JP2020185069A - Sewing system - Google Patents

Abstract

To provide a sewing system which can pile up objects to be sewn correctly.SOLUTION: A sewing system 1A includes a sewing machine 2A capable of performing sewing with respect to objects 90A, 90B to be sewn, and a robot arm 4A which can deliver the objects 90A, 90B to be sewn to the sewing machine 2A. The robot arm 4A includes a holding part 46 which holds the objects 90A, 90B to be sewn and moves. The holding part 46 moves through a predetermined conveyance path, when conveying the object 90B to be sewn. The sewing machine 2A includes a base part 26A. Part of the base part 26A is overlapped with the conveyance path in a vertical direction. The base part 26A includes an opposite end part 261. The opposite end part 261 approaches a front end part of the object 90A to be sewn placed on a placement part 258, and the position of an upper end part is positioned further on an upper side than an upper end part of the object 90A to be sewn placed on the placement part 258.SELECTED DRAWING: Figure 8

Description

The present invention relates to a sewing system.

Patent Document 1 discloses an apparatus in which cloth layers are stacked and supplied and sewn in a polymerized state. The device comprises a drive unit. The drive unit includes a fixed head that supports the arm. The arm supports the combination device at one end. The combination device includes a plurality of needles, and the needles are penetrated and supported by the first cloth layer by lowering. The combination device rises in support of the first fabric layer and moves onto the central fabric layer. The combinatorial device supports the central fabric layer in a similar manner. At this time, the combination device supports the first cloth layer and the central cloth layer in a stacked state.

Japanese Unexamined Patent Publication No. 1-314592

The area of the first cloth layer to be conveyed may be very large compared to the area of the combination device. At this time, when the combination device supports the first cloth layer and rises, the portion of the first cloth layer outside the portion supported by the combination device hangs down. At this time, when the combination device moves toward the central cloth layer, the portion hanging below the first cloth layer may be caught by the central cloth layer, and the position of the central cloth layer may move. Therefore, the combination device may not be able to stack the fabric layers accurately.

An object of the present invention is to provide a sewing system capable of accurately stacking objects to be sewn.

The sewing system of the present invention is a sewing system including a sewing machine capable of sewing a sewn object and a robot arm capable of delivering the sewn object to the sewing machine. The robot arm uses the sewn object. The holding portion includes a holding portion that holds and moves, and the holding portion passes through a predetermined transport path between a mounting position on which the sewn object is placed and a delivery position where the sewn object is delivered to the sewing machine. The sewing machine is provided with a mounting portion on which at least a part of the sewn object is placed at the delivery position and a base portion on which at least a part overlaps the transport path in the vertical direction. The sewn product includes a first sewn product and a second sewn product that overlaps the first sewn product placed on the above-mentioned placing portion from above, and the base portion has an end portion orthogonal to the vertical direction. It has a facing end portion that is a part and is close to or comes into contact with at least a part of the peripheral end portion of the first sewn product placed on the above-mentioned placement portion, and the facing end portion is the position of the upper end portion. However, it is characterized in that it is located above the upper end portion of the first sewn product placed on the above-mentioned resting portion.

In the sewing system, even when a part of the second sewn object hangs down when the second sewn object having an area larger than the holding portion is conveyed, the sewn portion of the second sewn object is the second sewn part due to the base portion. The second sewn object can be moved to the delivery position without being caught by the end portion of the sewn object. Therefore, the sewing system can accurately stack the objects to be sewn.

In the sewing system, the facing end portion may have a shape along the outer peripheral portion of the first sewn object. The sewing system makes it easier to move the second sewn object further directly above the first sewn object. Therefore, the sewing system can accurately stack the objects to be sewn.

In the sewing system, the sewing machine includes a bed portion extending horizontally and a feed portion that is horizontally movable along the bed portion and includes a pre-described placement portion, and the feed portion is the holding portion. The first position where the second sewn object can be placed on the upper side of the first sewn object when is in the delivery position, and the first sewn object and the second sewn object can be sewn. It may be movable to a second position. The sewing system can prevent the base portion from interfering with the sewn object when sewing the sewn object.

In the sewing system, the bed portion includes a support portion extending in the first direction from the second position toward the first position with respect to the feed portion located at the first position, and supports the base portion. It may be provided in the part. The support part stably supports the base part. Therefore, the sewing system can accurately stack the objects to be sewn.

The sewing system has a gap between the lower surface of the base portion and the support portion, and when the feed portion is in the first position, even if at least a part of the feed portion is located in the gap. Good. The sewing system can prevent the feed portion and the base portion from interfering with each other, and the sewn object can be reliably placed on the mounting portion.

In the sewing system, the pedestal portion faces the third position where the position of the upper end portion of the facing end portion is located above the upper end portion of the first sewn object placed on the above-mentioned placement portion. The position of the upper end portion of the end portion may be movable to the fourth position located below the feed portion. In the sewing system, when the base portion is not required, the base portion is moved to the fourth position, so that the base portion is less likely to interfere with the object to be sewn.

The sewing system controls a first drive unit for moving the base unit to the third position and the fourth position, and the first drive unit, and the holding unit controls the second sewn object. Before moving, the pedestal may be provided with a first control unit that moves the base from the fourth position to the third position. The sewing system can automatically move the base from the fourth position to the third position when the base is needed to accurately stack the objects to be sewn.

In the sewing system, the base portion has a fifth position in which the facing end portion is closer to the peripheral end portion of the first sewn object and the facing end portion is closer to the peripheral end portion of the first sewn object than the fifth position. It may be movable to a sixth position horizontally separated from. In the sewing system, when the base portion is not required, the base portion is moved to the sixth position so that the base portion does not easily interfere with the object to be sewn.

The sewing system controls a second drive unit for moving the base unit to the fifth position and the sixth position, and the second drive unit, and the holding unit controls the second sewn object. Before moving, the base may be provided with a second control unit that moves the base from the sixth position to the fifth position. The sewing system can automatically move the pedestal from the sixth position to the fifth position when the pedestal is needed to accurately stack the objects to be sewn.

The perspective view when the holding part 46 in the sewing system 1A which concerns on 1st Embodiment is located at a mounting position. FIG. 5 is a perspective view when the holding portion 46 in the sewing system 1A according to the first embodiment is located at the delivery position. FIG. 5 is a perspective view when the lower feed plate 25B in the sewing system 1A according to the first embodiment is located at the second position. FIG. 3 is a partially enlarged view around the head 24 in FIG. The plan view when the holding part 46 in the sewing system 1A which concerns on 1st Embodiment is located at a mounting position. The plan view when the holding part 46 in the sewing system 1A which concerns on 1st Embodiment is located at a delivery position. FIG. 3 is a vertical cross-sectional view when the lower feed plate 25B in the sewing system 1A according to the first embodiment is located at the first position. FIG. 5 is a partially enlarged view of the periphery of the base portion 26A when the lower feed plate 25B in the sewing system 1A according to the first embodiment is located at the first position. The electric block diagram of PC10. The electric block diagram of the sewing machine 2A. The electric block diagram of the robot arm 4A. The flow chart of the first sewing process. FIG. 3 is a perspective view when the base portion 26B in the sewing system 1B according to the second embodiment is located at the working position. FIG. 5 is a perspective view when the base portion 26B in the sewing system 1B according to the second embodiment is located at the standby position. The left side view when the base part 26B in the sewing system 1B which concerns on 2nd Embodiment is located at the action position. The left side view when the base part 26B in the sewing system 1B which concerns on 2nd Embodiment is located in the standby position. The electric block diagram of the sewing machine 2B. The flow chart of the second sewing process.

