a storage box. 928, a lifting platform 929 (see FIG. 7), a remaining amount confirmation window 939 (see FIG. 7), a pulley support plate 935, a parts supply motor 401, and the like.

  The pair of upper and lower first support plates 921 extends forward from the right front portion of the table 95, and the front end portion is bent upward or downward. The second support plate 922 is a plate that is long in the vertical direction, and is fixed to the front end portion of the first support plate 921 with a screw (not shown). The storage box 928 is fixed to the upper front surface of the second support plate 922 via a support plate (not shown). The storage box 928 is a rectangular parallelepiped that is long in the vertical direction, and has a space inside. The upper surface of the storage box 928 is opened and faces the nozzle 918 moved to the right end position vertically.

  As shown in FIG. 7, the remaining amount confirmation window 939 is formed on the front surface of the storage box 928. The operator can check the remaining amount of the part 941 inside the storage box 928 through the remaining amount confirmation window 939. The lifting platform 929 is provided inside the storage box 928 and can be moved up and down. In FIG. 7, the lifting platform 929 is located slightly below the upper end of the storage box 928. A plurality of parts 941 are stacked on the upper side of the lifting platform 929. In the example of FIG. 7, two parts 941 are stacked. The lifting platform 929 pushes up the part 941 from below so that the uppermost part 941 is positioned at the upper end of the storage box 928, and supplies the part 941 to the lower side of the nozzle 918.

  As shown in FIG. 8, the parts supply motor 401 is provided below the first support plate 921 on the rear surface side of the second support plate 922. A rotating shaft (not shown) of the parts supply motor 401 extends to the right side. The pulley 923 is fixed to the tip of the rotating shaft of the parts supply motor 401. The pulley 924 is provided below the pulley 923. The pulley support plate 935 extends rearward from the lower end of the second support plate 922 and supports the pulley 924 rotatably. The belt 925 is installed between the pulleys 923 and 924.

  The first elevating plate 926 is fixed to the front side of the outer peripheral surface of the belt 925 extending vertically. The first elevating plate 926 extends to the front side through the right side of the second support plate 922, and extends to the left side of the front side of the second support plate 922 (see FIG. 7). The second support plate 922 guides the movement of the first elevating plate 926 in the vertical direction. A front upper end portion of the first elevating plate 926 is connected to the second elevating plate 927. The second lifting plate 927 extends vertically inside the storage box 928. The lifting platform 929 is connected to the upper end of the second lifting plate 927. When the parts supply motor 401 is driven, the belt 925 moves up and down via the pulleys 923 and 924, and the lifting platform 929 moves up and down via the first lifting plate 926 and the second lifting plate 927. A mode of supplying the parts 941 to the pallet 80 will be described later.

  The electrical configurations of the sewing machine 1, the pallet supply device 200, and the parts supply device 91 will be described with reference to FIGS. As shown in FIG. 9, the control device 210 of the pallet supply device 200 includes a CPU 211, ROM 212, RAM 213, bus 215, input / output interface (I / F) 216, drive circuit 217, drive circuit 308, and communication I / F 218. The CPU 211, ROM 212, and RAM 213 are electrically connected to the input / output I / F 216 via the bus 215. The CPU 211 controls the pallet supply device 200 and the parts supply device 91, and executes processing according to various programs stored in the ROM 212. The ROM 212 stores various programs, various initial setting parameters, and the like. The RAM 213 temporarily stores calculation results of the CPU 211, various data, and the like. The drive circuits 217 and 308 are electrically connected to the input / output I / F 216. The drive circuit 217 is electrically connected to the table rotation motor 221. The table rotation motor 221 is a stepping motor. The CPU 211 controls the drive circuit 217 to drive the table rotation motor 221. The table rotating motor 221 rotates the rotating table 202 via a rotating shaft (not shown). The drive circuit 308 is electrically connected to the parts supply motor 401 of the parts supply device 91. The CPU 211 drives the parts supply motor 401 via the drive circuit 308. The parts supply motor 401 moves the elevator 929 (see FIG. 7) upward, pushes up the parts 941 and supplies the parts 941 below the nozzle 918. The communication I / F 218 is electrically connected to the input / output I / F 216. The communication I / F 218 is an interface for serial communication, for example. The communication I / F 218 is connected to each communication I / F 127 of the plurality of sewing machines 1.

  The input / output I / F 216 includes a table encoder 222, a table origin sensor 223, a holding unit moving electromagnetic valve 224, a gripping unit opening / closing electromagnetic valve 225, a table fixing electromagnetic valve 226, a table fixing sensor 227, a pallet sensor 228, a closing sensor 229, an operation Electrical connection with panel 240. The table encoder 222 is a sensor that detects the rotation angle of the rotation shaft of the table rotation motor 221. The CPU 211 obtains the current rotational position of the rotary table 202 based on the rotational angle output from the table encoder 222 and stores it in the RAM 213. The table origin sensor 223 is a sensor that detects whether or not the rotational position of the rotary table 202 is at the origin position. Based on the origin position detected by the table origin sensor 223, the CPU 211 drives the table rotation motor 221 based on the current rotation position detected by the table encoder 222, and rotates the rotation table 202 to a predetermined rotation position.

  The holding unit moving electromagnetic valve 224 is an electromagnetic valve provided in an air supply path that a compressor (not shown) supplies to the air cylinder 231 of the pallet supply mechanism 230. The CPU 211 opens and closes the holding unit moving electromagnetic valve 224 and controls the driving of the piston rod 231 </ b> A of the air cylinder 231 to move the pallet holding unit 235. The gripper opening / closing electromagnetic valve 225 is an electromagnetic valve provided in an air supply path that the compressor supplies to the air cylinder 237 of the pallet holding unit 235. The CPU 211 opens and closes the gripping part opening / closing electromagnetic valve 225 and controls the driving of the pair of left and right connecting parts 238 connected to the air cylinder 73 of the pallet holding part 235 to rotate the gripping part 239 between the open position and the gripping position. To do.

  The table fixed electromagnetic valve 226 is an electromagnetic valve provided in an air supply path for supplying an air cylinder 323 (see FIG. 3) that operates a fixed pin 324 for positioning the rotary table 202 at a predetermined rotational position. The CPU 211 opens and closes the table fixed electromagnetic valve 226 and controls the operation of the fixed pin 324 connected to the air cylinder 323 to position or release the rotary table 202 at a predetermined rotational position. The table fixing sensor 227 is a sensor that detects whether or not the fixing pin 324 has correctly positioned the rotary table 202 at a predetermined rotational position. Based on the detection result of the table fixing sensor 227, the CPU 211 determines whether or not the rotary table 202 is at a predetermined rotational position.

  The pallet sensor 228 is provided on the upper end side of the base part 201 of the pallet supply device 200, and is known to be turned on when the pallet holding part 235 is moved to the retracted position and the pallet 80 is held by the pallet holding part 235. It is a sensor. The input sensor 229 is a known sensor that is provided on the work desk 251 and is turned on when the pallet 80 is at a predetermined position of the work desk 251. The predetermined position of the work desk 251 is a position at which the pallet holding unit 235 can hold the pallet 80 when the pallet supply mechanism 230 moves the pallet holding unit 235 to the delivery position. When the input sensor 229 is in the ON state, the CPU 211 determines that the worker has placed the pallet 80 at a predetermined position. The operation panel 240 includes various keys (not shown) and a display unit (not shown) for operating the sewing system 300. The CPU 211 can detect various key operations. The CPU 211 can display various information on the display unit.

  The parts supply device 91 includes a parts supply motor 401, a remaining part sensor 402, a vacuum electromagnetic valve 403, a vacuum pressure sensor 404, a nozzle up / down solenoid valve 405, a nozzle up / down position sensor 406, a nozzle left / right solenoid valve 407, and a nozzle left / right position sensor 408. Is provided. The parts supply motor 401, the remaining part sensor 402, the vacuum solenoid valve 403, the vacuum pressure sensor 404, the nozzle up / down solenoid valve 405, the nozzle up / down position sensor 406, the nozzle left / right solenoid valve 407, and the nozzle left / right position sensor 408 The input / output I / F 216 is electrically connected. The remaining part sensor 402 detects whether or not the uppermost part 941 among the parts 941 stored in the storage box 928 is above a predetermined height. The predetermined height is a height at which the nozzle 918 can adsorb the part 941. In the present embodiment, the predetermined height is assumed to be the upper end of the storage box 928 as an example. The CPU 211 refers to the output of the part remaining amount sensor 402 and detects the remaining amount of the part 941.

