JP2020089662A - Sewing system - Google Patents

Abstract

To provide a sewing system capable of achieving energy saving and low cost.SOLUTION: A sewing system 1A includes: a first sewing machine 2A and a second sewing machine 3A capable of performing sewing with respect to an object 90 to be sewn; and a first robot arm 4A and a second robot arm 5A capable of delivering the object 90 to be sewn between itself and the first sewing machine 2A and the second sewing machine 3A. The first sewing machine 2A includes: a pair of post parts 22 which are the pair of post parts 22 separated in the left-to-right direction in parallel with a bed part 21 extending horizontally, and which extend upward from the bed part 21 respectively; a first beam part 23 extending in the left-to-right direction between the pair of post parts 22; and a head part 24 for supporting in the left-to-right direction at the first beam part 23 in a movable manner, and having a needle bar. The second sewing machine 3A includes a pair of post parts 32, a second beam part 33 and a head part. The first robot arm 4A is provided at the second beam part 33 of the second sewing machine 3A.SELECTED DRAWING: Figure 1

Description

The present invention relates to a sewing system having a sewing machine.

Patent Document 1 discloses a sewing system including a sewing machine, a clamp jig, a transfer device, a robot arm, a marking device, and a base. The base supports the sewing machine, the transfer device, and the robot arm. The marking device has a frame-shaped aggregate and a wall material that covers the aggregate, and is provided above the base. The robot arm and the sewing machine are arranged in the internal area of the marking device. The clamp jig holds the material to be sewn. The transfer device moves the clamp jig between the work position and the transfer position, and transfers the workpiece held by the clamp jig. The robot arm moves while holding the clamp jig at the transfer position, and supplies the sewing object held by the clamp jig to the sewing machine. The sewing machine sewes the material to be sewn supplied by the robot arm.

JP, 2017-196207, A

As the sewn object becomes larger, the robot arm needs to be made larger in order to stably hold the sewn object. As the size of the robot arm increases, so does the size of the base that supports the robot arm, so it is necessary to increase the size of the entire sewing system. At this time, there is a problem that the environment in which the sewing system can be installed is limited. Further, since the material to be sewn is stably held, it is necessary to add a member for supporting the robot arm. At this time, there is a problem that the sewing system becomes expensive.

An object of the present invention is to provide a sewing system that can save space and reduce costs.

A sewing system according to the present invention is a sewing system including a sewing machine capable of sewing a sewing object and a robot arm capable of transferring the sewing object to and from the sewing machine, wherein the sewing machine is a bed extending horizontally. A pair of pedestals separated in a first direction parallel to the section, each of which extends between the pair of pedestals, and the pair of pedestals. A beam portion extending in a first direction; and a head having a needle bar movably supported by the beam portion in the first direction, wherein the robot arm is provided on the beam portion. To do.

In the sewing system, the robot arm is provided on the beam portion of the sewing machine. At this time, the sewing system can stably fix the robot arm by the weight and rigidity of the sewing machine. Even if the article to be sewn is large, there is no need to upsize the base that supports the robot arm, and there is no need for an additional member that supports the robot arm. Therefore, the sewing system can save space and reduce costs.

In the present invention, the robot arm is a horizontal multi-joint type arm having a vertically extending strut, a horizontally extending first arm, and a second arm, and the beam portion is provided at one end of the strut. Supporting directly or indirectly, the other end of the column supports one end of the first arm rotatably about a rotation axis extending in the vertical direction, and the other end of the first arm is The one end of the second arm may be rotatably supported about a rotation shaft extending in the vertical direction, and the other end of the second arm may support a holding mechanism that holds the sewing object. .. In the sewing system, the horizontal articulated robot arm can easily transfer the workpiece to any position in the horizontal direction.

In the present invention, the robot arm may further include a support portion interposed between one end portion of the column and the beam portion, and the beam portion may support one end portion of the column via the support portion. .. The sewing system can stably convey the material to be sewn within the movable range of the robot arm.

In the present invention, the sewing machine placed on the bed portion is further provided with a moving mechanism that moves in a second direction parallel to the bed portion and orthogonal to the first direction, and the sewing machine is in the second direction. A first sewing machine and a second sewing machine arranged in a line, wherein the robot arm has a first beam section which is a beam section of the first sewing machine and a second beam section which is a beam section of the second sewing machine in the second direction. It may be located between. In the sewing system, the sewing machine whose moving mechanism moves in the second direction can be transferred between the first sewing machine and the second sewing machine by the robot arm.

In the present invention, the sewing object placed on the bed portion is further provided with a moving mechanism that moves in a second direction parallel to the bed portion and orthogonal to the first direction, and the sewing machine is a first sewing machine. A second sewing machine arranged on one side in the second direction with respect to the first sewing machine, wherein the support section is a beam section of the first sewing machine and a beam section of the second sewing machine. A first support portion extending in the second direction over the second beam portion, the first support portion being interposed between the column of the robot arm and the first beam portion and the second beam portion, The one beam portion and the second beam portion may support one end portion of the column of the robot arm via the first support portion. The first beam portion of the first sewing machine and the second beam portion of the second sewing machine support both end portions of the first support portion. The sewing system can prevent the position of the robot arm from changing due to the deformation of the first support portion due to the weight of the robot arm. Therefore, the sewing system can stably convey the workpiece by the robot arm.

In the present invention, the robot arm includes a first robot arm and a second robot arm, and the first support portion includes a first support pillar which is a support pillar of the first robot arm, the first beam portion, and the second support arm. Interposing between the beam portions, the first beam portion and the second beam portion support one end portion of the first strut of the first robot arm via the first support portion, and the support portion is Further comprising a second support portion extending from the first beam portion to the other side in the second direction and interposed between a second support pillar which is a support pillar of the second robot arm and the first beam portion, The one beam portion may support one end portion of the second support of the second robot arm via the second support portion. In the sewing system, the first robot arm can convey a sewing object between the first sewing machine and the second sewing machine. The sewing system can transfer the material to be sewn to the first sewing machine from the other side in the second direction by the second robot arm.

In the present invention, the head of the first sewing machine is provided on the other side in the second direction with respect to the first beam portion of the first sewing machine, and the head of the second sewing machine is the second It may be provided on one side in the second direction with respect to the second beam portion of the sewing machine. At this time, the head of the first sewing machine is located on the side opposite to the second sewing machine with respect to the first beam portion, and the head of the second sewing machine is located on the side opposite to the first sewing machine with respect to the second beam portion. .. Therefore, on the side where the head of one sewing machine receives the work from the worker, the other sewing machine does not exist. Therefore, the worker can easily work on the head.

In the present invention, the sewing machine includes a first sewing machine and a second sewing machine arranged on one side in the first direction with respect to the first sewing machine, and the support portion is a beam portion of the first sewing machine. Between the first beam portion and the second beam portion which is the beam portion of the second sewing machine, extending in the first direction, and between the pillar of the robot arm and the first beam portion and the second beam portion. The first beam part and the second beam part may support one end of the support column of the robot arm via the third support part. The first beam portion of the first sewing machine and the second beam portion of the second sewing machine support both end portions of the third support portion. The sewing system can prevent the position of the robot arm from changing due to the deformation of the third support portion by the weight of the robot arm. Therefore, the sewing system can stably convey the workpiece by the robot arm.

In the present invention, the third support portion may include a guide rail extending in the first direction, and a drive portion that moves the robot arm in the first direction along the guide rail. In the sewing system, the robot arm can transfer the workpiece between the first sewing machine and the second sewing machine. Therefore, it is not necessary to have a plurality of robot arms, and the cost of the sewing system can be reduced as compared with the configuration having a plurality of robot arms.

In the present invention, the pillar of the robot arm may be fixed to the beam portion. At this time, since the support part is not necessary, the cost of the transfer system can be reduced. The sewing system can stably fix the robot arm due to the weight and rigidity of the sewing machine.