<First Embodiment>
The sewing system 1A according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 12. In the following description, the left and right, front and back, and up and down indicated by arrows in the figure are used. The sewing system 1A includes a sewing machine 2A, a robot arm 4A, a support portion 4B, a mounting table 9, and a personal computer (hereinafter referred to as “PC”) 10 (see FIG. 9).

<Sewing machine 2A>
As shown in FIGS. 1 to 3, the sewing machine 2A is a portal type sewing machine. The sewing machine 2A can sew on the sewn objects 90A and 90B (hereinafter, collectively referred to as "sewing machine 90"). The sewing machine 2A has a bed portion 21, a pair of pedestal portions 22, a beam portion 23, a head portion 24, a moving mechanism 25, and a base portion 26A.

The bed portion 21 has a base portion 21A, a frame body 21B, and an auxiliary portion 21C. The base portion 21A has a substantially rectangular shape extending in the horizontal direction, and has a left portion 211A and a right portion 212A. The left portion 211A is provided at the left end portion of the base portion 21A and has a substantially rectangular shape extending in the front-rear direction. The right portion 212A is provided at the right end portion of the base portion 21A and has a substantially rectangular shape extending in the front-rear direction. The right portion 212A has a bellows 21R extending along the anteroposterior direction. The left portion 211A has a bellows 21L extending in the front-rear direction. The bellows 21R and 21L extend linearly on both front and rear sides of the pair of front and rear movement mechanisms 251 described later, extending over the front end and the rear end of the right portion 212A and the left portion 211A, respectively. The bellows 21R and 21L expand and contract as the pair of front-back movement mechanisms 251 reciprocate in the front-back direction. The base 21A forms a holding surface 21U whose upper surface extends horizontally. The holding surface 21U is located between the bellows 21R and 21L. The frame body 21B is a grid-like structure and supports the base portion 21A from below.

The auxiliary portion 21C is provided at the front end portion of the base portion 21A. The auxiliary portion 21C is a grid-like structure, and has a support portion 21P and a plurality of support bases 21T (see FIGS. 7 and 8). The support portion 21P has a flat plate shape whose upper surface extends forward from the front end portion of the holding surface 21U. The upper surface of the support portion 21P and the upper surface of the holding surface 21U are flush with each other. As shown in FIGS. 7 and 8, the plurality of support bases 21T extend upward from the upper surface of the support portion 21P. The plurality of support bases 21T are located on the front side of the support portion 21P with respect to the center in the front-rear direction.

As shown in FIGS. 1 to 3, the pair of pedestal portions 22 has pedestal portions 22R and 22L. The pedestal portions 22R and 22L are substantially square pillars, respectively. The pedestal portion 22R extends upward from the center in the front-rear direction of the right portion 212A of the base portion 21A of the bed portion 21. The pedestal portion 22R is located on the right side of the bellows 21R in the left-right direction. The pedestal portion 22L extends upward from the center in the front-rear direction of the left portion 211A of the base portion 21A of the bed portion 21. The pedestal portion 22L is located on the left side of the bellows 21L in the left-right direction. The pedestal portions 22R and 22L are separated in the left-right direction.

The beam portion 23 is erected between the pedestal portions 22R and 22L, respectively. The beam portion 23 extends in the left-right direction between the pair of pedestal portions 22. The beam portion 23 has a housing 23U. The housing 23U extends between the upper end and the rear end of the pedestal portions 22R and 22L, respectively. An X-axis motor 32 (see FIG. 10) and a rail (not shown) are provided in a space surrounded by the pedestal portions 22R and 22L and the housing 23U. The rail has a rod shape and is erected between the pedestal portions 22R and 22L. When the X-axis motor 32 is driven, the head 24, which will be described later, moves in the X-axis direction (left-right direction) along the rail. That is, the beam portion 23 supports the head portion 24 so as to be movable in the left-right direction. The bellows 23F is provided over the pedestal portions 22R and 22L, the front ends of 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 with respect to the beam portion 23. As shown in FIG. 4, the head 24 has a needle bar 24A, a presser foot 24B, a balance mechanism 24C, a thread tension mechanism 24D, a main motor 31 (see FIG. 10), and the like. The needle bar 24A extends in the vertical direction, and a sewing needle 240 can be attached to the lower end portion. The needle bar 24A is connected to the main motor 31. The needle bar 24A can be moved in the vertical direction by driving the main motor 31. The sewing needle 240 holds a needle thread (not shown) inserted through the eye hole. The sewing needle 240 moves up and down together with the needle bar 24A. The presser foot 24B has a through hole through which the sewing needle 240 passes in response to the movement of the needle bar 24A, and presses the sewn object 90 from above. The balance mechanism 24C operates in response to the movement of the needle bar 24A and pulls up the needle thread. The thread tension mechanism 24D adjusts the tension of the needle thread. A hook mechanism (not shown) is provided below the head 24 and inside the base 21A. The hook mechanism can accommodate the bobbin thread. The hook mechanism can move in the left-right direction in synchronization with the head 24.

As shown in FIGS. 1 and 2, the moving mechanism 25 is provided above the base portion 21A of the bed portion 21 of the sewing machine 2A. The moving mechanism 25 can place the sewn object 90 on it, and moves the placed sewn object 90 in the front-rear direction. The moving mechanism 25 has a support portion 250, an upper feed plate 25U, a lower feed plate 25B, a pair of forward / backward moving mechanisms 251 and a pair of connecting portions 252.

As shown in FIGS. 5 and 6, the pair of front-rear movement mechanisms 251 have front-rear movement mechanisms 251R and 251L. The front-back movement mechanism 251R is connected to a belt (not shown) provided below the bellows 21R. The front-rear movement mechanism 251 on the left side is connected to a belt (not shown) provided below the bellows 21L. The belt is connected to the Y-axis motor 33 (see FIG. 10). When the Y-axis motor 33 is driven, the pair of front-rear movement mechanisms 251 move in the Y-axis direction (front-back direction) in response to the synchronous rotation of the belts connected to the front-rear movement mechanisms 251R and 251L. Therefore, the moving mechanism 25 moves in the front-rear direction by driving the Y-axis motor 33.