  The vacuum solenoid valve 403 is a solenoid valve provided in a path of air that is suctioned by a vacuum (not shown) through a nozzle 918 (see FIG. 7). The CPU 211 opens and closes the vacuum electromagnetic valve 403 and stops intake and intake from the nozzle 918. The CPU 211 detects the intake pressure of the nozzle 918 using the vacuum pressure sensor 404. The nozzle up / down solenoid valve 405 is a solenoid valve provided in an air supply path for supplying the nozzle 918 to the air cylinder 919 moving up and down. The CPU 211 opens and closes the nozzle vertical solenoid valve 405 and moves the nozzle 918 up and down. The CPU 211 refers to the output of the nozzle vertical position sensor 406 and detects the vertical position of the nozzle 918. The nozzle right and left electromagnetic valve 407 is an electromagnetic valve provided in an air supply path for supplying the moving unit 914 (see FIG. 7) to an air cylinder (not shown) that moves in the left and right direction. The CPU 211 opens and closes the nozzle right and left solenoid valve 407 and moves the moving unit 914 in the left and right direction. The CPU 211 refers to the output of the nozzle left / right position sensor 408 and detects the position of the moving unit 914 in the left / right direction.

  As shown in FIG. 10, the control device 100 of the sewing machine 1 includes a CPU 101, ROM 102, RAM 103, nonvolatile memory 104, bus 105, input / output I / F 106, drive circuits 113, 115, 117, and communication I / F 127. The CPU 101, ROM 102, RAM 103, and nonvolatile memory 104 are electrically connected to the input / output I / F 106 via the bus 105. The CPU 101 controls the sewing machine 1 and executes various calculations and processes related to sewing according to various programs stored in the ROM 102. The ROM 102 stores various programs, various initial setting parameters, and the like. The RAM 103 temporarily stores calculation results of the CPU 101, pointers, counters, and the like. The nonvolatile memory 104 stores sewing data of a plurality of patterns (stitch lines, stitch patterns, embroidery patterns, etc.), various setting information input by the operator, and the like.

  The sewing data is data for moving the frame support portion 65 and the pallet holding portion 70 so that a plurality of needle drop points for sewing the pattern are positioned immediately below the sewing needle 11 in order. The needle drop point is a predetermined position on the cloth (sewing object) where the sewing needle 11 is stuck when the sewing needle 11 moves downward together with the needle bar 10. The sewing data of this embodiment is data in which the coordinates of the needle drop points are arranged in order in order to move the frame support portion 65 and the pallet holding portion 70 sequentially from the sewing start position to a position corresponding to the needle drop point. The coordinates of the needle drop point are coordinates with the origin positions of the frame support part 65 and the pallet holding part 70 as the reference position. In the present embodiment, the origin positions of the frame support portion 65 and the pallet holding portion 70 are positions where the center point of the pallet 80 is directly below the sewing needle 11 when the pallet 80 is mounted. When the frame support part 65 and the pallet holding part 70 are at the origin position, the pallet 80 is also at the origin position. The origin positions of the frame support part 65 and the pallet holding part 70 are not limited to the example of the present embodiment, but the position where the other position of the pallet 80 is directly above the needle hole 13, the frame support part 65 and the pallet holding part 70 are You may determine in other positions, such as the position which is the center of the left-right direction and the back most among movable ranges. The X-axis positive direction is a direction toward the right of the sewing machine 1. The positive Y-axis direction is the direction toward the back of the sewing machine 1.

  The drive circuits 113, 115, and 117 are electrically connected to the input / output I / F 106. The drive circuit 113 is electrically connected to the sewing machine motor 112. The CPU 101 controls the drive circuit 113 to drive the sewing machine motor 112. The sewing machine motor 112 rotates the main shaft. The drive circuit 115 is electrically connected to the X axis motor 114. The drive circuit 117 is electrically connected to the Y-axis motor 116. The CPU 101 controls the drive circuits 115 and 117 to drive the X-axis motor 114 and the Y-axis motor 116, respectively. The X-axis motor 114 and the Y-axis motor 116 are stepping motors, respectively. The X-axis motor 114 and the Y-axis motor 116 drive the X-axis movement mechanism and the Y-axis movement mechanism, respectively, and move the frame support part 65 and the pallet holding part 70 in the X-axis direction and the Y-axis direction.

  The X-axis motor 114 and the Y-axis motor 116 include an X-axis encoder 114A and a Y-axis encoder 116A on the output shaft, respectively. The X-axis encoder 114A and the Y-axis encoder 116A are connected to the input / output I / F 106, respectively. X-axis encoder 114A and Y-axis encoder 116A detect count values corresponding to the rotation angles of the output shafts of X-axis motor 114 and Y-axis motor 116, respectively, and output them to CPU 101. The CPU 101 calculates the coordinates of the current positions of the frame support unit 65 and the pallet holding unit 70 based on the count values output from the X-axis encoder 114A and the Y-axis encoder 116A, and stores them in the RAM 103.

  The CPU 101 drives the sewing machine motor 112 at the time of sewing to rotate the main shaft, and controls the vertical movement of the needle bar 10 and the driving of the vertical shuttle. The CPU 101 drives the X-axis motor 114 and the Y-axis motor 116 based on the sewing data simultaneously with the driving of the sewing machine motor 112, drives and controls the feed mechanism 6, and sews the fabric held by the pallet 80. The communication I / F 127 is electrically connected to the input / output I / F 106. The communication I / F 127 is an interface for serial communication, for example. The communication I / F 127 is connected to the communication I / F 218 of the pallet supply device 200.

  The input / output I / F 106 is electrically connected to the gripper opening / closing solenoid valve 77, the X-direction origin sensor 118, the Y-direction origin sensor 119, the frame lifting / lowering solenoid valve 122, and the pallet sensor 76 of the pallet holding section 70. The gripper opening / closing electromagnetic valve 77 is an electromagnetic valve provided in an air supply path that a compressor (not shown) supplies to the air cylinder 73 of the pallet holding unit 70. The CPU 101 opens and closes the gripper opening / closing electromagnetic valve 77 and controls the driving of the pair of left and right connecting parts 74 connected to the air cylinder 73 to rotate the gripper 75 between the open position and the gripping position. The X-direction origin sensor 118 is a sensor having a known configuration used for setting the origin of the frame support portion 65 and the pallet holding portion 70, and is provided in an X-axis movement mechanism (not shown). The Y-direction origin sensor 119 is a sensor having a known configuration used for setting the origin of the frame support portion 65 and the pallet holding portion 70, and is provided in a Y-axis movement mechanism (not shown). The CPU 101 controls the driving of the X-axis motor 114 and the Y-axis motor 116 based on the detection results of the X-direction origin sensor 118 and the Y-direction origin sensor 119, and sets the frame support portion 65 and the pallet holding portion 70 to the origin positions before starting sewing. Move to. The frame elevating electromagnetic valve 122 is an electromagnetic valve provided in an air supply path that is supplied to an air cylinder (not shown) provided in the arm portion 64 of the feed mechanism 6 by a compressor (not shown). The CPU 101 opens and closes the frame elevating electromagnetic valve 122 to drive the air cylinder, and elevates the presser frame 63 connected to the elevating unit 62. The pallet sensor 76 is an ON / OFF switch type sensor. The CPU 101 determines that the pallet 80 is held in the pallet holding unit 70 when both the two pallet sensors 76 are in the ON state.

  The supply control process executed by the CPU 211 of the pallet supply apparatus 200 will be described with reference to FIGS. In the supply control process, the pallet supply device 200 collects the pallet 80 that has finished one step of the sewing operation from the sewing machine 1, and uses the recovered pallet 80 for another sewing process for performing the sewing operation on the pallet 80. 1 is a series of processes in which the rotary table 202 is rotated and supplied. When an operator turns on the power of the pallet supply apparatus 200, the CPU 211 reads a supply control program from the ROM 212, and executes processing according to instructions included in the program.

  When the operator finishes the sewing system 300, the operator turns off the power of the pallet supply device 200 and the sewing machine 1 while the pallet holding unit 70 of the sewing machine 1 holds the pallet 80. Therefore, when the power of the pallet supply device 200 is turned on, the pallet supply device 200 is in a state of supplying the pallet 80 to the sewing machine 1, and therefore the gripping portion 239 of the pallet holding portion 235 is in the open position (see FIG. 13). ). Moreover, the pallet holding part 235 is in a retracted position (see FIG. 13).