It is a perspective view of the sewing system 1A which concerns on 1st embodiment. It is the perspective view which looked at the head 24 vicinity of the first sewing machine 2A which concerns on 1st embodiment from the right front. It is the perspective view which looked at the head 24 neighborhood of the first sewing machine 2A concerning a first embodiment from the front. FIG. 3 is a plan view of the sewing system 1A according to the first embodiment. It is a perspective view of the sewing system 1B which concerns on 2nd embodiment. It is a top view of the sewing system 1B which concerns on 2nd embodiment. It is a perspective view of sewing system 1C concerning a third embodiment. It is a top view of sewing system 1C concerning a third embodiment. It is a perspective view of the sewing system 1D which concerns on 4th embodiment. It is a perspective view of the sewing system 1E which concerns on 5th embodiment. It is a top view of the sewing system 1E which concerns on 5th embodiment. It is a perspective view of the sewing system 1F which concerns on 6th embodiment. It is a top view of sewing system 1F which concerns on 6th embodiment.

<First embodiment>
A sewing system 1A according to a first embodiment of the present invention will be described with reference to FIGS. In the following description, left and right, front and rear, and up and down indicated by arrows in the drawing will be used. The sewing system 1A includes a first sewing machine 2A, a second sewing machine 3A, a first robot arm 4A, a first support portion 4B, a second robot arm 5A, a second support portion 5B, a mounting table 9A, 9B, 9C, and a robot arm 9D. Equipped with. The sewing system 1A is a system for the first sewing machine 2A and the second sewing machine 3A to cooperate with each other to sew objects 90A to 90E (hereinafter collectively referred to as "sewn object 90"). is there.

<First sewing machine 2A, second sewing machine 3A>
Each of the first sewing machine 2A and the second sewing machine 3A is a gate type sewing machine, and can sew on the sewing target 90. The first sewing machine 2A and the second sewing machine 3A have substantially the same configuration. The first sewing machine 2A and the second sewing machine 3A are arranged in the front-rear direction. The second sewing machine 3A is on the rear side with respect to the first sewing machine 2A. Hereinafter, the first sewing machine 2A will be described and the description of the second sewing machine 3A will be simplified.

As shown in FIGS. 1 to 3, the first sewing machine 2A includes a bed portion 21, a pair of pedestal portions 22, a first beam portion 23, a head portion 24, and a moving mechanism 25. The bed portion 21 has a base portion 21A and a frame body 21B. The base portion 21A has a substantially rectangular shape. The upper surface of the base portion 21A forms a horizontally extending flat holding surface 21U. A holding plate 21P extending forward along the holding surface 21U is provided at the front end of the base 21A. A bellows 21R extending in the front-rear direction is provided near the right end of the holding surface 21U. A bellows 21L extending in the front-rear direction is provided near the left end of the holding surface 21U. The bellows 21R and 21L linearly extend on both front and rear sides of a pair of front and rear movement mechanisms 251 to be described later, between the front end portion and the rear end portion of the holding surface 21U. The bellows 21R and 21L expand and contract as the pair of front-rear moving mechanisms 251 reciprocate in the front-rear direction. The frame 21B is a lattice-like structure and supports the base 21A from below.

The pair of pillars 22 includes pillars 22R and 22L. Each of the pillars 22R and 22L has a substantially rectangular column shape. The pedestal portion 22R extends upward from the right end portion of the base portion 21A of the bed portion 21 and the center in the front-rear direction. The pedestal portion 22R is located on the right side of the bellows 21R in the left-right direction. The pillar 22L extends upward from the left end of the base 21A of the bed 21 and the center in the front-rear direction. The pedestal portion 22L is located on the left side of the bellows 21L in the left-right direction. The pillars 22R and 22L are separated from each other in the left-right direction.

The first beam portion 23 is installed between the pillar portions 22R and 22L. The first beam portion 23 extends in the left-right direction between the pair of pedestal portions 22. The first beam portion 23 has a housing 23U. The housing 23U extends between the upper end and the rear end of each of the pillars 22R and 22L. A rail (not shown) is provided in a space surrounded by the pillars 22R and 22L and the housing 23U. The rail has a rod shape and is installed between the pillars 22R and 22L. The rail supports a head portion 24 described later so as to be movable in the left-right direction. That is, the first beam portion 23 supports the head portion 24 so as to be movable in the left-right direction. As shown in FIGS. 2 and 3, the bellows 23F is provided over the front ends of the pillars 22R and 22L, the housing 23U, and the left and right ends of the head 24, which will be described later. The bellows 23F covers the rail supporting the head 24 from the front side. The bellows 23F expands and contracts as the head 24 reciprocates in the left-right direction along the rail.

The head portion 24 is provided on the front side of the first beam portion 23. As shown in FIG. 2, the head 24 includes a needle bar 24A, a presser foot 24B, a balance mechanism 24C, a thread tension mechanism 24D, and the like. The needle bar 24A extends in the vertical direction, and the sewing needle 240 can be attached to the lower end portion thereof. The needle bar 24A is vertically movable. The presser foot 24B has a through hole through which the sewing needle 240 passes according to the movement of the needle bar 24A, and presses the sewing target 90 from above. The balance mechanism 24C operates according to the vertical movement of the needle bar 24A to pull up the upper thread. The thread tension mechanism 24D adjusts the tension of the upper thread. A rail (not shown) in the first beam portion 23 supports the head portion 24 so as to be movable in the left-right direction. Therefore, the head portion 24 is movable in the left-right direction along the front end portion of the first beam portion 23 extending in the left-right direction. A shuttle mechanism (not shown) is provided below the head 24 and inside the base 21A. The shuttle mechanism is movable in the left-right direction in synchronization with the head 24.

The moving mechanism 25 is provided above the holding surface 21U of the bed portion 21 of the first sewing machine 2A. The moving mechanism 25 moves the to-be-sewn object 90 placed on the bed portion 21 in the front-rear direction. As shown in FIG. 3, the moving mechanism 25 includes a support portion 250, an upper feed plate 25U, a lower feed plate 25B, a pair of front-back movement mechanisms 251, and a pair of connecting portions 252. The support part 250 extends in the left-right direction between the bellows 21R and 21L provided on the holding surface 21U of the bed part 21. The upper feed plate 25U has a substantially circular plate shape in a plan view and is provided at the center of the support portion 250 in the left-right direction. The upper feed plate 25U extends parallel to the holding surface 21U from the support portion 250 toward the front side. A through hole 253 having a substantially circular shape in plan view is provided at the center of the upper feed plate 25U. The support part 250 has an air cylinder 257 (see FIG. 2) at the center in the left-right direction. The air cylinder 257 has a rod extending downward, and the rod moves forward and backward in the vertical direction when the air cylinder 257 is driven. The rear end of the upper feed plate 25U is connected to the rod of the air cylinder 257. Therefore, the upper feed plate 25U is moved in the vertical direction by driving the air cylinder 257.

As shown in FIG. 3, a pair of front-rear moving mechanisms 251 are provided at both left and right ends of the supporting portion 250. The pair of front-rear moving mechanisms 251 includes a front-rear moving mechanism 251R provided at the right end portion of the support portion 250 and a front-rear moving mechanism 251L provided at the left end portion of the support portion 250. The front-rear moving mechanism 251R is connected to a belt (not shown) provided below the bellows 21R. The front-rear moving mechanism 251L is connected to a belt (not shown) provided below the bellows 21L. The pair of front-rear moving mechanisms 251 moves the support part 250 in the front-rear direction in response to synchronous rotation of the belts connected to the front-rear moving mechanisms 251R and 251L.

