JP2670491B2 - Flexible cloth merging device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technology for automating a sewing process, and more particularly, to a flexible cloth merging apparatus that can flexibly cope with a shape of a cloth, a position and a position to be superposed, and perform a superposition processing. It is about. [Prior Art] In the automatic sewing process, in the process of handling cloth, which is a flexible material, most of the work is to sew cloths with each other. Conventionally, the so-called "handling work" in which the fabrics are overlapped with each other at an appropriate position / posture such as, for example, aligning a point sewing line at the start of sewing has been performed manually by an operator, and cannot completely automate a sewing line. Met. On the other hand, in recent years, there have been proposed some handling devices for mechanically overlapping such fabrics. However, since the fabric to be handled is not only flexible but also in various shapes, the shape of the target fabric is limited, or the position of the fabric to be overlapped is limited, and the application process is limited. This is a limitation, and there is no flexible (flexibility) handling device capable of coping with the high-mix, low-volume production demanded today, which has been a factor that makes it impossible to automate the sewing line. The present invention has been made in view of the above problems, and independently supplies two fabrics irrespective of the shape of the fabric, the position and the position of overlapping, and replaces a specific stitched portion of one fabric with the other fabric. After superimposing on a specific sewn part, the specific sewn parts are overlapped and stitched together,
It is an object of the present invention to provide a flexible soft material merging apparatus for transferring the sewn cloth to a subsequent step. [Means for Solving the Problem] As a means for solving the above-mentioned problems, the flexible material merging device according to the present invention supplies two pieces of fabric individually, and a specific stitched portion of one fabric is woven on the other fabric. After transferring so as to superimpose on the specific sutured part, when suturing the specific sutured parts on top of each other, the fabric feeding device on which each fabric is placed in the specified position / posture in the specified direction The two cameras corresponding to each cloth fixedly installed at a position where each cloth can be photographed from above, the image data taken by the camera as the cloth advances, A controller that compares the image data of a specific edge of the fabric with template matching and stops the progress of the fabric when the specific edge is captured by the camera, and the identification of the fabric captured in this stopped state Based on the image data of the edges of the fabric, a computing device for computing the position of the entire fabric on the XY coordinates of the camera, and a plurality of grips movable according to the shape and size of the fabric. Cloth gripping device having a section, and the XY calculated above
A robot that transfers a cloth gripping device to a position where one cloth can be gripped based on the position of each cloth on the coordinates to grip the cloth, and transfers the cloth to a position where specific stitched parts are overlapped with each other, and this robot It is characterized in that it is provided with a pressing device for moving and positioning the two fabrics after being overlapped with each other to the suture position while maintaining the positions and postures of the fabrics. [Operation] As described above, the location of each fabric placed on the fabric supply device to be detected is registered in advance as image information by the image processing device, and the two cameras fixedly installed on the fabric part are used. The shape of the spot to be detected
The posture is extracted, and one of the two extracted fabrics is gripped by a cloth or other gripping device provided at the tip of the robot so that the other fabric can be moved while maintaining the position and posture of the other fabrics. Therefore, even if the supplied cloth shape is changed by inputting the image information in advance to the image processing apparatus so as to match the shape and size of the cloth to be used, those It can be sequentially processed according to the shape. [Embodiment] An embodiment of a confluence device for a flexible cloth according to the present invention will be described below with reference to the drawings. FIG. 1 is a confluent module configuration diagram showing the configuration of the entire apparatus, FIG. 2 is a front view showing the overall configuration of the confluence module,