  The CPU 211 transmits an origin detection instruction signal to all the sewing machines 1 (S1). The CPU 101 of the sewing machine 1 that has received the origin detection instruction signal performs a process of moving the frame support part 65 and the pallet holding part 70 to the origin position, and transmits the origin detection completion signal to the pallet supply device 200 when the process is completed. (S53 in FIG. 18). The CPU 211 of the pallet supply apparatus 200 determines whether or not origin detection completion signals have been received from all the sewing machines 1 (S2), and if not received, waits for processing (S2: NO). When the CPU 211 receives the origin detection completion signal from all the sewing machines 1 (S2: YES), the CPU 211 performs a process of detecting the origin of the rotary table 202 (S3). The CPU 211 drives the table rotation motor 221 and detects the origin position of the rotation table 202 based on the detection result of the table origin sensor 223. The CPU 211 resets the current rotation position of the rotation table 202 stored in the RAM 213 and corrects the current rotation position based on the detected origin position. The CPU 211 drives the table rotation motor 221 to return the rotation position of the rotation table 202 to the position when the power is turned off based on the detection result of the table encoder 222.

  The CPU 211 determines whether or not the input sensor 229 of the work desk 251 is in the ON state (S4), and if it is in the OFF state, the CPU 211 waits for processing (S4: NO). The input sensor 229 is turned on when the worker places a pallet 80 that holds unfinished fabric at a predetermined position of the work desk 251. When the input sensor 229 is turned on (S4: YES), the CPU 211 performs a collection process for collecting the pallet 80. The collection process includes the following processes of S5 to S11.

  In the collection process, the CPU 211 operates the holding unit moving electromagnetic valve 224 to simultaneously move the pallet holding units 235 of all the pallet supply mechanisms 230 from the standby position to the delivery position (see FIG. 14) (S5). The CPU 211 transmits a collection preparation completion signal to each sewing machine 1 (S6), and waits for processing until receiving a collection request signal from all the sewing machines 1 (S7: NO).

  As will be described later, the CPU 101 of the sewing machine 1 moves the pallet holding unit 70 to a first standby position to be described later when receiving the collection preparation completion signal (S64 in FIG. 19). Accordingly, the CPU 101 arranges the second pin 842 of the pallet 80 held by the pallet holding unit 70 in the support groove 2361 of the pallet holding unit 235 (see FIG. 14). When delivering the pallet 80 to the pallet supply mechanism 230, the CPU 101 rotates the gripping portion 75 of the pallet holding portion 70 to the open position and releases the grip of the two first pins 841 (S65 in FIG. 19). Accordingly, as shown in FIG. 15, the gripping part 239 of the pallet holding part 235 of the pallet supply mechanism 230 does not grip the second pin 842, and the gripping part 75 of the pallet holding part 70 of the feed mechanism 6 holds the first pin 841. It will be in the state which does not grasp.

  The CPU 101 transmits a collection request signal to the pallet supply apparatus 200 (S66 in FIG. 19). When the CPU 211 of the pallet supply device 200 receives the collection request signal from all the sewing machines 1 (S7: YES), the gripper opening / closing electromagnetic valve 225 is actuated to hold the gripping parts 239 of the pallet holding parts 235 of all the pallet supply mechanisms 230. Are simultaneously rotated to the gripping position (S8, see FIG. 16). That is, when the CPU 211 receives the pallet 80, after the CPU 101 of the sewing machine 1 releases the grip of the first pin 841 by the grip 75 of the pallet holder 70 (see FIG. 15), the pallet holder of the pallet supply mechanism 230. The second pin 842 is gripped by the gripping portion 239 of 235 (see FIG. 16).

  The CPU 211 operates the holding unit moving electromagnetic valve 224 to simultaneously move the pallet holding units 235 of all the pallet supply mechanisms 230 to the retracted position (S9, see FIG. 17). The pallet supply mechanism 230 collects the pallet 80 on the pallet supply device 200 side and places at least 1/3 or more of the pallet 80 on the rotary table 202. As described above, when the pallet supply mechanism 230 collects the pallet 80 on the pallet supply device 200 side, the first pin 841 on the sewing machine 1 side is always located above the work table 5 and the second pin on the pallet supply device 200 side. 842 is always positioned above the rotary table 202.

  The CPU 211 determines whether or not the pallet sensor 228 is in an ON state (S10). If the pallet sensor 228 is in an ON state (S10: YES), the pallet holding unit 235 normally holds the pallet 80, and thus ends the collection process. Then, the process proceeds to S12. If the pallet sensor 228 is in the OFF state (S10: NO), the CPU 211 performs error processing (S11), notifies the operator of the occurrence of the error, and prompts the operator to deal with the error. In the error process, the CPU 211 may display an error display on a display unit (not shown) provided on the operation panel 240 or may output an error notification sound. The operator can quickly recognize that an error has occurred. The CPU 211 returns the process to S10, and if the worker deals with the error and the pallet sensor 228 is turned on (S10: YES), the collection process is terminated and the process proceeds to S12.

  The CPU 211 performs a rotation process for rotating the rotation table 202 (S12 and S13). In the rotation processing, the CPU 211 rotates the rotary table 202 to hold the plurality of pallet supply mechanisms 230 in the state where the plurality of pallet supply mechanisms 230 receive the pallets 80 (see FIG. 17). It moves to the position which each opposes to part 70 (S12). The CPU 211 drives the table rotation motor 221 to rotate the rotation table 202 by a predetermined angle (72 degrees in this embodiment) based on the detection result of the table encoder 222.

  The CPU 211 operates the table fixing electromagnetic valve 226 to move the rotary table 202 to the fixing pin 324 (FIG. 3) in a state where the plurality of pallet supply mechanisms 230 are moved to positions facing the pallet holding portions 70 of the plurality of feeding mechanisms 6, respectively. (See S13). When the CPU 211 determines that the rotary table 202 has been positioned at the correct position based on the detection result of the table fixing sensor 227, the CPU 211 ends the rotation process. Although not shown, when the rotation table 202 is stopped by the fixed pin 324 when the rotation table 202 is rotated in S12, the CPU 211 rotates after releasing the restriction by the fixed pin 324.

  The CPU 211 performs a parts supply process (S14). The parts supply process will be described with reference to FIG. The parts supply process is a process of supplying the parts 941 to the pallet 80 using the parts supply device 91. The moving unit 914 is at the right end position. As shown in FIG. 12, the CPU 211 controls the nozzle up / down solenoid valve 405 to lower the nozzle 918 to the lower end position (S31). Note that the CPU 211 detects whether the nozzle 918 is at the lower end position based on the output of the nozzle vertical position sensor 406. The nozzle 918 lowered to the lower end position is located above the part 941 stored in the storage box 928 (see FIG. 7).

  The CPU 211 operates the vacuum solenoid valve 403 to start vacuuming the nozzle 918 (S32). When the vacuum starts, the nozzle 918 sucks the uppermost part 941 among the parts 941 in the storage box 928. The CPU 211 detects from the output of the vacuum pressure sensor 404 whether the nozzle 918 has attracted the part 941.

  The CPU 211 operates the nozzle up / down solenoid valve 405 to raise the nozzle 918 to the upper end position (S33). The CPU 211 detects whether the nozzle 918 is at the upper end position based on the output of the nozzle vertical position sensor 406. The CPU 211 operates the nozzle right and left solenoid valve 407 to move the moving unit 914 to the left end position (S34). Note that the CPU 211 detects whether the moving unit 914 has moved to the left end position based on the output of the nozzle left / right position sensor 408. When the moving unit 914 is at the left end position, the nozzle 918 is positioned above the through hole 826 of the pallet 80.

  The CPU 211 moves down the nozzle 918 similarly to S31 (S35). The CPU 211 operates the vacuum solenoid valve 403 to stop the vacuum of the nozzle 918 (S36). By stopping the vacuum, the CPU 211 places the part 941 that has been adsorbed by the nozzle 918 on the fabric exposed in the through hole 826 of the pallet 80.

  The CPU 211 raises the nozzle 918 to the upper end position as in S33 (S37). The CPU 211 operates the nozzle right and left solenoid valve 407 to move the moving unit 914 to the right end position (S38). Note that the CPU 211 detects whether the moving unit 914 has moved to the right end position based on the output of the nozzle left / right position sensor 408. The CPU 211 determines whether or not the output of the part remaining amount sensor 402 is ON (S39). When the output of the remaining part sensor 402 is ON, the uppermost part 941 among the parts 941 stored in the storage box 928 is above a predetermined height. When the output of the remaining part sensor 402 is OFF, the uppermost part 941 among the parts 941 stored in the storage box 928 is below a predetermined height, or the part 941 is not stored in the storage box 928. .