A pair of connecting portions 252 is provided inside the pair of front-rear moving mechanisms 251 of the supporting portion 250. The pair of connecting portions 252 includes connecting portions 252R and 252L, the connecting portion 252R is provided on the left side of the forward/backward moving mechanism 251R, and the connecting portion 252L is provided on the right side of the forward/backward moving mechanism 251L. The pair of connecting portions 252 is provided with a lower feed plate 25B at the lower ends of the connecting portions 252R and 252L. The lower feed plate 25B has a triangular plate shape in a plan view. The lower feed plate 25B extends parallel to the holding surface 21U from the lower vicinity of the support portion 250 toward the front side. The upper feed plate 25U is movable by driving the air cylinder 257 between a state in which it approaches the lower feed plate 25B from the upper side and a state in which it is separated from the lower feed plate 25B by the upper side. An elongated through hole 254 is provided from the vicinity of the apex of the front end of the lower feed plate 25B toward the rear side. A circular through hole 255 is provided at the rear end of the through hole 254 in the lower feed plate 25B. The position of the through hole 255 corresponds to the position of the through hole 253 of the upper feed plate 25U in plan view.

As shown in FIG. 1, the second sewing machine 3A includes a bed portion 31, a pair of pedestal portions 32, a second beam portion 33, a head portion 34 (see FIG. 4), and a moving mechanism 35. The bed portion 31, the pair of pedestal portions 32, the second beam portion 33, the head portion 34, and the moving mechanism 35 respectively include the bed portion 21, the pair of pedestal portions 22, the first beam portion 23, and the head of the first sewing machine 2A. It corresponds to the section 24 and the moving mechanism 25. The bed portion 31 of the second sewing machine 3A has a base portion 31A and a frame body 31B, and the base portion 31A, the holding surface 31U, the holding plate 31P, the bellows 31R and 31L, and the frame body 31B are respectively the bed portion 21 of the first sewing machine 2A. It corresponds to the base portion 21A, the holding surface 21U, the holding plate 21P, the bellows 21R and 21L, and the frame body 21B. The pair of pedestal portions 32 of the second sewing machine 3A has pedestal portions 32R and 32L, and the pedestal portions 32R and 32L respectively are the pedestal portions 22R and 22L of the pair of pedestal portions 22 of the first sewing machine 2A. Corresponding to. The second beam portion 33 of the second sewing machine 3A has a housing 33U, and the housing 33U and the bellows 33F correspond to the housing 23U and the bellows 23F of the first beam portion 23 of the first sewing machine 2A, respectively. The moving mechanism 35 of the second sewing machine 3A includes a support portion (not shown), an upper feed plate (not shown), a lower feed plate 35B, a pair of front-rear moving mechanisms (not shown), and a pair of vertical moving mechanisms (not shown). Have. The lower feed plate 35B corresponds to the lower feed plate 25B of the moving mechanism 25 of the first sewing machine 2A. The support portion, the upper feed plate, the pair of front-rear moving mechanisms, and the pair of connecting portions, which are not shown, respectively include the support portion 250 of the moving mechanism 25 of the first sewing machine 2A, the upper feed plate 25U, and the pair of front-rear moving mechanisms 251. , And a pair of connecting portions 252.

The second sewing machine 3A has a front-back direction opposite to the first sewing machine 2A. Therefore, the head portion 34 of the second sewing machine 3A is provided on the rear side with respect to the second beam portion 33. The bellows 31R of the second sewing machine 3A is provided near the left end of the holding surface 31U. The bellows 31L of the second sewing machine 3A is provided near the right end of the holding surface 31U. The pillar 32L of the second sewing machine 3A extends upward from the right end of the base 31A of the bed 31. The column 32R of the second sewing machine 3A extends upward from the left end of the base 31A of the bed 31. The casing 33U extends between the upper end and the front end of each of the pillars 32R and 32L. The housing 23U rear surface of the first beam portion 23 of the first sewing machine 2A and the housing 33U front surface of the second beam portion 33 of the second sewing machine 3A face each other in the front-rear direction. The lower feed plate 35B of the second sewing machine 3A differs from the lower feed plate 25B of the first sewing machine 2A in that the lower feed plate 35B of the second sewing machine 3A extends forward and rearward from the vicinity of the lower portion of the support portion.

<Mounting table 9A, 9B, 9C>
As shown in FIG. 1, the mounting table 9A is on the front side with respect to the first sewing machine 2A. The mounting table 9A is a lattice-shaped structure. As shown in FIG. 4, the mounting table 9A has accommodating portions 91A, 91B, 91C. The accommodating portion 91A is capable of accommodating a plurality of circular sewing objects 90A by stacking them. The accommodating portion 91B can accommodate a plurality of rectangular sewn objects 90B in a stacked manner. The accommodating portion 91C can accommodate a plurality of rectangular sewn objects 90C smaller than the sewn object 90B by stacking them.

As shown in FIG. 1, the mounting table 9B is on the rear side of the first sewing machine 2A and on the front side of the second sewing machine 3A. The mounting table 9B has a holding surface 21U of the first sewing machine 2A and a holding surface 92U of a plate shape extending along the same plane as the holding surface 31U of the second sewing machine 3A. As shown in FIG. 4, the mounting table 9B has storage portions 91D and 91E on the left side of the center of the holding surface 92U in the left-right direction. The accommodating portion 91D stores a plurality of rectangular sewn objects 90D in a stacked manner. The accommodating portion 91E stores a plurality of rectangular sewn objects 90E having substantially the same size as the sewn object 90D by stacking them.

As shown in FIGS. 1 and 4, the mounting table 9C is on the rear side with respect to the second sewing machine 3A. The mounting table 9C has a housing portion 91F and a frame body 91G. The accommodating portion 91F has a box shape with an open upper end. The accommodation portion 91F can accommodate the sewn object 90 sewn by the first sewing machine 2A and the second sewing machine 3A. The accommodating portion 91F fixes the frame 95, which is a lattice-shaped structure, to the upper side. As shown in FIG. 1, the frame 91G is a lattice-shaped structure and supports the housing 91F from below.

<First support portion 4B, second support portion 5B>
As shown in FIG. 1, the first support portion 4B has a base portion 41 and an extension portion 42. The base portion 41 has a substantially rectangular parallelepiped shape. The base portion 41 is provided in the center of the second beam portion 33 of the second sewing machine 3A in the left-right direction at the upper end of the housing 33U. The base portion 41 projects upward from the housing 33U. The extended portion 42 is a lattice-shaped structure. The extended portion 42 extends horizontally from the upper end of the base portion 41 toward the front. As shown in FIG. 4, the front end portion of the extension portion 42 is located on the rear side of the first beam portion 23 of the first sewing machine 2A and above the mounting table 9B.

As shown in FIG. 1, the second support portion 5B has the same configuration as the first support portion 4B and has a base portion 51 and an extension portion 52. The base portion 51 and the extension portion 52 correspond to the base portion 41 and the extension portion 42 of the first support portion 4B, respectively. The base portion 51 is provided in the first beam portion 23 of the first sewing machine 2A at the center of the upper end of the housing 23U in the left-right direction. The base portion 51 projects upward from the housing 23U. The extension portion 52 extends horizontally from the upper end of the base portion 51 toward the front. As shown in FIG. 4, the front end portion of the extended portion 52 is located above the mounting table 9A.

<First robot arm 4A, second robot arm 5A>
The first robot arm 4A and the second robot arm 5A are horizontal articulated arms and are also called horizontal articulated robots, SCARA robots, and SCARA robots. The first robot arm 4A is provided on the second beam portion 33 of the second sewing machine 3A via the first support portion 4B. The first robot arm 4A transfers the sewing object 90 between the first sewing machine 2A and the second sewing machine 3A. The second robot arm 5A is provided on the first beam portion 23 of the first sewing machine 2A via the second support portion 5B. The second robot arm 5A transfers the sewing object 90 between the mounting table 9A and the first sewing machine 2A. The first robot arm 4A and the second robot arm 5A have the same configuration. Hereinafter, the second robot arm 5A will be described, and the description of the first robot arm 4A will be simplified.