A pair of connecting portions 252 are provided inside the pair of front-rear moving mechanisms 251. The pair of connecting portions 252 has connecting portions 252R and 252L. The connecting portion 252R is provided on the left side of the front-rear moving mechanism 251R, and the connecting portion 252L is provided on the right side of the front-rear moving mechanism 251L.

As shown in FIGS. 1 and 2, the lower feed plate 25B is provided at the lower ends of the connecting portions 252R and 252L. As shown in FIG. 1, the lower feed plate 25B has a rectangular plate shape in a plan view. The lower feed plate 25B extends from the lower ends of the connecting portions 252R and 252L toward the front side in parallel with the holding surface 21U. The lower feed plate 25B has a mounting portion 258 on which the sewing material 90 can be mounted at the center of the upper surface in the left-right direction. An elongated through hole 254 is provided from the rear end portion in the center of the lower feed plate 25B in the left-right direction toward the front side. A through hole 255 having a substantially circular shape in a plan view is provided at the front end of the through hole 254 in the lower feed plate 25B.

The support portion 250 is erected between the connecting portions 252R and 252L, respectively. As shown in FIGS. 1 and 2, the support portion 250 exhibits a plurality of rods extending in the left-right direction. The support unit 250 supports the drive unit 256 so as to be movable in the left-right direction. The drive unit 256 is a so-called air cylinder and has a solenoid valve 81 (see FIG. 10). The drive unit 256 is connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 81 is provided in the air supply path supplied by the air compressor. When the solenoid valve 81 opens and closes, the drive unit 256 is driven and moves in the left-right direction with respect to the support unit 250.

A drive unit 257 is provided at the front end of the drive unit 256. The drive unit 257 is a so-called air cylinder and has a solenoid valve 82 (see FIG. 10). The drive unit 257 is connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 82 is provided in the air supply path supplied by the air compressor. When the solenoid valve 82 opens and closes, the drive unit 257 is driven and moves in the vertical direction with respect to the drive unit 256.

The upper feed plate 25U is provided at the lower end of the drive unit 257. The upper feed plate 25U extends parallel to the holding surface 21U from the lower end of the drive unit 257 toward the front side. The upper feed plate 25U has a substantially circular plate shape in a plan view, and a through hole 253 having a substantially circular shape in a plan view is provided at the center. The shape of the through hole 253 corresponds to the shape of the through hole 255 of the lower feed plate 25B in a plan view. The upper feed plate 25U is driven by the drive unit 256, and the position of the through hole 253 corresponds to the position of the through hole 255 of the lower feed plate 25B in a plan view, and the position of the through hole 253 corresponds to the position of the lower feed plate in a plan view. It is possible to move to a state separated to the left side from the position of the through hole 255 of 25B. The upper feed plate 25U can be moved between a state in which it approaches the lower feed plate 25B from above and a state in which it is separated from the lower feed plate 25B from above by driving the drive unit 257.

The moving mechanism 25 moves in the front-rear direction by driving the Y-axis motor 33. Therefore, the upper feed plate 25U and the lower feed plate 25B move in the front-rear direction as the moving mechanism 25 moves in the front-rear direction. The lower feed plate 25B has a first position (see FIGS. 1 and 2) in which the through hole 255 is located in front of the head 24 as the moving mechanism 25 moves, and the head 24 in which the through hole 255 is located in the front-rear direction. Moves to the second position (see FIG. 3) that overlaps with. When the lower feed plate 25B is located at the first position, the front end portion of the lower feed plate 25B is located rearward of the plurality of support bases 21T (see FIGS. 7 and 8). When the lower feed plate 25B is located at the first position, the head 24 is located on the right side of the movable range of the drive unit 256 in the left-right direction in the front view.

The base portion 26A is provided above the support portion 21P. The base portion 26A is connected to the support portion 21P via a plurality of support bases 21T. As shown in FIGS. 1 to 3 and 8, the base portion 26A has a flat plate shape extending in parallel with the holding surface 21U. The base portion 26A has a recess from the center of the rear end portion in the left-right direction toward the front. The recess includes an opposed end 261 extending parallel to the left and right direction. As shown in FIG. 8, the base portion 26A is located above the upper surface of the lower feed plate 25B. There is a gap created by the plurality of support bases 21T between the lower surface of the base portion 26A and the support portion 21P, and the front end portion of the lower feed plate 25B is located in the gap. When the lower feed plate 25B is located at the first position, the front end portion of the lower feed plate 25B is located on the front side with respect to the opposite end portion 261 of the base portion 26A (see FIG. 1). When the lower feed plate 25B is located at the second position, the front end portion of the lower feed plate 25B is located on the front side with respect to the rear end portion of the base portion 26A (see FIG. 3). When the upper feed plate 25U is separated from the lower feed plate 25B upward, the base portion 26A is located below the upper feed plate 25U (see FIGS. 1 and 2).

<Mounting stand 9>
As shown in FIGS. 1 to 3, the mounting table 9 is provided on the front side with respect to the sewing machine 2A. The mounting table 9 is a grid-like structure. The mounting table 9 has accommodating portions 91A and 91B. The accommodating portion 91A can accommodate a plurality of rectangular sewn objects 90A having a long side and a short side by stacking them. The accommodating portions 91A are provided side by side in pairs on the upper left side of the mounting table 9. The accommodating portion 91B can accommodate a plurality of circular sewn objects 90B larger than the sewn object 90A by stacking them. The accommodating portion 91B is provided on the right side of the accommodating portion 91A. The upper surface of the accommodating portion 91B is located above the base portion 26A. A plurality of casters 92 are provided at the lower end of the mounting table 9. The plurality of casters 92 support the mounting table 9 from below so as to be movable in the horizontal direction.

<Support part 4B>
The support portion 4B has a base portion 41 and an extension portion 42. The base portion 41 is a grid-like structure. The base portion 41 is provided in the center of the beam portion 23 of the sewing machine 2A in the left-right direction at the upper end of the housing 23U. The base portion 41 projects upward from the housing 23U. The extension portion 42 has a box shape. The extension portion 42 extends horizontally from the upper end portion of the base portion 41 toward the front. The front end of the extension 42 is located above the mounting table 9 (see FIG. 7).

<Robot arm 4A>
The robot arm 4A is a horizontal articulated arm, and is also called a horizontal articulated robot, a SCARA type robot, or a SCARA robot. The robot arm 4A is provided on the beam portion 23 of the sewing machine 2A via the support portion 4B. The robot arm 4A delivers the sewn object 90 between the mounting table 9 and the sewing machine 2A.