FIG. 3 is a plan view of the same, and FIG. 4 is a right side view of the same. Reference numeral 1 is a conveyor for supplying upper cloth, which is installed so as to be controllable to be driven or stopped. A lower cloth supply conveyor 2 is installed so that it can be driven or stopped at almost the same level by going straight to the downstream end of the upstream supply conveyor 1, and both conveyors 1 and 2 are I / O.
It is driven and controlled by the module computer 50 through the O controller 51. An image processing device is provided with an upper cloth image capturing camera 3 and a lower cloth image capturing camera, respectively, at a substantially upper cloth feeding position of the upper cloth feeding conveyor 1 and a substantially lower cloth feeding device of the lower cloth feeding conveyor 2. Module computer 50 through 52
The processing is performed according to a predetermined software program, and the superimposed images are displayed on the monitor television 53 by the processing from both cameras 3 and 4, and the shapes and positional relationships of the upper cloth A and the lower cloth B are recognized. Further, reference numeral 5 is a robot having a known free arm which is provided in the vicinity of both the conveyors 1 and 2 and has an auxiliary device 7 carried on the end of the free arm 6, and a module computer 50 via a robot controller 54. Is controlled and driven according to a predetermined program. The auxiliary device 7 carrying the free arm 6 is driven by a controller 55 for the auxiliary device according to a software program of the module computer 50 to hold a plurality of fabrics (five in this embodiment). .. are configured to move the cloth gripping devices 8, 8 ... To an appropriate gripping position in accordance with the shape of the cloth to be gripped. Reference numeral 9 denotes a pressing device which is formed below the center of the auxiliary device 7 and presses the overlaid fabric. The conveyors 1 and 2, the cameras 3 and 4, and the driving device are erected or supported on the machine frames 10, 11, 12, 13, and 14, respectively, depending on the supply positions of the upper cloth A and the lower cloth B. Can be set in different configurations. An auxiliary device 7 pivotally attached to the end of the free arm 6 of the drive device 5 and provided with fabric gripping devices 8, 8 ...
As shown in the plan view of FIG. 6, the five θ-axis turning motors 1 are arranged on the periphery of the support plate 15 so that the rotating shaft 16 is in the vertical direction.
7, 17 ... are arranged. Then, one end of the guide rod 18 is axially mounted orthogonally to the drive shaft of each of the θ-axis turning motors 17, and is driven to turn in a fan shape.
A screw rod 20 pivotally mounted on a γ-axis drive motor 19 in equilibrium with the guide rod 18 is provided rotatably. The gripping device 8 is axially installed so as to be slidable in the rod direction with respect to the guide rod 18 of the auxiliary device 7, and at the same time, is provided at the lower end of each sliding block 21 threadedly penetrated into the screw rod 20. The cloth has a known cloth gripping function of piercing a large number of needles protruding from the lower end of the gripping device 8 and tilting and gripping in the radial direction. Next, the operation of the flexible material merging device having the above-described structure will be described with reference to the flow chart of the merging module shown in FIG. 8 with reference to the superposed coordinate diagrams shown in FIGS. 7 (a) and 7 (b). . 1) Start the device. 2) Set the fabric shape and size. Enter "initial data" such as fabric shape, size, and material. In local mode: Input from the keyboard of module computer 50 In remote mode Download from the host computer. 3) Returning the origin of the auxiliary device 7 and the robot 5 4) Moving the auxiliary device 7 to the gripping position of the cloth The cloth gripping device 8 is moved to the end of the cloth in accordance with the input initial data in accordance with the upper cloth A. 5) Both conveyors 1 and 2 are turned ON 6) Top cloth A image is captured Image processing to stop the fabric side part within the camera field of view is performed at (8) 7) Image processing (see FIG. 9 (a)) The process of detecting the perimeter of the upper cloth A is repeated. When it reaches the preset peripheral length (2) (initial data set), it is determined that the upper cloth A has entered the field of view. 8) “Is top cloth A within the field of view of camera 3?” YES: To 9 NO: To 11 9) Stop driving conveyor 1 10) Set a flag on top cloth A. 11) Bottom fabric B image capture Performs image processing to stop the fabric side part within the camera field of view. 12) Image processing (see FIG. 9 (a)) The processing for detecting the perimeter of the lower cloth B is repeated. When it reaches the preset peripheral length (2) (initial data set), it is determined that the upper cloth B has entered the visual field. 