As shown in FIG. 2, the second robot arm 5A has a column 53, a first arm 54, a second arm 55, and a holding mechanism 56. The column 53 has a columnar shape and extends in the vertical direction. The upper end of the column 53 is connected to the lower surface of the tip of the extension 52 of the second support 5B. The first arm 54 extends horizontally from the lower end of the column 53. The lower end of the support column 53 rotatably supports one end of the first arm 54 about a rotation shaft extending in the up-down direction.

The second arm 55 extends horizontally from the other end of the first arm 54. The second arm 55 is provided above the first arm 54 in the vertical direction. The other end of the first arm 54 rotatably supports one end of the second arm 55 about a rotation shaft extending in the vertical direction. The other end of the second arm 55 supports a support rod 56A extending vertically. The support rod 56A is a ball screw and is rotatable with respect to the second arm 55 and movable in the vertical direction. The support rod 56A supports the holding mechanism 56 at the lower end portion. That is, the other end of the second arm 55 supports the holding mechanism 56 via the support rod 56A. The holding mechanism 56 has a plurality of vacuum grippers on its lower surface. The holding mechanism 56 can hold the sewing target 90 by a plurality of vacuum grippers. The holding mechanism 56 rotates with the rotation of the support rod 56A and moves up and down with the vertical movement of the support rod 56A.

The second robot arm 5A is connected to the first beam portion 23 of the first sewing machine 2A via the second support portion 5B. The first beam portion 23 of the first sewing machine 2A indirectly supports the upper end portion of the support column 53 of the second robot arm 5A via the second support portion 5B. At this time, the second support portion 5B is interposed between the upper end portion of the column 53 of the second robot arm 5A and the first beam portion 23 of the first sewing machine 2A. As shown in FIG. 4, the second robot arm 5A is located in front of the first beam portion 23 of the first sewing machine 2A in the front-rear direction.

As shown in FIGS. 2 and 4, the first robot arm 4A has a column 43, a first arm 44, a second arm 45, and a holding mechanism 46 (see FIG. 4). The column 43, the first arm 44, the second arm 45, and the holding mechanism 46 correspond to the column 53, the first arm 54, the second arm 55, and the holding mechanism 56 of the second robot arm 5A, respectively. The upper end of the column 43 is connected to the lower surface of the tip of the extending portion 42 of the first supporting portion 4B. The support rod 46A provided on the other end of the second arm 45 corresponds to the support rod 56A of the second robot arm 5A. The support bar 46A supports the holding mechanism 46 at its lower end.

The first robot arm 4A is connected to the second beam portion 33 of the second sewing machine 3A via the first support portion 4B. The second beam portion 33 of the second sewing machine 3A indirectly supports the upper end portion of the support column 43 of the first robot arm 4A via the first support portion 4B. At this time, the first support portion 4B is interposed between the upper end portion of the column 43 of the first robot arm 4A and the second beam portion 33 of the second sewing machine 3A. As shown in FIG. 4, the first robot arm 4A is located between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-back direction.

<Robot arm 9D>
As shown in FIG. 1, the robot arm 9D is an orthogonal movement type arm and is also called an orthogonal robot or a gantry robot. The robot arm 9D moves the sewn object 90 sewn by the second sewing machine 3A to the accommodation section 91F of the mounting table 9C. The robot arm 9D has a guide rail 96 and a holding mechanism 97. The guide rail 96 is fixed to the frame 95 of the mounting table 9C. The guide rail 96 extends linearly in the front-rear direction. As shown in FIG. 4, the front end portion of the guide rail 96 is located above the holding plate 31P of the second sewing machine 3A. The rear end portion of the guide rail 96 is located above the accommodation portion 91F of the mounting table 9C.

The holding mechanism 97 is movable in the front-rear direction along the guide rail 96. The holding mechanism 97 is located above the holding plate 31P of the second sewing machine 3A when moved to the front end of the guide rail 96. When the holding mechanism 97 moves to the rear end of the guide rail 96, the holding mechanism 97 is located above the accommodation portion 91F of the mounting table 9C. The holding mechanism 97 has a plurality of vacuum grippers on its lower surface. The holding mechanism 97 can hold the sewing target 90 by a plurality of vacuum grippers. The holding mechanism 97 has an air cylinder. The air cylinder has a rod that moves back and forth in the vertical direction, and a plurality of vacuum grippers are connected to the lower ends of the rods. The plurality of vacuum grippers can move up and down by driving an air cylinder.

<Outline of operation of sewing system 1A>
The outline of the operation of the sewing system 1A for performing sewing on the article 90 to be sewn will be described with reference to FIGS. The operator stores the sewn objects 90A to 90E in the storage portions 91A to 91C of the mounting table 9A and the storage portions 91D and 91E of the mounting table 9B, respectively. The second robot arm 5A holds the workpiece 90A by the holding mechanism 56. The second robot arm 5A moves the holding mechanism 56 upward and rotates the first arm 54 and the second arm 55, thereby moving the holding mechanism 56 holding the sewing object 90A onto the holding plate 21P. .. The second robot arm 5A moves the holding mechanism 56 downward and releases the holding of the sewing object 90A by the holding mechanism 56, thereby placing the sewing object 90A on the holding plate 21P and the lower feed plate 25B. Next, the second robot arm 5A moves the sewn objects 90B, 90C onto the sewn objects 90A placed on the holding plate 21P and the lower feed plate 25B by the same method as described above, and sewn objects 90B, 90C. Is laid on the article to be sewn 90A.

The moving mechanism 25 of the first sewing machine 2A moves the support part 250 forward by the pair of front-back moving mechanisms 251. The upper feed plate 25U moves forward in response to the movement of the support portion 250, and is located above the sewn objects 90A to 90C placed on the holding plate 21P and the lower feed plate 25B in a stacked state. The lower feed plate 25B moves forward according to the movement of the support part 250. The moving mechanism 25 drives the air cylinder 257 to move the upper feed plate 25U downward. The upper feed plate 25U approaches the lower feed plate 25B from the upper side, and sandwiches the workpieces 90A to 90C with the lower feed plate 25B. Next, the moving mechanism 25 moves the support part 250 backward by the pair of front-back moving mechanisms 251. The upper feed plate 25U and the lower feed plate 25B move rearward according to the movement of the support part 250 while sandwiching the sewn objects 90A to 90C. The sewing objects 90A to 90C are arranged below the head 24 of the first sewing machine 2A.

The needle bar 24A of the head 24 of the first sewing machine 2A moves up and down. The sewing needle 240 provided on the needle bar 24A moves up and down together with the needle bar 24A. The balance mechanism 24C of the head portion 24, the thread tension mechanism 24D, and the shuttle mechanism in the bed portion 21 operate in conjunction with the needle bar 24A. The first sewing machine 2A sewes the objects to be sewn 90A to 90C with the upper thread inserted into the sewing needle 240 and the lower thread accommodated in the shuttle mechanism.

After sewing the articles 90A to 90C to be sewn by the first sewing machine 2A, the movement mechanism 25 moves the support portion 250 rearward by the pair of front and rear movement mechanisms 251. The upper feed plate 25U and the lower feed plate 25B move rearward in accordance with the movement of the support portion 250 while sandwiching the sewn sewing objects 90A to 90C. The sewn objects 90A to 90C are arranged on the rear side of the first beam portion 23 of the first sewing machine 2A. The moving mechanism 25 drives the air cylinder 257 to move the upper feed plate 25U upward. The upper feed plate 25U is separated from the lower feed plate 25B to the upper side to open the sewing objects 90A to 90C. The moving mechanism 25 moves the support part 250 forward by a pair of front-back moving mechanisms 251.

The first robot arm 4A holds the sewn sewn objects 90A to 90C by the holding mechanism 46. The first robot arm 4A moves the holding mechanism 46 upward, and rotates the first arm 44 and the second arm 45, so that the holding mechanism 46 holding the sewing objects 90A to 90C is attached to the second sewing machine 3A. It moves on the holding surface 31U of the bed portion 31 and to the front side of the second beam portion 33. The first robot arm 4A releases the holding of the sewing objects 90A to 90C by the holding mechanism 46 and places the sewing objects 90A to 90C on the holding surface 31U. Next, the first robot arm 4A moves the sewn objects 90D and 90E onto the sewn objects 90A to 90C and superimposes the sewn objects 90D and 90E on the sewn objects 90A to 90C. Place it.