  When the output of the remaining part sensor 402 is OFF (S39: NO), the CPU 211 starts driving the parts supply motor 401 (S40). The lifting platform 929 starts to rise. Although not shown, the CPU 211 starts measuring time after starting the driving of the parts supply motor 401 in S40. The CPU 211 may measure the time based on the clock frequency, or may provide an electronic component capable of measuring the time and measure the time based on the output of the electronic component.

  The CPU 211 determines whether or not the output of the part remaining amount sensor 402 is ON (S41). When the output of the remaining part sensor 402 is OFF (S41: NO), the CPU 211 determines whether or not a predetermined time has elapsed after starting the driving of the parts supply motor 401 in S40 (S42). The predetermined time is, for example, 5 seconds. When the predetermined time has not elapsed (S42: NO), the CPU 211 returns the process to S41.

  When the elevator 929 is raised and the part 941 is above a predetermined height, the output of the part remaining amount sensor 402 is turned ON. When the output of the remaining part sensor 402 is turned on (S41: YES), the CPU 211 stops driving the parts supply motor 401 (S47). The CPU 211 ends the parts supply process.

  If the part 941 is not in the storage box 928, the output of the part remaining amount sensor 402 is not turned ON and a predetermined time elapses (S41: NO, S42: YES), so the CPU 211 stops the part supply motor 401 ( S43). The CPU 211 executes the no part error process. In the no part error process, the CPU 211 may display an error display on a display unit (not shown) provided on the operation panel 240 or may output an error notification sound. The operator can quickly recognize that there is no part 941. The operator can quickly respond such as replenishing the storage box 928 with the parts 941.

  The CPU 211 determines whether or not the part 941 has been placed in the storage box 928 (S45). The operator replenishes the storage box 928 with the part 941 and performs an operation indicating that the part 941 is placed in the storage box 928 using the operation panel 240. If the CPU 211 has not acquired an operation output indicating that the part 941 is placed in the storage box 928, the CPU 211 determines that the part 941 is not placed in the storage box 928 (S45: NO), and repeats the process of S45. .

  When the CPU 211 obtains an operation output indicating that the part 941 is placed in the storage box 928, the CPU 211 determines that the part 941 is placed in the storage box 928 (S45: YES). The CPU 211 ends the no part error process (S46). The CPU 211 returns the process to S39. In the no-part error processing, whether or not the part 941 has been placed in the storage box 928 may be determined based on the output of the remaining part sensor 402.

  When the output of the remaining part sensor 402 is on (S39: YES), the CPU 211 ends the part supply process and performs a supply process for supplying the pallet 80 to each sewing machine 1. The supply process includes the processes of S15 to S20 shown in FIG. The CPU 211 transmits a reception start signal to each sewing machine 1 (S15). As will be described later, the CPU 101 of the sewing machine 1 moves the pallet holding unit 70 to a first standby position, which will be described later, upon receipt of the reception start signal, and makes the pallet 80 supplied by the pallet supply device 200 ready to be received. . The CPU 211 of the pallet supply device 200 operates the holding unit moving electromagnetic valve 224 to simultaneously move the pallet holding units 235 of the plurality of pallet supply mechanisms 230 to the delivery position (S16, see FIG. 16). The CPU 211 operates the gripping part opening / closing electromagnetic valve 225 to simultaneously rotate the gripping parts 239 of the plurality of pallet supply mechanisms 230 to the open position, thereby releasing the holding of the pallet 80 of the pallet holding part 235 (see S17, FIG. 15). ). That is, when the CPU 101 delivers the pallet 80, the CPU 101 of the sewing machine 1 uses the gripping part 239 of the pallet holding part 235 of the pallet supply mechanism 230 before the CPU 101 of the sewing machine 1 grips the first pin 841 by the gripping part 75 of the pallet holding part 70. The grip of the second pin 842 is released. Accordingly, as shown in FIG. 15, the gripping part 239 of the pallet holding part 235 of the pallet supply device 200 does not grip the second pin 842, and the gripping part 75 of the pallet holding part 70 of the sewing machine 1 grips the first pin 841. It will be in a state that does not.

  The CPU 211 transmits a reception request signal to each sewing machine 1 (S18). The CPU 211 determines whether or not reception completion signals have been received from all the sewing machines 1 (S19). If not received, the CPU 211 waits for reception (S19: NO). As will be described later, the CPU 101 of the sewing machine 1 performs processing for holding the pallet 80 by the pallet holding unit 70 when receiving the reception request signal. When receiving the pallet 80, the CPU 101 releases the grip of the second pin 842 by the grip portion 239 of the pallet holding portion 235 (S17), and then rotates the grip portion 75 to the grip position, thereby providing two first pins 841. Is gripped (see S58 in FIG. 18 and FIG. 14). When the pallet holding unit 70 holds the pallet 80 by holding the first pin 841 of the pallet 80 with the support groove 72 and the holding unit 75, a reception completion signal is transmitted to the pallet supply device 200. When the CPU 211 of the pallet supply apparatus 200 receives reception completion signals from all the sewing machines 1 (S19: YES), the holding part moving electromagnetic valve 224 is operated to move the pallet holding part 235 to the retracted position (see FIG. 13). (S20). The CPU 211 completes the supply of the pallet 80 to the sewing machine 1 and ends the supply process. Thus, in this embodiment, after rotating the turntable 202 (S12), the CPU 211 drives and controls the plurality of pallet supply mechanisms 230 and delivers the pallets 80 to the plurality of feed mechanisms 6 (S16, S17).

  The CPU 211 transmits a sewing start instruction signal to each sewing machine 1 (S21), and waits for processing until it receives sewing completion signals from all the sewing machines 1 (S22: NO). Although detailed description is omitted, the CPU 101 of each sewing machine 1 starts a sewing operation when receiving the sewing start instruction signal (S69 in FIG. 19). The sewing operation is a process of performing one step of a pre-programmed sewing operation on the fabric held by the pallet 80 received from the pallet supply device 200. When the CPU 101 finishes the sewing operation, the CPU 101 transmits a sewing completion signal to the pallet supply device 200. The CPU 211 of the pallet supply apparatus 200 determines whether or not sewing completion signals have been received from all the sewing machines 1 (S22), and if not received, waits for processing (S22: NO). When the sewing completion signals are received from all the sewing machines 1 (S22: YES), the CPU 211 returns the process to S4. That is, after the CPU 101 of the sewing machine 1 performs the sewing process (S69 in FIG. 19, S22 in FIG. 11: YES), the CPU 211 drives and controls the pallet supply mechanism 230 (S5, S8) and is used in the sewing process. The pallet 80 is received from the feed mechanism 6. The CPU 211 collects the pallet 80 after sewing and repeats a series of processes for supplying the pallet 80 to the sewing machine 1 that performs the next sewing process (S4 to S22). The supply control process ends when the power of the pallet supply apparatus 200 is turned off.

  The delivery control process executed by the CPU 101 of the sewing machine 1 will be described with reference to FIGS. The delivery control process is a process for executing delivery of the pallet 80 to / from the pallet supply mechanism 230, sewing of the fabric held by the pallet 80, and the like. In the following description, the first standby position is the position of the pallet holding unit 70 when the sewing machine 1 delivers the pallet 80 to and from the pallet supply mechanism 230 (see the P1 position shown in FIG. 20). The second standby position is a position (see P2 position shown in FIG. 20) that is deviated from the first standby position by a predetermined coordinate in the positive Y-axis direction (on the table 95 side of the sewing machine). It is a position for confirming. The first standby position and the second standby position are based on the position coordinates of the frame support unit 65 and the pallet holding unit 70.

  As shown in FIG. 18, when the operator turns on the sewing machine 1, the CPU 101 reads a delivery control program from the ROM 102 and executes processing according to instructions included in the program.