As shown in FIGS. 1 to 3, the robot arm 4A has a support column 43, a first arm 44, a second arm 45, and a holding portion 46. The support column 43 has a columnar shape and extends in the vertical direction. The upper end portion of the support column 43 is connected to the lower surface of the front end portion of the extension portion 42 of the support portion 4B. The support column 43 houses the first drive motor 34 (see FIG. 11) inside. The output shaft of the first drive motor 34 projects downward from the support column 43.

The first arm 44 extends horizontally from the lower end of the support column 43. One end of the first arm 44 is connected to the output shaft of the first drive motor 34. The first arm 44 can rotate about a rotation axis extending in the vertical direction by driving the first drive motor 34. Therefore, the lower end of the support column 43 rotatably supports one end of the first arm 44.

The second arm 45 extends horizontally from the other end of the first arm 44. The second arm 45 is provided above the first arm 44 in the vertical direction. One end of the second arm 45 houses the second drive motor 35 (see FIG. 11) inside. The output shaft of the second drive motor 35 projects downward. The other end of the first arm 44 is connected to the output shaft of the second drive motor 35. The second arm 45 can rotate about a rotation axis extending in the vertical direction by driving the second drive motor 35. Therefore, the other end of the first arm 44 rotatably supports one end of the second arm 45. The other end of the second arm 45 houses the third drive motor 36 (see FIG. 11) and the fourth drive motor 37 (see FIG. 11).

The other end of the second arm 45 supports a support rod 47 extending in the vertical direction. The support rod 47 is a ball screw and is connected to the third drive motor 36 and the fourth drive motor 37, respectively. The support rod 47 can be moved in the vertical direction with respect to the second arm 45 by driving the third drive motor 36. The support rod 47 can be rotated with respect to the second arm 45 about a rotation axis extending in the vertical direction by driving the fourth drive motor 37.

The holding portion 46 is provided at the lower end portion of the support rod 47. The holding portion 46 rotates with the rotation of the support rod 47, and moves up and down with the vertical movement of the support rod 47. The holding portion 46 has a substantially octagonal shape having different diagonal lengths in a plan view. The length of the longest diagonal line of the diagonal lines of the holding portion 46 is about the same as the major axis of the sewn object 90A and smaller than the diameter of the sewn object 90B.

The holding portion 46 has a plurality of vacuum grippers (not shown) and a solenoid valve 83 (see FIG. 11). The holding portion 46 is connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 83 is provided in the air supply path supplied by the air compressor. When the solenoid valve 83 is opened, the plurality of vacuum grippers of the holding portion 46 eject the air supplied by the air compressor. At this time, the holding portion 46 attracts and holds the sewn object 90 by the negative pressure generated between the lower surfaces of the plurality of vacuum grippers and the sewn object 90. When the solenoid valve 83 is closed, the plurality of vacuum grippers of the holding portion 46 stop the ejection of air. At this time, the holding portion 46 releases the holding of the sewn object 90, and the sewn object 90 separates from the holding portion 46 due to its own weight.

<PC10>
The PC 10 (see FIG. 9) is, for example, a notebook type PC, and is provided inside the frame 21B. The PC 10 is electrically connected to the sewing machine 2A and the robot arm 4A to control their respective operations.

<Electrical configuration of PC10>
The electrical configuration of the PC 10 will be described with reference to FIG. The PC 10 has a CPU 51, a RAM 52, a chipset 53, a flash ROM 54, a storage device 55, an input unit 56, and a communication interface (hereinafter, referred to as “communication I / F”) 57. The CPU 51 controls the PC 10. The CPU 51 is electrically connected to the RAM 52. The RAM 52 stores various temporary data.

The CPU 51 is electrically connected to the flash ROM 54, the storage device 55, the input unit 56, and the communication I / F 57 via the chipset 53. The chipset 53 is a series of circuits that manage the transmission and reception of data between the CPU 51, the flash ROM 54, the storage device 55, the input unit 56, and the communication I / F 57. The flash ROM 54 stores the BIOS and the like. The storage device 55 is a non-volatile storage device and stores programs, data, and the like. The input unit 56 detects various instructions from the operator and outputs the detected various instructions to the CPU 51. The communication I / F 57 is electrically connected to the sewing machine 2A and the robot arm 4A.

<Electrical configuration of sewing machine 2A>
The electrical configuration of the sewing machine 2A will be described with reference to FIG. The control unit 20A of the sewing machine 2A includes a CPU 61, a ROM 62, a RAM 63, a storage device 64, a communication I / F 65, an input / output interface (hereinafter, referred to as “input / output I / F”) 66, and drive circuits 67 to 69. The CPU 61, ROM 62, and RAM 63 are electrically connected to the input / output I / F 66 via a bus. The CPU 61 controls the sewing machine 2A. The ROM 62 stores programs, data, and the like. The RAM 63 stores various temporary data. The storage device 64 is a non-volatile storage device and stores various setting information and the like.

The communication I / F 65 is electrically connected to the input / output I / F 66. The communication I / F65 is connected to the communication I / F57 of the PC 10. The drive circuits 67 to 69 are electrically connected to the input / output I / F 66. The drive circuit 67 is electrically connected to the main motor 31, the drive circuit 68 is electrically connected to the X-axis motor 32, and the drive circuit 69 is electrically connected to the Y-axis motor 33. By controlling the drive circuits 67 to 69, the CPU 61 drives and controls the corresponding main motor 31, X-axis motor 32, and Y-axis motor 33, respectively. The input / output I / F 66 is electrically connected to the solenoid valve 81 and the solenoid valve 82. The CPU 61 controls the opening and closing of the solenoid valves 81 and 82, and drives and controls the corresponding drive units 256 and 257, respectively.

<Electrical configuration of robot arm 4A>
The electrical configuration of the robot arm 4A will be described with reference to FIG. The control unit 40 of the robot arm 4A includes a CPU 71, a ROM 72, a RAM 73, a storage device 74, a communication I / F75, an input / output I / F76, and drive circuits 77 to 80. The CPU 71, ROM 72, and RAM 73 are electrically connected to the input / output I / F 76 via a bus. The CPU 71 controls the robot arm 4A. The ROM 72 stores programs, data, and the like. The RAM 73 stores various temporary data. The storage device 74 is a non-volatile storage device and stores various setting information and the like.

The communication I / F 75 is electrically connected to the input / output I / F 76. The communication I / F75 is connected to the communication I / F57 of the PC 10. The drive circuits 77 to 80 are electrically connected to the input / output I / F 76. The drive circuit 77 is electrically connected to the first drive motor 34, the drive circuit 78 is electrically connected to the second drive motor 35, the drive circuit 79 is electrically connected to the third drive motor 36, and the drive circuit 80 is electrically connected to the fourth drive motor 37. By controlling the drive circuits 77 to 80, the CPU 71 drives and controls the corresponding first drive motors 34 to fourth drive motors 37, respectively. The input / output I / F 76 is electrically connected to the solenoid valve 83. The CPU 71 controls the opening and closing of the solenoid valve 83, and controls the holding or release of the sewn object 90 by the holding portion 46.