The movement mechanism 35 of the second sewing machine 3A moves the support portion (not shown) forward. The upper feed plate (not shown) moves forward and is located above the sewing objects 90A to 90E. Before the movement, the second sewing machine 3A moves the head portion 34 to the right side of the upper feed plate with the upper feed plate moved downward, and brings the upper feed plate to the upper state. The moving mechanism 35 moves the support portion forward. The lower feed plate 35B moves forward together with the upper feed plate. The moving mechanism 35 moves the upper feed plate downward, and sandwiches the sewing objects 90A to 90E with the lower feed plate 35B. The moving mechanism 35 moves the support portion rearward, and moves the sewn objects 90A to 90E placed on the holding surface 31U rearward from a position on the front side of the second beam portion 33 to a position on the lower side of the head portion 34. Moving. The second sewing machine 3A sewes the sewing objects 90A to 90E by the same method as the first sewing machine 2A. After the sewing by the second sewing machine 3A, the moving mechanism 35 moves the workpieces 90A to 90E backward to the holding plate 31P of the second sewing machine 3A.

The robot arm 9D moves the holding mechanism 97 forward to the front end of the guide rail 96. The holding mechanism 97 holds the sewn object 90 sewn by the first sewing machine 2A and the second sewing machine 3A. The robot arm 9D moves the holding mechanism 97 rearward from the front end portion to the rear end portion of the guide rail 96. The sewn product 90 held by the holding mechanism 97 moves to a position above the accommodation portion 91F of the mounting table 9C. The robot arm 9D releases the holding of the sewing target 90 by the holding mechanism 97 and stores the sewing target 90 in the storage portion 91F.

<Operations, effects, and modifications of the first embodiment>
The first robot arm 4A is provided on the second beam portion 33 of the second sewing machine 3A, and the second robot arm 5A is provided on the first beam portion 23 of the first sewing machine 2A. At this time, the sewing system 1A can stably fix the first robot arm 4A and the second robot arm 5A by the weight and rigidity of the first sewing machine 2A and the second sewing machine 3A. Even when the sewn object 90 is large, it is not necessary to upsize the base that supports the first robot arm 4A and the second robot arm 5A, and an additional member that supports the first robot arm 4A and the second robot arm 5A There is no need. Therefore, the sewing system 1A can save space and reduce cost.

The first robot arm 4A and the second robot arm 5A are horizontal articulated robot arms. Therefore, the sewing system 1A can easily convey the sewing target 90 to any position in the horizontal direction by the first robot arm 4A and the second robot arm 5A.

The sewing system 1A includes a first support portion 4B that is interposed between the upper end portion of the column 43 of the first robot arm 4A and the second beam portion 33. The second beam portion 33 supports the upper end portion of the support column 43 via the first support portion 4B. At this time, the sewing system 1A can arrange the movable range of the first robot arm 4A in the front compared to when the first support portion 4B is not provided. Further, since the front end portion of the first support portion 4B can be arranged above the mounting table 9B, the first robot arm 4A includes the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A. The holding mechanism 46 can be smoothly moved between them. Therefore, the first robot arm 4A can stably convey the sewing object 90 from the first sewing machine 2A to the second sewing machine 3A. Furthermore, the first support portion 4B can stably support the first robot arm 4A at a position apart from the second beam portion 33 in the front direction. Therefore, the sewing system 1A can stably convey the sewing target 90 within the movable range of the first robot arm 4A. The second robot arm 5A has the same effect.

The first sewing machine 2A includes a moving mechanism 25 that moves in the front-rear direction. The moving mechanism 25 moves the sewn object 90 sewn by the first sewing machine 2A rearward. The first robot arm 4A is located between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-back direction. At this time, the first robot arm 4A can smoothly deliver the sewn object 90 sewn by the first sewing machine 2A to the second sewing machine 3A.

The head 24 of the first sewing machine 2A is provided on the front side of the first beam portion 23, and the head 34 of the second sewing machine 3A is provided on the rear side of the second beam portion 33. The head 24 of the first sewing machine 2A is located on the side opposite to the second sewing machine 3A with respect to the first beam portion 23, and the head 24 of the second sewing machine 3A is provided with the first sewing machine 2A with respect to the second beam portion 33. Located on the other side. At this time, the head of one of the first sewing machine 2A and the second sewing machine 3A receives the work from the operator, and the other of the first sewing machine 2A and the second sewing machine 3A does not exist. Therefore, the worker can easily work on the heads 24 and 34.

The sewing system 1A may include only the first robot arm 4A and may not include the second robot arm 5A. The sewing system 1A may include only the second robot arm 5A and may not include the first robot arm 4A. The first robot arm 4A and the second robot arm 5A are not limited to horizontal articulated robot arms, but may be robot arms of other systems. For example, the first robot arm 4A and the second robot arm 5A may be orthogonal robots, vertical articulated robots, or the like. The sewing system 1A may not include the first support portion 4B and the second support portion 5B. The configuration will be described in a fourth embodiment described later. The sewing system 1A may be configured so that the first robot arm 4A can move in the front-rear direction. The first robot arm 4A is located at a position between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-rear direction and at a position on the front side of the first beam portion 23. It may be movable across. The first sewing machine 2A and the second sewing machine 3A may be arranged in a direction in which the position of the head portion 24 with respect to the first beam portion 23 and the position of the head portion 34 with respect to the second beam portion 33 match. For example, the head 24 of the first sewing machine 2A may be located on the front side with respect to the first beam portion 23, and the head 34 of the second sewing machine 3A may be located on the front side with respect to the second beam portion 33. .. The first sewing machine 2A and the second sewing machine 3A may be configured such that the pair of pedestal portions 22 and 32 can be detached from the bed portions 21 and 31, respectively.

<Second embodiment>
A sewing system 1B according to a second embodiment of the present invention will be described with reference to FIGS. The sewing system 1B differs from the sewing system 1A in that it does not have the second robot arm 5A and the second support portion 5B, and has the first support portion 4C instead of the first support portion 4B of the sewing system 1A. .. The other configurations of the sewing system 1B are the same as those of the sewing system 1A. In each of the following embodiments, configurations common to the sewing system 1A are denoted by the same reference numerals as those of the sewing system 1A, and description thereof is omitted. The mounting tables 9A, 9B, 9C and the robot arm 9D are omitted in FIGS.

As shown in FIG. 5, the first support portion 4C has base portions 41C and 51C and an extended portion 42C. The base portions 41C and 51C have a substantially rectangular parallelepiped shape. The base portion 41C is provided at the center of the second beam portion 33 of the second sewing machine 3A in the left-right direction at the upper end of the housing 33U. The base portion 41C projects upward from the housing 33U. The base portion 51C is provided in the first beam portion 23 of the first sewing machine 2A at the center of the upper end of the housing 23U in the left-right direction. The base portion 51C projects upward from the housing 23U. The extending portion 42C has a plate shape extending in the front-rear direction. The rear end portion of the extending portion 42C is fixed to the base portion 41C of the second beam portion 33. The front end portion of the extended portion 42C is fixed to the base portion 51C of the first beam portion 23. The extending portion 42C extends in the front-rear direction between the base portions 41C and 51C. That is, the extending portion 42C extends in the front-rear direction between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the base portions 41C and 51C. The extending portion 42C has a long hole extending in the front-rear direction.

As shown in FIG. 6, the upper end of the column 43 (see FIG. 5) of the first robot arm 4A is connected to the center of the extending portion 42C of the first support portion 4C in the front-rear direction. The first robot arm 4A is connected to the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the first support portion 4C. The first beam portion 23 and the second beam portion 33 indirectly support the upper end portion of the column 43 of the first robot arm 4A via the first support portion 4C. At this time, the first support portion 4C is interposed between the upper end portion of the column 43 of the first robot arm 4A and the first beam portion 23 and the second beam portion 33. The first robot arm 4A is located between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-back direction.