  The CPU 101 determines whether or not the origin detection instruction signal transmitted by the CPU 211 has been received (S51), and if not received, waits for processing (S51: NO). The origin detection instruction signal is transmitted by the CPU 211 in S1 of FIG. When the sewing machine 1 is turned on, the CPU 101 does not know the position of the pallet holding unit 70. Therefore, when the CPU 101 receives the origin detection instruction signal (S51: YES), the CPU 101 performs origin detection of the feed mechanism 6 (S52). The CPU 101 drives the X-axis motor 114 and the Y-axis motor 116 to move the pallet holding unit 70 to the origin position. Specifically, the CPU 101 applies a pulse to the X-axis motor 114 and the Y-axis motor 116 via the drive circuits 115 and 117 to move the pallet holding unit 70. The X-direction origin sensor 118 and the Y-direction origin sensor 119 (see FIG. 10) output a detection signal when the pallet holding unit 70 reaches the origin position. When the CPU 101 recognizes the detection signals from the X-direction origin sensor 118 and the Y-direction origin sensor 119, the CPU 101 determines that the movement of the pallet holding unit 70 to the origin position is completed, and ends the movement of the pallet holding unit 70. The CPU 101 sets the coordinates of the current position to coordinates indicating the origin position, for example, (X, Y) = (0, 0). The CPU 101 transmits an origin detection completion signal to the CPU 211 of the pallet supply apparatus 200 (S53).

  The CPU 101 determines whether a reception start signal, a collection preparation completion signal, and a sewing start instruction signal are received from the CPU 211 of the pallet supply apparatus 200 (see S54 in FIG. 18, S63 in FIG. 19, and S67 in FIG. 9). The CPU 211 transmits the reception start signal in S15 of FIG. The collection preparation completion signal is transmitted by the CPU 211 in S6 of FIG. The CPU 211 transmits the sewing start instruction signal in S21 of FIG. When neither is received (S54: NO, S63: NO, S67: NO), the CPU 101 returns the process to S54.

  When receiving a reception start signal from the CPU 211 of the pallet supply apparatus 200 (S54: YES), the CPU 101 determines whether or not the current position of the pallet holding unit 70 is the first standby position (see the P1 position shown in FIG. 20) ( S55). The CPU 211 requests the sewing machine 1 to receive the pallet 80 held by the pallet holding unit 235. After the CPU 211 transmits a reception start signal, the pallet holding unit 235 moves to the delivery position. In order to receive the pallet 80 from the pallet holding part 235, the pallet holding part 70 of the sewing machine 1 needs to be in the first standby position. When the current position of the pallet holding unit 70 is not the first standby position (S55: NO), the CPU 101 moves the pallet holding unit 70 to the first standby position (S56, see FIG. 16). The sewing machine 1 is ready to receive the pallet 80 held by the pallet holding unit 235. The CPU 101 advances the process to S57. When the current position of the pallet holding unit 70 is the first standby position (S55: YES), the CPU 101 advances the process to S57.

  The CPU 101 determines whether a reception request signal has been received from the CPU 211 of the pallet supply apparatus 200 (S57). The pallet holding part 235 moves to the delivery position, and the grip part 239 of the pallet holding part 235 is opened (see S16, S17 in FIG. 11, and FIG. 15). The two first pins 841 of the pallet 80 are respectively positioned in the two support grooves 72 of the pallet holding part 70 (see FIG. 15). The CPU 101 rotates the gripping portion 75 in each support groove 72 to the gripping position (see FIG. 14), and grips the two first pins 841 of the pallet 80 (S58). That is, the CPU 101 controls driving of the feed mechanism 6 (S56, S58), and receives the pallet 80 delivered from the pallet supply mechanism 230. Two pallet sensors 76 shown in FIG. 5 detect the pallet 80 on both the left and right sides of the main body 71.

  The CPU 101 moves the pallet holding unit 70 from the first standby position to the second standby position (see the P2 position shown in FIG. 20) (S59). The CPU 101 determines whether both of the two pallet sensors 76 are in the ON state (S60). When the two gripping portions 75 normally grip the two first pins 841 of the pallet 80 at the first standby position, even if the pallet holding portion 70 moves from the first standby position to the second standby position, the pallet 80 is normally held by the pallet holding unit 70. Therefore, the two pallet sensors 76 are both turned on.

  On the other hand, in the first standby position, for example, when one of the two gripping portions 75 cannot normally grip the first pin 841 of the pallet 80, the pallet holding portion 70 is moved from the first standby position to the second standby position. During the movement to the position, the first pin 841 is detached from the support groove 72 that has been incompletely gripped. The pallet sensor 76 corresponding to the separated first pin 841 side is turned off. In the first standby position, when both of the two gripping portions 75 cannot normally grip the two first pins 841 of the pallet 80, the pallet holding portion 70 is moved from the first standby position to the second standby position. During the movement, the two first pins 841 are detached from the two support grooves 72, respectively. The two pallet sensors 76 are both turned off.

  When the two pallet sensors 76 are both in the ON state (S60: YES), the pallet holding unit 70 holds the pallet 80 normally. Therefore, the CPU 101 transmits a reception completion signal to the CPU 211 of the pallet supply apparatus 200 (S62). On the other hand, when at least one of the two pallet sensors 76 is in the OFF state (S60: NO), the pallet holding unit 70 does not hold the pallet 80 normally. Therefore, the CPU 101 executes error processing (S61). In the error processing, the CPU 101 may display an error display on a display unit (not shown) provided on the operation panel 240, for example, or may output an error notification sound or the like. The operator can quickly recognize from the error display on the operation panel 240 that the reception of the pallet 80 of the pallet holding unit 70 has failed. The operator can quickly respond such as re-holding the pallet 80 in the pallet holding unit 70. After the response, the operator performs an error canceling operation on the operation panel 240. The CPU 211 returns the process to S60, and if both of the two pallet sensors 76 are in the ON state (S60: YES), the CPU 211 transmits a reception completion signal to the CPU 211 of the pallet supply apparatus 200 (S62). The CPU 101 returns the process to S54.

  When the CPU 101 receives a collection preparation completion signal from the CPU 211 of the pallet supply apparatus 200 (S54 in FIG. 18: NO, S63 in FIG. 19: YES), in the pallet supply mechanism 230, the pallet holding unit 235 moves to the delivery position, The preparation for receiving the pallet 80 is completed. The CPU 211 requests the sewing machine 1 to collect the pallet 80 held by the pallet holding unit 70. The CPU 101 moves the pallet holding unit 70 to the first standby position (S64, see FIG. 14). The CPU 101 opens the gripping portion 75 of the pallet holding portion 70 (see FIG. 15) and releases the grip of the first pin 841, thereby delivering the pallet 80 to the pallet holding portion 235 (S65). The CPU 101 transmits a collection request signal to the CPU 211 of the pallet supply apparatus 200 (S66), and returns the process to S54 in FIG. The two gripping portions 239 of the pallet holding portion 235 rotate to the gripping position and grip the two second pins 842 (see FIG. 16). The CPU 211 retracts the pallet holding unit 235 to the standby position (see FIG. 17). After delivering the pallet 80 to the pallet holding unit 235, the CPU 101 does not move the pallet holding unit 70 as it is from the first standby position. Therefore, the CPU 101 can promptly receive the pallet 80 to be supplied next by the pallet supply mechanism 230 at the pallet holding unit 70.

  When the CPU 101 receives a sewing start instruction signal from the CPU 211 of the pallet supply apparatus 200 (S54 in FIG. 18: NO, S63: NO in FIG. 19, S67: YES), whether or not the two pallet sensors 76 are both in the ON state. Is determined (S68). When at least one of the two pallet sensors 76 is in the OFF state (S68: NO), the pallet holding unit 70 may not hold the pallet 80 or may hold it in an incomplete state. Therefore, the CPU 101 returns the process to S54 in FIG. 18 without executing the sewing operation. Note that when at least one of the two pallet sensors 76 is in the OFF state, an error process similar to the process of S61 in FIG. 18 may be executed.

  On the other hand, when the two pallet sensors 76 are both in the ON state (S68: YES), the sewing operation is executed on the fabric held by the pallet 80 based on the sewing data stored in the nonvolatile memory 104 (S69). . The CPUs 101 of the plurality of sewing machines 1 execute respective sewing processes using the pallet 80 received in S58. After the sewing operation, the CPU 101 moves the pallet holding unit 70 to the second standby position (S70). The pallet 80 held by the pallet holding unit 70 is located on the sewing machine 1 side (see the P2 position shown in FIG. 20). Therefore, the pallet 80 does not interfere with the pallet supply device 200 when the pallet supply device 200 is operated after the sewing operation is completed. That is, the sewing system 300 can secure a region for avoiding interference between the pallet supply device 200 and the pallet 80 when the pallet supply device 200 is operated after the sewing operation is completed, and thus can be configured in a compact configuration. The CPU 101 transmits a sewing completion signal to the CPU 211 of the pallet supply device 200 (S71), returns the process to S54 in FIG. 18, and repeats the above process. After performing the sewing process (S69), the CPU 101 receives the collection preparation completion signal from the CPU 211 of the pallet supply apparatus 200 (S63: YES), thereby drivingly controlling the feed mechanism 6 (S64, S65), and the pallet 80. Is delivered to the pallet supply mechanism 230.