13) "Is the lower cloth B within the field of view of the camera 4?" YES: To 14 NO: To 16 14) Stop driving the conveyor 2 15) Set a flag on the lower cloth B. 16) "Is the flag of upper cloth A or lower cloth B set?" YES: To 17 NO: To 6 17) "How to set the flag of upper cloth A or lower cloth B." A and B: To 30 A only: To 18 B only: To 24 18) Lower fabric B image acquisition 19) Image processing (see FIG. 9 (a)) The process of detecting the perimeter of lower fabric B is repeated. When reaching the initial data set by the preset circumference length (2), it is determined that the upper cloth B has entered the visual field. 20) "Is the lower cloth B within the field of view of the camera 3?" YES: To 21 NO: To 23 21) Stop driving the conveyor 2 22) Set a flag on the lower cloth B. 23) "Is the flag set on the lower cloth B?" YES: To 30 NO: To 18 24) Capture the image of the upper cloth A 25) Image processing (see Fig. 9 (a)) Detect the perimeter of the lower cloth B Repeat the process. When it reaches the preset peripheral length (2) (initial data set), it is determined that the upper cloth B has entered the visual field. 26) "Is the lower cloth A within the field of view of the camera 4?" YES: To 27 NO: To 29 27) Stop driving the conveyor 1 28) Set a flag on the lower cloth A. 29) "Is the flag set on the lower cloth A?" YES: 30 NO: 24 30) Capture the pixels of the upper cloth A. Detect the position by specifying the upper cloth A side part in the upper cloth side visual field. (To 31) (Refer to FIG. 9 (a)) 31) Image processing The side part of the upper cloth A is specified by template matching and the position PA is detected (FIGS. 7A, 7B, 9A and 10). (See a and b) This template matching is one of the general image processing methods, and the shape of the part to be detected is registered in advance as image information (this is called a template).
Then, the input image is searched and matched by the template. This enables the specification of the location to be detected and the detection of the location. 32) Capturing the lower cloth B image Characterize the lower cloth B side part in the visual field of the lower cloth and detect the position. (To 33) (See Fig. 9 (a)) 33) Image processing The side part of the lower cloth B is specified by template matching and the position PE is detected (Figs. 7a, b, 9a, 10). b) 34) Turn on conveyors 1 and 2 Operate and stop the conveyor so that the specific stitched parts of upper cloth A and lower cloth B are within the field of view of cameras 3 and 4 (to 36) 35) Timer 36) Conveyor 1 and 2 are turned OFF 37) Capture of top cloth A image Detect the position by specifying the bottom hem of top cloth A in the top cloth side field of view. (To 38) (See Fig. 9b) 38) Image processing Detect the position PB by specifying the hem of the upper cloth A by template matching (See Fig. 7a, b, 9b, 10c) ) 39) Lower fabric B image capture Detects the position by identifying the lower fabric B side part in the lower fabric side field of view. (To 40) (Refer to FIG. 9b) 40) Image processing The side part of the lower cloth B is specified by template matching and the position PD is detected (FIGS. 7a, 7b, 9b, 10c, and 10c). (Refer to d) 42) Coordinate conversion routine Converts four visual field coordinates to robot coordinates. (Refer to Fig. 7a, b) 43) Robot drive data creation routine Control of the position and orientation of the center of gravity of the upper cloth A, and the position and attitude of its merging to the lower cloth B. 44) "Is the drive data safe?" YES: To 46 NO: To 45 45) Stop the device 46) Drive the robot Drive the robot's free arm up to the center of gravity of the upper cloth A. 47) Robot Z-axis descending 48) Grasping the upper cloth A 49) Robot Z-axis rising 50) Robot drive Driving the free arm of the robot in a fan shape to the confluence position of the lower cloth B. 51) Robot Z-axis descending 52) Open top cloth A. Put top cloth A on top of bottom cloth B. (Refer to Fig.7 a and b) 53) Robot Z-axis rise 54) Auxiliary device, pressing device descending Press down two sheets of fabric that have been overlapped. 55) Robot drive Correct the fabric to the proper position and angle to send it downstream. Next, the routine differs depending on the local mode (to 56) and the remote mode (to 61). 56) Return to origin of pressing device, auxiliary device, robot 57) "Do you want to continue processing?" YES: To 59 NO: To 58 58) Device stop 59) "Is the fabric the same?" YES: To 4 NO: To 60 60 ) After setting the shape and size (material) of the fabric (to 4) 61) Returning to the home position of the pressing device, auxiliary device, and robot 62) "Is the transfer of the fabric to the loading body completed?" YES: to 63 NO: to 62 63 ) After receiving the shape and size (material) data of the fabric (to 4), as described above, in the merging device of the present invention,
The suture portions of the upper cloth and the lower cloth, which are sequentially supplied, are subjected to the superposition processing, but it goes without saying that the superposition processing program can be variously modified.