The operation of the sewing system 1B for performing sewing on the sewing object 90 differs from the sewing system 1A in the step of placing the sewing objects 90A to 90C on the holding plate 21P and the lower feed plate 25B of the first sewing machine 2A. The other steps are the same as those in the sewing system 1A. In the case of the sewing system 1B, the operator places the article to be sewn 90A on the holding plate 21P and the lower feed plate 25B of the first sewing machine 2A, and then the operator puts the article to be sewn 90B, 90C on the article to be sewn 90A. Place on top of each other. The operation performed by the sewing system 1B after placing the objects to be sewn 90A to 90C is the same as that of the sewing system 1A, and thus the description thereof is omitted.

<Operation, effect, and modification of the second embodiment>
The first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A support the front and rear ends of the first support portion 4C. The sewing system 1B can suppress the position of the first robot arm 4A from changing due to the deformation of the first support portion 4C due to the weight of the first robot arm 4A. Therefore, the sewing system 1B can stably convey the sewing target 90 by the first robot arm 4A. The extended portion 42C of the first support portion 4C may include a guide rail extending in the front-rear direction. The first robot arm 4A may be movable in the front-rear direction along the guide rail.

<Third embodiment>
A sewing system 1C according to a third embodiment of the present invention will be described with reference to FIGS. 7 and 8. The sewing system 1C has a first support portion 4D instead of the first support portion 4B of the sewing system 1A, and a second support portion 5D instead of the second support portion 5B of the sewing system 1A. Different from 1A. The other configurations of the sewing system 1C are the same as those of the sewing system 1A.

As shown in FIG. 7, the first support portion 4D has base portions 41D and 51D and a partially extending portion 42D. The base parts 41D and 51D have a substantially rectangular parallelepiped shape. The base portion 41D is provided at the center of the second beam portion 33 of the second sewing machine 3A in the left-right direction at the upper end of the housing 33U. The base 51D is provided in the first beam portion 23 of the first sewing machine 2A at the center of the upper end of the housing 23U in the left-right direction. The extending portion 40 has a plate shape extending in the front-rear direction. The rear end portion of the extending portion 40 is fixed to the base portion 41D of the second beam portion 33. A portion of the extended portion 40 on the front side with respect to the center in the front-rear direction is fixed to the base portion 51D of the first beam portion 23. The front end portion of the extended portion 40 projects toward the front side with respect to the base portion 51D of the first beam portion 23.

The partially extending portion 42D is a portion of the extending portion 40 that extends in the front-rear direction between the base portions 41D and 51D. The partially extending portion 42D extends in the front-rear direction between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the base portions 41D and 51D.

The second support portion 5D has a base portion 51D and a partially extending portion 52D. The partially extending portion 52D is a portion of the extending portion 40 that protrudes forward from the base portion 51D. The partially extending portion 52D extends forward from the first beam portion 23 of the first sewing machine 2A via the base portion 51D.

The upper end of the column 43 of the first robot arm 4A is connected to the center of the partially extending portion 42D of the first support portion 4D in the front-rear direction. The first robot arm 4A is connected to the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the first support portion 4D. The first beam portion 23 and the second beam portion 33 indirectly support the upper end portion of the column 43 of the first robot arm 4A via the first support portion 4D. At this time, the first support portion 4D is interposed between the upper end portion of the column 43 of the first robot arm 4A and the first beam portion 23 and the second beam portion 33. As shown in FIG. 8, the first robot arm 4A is located between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-back direction.

As shown in FIG. 7, the upper end portion of the support column 53 of the second robot arm 5A is connected to the front end portion of the partially extended portion 52D of the second support portion 5D. The second robot arm 5A is connected to the first beam portion 23 of the first sewing machine 2A via the second support portion 5D. The first beam portion 23 indirectly supports the upper end portion of the support column 53 of the second robot arm 5A via the second support portion 5D. At this time, the second support portion 5D is interposed between the upper end portion of the column 53 of the second robot arm 5A and the first beam portion 23. As shown in FIG. 8, the second robot arm 5A is located in front of the first beam portion 23 of the first sewing machine 2A in the front-rear direction.

The operation of the sewing system 1C for performing the sewing on the sewing target 90 is the same as that of the sewing system 1A, and thus the description thereof is omitted.

<Operations, effects, and modifications of the third embodiment>
The first support portion 4D is bridged between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A. The first beam portion 23 and the second beam portion 33 support the upper end portion of the column 43 of the first robot arm 4A via the first support portion 4D. The second support portion 5D extends forward from the first beam portion 23 of the first sewing machine 2A. The first beam portion 23 supports the upper end portion of the column 53 of the second robot arm 5A via the second support portion 5D. At this time, the sewing system 1C can convey the sewn object 90 between the first sewing machine 2A and the second sewing machine 3A by the first robot arm 4A. The sewing system 1C can transfer the sewn object 90 to the first sewing machine 2A from the mounting table 9A located in front of the first sewing machine 2A by the second robot arm 5A.

The partially extending portion 42D of the first supporting portion 4D and the partially extending portion 52D of the second supporting portion 5D form a common extending portion 40. At this time, the strength of the first support portion 4D and the second support portion 5D can be maintained as compared with the case where the first support portion 4D and the second support portion 5D are configured by separate members. Therefore, the sewing system 1C can more stably deliver the sewing object by the first robot arm 4A and the second robot arm 5A. The partially extended portions 42D and 52D may be separately provided. At this time, the base portion 51D may be divided into a portion connected to the front end portion of the partial extension portion 42D and a portion connected to the rear end portion of the partial extension portion 52D.

<Fourth Embodiment>
The first sewing machine 2C included in the sewing system 1D according to the fourth embodiment of the present invention will be described with reference to FIG. In FIG. 9, the second sewing machine, the mounting tables 9A, 9B, 9C, and the robot arm 9D included in the sewing system 1D are omitted. Since the configuration of the second sewing machine is the same as that of the first sewing machine 2C, description thereof will be omitted. The first sewing machine 2C is different from the first sewing machine 2A of the sewing system 1A in that the first sewing machine 2C does not include the second support portion 5B. The first sewing machine 2C differs from the first sewing machine 2A in that a robot arm 6A is provided instead of the second robot arm 5A of the first sewing machine 2A. The other configurations of the sewing system 1D are the same as those of the sewing system 1A.

As shown in FIG. 9, the robot arm 6A has a column 63, a first arm 64, a second arm 65, and a holding mechanism 66. The pillar 63 is fixed to the upper end of the housing 23U of the first beam portion 23. The pillar 63 extends in the vertical direction. The lower end of the pillar 63 is connected to a position on the left side of the center of the housing 23U of the first beam portion 23 in the left-right direction. The first arm 64 extends horizontally from the upper end of the column 63. The upper end of the support column 63 rotatably supports one end of the first arm 64 about a rotation shaft extending in the vertical direction.

The second arm 65 extends horizontally from the other end of the first arm 64. The second arm 65 is provided above the first arm 64 in the vertical direction. The other end of the first arm 64 rotatably supports one end of the second arm 65 around a rotation shaft extending in the vertical direction. The other end of the second arm 65 supports a support rod 66A extending vertically. The support rod 66A is a ball screw and is rotatable with respect to the second arm 65 and movable in the vertical direction. The support rod 66A supports the holding mechanism 66 at its lower end. The holding mechanism 66 has a plurality of vacuum grippers on its lower surface. The holding mechanism 66 rotates with the rotation of the support rod 66A and moves up and down with the vertical movement of the support rod 66A. During the process in which the sewing system 1D performs the sewing on the sewing target 90, the robot arm 6A holds the sewing target 90A to 90C placed on the mounting table (not shown) by the holding mechanism 66 and holds them on the holding plate 21P. Move to and place. Since the operation performed by the sewing system 1D after placing the objects to be sewn 90A to 90C is the same as that of the sewing system 1A, the description thereof will be omitted.