<Outline of operation in the first sewing process of sewing system 1A>
The first sewing process of the sewing system 1A and the outline of the operation in the process will be described with reference to FIGS. 1 to 8 and 12. In the first sewing process, the CPU 51 of the PC 10 outputs various control commands to control the sewing machine 2A and the robot arm 4A. The control command includes a first transfer command, a second transfer command, a first feed designation, a sewing command, and a second feed command. The first feed designation, sewing command, and second feed command are commands for the sewing machine 2A. The first transfer command and the second transfer command are commands to the robot arm 4A.

When the sewing system 1A is in the initial state, the position of the through hole 253 is separated to the left side of the position of the through hole 255 of the lower feed plate 25B in a plan view, and is separated upward from the lower feed plate 25B. It is located in the state of. The lower feed plate 25B is located at the first position, and the holding portion 46 is located above the mounting table 9. The worker accommodates the sewn objects 90A and 90B in the accommodating portions 91A and 91B of the mounting table 9, respectively. The operator operates the input unit 56 of the PC 10 and instructs the execution of the first sewing process shown in FIG. The CPU 51 reads and executes the program for the first sewing process from the storage device 55.

The operator operates the input unit 56 to set the number of machining. The number of processes is the number of times a series of processes performed by the sewing system 1A is repeatedly executed. At this time, the input unit 56 outputs the machining number setting signal to the CPU 51. When the machining number setting signal is received, the CPU 51 sets the machining number input by the operator and stores it in the RAM 52 (S11). At this time, the CPU 51 sets the number of steps to 0 and stores it in the RAM 52. The number of steps is the number of times a series of processes performed by the sewing system 1A are executed.

The CPU 51 outputs a first transfer command to the CPU 71 of the robot arm 4A (S12). The CPU 71 controls the robot arm 4A to execute the transfer of the sewn object 90A based on the first transfer command. By controlling the drive circuits 77 and 78, the CPU 71 drives and controls the corresponding first drive motor 34 and second drive motor 35, respectively. At this time, the robot arm 4A moves the holding portion 46 to the upper side of the accommodating portion 91A by rotating the first arm 44 and the second arm 45. The CPU 71 controls the third drive motor 36 by controlling the drive circuit 79. At this time, the holding portion 46 moves downward to the first mounting position. The "first mounting position" is a position where the holding portion 46 holds the sewn object 90A accommodated by the accommodating portion 91A. By controlling the solenoid valve 83, the CPU 71 holds the sewn object 90A by the holding portion 46.

The CPU 71 controls the third drive motor 36 by controlling the drive circuit 79. At this time, the holding portion 46 moves upward. By controlling the drive circuits 77 and 78, the CPU 71 drives and controls the corresponding first drive motor 34 and second drive motor 35, respectively. At this time, the robot arm 4A rotates the first arm 44 and the second arm 45 to move the holding portion 46 holding the sewn object 90A to the upper side of the mounting portion 258 of the lower feed plate 25B.

The CPU 71 controls the third drive motor 36 by controlling the drive circuit 79. At this time, the holding portion 46 moves downward to the delivery position. The “delivery position” is a position where the holding portion 46 delivers the sewing machine 90 to the sewing machine 2A. By controlling the drive circuit 80, the CPU 71 controls the fourth drive motor 37 and controls the orientation of the sewing machine 90A with respect to the sewing machine 2A. In the present embodiment, the CPU 71 controls so that the short side of the sewn object 90A is parallel to the left-right direction. By controlling the solenoid valve 83, the CPU 71 releases the holding of the sewn object 90A by the holding portion 46, and mounts the sewn object 90A on the mounting portion 258. At this time, the short side of the sewn product 90A faces and is close to the facing end portion 261 of the base portion 26A (see FIGS. 1 and 8). The position of the upper end portion of the facing end portion 261 is located above the upper end portion of the sewn product 90A (see FIG. 8). The CPU 71 outputs a signal to the CPU 51 notifying the completion of the first transport command.

Upon receiving the signal notifying the completion of the first transfer command, the CPU 51 outputs the second transfer command to the CPU 71 of the robot arm 4A (S13). Based on the second transfer command, the CPU 71 controls the robot arm 4A to execute the transfer of the sewn object 90B. In the same manner as the first transfer command, the robot arm 4A moves the holding unit 46 to the second mounting position under the control of the CPU 71. The "second mounting position" is a position where the holding portion 46 holds the sewn object 90B accommodated by the accommodating portion 91B. The robot arm 4A holds the sewn object 90B by the holding portion 46 (see FIGS. 1 and 5).

The CPU 71 moves the holding portion 46 holding the sewn object 90B to the delivery position (see FIGS. 2 and 6). At this time, the holding portion 46 moves along the transport path R (see FIG. 6) passing above the opposite end portion 261. The robot arm 4A places the sewn object 90B on the sewn object 90A in the same manner as the first transfer command. When the robot arm 4A places the sewn object 90B on the sewn object 90A, a part of the sewn object 90B is placed on the upper surface of the base portion 26A (see FIG. 2). The CPU 71 outputs a signal to the CPU 51 notifying the completion of the second transport command.

Upon receiving the signal notifying the completion of the second transport command, the CPU 51 outputs the first feed command to the CPU 61 of the sewing machine 2A (S14). The CPU 61 controls the sewing machine 2A based on the first feed command to execute the movement of the sewing machines 90A and 90B. The CPU 61 drives and controls the drive unit 256 by controlling the solenoid valve 81. The upper feed plate 25U moves to a position where the position of the through hole 253 corresponds to the position of the through hole 255 of the lower feed plate 25B in a plan view. The CPU 61 drives and controls the drive unit 257 by controlling the solenoid valve 82. The upper feed plate 25U approaches the lower feed plate 25B from above. The upper feed plate 25U sandwiches the sewn objects 90A and 90B between the upper feed plate 25U and the lower feed plate 25B. The CPU 61 drives and controls the corresponding Y-axis motor 33 by controlling the drive circuit 69. At this time, the upper feed plate 25U and the lower feed plate 25B sandwiching the sewn objects 90A and 90B move from the first position to the second position. As the lower feed plate 25B moves, the peripheral end of the sewn product 90B moves to the front side of the peripheral end of the base 26A in a plan view (see FIG. 3). At this time, the sewn object 90B is placed on the upper side of the lower feed plate 25B and the bed portion 21. The CPU 61 outputs a signal to the CPU 51 notifying the completion of the first feed command.