【The invention's effect】

As described above, the merging device for a flexible material according to the present invention,
When the two fabrics are individually supplied and the specific stitching portion of one fabric is transferred to overlap with the specific stitching portion of the other fabric, and then the specific stitching portions are sewn on top of each other, The fabric supply device on which each of the fabrics is placed is moved in a specific direction within the range of the position and the posture which is roughly determined, and two cameras corresponding to each of the fabrics which are fixedly arranged at positions where the respective fabrics can be photographed from above and , The image data taken by the camera as the cloth advances, and the image data of the specific end of each cloth stored in advance are compared by template matching, and the specific end is taken by the camera. The position of the entire fabric on the XY coordinates of the camera is based on the control device that sometimes stops the progress of the fabric and the image data of the specific edge of the fabric that is captured in this stopped state. A computing device that computes whether or not a fabric is provided, a fabric grasping device including a plurality of grasping portions that can be moved according to the shape and size of the fabric, and one fabric based on the computed position of each fabric on the XY coordinates. A robot for moving the cloth gripping device to a position where the cloth can be gripped, gripping the cloth, and transferring the cloth to a position where specific stitched parts are superposed, and two cloths after being superposed by the robot. It is composed of a pressing device for moving and positioning to the suture position while maintaining the position and posture of the cloth comrades, and it can be handled by manual work of the conventional worker or if the mechanism itself is not changed. This makes it possible to automatically perform an unattended automatic operation of superimposing a soft cloth that has not been performed, and the effect is extremely large. On the other hand, the merging device of the present invention has a positioning mechanism for recognizing the position / shape of a specific stitched portion of two pieces of fabric and for moving / positioning to the stitching position while maintaining the position / posture of the cloth members. It can also be applied as a so-called intelligent transfer device, and by applying it to the transfer process of sewing work, not only can the system be labor-saving or unmanned, but various processes can be performed simply by changing the software. It can be adapted to the superposition process, and its advantages are extremely large.

[Brief description of the drawings]

The drawings show an example of the embodiment of the flexible cloth merging device of the present invention. FIG. 1 is a merging module configuration diagram showing the overall configuration of the device, and FIG. 2 is a front view showing the overall merging module configuration. Fig. 4 is the same plan view, Fig. 4 is the right side view, Fig. 5 is the front view of the auxiliary device, Fig. 6 is the same plan view, and Fig. 7 is (a).
Model wear Right front body and right rear body, (b) Explanatory diagram showing an example of overlapping each of model wear left front body and left rear body, FIG. 8 is a flow chart showing a merge module,
9 (a) and 9 (b) are relational diagrams of a coordinate system showing the principle of superposition, and FIG. 10 is a flowchart showing a method of image processing. 3,4 …… Camera, 5 …… Robot 7 …… Auxiliary device, 8 …… Cloth gripping device 9 …… Pressing device, 52 …… Image processing device 53 …… Monitor TV

Continuation of front page Jury Chairman Joji Ito Judge Atsushi Kawai Jitsuko Funakoshi (56) References JP 63-125292 (JP, A) JP 1-77675 (JP, A)

Claims (1)

(57) [Claims] 2. A method according to claim 1, further comprising the steps of: supplying the two fabrics individually, transferring a specific stitch portion of one fabric to a specific stitch portion of the other fabric, and then overlapping the specific stitch portions with each other; In suturing the fabric, the fabric supply device on which each fabric is placed is moved in a specific direction within the range of the position and posture roughly determined, and each fabric is fixed to a position which can be photographed from above to correspond to each fabric fixedly installed. The image data taken by the two cameras and the camera as the cloth advances, and the image data of the specific end of each cloth stored in advance are compared by template matching, and the specific end is compared. Based on the control device that stops the progress of the fabric when the image is captured by the camera, and the image data of the specific edge of the fabric captured in this stopped state, the entire fabric is displayed on the XY coordinates provided in the camera. Based on the calculation device for calculating whether or not it is present at a position, the cloth gripping device provided with a plurality of gripping parts that can be moved according to the shape and size of the cloth, and the position of each cloth on the calculated XY coordinates A robot for moving the cloth to a position where one of the cloths can be gripped to grip the cloth and transferring the cloth to a position where specific stitched parts are superposed, and a robot after the superposition by the robot.
A merging device for flexible cloth, comprising a pressing device for moving and positioning a piece of cloth to a suture position while maintaining the positions and postures of the cloths.