<Operations, effects, and modifications of the fourth embodiment>
The column 63 of the robot arm 6A is directly connected to the first beam portion 23 without the support portion. At this time, since the support part is not necessary, the cost of the sewing system 1D can be reduced. The sewing system 1D can stably fix the robot arm 6A by its own weight and rigidity of the first sewing machine 2C. The robot arm 6A may be provided with the second arm 65 below the first arm 64 in the vertical direction.

<Fifth Embodiment>
A sewing system 1E according to a fifth embodiment of the present invention will be described with reference to FIGS. The sewing system 1E differs from the sewing system 1A in the arrangement direction of the first sewing machine 2A and the second sewing machine 3A. The sewing system 1E has a support 70A instead of the first support 4B and the second support 5B, and robot arms 7A, 7B, 7C instead of the first robot arm 4A and the second robot arm 5A. It is different from the sewing system 1A in that it has. The other configurations of the sewing system 1E are the same as those of the sewing system 1A.

As shown in FIG. 10, the first sewing machine 2A and the second sewing machine 3A are arranged in the left-right direction. The second sewing machine 3A is on the right side with respect to the first sewing machine 2A. The first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A are arranged in a straight line in the left-right direction. The arrangement of the head portion 24 with respect to the first beam portion 23 of the first sewing machine 2A and the arrangement of the head portion 34 with respect to the second beam portion 33 of the second sewing machine 3A are the same, and both face the front side. The first sewing machine 2A and the second sewing machine 3A are slightly separated from each other in the left-right direction. Therefore, a gap is provided between the right end of the first sewing machine 2A and the left end of the second sewing machine 3A.

A support portion 70A is provided on the upper surface of each of the housing 23U of the first beam portion 23 and the housing 33U of the second beam portion 33. The support portion 70A has a rectangular shape that is long in the left-right direction. The support portion 70A extends in the left-right direction between the left end portion of the first beam portion 23 of the first sewing machine 2A and the right end portion of the second beam portion 33 of the second sewing machine 3A.

The robot arms 7A, 7B, 7C have the same configuration. The robot arms 7A, 7B, 7C have the same configuration as the robot arm 6A (see FIG. 9). Each of the robot arms 7A, 7B, 7C has a column 73, a first arm 74, a second arm 75, and a holding mechanism 76. The column 73, the first arm 74, the second arm 75, and the holding mechanism 76 are the column 63, the first arm 64, the second arm 65, and the holding mechanism 66 (see FIG. 9) of the robot arm 6A (see FIG. 9), respectively. Corresponding to. The support rod 76A that supports the holding mechanism 76 corresponds to the support rod 66A (see FIG. 9) of the robot arm 6A.

The support column 73 of the robot arm 7A is fixed in the vicinity of the left end portion of the support portion 70A, more specifically, at a position on the left side of the center portion of the support portion 70A in the left-right direction of the first beam portion 23. The support column 73 of the robot arm 7B is fixed to the center of the support portion 70A in the left-right direction, more specifically, at a position between the first beam portion 23 and the second beam portion 33 of the support portion 70A. The column 73 of the robot arm 7C is fixed near the right end portion of the support portion 70A, more specifically, at a position on the support portion 70A on the right side of the lateral center of the second beam portion 33 (see FIG. 11). .. As shown in FIG. 11, the robot arms 7A, 7B, 7C are arranged on the right side in this order.

The robot arms 7A, 7B and 7C are connected to the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the support portion 70A. The first beam portion 23 and the second beam portion 33 indirectly support the lower ends of the columns 73 of the robot arms 7A, 7B, and 7C via the support portion 70A. At this time, the support portion 70A is interposed between the lower end portion of each of the columns 73 of the robot arms 7A, 7B, and 7C and the first beam portion 23 and the second beam portion 33.

In the process in which the sewing system 1E performs sewing on the sewing target 90, the robot arm 7A holds the sewing target 90A to 90C mounted on a mounting table (not shown) located on the left side of the first sewing machine 2A. It is held by 76, moved to the holding plate 21P of the first sewing machine 2A, and placed on top of it. The first sewing machine 2A receives the objects to be sewn 90A to 90C and performs sewing on the objects to be sewn 90A to 90C. The robot arm 7B holds the articles to be sewn 90A to 90C sewn by the first sewing machine 2A by the holding mechanism 76, moves them onto the holding plate 31P of the second sewing machine 3A, and places them on the articles to be sewn 90A to 90C. Is transferred from the first sewing machine 2A to the second sewing machine 3A. The robot arm 7B holds the workpieces 90D and 90E placed on a mounting table (not shown) located on the left side of the second sewing machine 3A by the holding mechanism 76 and moves them to the holding plate 31P of the second sewing machine 3A. It is placed on top of the sewing objects 90A to 90C. The second sewing machine 3A performs sewing on the objects to be sewn 90A to 90E. The robot arm 7C holds the to-be-sewn objects 90A to 90E sewn by the second sewing machine 3A by the holding mechanism 76 and transfers them to a mounting table (not shown) located on the right side of the second sewing machine 3A.

<Operation and effect of fifth embodiment>
In the sewing system 1E, the first sewing machine 2A and the second sewing machine 3A are arranged in the left-right direction. The support portion 70A extends in the left-right direction between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A. At this time, the first beam portion 23 and the second beam portion 33 support the support portion 70A from below over substantially the entire area in the left-right direction. Therefore, the deformation of the support portion 70A due to the weight of the robot arms 7A, 7B, and 7C can be suppressed more effectively. At this time, the positions of the robot arms 7A, 7B, and 7C are further stabilized, so that the sewing system 1E can more stably transfer the sewing target 90 by the robot arms 7A, 7B, and 7C.

The positions of the first sewing machine 2A and the second sewing machine 3A in the front-rear direction may be different. At this time, the support portion 70A may be bent between the first beam portion 23 and the second beam portion 33. The support portion 70A is provided only between the right end portion of the first beam portion 23 and the left end portion of the second beam portion 33, and is not provided above the first beam portion 23 and above the second beam portion 33. Good. At this time, the robot arm may be provided only at a position between the first sewing machine 2A and the second sewing machine 3A.

The first sewing machine 2A and the second sewing machine 3A may have a common beam portion. The beam portion may extend in the left-right direction between the first sewing machine 2A and the second sewing machine 3A. The columns 73 of the robot arms 7A, 7B, and 7C may be directly connected to the beams. At this time, the sewing system 1E may not have the support portion 70A.

<Sixth embodiment>
A sewing system 1F according to the sixth embodiment of the present invention will be described with reference to FIGS. 12 and 13. The sewing system 1F differs from the sewing system 1E in that it does not have the robot arms 7B and 7C, and that the support portion 70A includes the guide rail 70B and the motor 77. The other configurations of the sewing system 1F are the same as those of the sewing system 1E. Hereinafter, the same components as those in the sewing system 1E will be denoted by the same reference numerals as those in the sewing system 1E, and description thereof will be omitted.

As shown in FIG. 12, in the sewing system 1F, the support portion 70A has a guide rail 70B. The guide rail 70B is a concave groove provided in the front end portion and the rear end portion of the support portion 70A. The guide rail 70B extends in the left-right direction between the left end portion and the right end portion of the support portion 70A.

A slider 70C is provided at the lower end of the column 73 of the robot arm 7A. The slider 70C is fitted to the guide rail 70B of the support portion 70A so as to be movable in the left-right direction. The slider 70C engages with the ball screw inside the support portion 70A. The support portion 70A has a motor 77 at the left end. The motor 77 has an output shaft extending inside the support portion 70A. The output shaft of the motor 77 is connected to the ball screw inside the support portion 70A to rotate the ball screw. Therefore, the slider 70C can move in the left-right direction. The robot arm 7A can move in the left-right direction along the guide rail 70B as the slider 70C moves with respect to the guide rail 70B.