Upon receiving the signal notifying the completion of the first feed command, the CPU 51 outputs the sewing command to the CPU 61 of the sewing machine 2A (S15). By controlling the drive circuits 68 and 69, the CPU 61 drives and controls the corresponding X-axis motor 32 and Y-axis motor 33, respectively. The head 24 and the hook mechanism move in the left-right direction with respect to the sewn objects 90A and 90B by driving the X-axis motor 32, and the sewn object 90A mounted on the mounting portion 258 by driving the Y-axis motor 33. , 90B moves in the front-rear direction with respect to the head 24 and the hook mechanism. The CPU 61 drives and controls the main motor 31 by controlling the drive circuit 67. The needle bar 24A of the head 24 of the sewing machine 2A moves in the vertical direction. The sewing needle 240 provided on the needle bar 24A moves in the vertical direction together with the needle bar 24A. The balance mechanism 24C of the head 24, the thread tension mechanism 24D, and the hook mechanism in the bed portion 21 operate in conjunction with the needle bar 24A. The sewing machine 2A sews the objects to be sewn 90A and 90B by the needle thread inserted through the sewing needle 240 and the bobbin thread housed in the hook mechanism. When sewing by the sewing machine 2A is completed, the CPU 61 outputs a signal notifying the completion of the sewing command to the CPU 51.

When the CPU 51 receives the signal notifying the completion of the sewing command, the CPU 51 outputs the second feed command to the CPU 61 of the sewing machine 2A (S16). The CPU 61 controls the sewing machine 2A based on the second feed command to execute the movement of the sewn objects 90A and 90B. The CPU 61 drives and controls the corresponding Y-axis motor 33 by controlling the drive circuit 69. At this time, the upper feed plate 25U and the lower feed plate 25B sandwiching the sewn objects 90A and 90B move from the second position to the first position. The CPU 61 controls the solenoid valve 82. The drive unit 257 is driven, and the upper feed plate 25U is separated upward from the lower feed plate 25B. The upper feed plate 25U opens the sewn objects 90A and 90B. The CPU 61 drives and controls the drive unit 256 by controlling the solenoid valve 81. The upper feed plate 25U moves so that the position of the through hole 253 is separated to the left side from the position of the through hole 255 of the lower feed plate 25B in a plan view. The CPU 61 outputs a signal to the CPU 51 notifying the completion of the second feed command.

When the CPU 51 receives the signal notifying the completion of the sewing command, the CPU 51 determines whether or not the completion signal has been received (S17). The operator pulls out the sewn objects 90A and 90B from the mounting portion 258 of the lower feed plate 25B. After extracting the sewn objects 90A and 90B, the operator operates the input unit 56 of the PC 10. At this time, the input unit 56 outputs a completion signal to the CPU 51. When it is determined that the completion signal is not received (S17: NO), the CPU 51 returns the process to S17 and waits.

When it is determined that the completion signal has been received (S17: YES), the CPU 51 adds 1 to the number of steps and stores it in the RAM 52 (S18). The CPU 51 determines whether or not the number of processes is smaller than the number of processes set in S11 (S19). When it is determined that the number of steps is smaller than the number of processes (S19: YES), the CPU 51 returns to the process of S12. When it is determined that the number of steps is equal to the number of processes (S19: NO), the CPU 51 ends the first sewing process.

<Action and effect of the first embodiment>
The sewing machine 2A has a base portion 26A. The facing end portion 261 of the base portion 26A is provided at a position where the holding portion 46 overlaps the transport path R when the sewn object 90B is moved from the mounting position to the delivery position in the vertical direction. When the holding portion 46 places the sewn object 90A on the mounting portion 258, the facing end portion 261 is close to the peripheral end portion of the sewn object 90A, and the position of the upper end portion thereof is sewn. It is located above the upper end of the object 90A. In the sewing system 1A, even when a part of the sewn object 90B hangs down when the sewn object 90B having a larger area than the holding portion 46 is conveyed, the sewn portion 90B is sewn by the base portion 26A. The sewn object 90B can be moved without being caught by the end portion of the object 90A. Therefore, the sewing system 1A can accurately stack the sewn objects 90.

The front end of the placed sewn object 90A is parallel to the left-right direction. The opposing end 261 is parallel in the left-right direction. That is, the facing end portion 261 is along the outer peripheral portion of the placed sewn object 90A. The sewing system 1A makes it easier to move the sewn object 90B directly above the sewn object 90A. Therefore, the sewing system 1A can accurately stack the sewn objects 90.

The sewing machine 2A has a lower feed plate 25B including a mounting portion 258, and the lower feed plate 25B can move in the front-rear direction along the holding surface 21U of the bed portion 21. The lower feed plate 25B has a first position where the sewn object 90B can be placed on the upper side of the sewn object 90A when the holding portion 46 is in the delivery position, and a second position where the sewn objects 90A and 90B can be sewn. It is movable to the position. The sewing system 1A can suppress the base portion 26A from interfering with the sewn objects 90A and 90B when the sewn objects 90A and 90B are sewn.

The bed portion 21 has a support portion 21P extending forward from the lower feed plate 25B located at the first position. The support portion 21P supports the base portion 26A via a plurality of support bases 21T. The support portion 21P stably supports the base portion 26A. Therefore, the sewing system 1A can accurately stack the sewn objects 90.

There is a gap created by the plurality of support bases 21T between the lower surface of the base portion 26A and the support portion 21P. When the lower feed plate 25B is located in the first position, the front end portion of the lower feed plate 25B is located in the gap. Therefore, the sewing system 1A can suppress the interference between the lower feed plate 25B and the base portion 26A, and the sewn object 90 can be reliably mounted on the mounting portion 258.

<Second embodiment>
The sewing system 1B according to the second embodiment of the present invention will be described with reference to FIGS. 13 to 18. The sewing system 1B differs from the sewing system 1A in that it has the sewing machine 2B instead of the sewing machine 2A. In the sewing system 1B, the configurations common to the sewing system 1A are designated by the same reference numerals as those of the sewing system 1A, and the description thereof will be omitted.

<Sewing machine 2B>
As shown in FIGS. 13 and 14, the sewing machine 2B has a bed portion 27, a pair of pedestal portions 22, a beam portion 23, a head portion 24, a moving mechanism 28, and a base portion 26B. The bed portion 27 is different from the bed portion 21 in that it does not have the auxiliary portion 21C and has the drive portion 271 (see FIG. 17). Other configurations of the bed portion 27 are the same as those of the bed portion 21. The drive unit 271 is provided at the center of the front end portion of the base portion 21A in the left-right direction. The drive unit 271 supports the base unit 26B so as to be movable in the front-rear direction via a mobile base 260 described later. The drive unit 271 is a so-called air cylinder and has a solenoid valve 84 (see FIG. 17). The drive unit 271 is connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 84 is provided in the air supply path supplied by the air compressor. When the solenoid valve 84 opens and closes, the drive unit 271 is driven and the moving table 260 moves in the front-rear direction.