  As described above, the sewing system 300 according to the present embodiment can arrange the plurality of pallet supply mechanisms 230 at positions facing the feeding mechanisms 6 of the plurality of sewing machines 1 (S12 in FIG. 11). Delivery of the pallet 80 between the plurality of sewing machines 1 and the pallet feeder 200 can be performed simultaneously (S5, S8, S16, S17, S20 in FIG. 11, S56, S58 in FIG. 18, S64, S65 in FIG. 19). ). Accordingly, the plurality of sewing machines 1 that have received the pallet 80 can simultaneously perform the sewing operation (S69 in FIG. 19). Therefore, the sewing system 300 improves the efficiency of sewing the fabric.

  The number of pallet supply mechanisms 230 is equal to or greater than the number of feed mechanisms 6. For this reason, the plurality of pallet supply mechanisms 230 can deliver the pallet 80 to all of the plurality of feeding mechanisms 6 (S5, S8, S16, S17, S20 in FIG. 11). Therefore, all the plurality of sewing machines 1 can simultaneously execute the respective sewing processes (S69 in FIG. 19). Therefore, the sewing system 300 can perform sewing more efficiently than when the single pallet supply mechanism 230 is provided and the plurality of sewing machines 1 cannot simultaneously perform the sewing operation.

  The plurality of pallet supply mechanisms 230 can be moved to the delivery position in S5 or S16. Therefore, the sewing system 300 can perform delivery of the pallet 80 at a predetermined delivery position. Therefore, the sewing system 300 can reliably deliver the pallet 80 between the plurality of pallet supply mechanisms 230 and the plurality of feed mechanisms 6.

  The pallet supply device 200 can stop the rotation of the rotary table 202 in a state in which the plurality of pallet supply mechanisms 230 and the plurality of feed mechanisms 6 are moved to opposite positions by the air cylinder 323 and the fixing pin 324 (see FIG. 3), Misalignment can be prevented (S13 in FIG. 11). Therefore, the sewing system 300 can reliably deliver the pallet 80 between the plurality of pallet supply mechanisms 230 and the plurality of feed mechanisms 6.

  The CPU 211 delivers and controls the pallet 80 by simultaneously driving and controlling each of the plurality of pallet supply mechanisms 230 (S5, S8, S16, S17, and S20 in FIG. 11). Therefore, it is not necessary to individually control the plurality of pallet supply mechanisms 230. Therefore, the sewing system 300 can simplify the control of the plurality of pallet supply mechanisms 230 when the pallet 80 is delivered.

  The CPU 211 receives the pallet 80 by drivingly controlling the plurality of pallet supply mechanisms 230 (S5 and S8 in FIG. 11) after all the sewing processes of the plurality of sewing machines are completed (S22 in FIG. 11: YES). Each of the pallet supply mechanisms 230 can be driven and controlled simultaneously. Therefore, the sewing system 300 does not need to individually control each of the plurality of pallet supply mechanisms 230 and can easily control the plurality of pallet supply mechanisms 230 when receiving the pallet 80.

  The plurality of pallet supply mechanisms 230 are arranged equiangularly in the circumferential direction of the substantially circular turntable 202, and the sewing machines 1 are arranged corresponding to the pallet supply mechanisms 230. Therefore, the sewing system 300 can minimize the size of the rotary table 202, and can save space when the rotary table 202 and the plurality of sewing machines 1 are arranged.

  For example, in the conventional case, the pallet has to be changed for each sewing process executed by the sewing machine. In the present embodiment, the pallet 80 is formed so as to be able to execute all the sewing processes executed by the plurality of sewing machines 1. Therefore, it is not necessary for the operator to change the pallet 80 and change the fabric in accordance with each sewing process. Therefore, the sewing system 300 can perform sewing more efficiently.

  The sewing system 300 includes a parts supply device 91. The CPU 211 controls the parts supply device 91 to supply the parts 941 to the pallet 80 (S31 to S36). CPU101 performs a sewing process using the pallet 80 which the parts supply apparatus 91 supplied (S69). Since the parts supply device 91 supplies the parts 941, there is no need for the operator to place the parts 941 on the pallet 80. Therefore, the sewing system 300 can reduce an operator's work amount.

  After the gripping portion 75 on the side of handing the pallet 80 out of the gripping portions 75 and 239 of the pallet holding portions 70 and 235 releases the gripping of the first pin 841 or the second pin 842 (see S17, S65, FIG. 15). The grip portions 75 and 239 on the side receiving the pallet 80 grip the first pin 841 or the second pin 842 (see S8, S58, FIG. 14 and FIG. 16). Therefore, when the grip portions 75 and 239 on the side of delivering the pallet 80 release the grip of the first pin 841 or the second pin 842, the relative positions of the grip portions 75 and 239 on the side of receiving the pallet 80 and the pallet 80 are shifted. Even if it is, it is easy to absorb the deviation. Therefore, the sewing system 300 can perform delivery of the pallet 80 more accurately.

  Since the sewing system 300 can accurately deliver the pallet 80, for example, it is possible to reduce the possibility that the delivery of the pallet 80 will fail, and to reduce the amount of work for the operator to rearrange the pallet 80. Can do. For this reason, for example, the number of workers working in the sewing system 300 can be reduced.

  In a conventional sewing system, a hand, which is a fixing part on the transport robot side, and a connecting piece, which is a fixing part on the sewing machine side, fix a narrow piece that is a common fixed part. For this reason, the hand which fixes a to-be-fixed part and a connection piece may interfere, and delivery of a holding body may not be performed normally. In the sewing system 300 of the present invention, the feed mechanism 6 grips the rear end portion 811 of the pallet 80, and the pallet supply mechanism 230 grips the front end portion 812 facing the rear end portion 811 of the pallet 80. Interference with the pallet supply mechanism 230 can be prevented. Therefore, the sewing system 300 can normally transfer the pallet 80 by the feed mechanism 6 and the pallet supply mechanism 230.

  The CPU 211 holds or releases the second pin 842 on the pallet supply device 200 side at the delivery position (see S5, S8, S16, S17, FIG. 14, and FIG. 16). Therefore, the CPU 211 can perform the delivery of the pallet 80 by the pallet holding unit 235 located at a predetermined delivery position. Therefore, the sewing system 300 can reliably deliver the pallet 80 between the pallet supply mechanism 230 and the feed mechanism 6.

  The CPU 211 drives the air cylinder 231 after holding or releasing the second pin 842 on the pallet supply device 200 side at the delivery position (see S5, S8, S16, S17, FIG. 14, and FIG. 16 in FIG. 11). The pallet holding part 235 is moved to the retracted position (S9, S20). Therefore, the pallet holder 235 can be separated from the sewing machine 1 after the pallet 80 is delivered. Therefore, the sewing system 300 can prevent the sewing machine 1 and the pallet supply device 200 from interfering with each other after the pallet 80 is delivered.

  In the state where the pallet 80 is held by the pallet holding portion 235, the first pin 841 on the sewing machine 1 side is positioned above the work table 5, and the second pin 842 on the pallet supply device 200 side is positioned above the rotary table 202. To do. Therefore, when the pallet holding unit 235 holds the pallet 80, the pallet 80 always straddles between the work table 5 and the rotary table 202, so that the rear end of the pallet 80 is moved even if the pallet 80 moves. 811 and the front end 812 are not caught on the work table 5, the rotary table 202, or the work table 5. Therefore, the sewing system 300 can more reliably deliver the pallet 80 between the feed mechanism 6 and the pallet supply mechanism 230.

  For example, when a plurality of sewing machines are arranged along a line of a linear belt conveyor and the sewing process is executed, the distance between the sewing machines is linearly separated, and thus a plurality of workers who monitor the sewing machine are required. In this embodiment, the sewing machines 1 are arranged in the circumferential direction on the rotary table 202, and the work desks 251 and 252 are adjacent to each other. Therefore, the sewing system 300 only needs to arrange an operator between the work desks 251 and 252, and does not need to be arranged for each sewing machine 1. Therefore, the sewing system 300 can reduce the number of workers.