The robot arm 7</b>A conveys the sewn object 90 in all the steps of the sewing system 1</b>F performing the sewing on the sewn object 90. Details are as follows. The robot arm 7A is located near the left end of the support 70A. The robot arm 7A holds the workpieces 90A to 90C placed on a mounting table (not shown) located on the left side of the first sewing machine 2A by the holding mechanism 76 and moves them onto the holding plate 21P of the first sewing machine 2A, Place on top of each other. The first sewing machine 2A receives the objects to be sewn 90A to 90C and performs sewing on the objects to be sewn 90A to 90C. The robot arm 7A is driven by the motor 77 to move from the vicinity of the left end portion of the support portion 70A to substantially the center in the left-right direction. After the movement, the robot arm 7A holds the to-be-sewn objects 90A to 90C sewn by the first sewing machine 2A by the holding mechanism 76, moves them onto the holding plate 31P of the second sewing machine 3A, and places them on the sewing object. 90A to 90C are transferred from the first sewing machine 2A to the second sewing machine 3A. The robot arm 7A holds the workpieces 90D and 90E placed on a mounting table (not shown) located on the left side of the second sewing machine 3A by the holding mechanism 76 and moves them onto the holding plate 31P of the second sewing machine 3A. It is placed on top of the sewing objects 90A to 90C. The second sewing machine 3A performs sewing on the objects to be sewn 90A to 90E. The robot arm 7A is driven by the motor 77 to move from substantially the center of the support portion 70A in the left-right direction to the vicinity of the right end portion. After the movement, the robot arm 7A holds the to-be-sewn objects 90A to 90E sewn by the second sewing machine 3A by the holding mechanism 76 and is placed on the right side of the second sewing machine 3A from the second sewing machine 3A (not shown). Hand over to.

The slider 70C may be connected to the timing belt inside the support portion 70A, and the motor 77 may drive the timing belt inside the support portion 70A to move the slider 70C in the left-right direction. The drive unit that moves the slider 70C in the left-right direction may be a rodless cylinder, a fluid cylinder, or the like.

<Operation and effect of sixth embodiment>
The sewing system 1F can convey the sewing object 90 by the robot arm 7A in the process of executing the sewing of the sewing object 90. Therefore, it is not necessary to have a plurality of robot arms, and the cost of the sewing system 1F can be reduced compared to the configuration having a plurality of robot arms. The robot arm 7A may move in the left-right direction while holding the sewing target 90. At this time, the sewing system 1F can transfer the sewn object 90 from the first sewing machine 2A to the second sewing machine 3A by moving the sewn object 90 to the right while moving the robot arm 7A to the right. it can.

<Other>
The column 43 is an example of the "first column" in the present invention. The support pillar 53 is an example of the "second support pillar" in the present invention. The support portion 70A is an example of the "third support portion" in the present invention. The motor 77 is an example of the "driving unit" in the present invention. The left-right direction is an example of the “first direction” in the present invention. The front-back direction is an example of the "second direction" in the present invention. The rear side is an example of the "one side in the second direction" of the present invention. The front side is an example of the "second side in the second direction" of the present invention. The right side is an example of the “one side in the first direction” of the present invention. The left side is an example of the "other side in the first direction" of the present invention.

1A, 1B, 1C, 1D, 1E, 1F: Sewing system 2A, 2C: 1st sewing machine 3A: 2nd sewing machine 4A: 1st robot arm 4B, 4C, 4D: 1st support part 5A: 2nd robot arm 5B, 5D: 2nd support part 6A: Robot arm 7A, 7B, 7C: Robot arm 21: Bed part 31: Bed part 22, 22L, 22R, 32, 32L, 32R: Pillar part 23: First beam part 24, 34 : Head 24A: Needle bar 25, 35: Moving mechanism 33: Second beam part 43: Struts 44, 54, 64, 74: First arm 45, 55, 65, 75: Second arm 46, 56, 76: Holding mechanism 53, 63: Post 66: Holding mechanism 70A: Support portion 70B: Guide rail 73: Post 77: Motor 90, 90A, 90B, 90C, 90D, 90E: Sewing object

Claims (10)

In a sewing system including a sewing machine capable of sewing a workpiece, and a robot arm capable of transferring the workpiece between the sewing machine and
The sewing machine is
A pair of pedestals separated in a first direction parallel to the horizontally extending bed, each of the pedestals extending upward from the bed,
A beam portion extending in the first direction across each of the pair of pedestal portions,
The beam portion is movably supported in the first direction, and includes a head portion having a needle bar,
The sewing system, wherein the robot arm is provided on the beam portion. The robot arm is a horizontal articulated arm having a column extending vertically and a first arm extending horizontally and a second arm.
The beam portion directly or indirectly supports one end portion of the pillar,
The other end of the column supports one end of the first arm so as to be rotatable about a rotation shaft extending in the vertical direction,
The other end of the first arm supports one end of the second arm so as to be rotatable about a rotation shaft extending in the vertical direction,
The sewing system according to claim 1, wherein the other end of the second arm supports a holding mechanism that holds the article to be sewn. Further comprising a support portion interposed between the one end portion of the column of the robot arm and the beam portion,
The sewing system according to claim 2, wherein the beam portion supports one end portion of the pillar via the support portion. Further comprising a moving mechanism that moves the article to be sewn placed on the bed portion in a second direction parallel to the bed portion and orthogonal to the first direction,
The sewing machine is
A first sewing machine and a second sewing machine arranged in the second direction,
The robot arm is
It is located between the first beam part which is the beam part of the first sewing machine and the second beam part which is the beam part of the second sewing machine in the second direction. The sewing system according to item 1. Further comprising a moving mechanism that moves the article to be sewn placed on the bed portion in a second direction parallel to the bed portion and orthogonal to the first direction,
The sewing machine is
A first sewing machine and a second sewing machine arranged on one side in the second direction with respect to the first sewing machine,
The support is
The strut of the robot arm and the first beam extend in the second direction between a first beam portion that is a beam portion of the first sewing machine and a second beam portion that is a beam portion of the second sewing machine. A first support portion interposed between the first beam portion and the second beam portion,
The sewing system according to claim 3, wherein the first beam portion and the second beam portion support one end portion of the support column of the robot arm via the first support portion. The robot arm includes a first robot arm and a second robot arm,
The first support portion is interposed between a first support pillar which is a support pillar of the first robot arm and the first beam portion and the second beam portion,
The first beam portion and the second beam portion support one end portion of the first support of the first robot arm via the first support portion,
The support is
A second support portion that extends from the first beam portion to the other side in the second direction and that is interposed between a second support pillar that is a support pillar of the second robot arm and the first beam portion,
The sewing system according to claim 5, wherein the first beam portion supports one end portion of the second support column of the second robot arm via the second support portion. The head portion of the first sewing machine is provided on the other side in the second direction with respect to the first beam portion of the first sewing machine,
The said head part of the said 2nd sewing machine was provided in the said 1st side of the said 2nd beam part of the said 2nd sewing machine in the said 2nd direction, The any one of Claim 4 to 6 characterized by the above-mentioned. Sewing system. The sewing machine is
A first sewing machine and a second sewing machine arranged on one side in the first direction with respect to the first sewing machine,
The support is
The strut of the robot arm and the first beam extend in the first direction between a first beam portion that is a beam portion of the first sewing machine and a second beam portion that is a beam portion of the second sewing machine. A third support part interposed between the second beam part and the second beam part,
The sewing system according to claim 3, wherein the first beam portion and the second beam portion support one end portion of the support column of the robot arm via the third support portion. The third support portion,
A guide rail extending in the first direction,
9. The sewing system according to claim 8, further comprising a drive unit that moves the robot arm in the first direction along the guide rail. The sewing system according to claim 2, wherein the support column of the robot arm is fixed to the beam portion.

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