The moving mechanism 28 differs from the moving mechanism 25 in that it has the lower feed plate 28B instead of the lower feed plate 25B. Other configurations of the moving mechanism 28 are the same as those of the moving mechanism 25. The lower feed plate 28B is different from the lower feed plate 25B in that the shape is different. The lower feed plate 28B has a substantially convex plate shape in which the front end portion at the center on the left and right protrudes forward in a plan view. The lower feed plate 28B has a mounting portion 288 (see FIG. 13) through hole 284 and through hole 285. The mounting portion 288 corresponds to the mounting portion 258, the through hole 284 corresponds to the through hole 254, and the through hole 285 corresponds to the through hole 255, respectively.

A moving table 260 is provided on the front side of the bed portion 27. The mobile table 260 is a grid-like structure. The moving table 260 is connected to the drive unit 271 and the mounting table 9. By driving the drive unit 271, the moving table 260 and the mounting table 9 move in the front-rear direction. The mobile platform 260 has a plurality of drive units 263 and a plurality of casters 264. The plurality of drive units 263 are located at the upper ends of the mobile base 260. The plurality of drive units 263 support the base unit 26B, which will be described later, so as to be movable in the vertical direction. The plurality of drive units 263 are so-called air cylinders and have a solenoid valve 85 (see FIG. 17). The plurality of drive units 263 are connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 85 is provided in the air supply path supplied by the air compressor. When the solenoid valve 85 opens and closes, a plurality of drive units 263 are driven, and the base unit 26B moves in the vertical direction. The plurality of casters 264 are located at the lower end of the moving table 260, and support the moving table 260 from below so as to be movable in the horizontal direction.

The base portion 26B is provided at the upper end portion of the moving base 260. The base 26B is connected to the mobile base 260 via a plurality of drive units 263. The structure of the base portion 26B is the same as the structure of the base portion 26A. The base portion 26B has a facing end portion 262 corresponding to the facing end portion 261 of the base portion 26A.

By driving the drive unit 263, the base unit 26B can move in the vertical direction. In the vertical direction, the base portion 26B has a third position in which the position of the upper end portion is located above the upper end portion of the lower feed plate 28B and a position of the upper end portion substantially the same as the position in the vertical direction of the holding surface 21U. It is possible to move to the fourth position. The base portion 26B can be moved in the front-rear direction by being driven by the drive portion 271. The base portion 26B moves in the front-rear direction to a fifth position closer to the bed portion 27 and a sixth position farther from the fifth position with respect to the bed portion 27. When the base 26B is located at the third position in the vertical direction and the fifth position in the front-back direction, the base 26B is said to be located at the "acting position". When the base 26B is located at the fourth position in the vertical direction and the sixth position in the front-rear direction, the base 26B is said to be located at the "standby position". In the present embodiment, the base portion 26B can be moved to the working position (see FIGS. 13 and 15) and the standby position (see FIGS. 14 and 16).

<Electrical configuration of sewing system 1B>
The electrical configuration of the sewing system 1B will be described. The electrical configuration of the PC 10 differs only in that the communication I / F 57 connects to the sewing machine 2B instead of connecting to the sewing machine 2A. The electrical configuration of the robot arm 4A is the same as that of the sewing system 1A. Therefore, the description of the electrical configuration of the PC 10 and the robot arm 4A will be omitted.

The electrical configuration of the sewing machine 2B will be described with reference to FIG. The electrical configuration of the sewing machine 2B is different in that the control unit 20B of the sewing machine 2B corresponds to the control unit 20A, and the input / output I / F 66 is further electrically connected to the solenoid valves 84 and 85. The CPU 61 controls the opening and closing of the solenoid valves 84 and 85, and drives and controls the corresponding drive units 271 and 263, respectively.

<Outline of operation in the second sewing process of sewing system 1B>
The second sewing process of the sewing system 1B and the outline of the operation in the process will be described with reference to FIGS. 13 to 16 and 18. In the second sewing process, the CPU 51 of the PC 10 outputs various control commands and controls the sewing machine 2B and the robot arm 4A. The control command includes a first movement command and a second movement command in addition to various control commands in the first sewing process. The first movement command and the second movement command are commands for the sewing machine 2B.

The initial state of the sewing system 1B is different from the initial state of the sewing system 1A in that the base portion 26B is located in the standby position. The operator operates the input unit 56 of the PC 10 and instructs the execution of the second sewing process shown in FIG. The CPU 51 reads and executes the second sewing process program from the storage device 55. In the following description, the same processing as the first sewing processing will be designated by the same reference numerals and the description thereof will be omitted, and the first movement command and the second movement command will be described.

The first movement command will be described. When receiving the signal notifying the completion of the first transport command (S12), the CPU 51 outputs the first movement command to the CPU 61 of the sewing machine 2B (S21). The CPU 61 executes the movement of the base 26B based on the first movement command. By controlling the solenoid valves 84 and 85, the CPU 61 drives and controls the corresponding drive units 271 and 263, respectively. The base portion 26B moves from the standby position (see FIGS. 14 and 16) to the action position (see FIGS. 13 and 15). When the base portion 26B is located at the working position, the facing end portion 262 of the base portion 26B is close to the front end portion of the sewing material 90A (see FIG. 15). The position of the upper end portion of the facing end portion 262 is located above the upper end portion of the sewn product 90A (see FIG. 15). The CPU 61 outputs a signal to the CPU 51 notifying the completion of the first movement command. Upon receiving the signal notifying the completion of the first movement command, the CPU 51 outputs the second transport command to the CPU 71 of the robot arm 4A (S13).

The second movement command will be described. When receiving the signal notifying the completion of the first feed command (S14), the CPU 51 outputs the second move command to the CPU 61 of the sewing machine 2B (S22). The CPU 61 executes the movement of the base 26B based on the second movement command. By controlling the solenoid valves 84 and 85, the CPU 61 drives and controls the corresponding drive units 271 and 263, respectively. The base portion 26B moves from the working position to the standby position. When the base portion 26B is located in the standby position, the position of the upper end portion of the facing end portion 262 is located below the lower feed plate 28B (see FIG. 16). The CPU 61 outputs a signal to the CPU 51 notifying the completion of the second movement command. Upon receiving the signal notifying the completion of the second movement command, the CPU 51 outputs the sewing command to the CPU 61 of the sewing machine 2B (S15).

<Action and effect of the second embodiment>
The base portion 26B has a third position in which the upper end portion is located above the upper end portion of the lower feed plate 28B and a fourth position in which the upper end portion is located below the lower feed plate 28B in the vertical direction. It is movable to the position. In the sewing system 1B, when the base portion 26B is not required, such as during sewing, by moving the base portion 26B to the fourth position, the base portion 26B is less likely to interfere with the sewn object 90.

The sewing machine 2B has a drive unit 263 that movably supports the base portion 26B to the third position and the fourth position. The CPU 61 of the sewing machine 2B controls the drive unit 263 by controlling the solenoid valve 85. The sewing system 1B can automatically move the base portion 26B from the fourth position to the third position when the base portion 26B is required for accurately stacking the sewn objects 90.