  In addition, this invention is not limited to said embodiment, A various change is possible. For example, the air cylinder 323 and the fixing pin 324 that stop the rotation of the rotary table 202 may not be provided. The pallet supply mechanism 230 may not be able to move the pallet holding unit 235 between the retracted position and the delivery position, and may be fixed to either the retracted position or the delivery position, for example. The CPU 211 may not perform delivery of the pallet 80 between the plurality of sewing machines 1 and the pallet supply device 200 at the same time. The CPU 211 may perform gripping or releasing of the second pin 842 on the pallet supply device 200 side other than the delivery position. The CPU 211 may start driving and controlling the plurality of pallet supply mechanisms 230 before all the sewing steps of the plurality of sewing machines 1 are completed. That is, the plurality of pallet supply mechanisms 230 may start to move the pallet holding portions 235 at the time when the sewing process of the corresponding sewing machine 1 is completed. The rotary table 202 may not be circular, and may be, for example, an ellipse or a polygon such as a pentagon. The pallet supply mechanism 230 may not be arranged equiangularly in the circumferential direction on the rotary table 202. The pallet 80 may be formed such that at least one of all the sewing processes executed by the plurality of sewing machines 1 can be executed. The sewing system 300 may not include the parts supply device 91. In the pallet 80, the first pin 841 on the sewing machine 1 does not always have to be positioned above the work table 5. The second pin 842 on the pallet supply device 200 side may not always be positioned above the rotary table 202.

  The number of sewing machines 1 may be less than 3 or 4 or more. Further, the number of the pallet supply mechanisms 230 may be smaller than the number of the feeding mechanisms 6. The pallet holding part 70 on the sewing machine 1 side and the pallet holding part 235 on the pallet supply apparatus 200 side may be configured differently. The pallet supply device 200 only needs to face the feeding mechanism 6 of the sewing machine 1, and may be a device having a belt conveyor, for example.

  The rear end 811 and the front end 812 of the pallet 80 may be asymmetric with respect to the center of the pallet 80. In pallets 801, 802, and 803, which are modifications of the pallet 80 described below, the rear end 811 and the front end 812 are asymmetric with respect to the center of the pallets 801, 802, and 803. In the following description, a state in which the pallet supply mechanism 230 holds the front end portions 812 of the pallets 801, 802, and 803 and the feed mechanism 6 holds the rear end portions 811 of the pallets 801, 802, and 803 is referred to as normal connection. A case where the directions of the pallets 801, 802, and 803 are opposite to each other in the front-rear direction in a plan view is called reverse connection.

  A pallet 801 according to the second embodiment will be described with reference to FIG. In FIG. 21, the pallet holding part 70, the pallet 801, and the pallet holding part 235 are shown side by side for convenience of explanation. The same applies to FIGS. 22 and 23 described later. As shown in FIG. 21, the pallet 801 includes a pair of notch portions 86 </ b> A and a pair of non-notch portions 86 </ b> B that are asymmetrical portions 85 that are asymmetric with respect to the center of the pallet 801. The pair of cutout portions 86 </ b> A are portions where the front end portion 812 of the pallet 801 is cut out in the direction toward the rear end portion 811. Note that the cutout portion 86A cuts out both the metal plate 831 and the lower plate 81. The pair of notches 86A are separated from each other in the left-right direction. The pair of non-cutout portions 86B are provided at positions facing the pair of cutout portions 86A in the rear end portion 811 of the pallet 801. Unlike the pair of notch portions 86A, the pair of notched portions 86B are not notched. It should be noted that both the metal plate 831 and the lower plate 81 are not cut out in the non-cutout portion 86B.

  With reference to FIG. 18, the processing of the CPU 211 and the CPU 101 in the second embodiment will be described. Below, only a part of processing different from the first embodiment will be described. It is assumed that the worker arranges the pallet 801 for holding the dough at a predetermined position of the work desk 251 with the front end 812 facing the rotary table 202 side. In this case, a positive connection is possible. The non-notch part 86B contacts the switch terminal 761 of the pallet sensor 76 of the pallet holding part 70, and the pallet sensor 76 is turned on. Since the CPU 101 determines that the pallet sensor 76 is in the ON state (S60: YES), it does not execute the error process (S61). The CPU 101 notifies that the pallet 801 is normally connected to the pallet holding unit 70 by executing the processing after S62 without executing the error processing (S60: YES).

  On the other hand, it is assumed that the worker arranges the pallet 801 for holding the dough at a predetermined position of the work desk 251 with the rear end portion 811 facing the rotary table 202 side. In this case, a reverse connection is established. The switch terminal 761 of the pallet sensor 76 of the pallet holding unit 70 enters the inside of the notch 86A. Therefore, the notch 86A does not push the switch terminal 761. Therefore, the pallet sensor 76 is turned off. The CPU 101 determines that the pallet sensor 76 is in the OFF state (S60: NO), and executes error processing (S61). That is, the CPU 101 notifies that the pallet 801 is reversely connected to the pallet supply mechanism 230 (S61).

  With reference to FIG. 22, the pallet 802 of 3rd embodiment is demonstrated. The pallet 802 includes a metal plate 833 and a non-metal plate 834 that are asymmetrical portions 86 that are asymmetric with respect to the center of the pallet 802. The metal plate 833 is fixed to the upper side of the lower plate 81 at the rear end portion 811. The non-metallic plate 834 is fixed to the upper side of the lower plate 81 at the front end portion 812. In the third embodiment, a metal sensor 762 for detecting metal is provided instead of the pallet sensor 76 (see FIG. 5) of the pallet holding unit 70.

  Processing in the third embodiment will be described with reference to FIG. Below, only a part of processing different from the first embodiment will be described. It is assumed that the worker arranges the pallet 802 for holding the dough at a predetermined position of the work desk 251 with the front end 812 facing the rotary table 202 side. In this case, a positive connection is possible. The metal plate 833 is close to the metal sensor 762, and the metal sensor 762 is turned on. Since the CPU 101 determines that the metal sensor 762 is in the ON state (S60: YES), the CPU 101 does not execute the error process (S61). The CPU 101 notifies that the pallet 802 is normally connected to the pallet supply mechanism 230 by executing the processing after S62 without executing the error processing (S60: YES).

  On the other hand, it is assumed that the worker arranges the pallet 802 for holding the dough at a predetermined position of the work desk 251 with the rear end 811 facing the rotary table 202 side. In this case, a reverse connection is established. The non-metal plate 834 is close to the metal sensor 762, but the metal sensor 762 is not turned on but is turned off. The CPU 101 determines that the pallet sensor 76 is in the OFF state (S60: NO), and executes error processing (S61). That is, the CPU 101 notifies that the pallet 802 is reversely connected to the pallet holding unit 70 (S61).

  In the second embodiment and the third embodiment, the CPU 101 notifies the pallet holding unit 70 that the pallets 801 and 802 are normally connected or reversely connected. For this reason, the operator can easily determine whether or not the direction in which the pallets 801 and 802 are arranged is correct. Therefore, it is possible to reduce the possibility that the sewing machine 1 performs sewing in a state where the pallets 801 and 802 are reversely connected to the pallet holding portions 70 and 235. Therefore, the sewing system 300 can reduce the possibility that the pallets 801 and 802 are damaged by the sewing operation.

  A pallet 803 according to the fourth embodiment will be described with reference to FIG. The pallet 803 includes a pair of first pins 841 and a pair of second pins 843 that are asymmetrical portions 87 that are asymmetric with respect to the center of the pallet 803. The pair of first pins 841 are provided at the rear end 811 and are spaced apart in the left-right direction orthogonal to the front-rear direction in which the rear end 811 and the front end 812 face each other. The pair of second pins 843 are provided at the front end portion 812, and are separated in the left-right direction orthogonal to the front-rear direction in which the rear end portion 811 and the front end portion 812 face each other. Unlike the distance L2 between the pair of second pins 842, the distance L1 between the pair of first pins 841 is longer than the distance L2. The distance L1 between the pair of first pins 841 is the same as the distance between the pair of first pins 841 (see FIG. 6) in the first embodiment. The distance L2 between the pair of second pins 843 is shorter than the distance between the pair of second pins 842 (see FIG. 6) of the first embodiment.

  The pallet holding part 70 includes a gripping part 75 that can grip the first pin 841 at a position corresponding to the pair of first pins 841. The pallet supply mechanism 230 includes a grip portion 239 that can grip the second pin 843 at a position corresponding to the pair of second pins 843. The width in the left-right direction of the pallet holding part 235 of this embodiment is shorter than the width in the left-right direction of the pallet holding part 235 of the first embodiment.