The base portion 26B moves in the front-rear direction to a fifth position closer to the bed portion 27 and a sixth position farther from the fifth position with respect to the bed portion 27. When the sewn object 90A is placed on the mounting portion 288, the pedestal portion 26B located at the sixth position is separated from the pedestal portion 26B located at the fifth position in the front-rear direction with respect to the sewn object 90A. .. In the sewing system 1B, when the base portion 26B is not required, such as during sewing, by moving the base portion 26B to the sixth position, the base portion 26B is less likely to interfere with the sewn object 90.

The sewing machine 2B has a drive unit 271 that movably supports the base portion 26B at the fifth position and the sixth position. The CPU 61 of the sewing machine 2B controls the drive unit 271 by controlling the solenoid valve 84. The sewing system 1B can automatically move the base 26B from the sixth position to the fifth position when the base 26B is required for accurately stacking the sewn objects 90.

<Others>
In the above description, the first mounting position and the second mounting position are examples of the mounting positions of the present invention. The sewn product 90A is an example of the first sewn product of the present invention. The sewn product 90B is an example of the second sewn product of the present invention. The lower feed plates 25B and 28B are examples of the feed unit of the present invention. The forward direction is an example of the first direction of the present invention. The drive unit 263 is an example of the first drive unit. The CPU 61 that executes S48 is the first control unit of the present invention. The drive unit 271 is an example of the second drive unit. The CPU 61 that executes S48 is the second control unit of the present invention.

<Modification example>
The present invention is not limited to the above examples. If the upper ends of the opposed ends 261, 262 of the base portions 26A and 26B are located above the upper ends of the sewn objects 90A mounted on the mounting portions 258 and 288, respectively, the opposed end portions 261 , 262 may be located below the upper end of the sewn product 90A. The base portions 26A and 26B have a flat plate shape, but the present invention is not limited to this. For example, a curved surface having a gently curved upper surface may be formed.

In the sewing systems 1A and 1B, the sewn object 90A is mounted on the mounting portions 258 and 288 by the robot arm 4A, but the sewing system 1A and 1B are not limited to this. For example, the operator may place the sewn object 90A on the mounting portion 258, 288, or a second robot arm different from the robot arm 4A mounts the sewn object 90A on the mounting portion 258, 288. You may.

The robot arm 4A is not limited to the horizontal articulated robot arm, and may be another type of robot arm. For example, the robot arm 4A may be a Cartesian robot, a vertical articulated robot, or the like. The holding portion 46 holds the sewn object 90 by a plurality of vacuum grippers, but the method is not limited to this. For example, the holding portion 46 may have a plurality of needles extending downward from the lower end portion, and the plurality of needles may be penetrated through the sewing material 90 to be supported.

The upper surface of the support portion 21P extends forward along the holding surface 21U, but the support portion 21P is not limited to this. For example, a gap may be provided between the support portion 21P and the holding surface 21U.

In the sewing system 1B, the movement of the base 26B executed in S44 and the movement of the base 26B executed in S50 are the vertical movement (movement between the third position and the fourth position) and the movement in the front-back direction (fifth). (Movement between position and sixth position) is executed, but either one may be executed. Further, the base portion 26B may move in the left-right direction.

The drive units 263 and 271 are air cylinders, but may be, for example, a device driven by a motor or the like. It does not have drive units 263 and 271, for example, the operator manually moves the base 26B in the vertical direction (movement between the third and fourth positions) and moves in the front-back direction (fifth and sixth positions). (Move) may be able to be executed.

1A, 1B Sewing system 2A, 2B Sewing machine 4A Robot arm 9 Mounting stand 10 PC
21, 27 Bed section 21P Support section 24 Head section 25, 28 Moving mechanism 25B, 28B Lower feed plate 33 Y-axis motor 46 Holding section 51, 61, 71 CPU
84, 85 Solenoid valve 90, 90A, 90B Sewing material 91B Accommodating part 258, 288 Mounting part 261, 262 Opposing end part 263, 271 Drive part R Transport path

Claims (9)

In a sewing system including a sewing machine capable of sewing on a sewing machine and a robot arm capable of delivering the sewing machine to the sewing machine.
The robot arm
A holding portion for holding and moving the sewn object is provided.
The holding part is
The sewing machine is moved between the placement position on which the sewn object is placed and the delivery position where the sewn object is delivered to the sewing machine through a predetermined transport path.
The sewing machine
A mounting portion on which at least a part of the sewn object is placed at the delivery position,
At least a part is provided with a base portion that overlaps the transport path in the vertical direction.
The sewn product includes a first sewn product and a second sewn product that overlaps the first sewn product placed on the above-mentioned resting portion from above.
The base is
It has a facing end portion that is a part of an end portion orthogonal to the vertical direction and is close to or in contact with at least a part of the peripheral end portion of the first sewn object placed on the above-mentioned placement portion.
The facing end is
A sewing system characterized in that the position of the upper end portion is located above the upper end portion of the first sewn object placed on the above-mentioned placement portion. The sewing system according to claim 1, wherein the facing end portion has a shape along the outer peripheral portion of the first sewn object. The sewing machine
The bed that extends horizontally and
It is movable horizontally along the bed portion and is provided with a feed portion including the above-mentioned resting portion.
The feed section
The first position where the second sewn object can be placed on the upper side of the first sewn object when the holding portion is in the delivery position, and the first sewn object and the second sewn object. The sewing system according to claim 1 or 2, wherein the sewing system can be moved to a second position where sewing is possible. The bed part
A support portion extending in the first direction from the second position toward the first position is provided from the feed portion located at the first position.
The sewing system according to claim 3, wherein the base portion is provided on the support portion. There is a gap between the lower surface of the base and the support.
The sewing system according to claim 4, wherein at least a part of the feed portion is located in the gap when the feed portion is in the first position. The base is
The position of the upper end portion of the facing end portion is located above the upper end portion of the first sewn object placed on the previously described placing portion, and the position of the upper end portion of the facing end portion is the feed. The sewing system according to claim 3, wherein the sewing system can be moved to a fourth position located below the portion. A first drive unit for moving the base unit to the third position and the fourth position,
A first control unit that controls the first drive unit and moves the base unit from the fourth position to the third position before the holding unit moves the second sewn object. The sewing system according to claim 6. The base is
A fifth position in which the facing end portion is closer to the peripheral end portion of the first sewn product, and a sixth position in which the facing end portion is horizontally separated from the first sewn product than the fifth position. The sewing system according to any one of claims 1 to 3, 6 and 7, wherein the sewing system is movable. A second drive unit for moving the base unit to the fifth position and the sixth position,
A second control unit that controls the second drive unit and moves the base unit from the sixth position to the fifth position before the holding unit moves the second sewn object. 8. The sewing system according to claim 8.

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