  In the fourth embodiment, it is assumed that the worker arranges the pallet 803 for holding the dough at a predetermined position of the work desk 251 with the front end portion 812 facing the rotary table 202 side. In this case, a positive connection is possible. In this case, the grip 239 of the pallet supply mechanism 230 notifies that the pallet 803 has been normally connected by gripping the second pin 843. Further, the grip 75 of the pallet holder 70 grips the first pin 841, thereby notifying that the pallet 803 has been normally connected.

  On the other hand, it is assumed that the worker arranges the pallet 803 for holding the dough at a predetermined position of the work desk 251 with the rear end portion 811 facing the rotary table 202 side. In this case, a reverse connection is established. In this case, when the pallet holding part 235 moves to the delivery position (S5 in FIG. 11), since the gripping part 239 of the pallet holding part 235 and the first pin 841 are not in the corresponding positions, the gripping part 239 of the pallet holding part 235 is provided. Comes into contact with the pallet 803 in a state where the pallet 803 cannot be gripped. The pallet supply mechanism 230 notifies that the pallet 803 is reversely connected when the gripping part 239 of the pallet holding part 235 contacts the pallet 803 in a state where the pallet 803 cannot be gripped.

  It is assumed that when the operator mounts the pallet 803 on the feed mechanism 6, the front end 812 is mounted facing the sewing machine 1 side. In this case, a reverse connection is established. In this case, since the gripping portion 75 of the pallet holding portion 70 and the second pin 843 are not in the corresponding positions, the gripping portion 75 contacts the pallet 803 in a state where the pallet 803 cannot be gripped. The feed mechanism 6 notifies that the pallet 803 is reversely connected by contacting the pallet 803 in a state in which the gripper 75 cannot grip the pallet 803.

  In the fourth embodiment, the pallet supply mechanism 230 and the feed mechanism 6 notify that the pallet 803 is connected in the normal or reverse connection. For this reason, the operator can easily determine whether or not the direction in which the pallet 80 is arranged is correct. Further, since the pallet supply mechanism 230 and the feed mechanism 6 abut against the pallet 803 in a state where they cannot be gripped, the operator cannot reversely connect the pallet 803 to the pallet supply mechanism 230 and the feed mechanism 6. Therefore, it is possible to reduce the possibility that the sewing machine 1 performs sewing in a state where the pallet 803 is reversely connected to the pallet supply mechanism 230 and the feed mechanism 6. Therefore, the sewing system 300 can reduce the possibility that the pallet 803 is damaged by the sewing operation.

  In the second to fourth embodiments, the operator can easily determine the orientation of the pallets 801, 802, and 803 by checking the asymmetrical portions 85, 86, and 87 having different appearances at the rear end portion 811 and the front end portion 812. It can be confirmed and the pallets 801, 802 and 803 are easily connected to each other. Therefore, the pallets 801, 802, and 803 can reduce the possibility that the sewing machine 1 performs sewing in a state where the pallet supply mechanism 230 and the feed mechanism 6 are reversely connected. Therefore, the possibility that the pallets 801, 802, and 803 are damaged by the sewing operation is reduced.

  The second to fourth embodiments can be variously modified. For example, the “notification unit” of the present invention may be provided in at least one of the sewing machine 1 and the pallet supply device 200. In the second embodiment, both the pallet supply mechanism 230 and the feed mechanism 6 may include a pallet sensor 76. The notch 86A may be provided at the rear end 811 and the non-notch 86B may be provided at the front end 812. In the third embodiment, the pallet supply mechanism 230 may include a metal sensor 762.

  In the second to fourth embodiments, the pallet supply device 200 is an example of the “opposing device” in the present invention. The pallet 80 is an example of the “holding body” in the present invention. The pallet sensor 76 is an example of the “contact detection unit” in the present invention. The metal plate 834 is an example of the “metal part” in the present invention. The non-metal plate 833 is an example of the “non-metal part” in the present invention. The feed mechanism 6 is an example of the “first mechanism” in the present invention. The gripping portion 75 of the feed mechanism 6 is an example of the “first gripping portion” in the present invention. The grip portion 239 of the pallet supply mechanism 230 is an example of the “second grip portion” in the present invention. The pallet supply mechanism 230 is an example of the “second mechanism” in the present invention. The rear end 811 is an example of the “first end” in the present invention. The front end 812 is an example of the “second end” in the present invention. The first pin 841 is an example of the “first gripped portion” in the present invention. The second pin 843 is an example of the “second gripped portion” in the present invention. In the second and third embodiments, the CPU 211 that performs the processes of S10, S11, and S12 in FIG. 11 and the CPU 101 that performs the processes of S60, S61, and S62 in FIG. 18 are examples of the “notification unit” of the present invention. . In the fourth embodiment, the pallet supply mechanism 230 and the feed mechanism 6 are examples of the “notification unit” of the present invention.

1 Sewing machine 6 Feed mechanism 70, 235 Pallet holding part 75 Grip part 80, 801, 802, 803 Pallet 101, 211 CPU
200 Pallet feeder 300 Sewing system 811 Rear end 812 Front end 841 First pin 842, 843 Second pin

Claims (8)

A sewing machine for sewing on a sewing object, an opposing device provided facing the sewing machine, and a holding body for holding the sewing object are provided, and the holding body is transferred between the sewing machine and the opposing device. In the sewing system,
The sewing machine
A needle bar that can move up and down;
A workbench provided below the needle bar and having a top surface extending in the horizontal direction;
A first mechanism that is located between the needle bar and the workbench and that is movable in the horizontal direction while holding the first end of the holding body;
The opposing device includes a second mechanism capable of holding a second end facing the first end in the holding body,
The first end portion and the second end portion of the holding body include an asymmetric portion formed asymmetric with respect to a center portion of the holding body,
At least one of the sewing machine and the counter device is such that the first end portion and the second end portion of the holding body are positive with respect to the first mechanism and the second mechanism based on the asymmetric portion. A sewing system comprising an informing unit for informing that connection or reverse connection is established. The asymmetric part at one end of the first end and the second end is a notch cut out in a direction from the one end toward the other end,
The asymmetrical portion of the other end portion of the first end portion and the second end portion is a non-notched portion,
At least one of the first mechanism and the second mechanism includes a contact detection unit that detects that the non-notched portion has contacted,
The sewing system according to claim 1, wherein the notification unit determines whether or not the non-notched portion is in contact with the contact detection unit, and notifies the determination result. The asymmetric part at one end of the first end and the second end is a metal part formed of metal,
The asymmetric part of the other end of the first end and the second end is a non-metallic part formed of a non-metal,
At least one of the first mechanism and the second mechanism includes a metal sensor that detects a metal part,
The sewing system according to claim 1, wherein the notification unit determines whether or not the metal portion is detected by the metal sensor and notifies a determination result. The first end portion includes a pair of first gripped portions that are separated in an orthogonal direction orthogonal to a direction in which the first end portion and the second end portion face each other.
The second end includes a pair of second gripped portions that are separated in the orthogonal direction,
The distance between the pair of first gripped portions is different from the distance between the pair of second gripped portions,
The first mechanism is provided at a position corresponding to the pair of first gripped portions, and includes a first gripping portion capable of gripping the first gripped portion,
The second mechanism includes a second gripping portion provided at a position corresponding to the pair of second gripped portions and capable of gripping the second gripped portion,
The notification unit includes a first mechanism and a second mechanism, and when the holding body is reversely connected, the notification unit notifies the holding body in contact with the holding body in a state where the holding body cannot be gripped. Item 2. The sewing system according to Item 1. A holding body that holds a sewing object and delivers a sewing machine and a facing device provided facing the sewing machine,
A first end that can be held by the sewing machine;
A second end corresponding to the first end;
Provided at the first end and the second end, and formed asymmetric with respect to a central portion of the holding body, wherein at least one of the sewing machine and the opposing device is the holding body A holding body comprising an asymmetric part used for notifying that the first mechanism and the second mechanism are normally connected or reversely connected. The asymmetric part at one end of the first end and the second end is a notch cut out in a direction from the one end toward the other end,
The holding body according to claim 5, wherein the asymmetric part at the other end of the first end and the second end is a non-notched part. The asymmetric part at one end of the first end and the second end is a metal part formed of metal,
The holding body according to claim 5, wherein the asymmetric part at the other end of the first end and the second end is a non-metal part formed of a non-metal. The first end portion includes a pair of first gripped portions that are separated in an orthogonal direction orthogonal to a direction in which the first end portion and the second end portion face each other.
The second end includes a pair of second gripped portions that are separated in the orthogonal direction,
The holding body according to claim 5, wherein a distance between the pair of first grip portions is different from a distance between the pair of second grip portions.

Images