JP2853055B2 - Automatic sewing device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION The present invention relates to an automatic sewing apparatus, and more particularly, to an automatic sewing apparatus, in which an end portion of a material to be sutured, such as a sheet material for an automobile, for sewing a plurality of sheets of suture material, is used. The present invention relates to an automatic sewing device suitable for sewing according to a dimensional curve.

[Prior art] As a conventional automatic suturing device of this kind, for example,
The technology described in JP-A-62-39835 can be mentioned.

The technology described in this publication is to provide a vertically long jig base which is guided by a guide rail on the upper surface of a table and moves in a sewing direction, and a stopper for material alignment, a material holding pin, and a material pressed from the upper surface of the jig base. And a material holding lid with a lock hole to hold
A plurality of through holes are provided near the rear end of the sewing machine table,
A material ejecting mechanism is provided on the lower surface of the table so that pins protrude from these through holes to push up the material from the jig base.

As described above, the technique described in the above publication is to perform sewing while holding the edge of the material to be sewn over substantially the entire length by the jig base, so that even if a non-skilled worker is not skilled, point deviation and variation in seam allowance can be achieved. Accurate seam stitching can be carried out without causing the problem.

[Problems to be Solved by the Invention] With the technology described in the above publication, one-dimensional directional sewing can be performed, but two-dimensional directional sewing, that is, so-called curved sewing cannot be performed. Other known techniques of this type include Japanese Patent Publication No. 60-58678 and Japanese Utility Model Publication No. 60-384.
There is also a technique described in Japanese Patent Publication No. 66, etc., but curve stitching is not possible either.

An embroidery sewing machine has been used for this type of conventional curve stitching. However, when sewn with an embroidery sewing machine, a tension higher than a predetermined value is not applied to the seam thread, so that the tension of the seam thread is weak, and a plurality of materials to be sewn cannot be stably sewn.

Accordingly, an object of the present invention is to provide an automatic sewing apparatus capable of robustly performing curve stitching of a plurality of materials to be sutured.

[Means for Solving the Problems] In an automatic sewing apparatus according to the present invention, a clamp row in which a plurality of clamp means for clamping a material to be sewn are continuously arranged, and the entire clamp row are integrated. A moving member for independently moving each clamp means of the clamp row in a direction perpendicular to the moving direction, a suturing means rotatable around a position of a sewing needle, X-axis moving means and Y-axis moving means for two-dimensionally displacing the relative position of the member and the sewing needle of the suturing means are provided.

In the automatic sewing apparatus according to the second aspect of the present invention, a clamp row in which a plurality of clamp means for clamping a material to be sewn are continuously arranged, and the entire clamp row are integrally moved. A moving member for independently arranging each clamp means of the clamp row so as to be movable in a vertical direction; a suturing means rotatable around the position of the sewing needle; and a moving member and a sewing needle of the suturing means. From the X-axis moving means and the Y-axis moving means for two-dimensionally displacing the relative position and the movement data for driving the X-axis moving means and the Y-axis moving means, the advance direction of the sewing needle is set to be the tangential direction of the stitch. And a turning angle control means for adjusting the turning angle of the suturing means around the sewing needle.

[Operation] According to the first aspect of the present invention, the material to be sewn is clamped using a plurality of clamping means on a moving member in which each clamping means of the clamping row is independently movably arranged. The relative position between the moving member and the sewing needle of the suturing means is two-dimensionally displaced by the X-axis moving means and the Y-axis moving means, and the suturing means performs a two-dimensional suturing operation. At this time,
Even if the stitching change of the two-dimensional sewing line is large, the suturing means is rotatable around the position of the sewing needle, so that the moving direction of the sewing needle of the suturing means substantially coincides with the direction of the sewing line at which sewing is performed. By adjusting the angle as described above, curved stitching according to the sewing line can be performed.

In the invention of claim 2, the relative position between the moving member and the sewing needle of the suturing means is two-dimensionally displaced by the X-axis moving means and the Y-axis moving means. From the movement data, by adjusting the rotation angle of the suturing means around the sewing needle so that the advancing direction of the sewing needle moving on the sewing line is the tangential direction of the stitch, automatic sewing with the stitch always being uniform can be performed. It becomes possible. In addition, at this time, even if the suturing means is rotated since the suturing means is centered on the position of the suturing means, the position of the suturing needle is not displaced by this. No need to do.

[Example] Hereinafter, an example of the present invention will be described.

FIG. 1 is a perspective view of the entire structure of an automatic sewing apparatus according to one embodiment of the present invention, and FIG. 2 is a rotation for rotating a sewing machine 20 as a sewing means of the automatic sewing apparatus according to one embodiment of the present invention. FIG. 3 is a perspective view of a main part configuration of a driving unit. FIG. 3 is a perspective view of a main part of the automatic sewing apparatus according to the embodiment of the present invention, in which the moving member 30 is removed. FIG. 4A shows the clamping means 50 used in the automatic sewing feeding of the present embodiment.
FIG. 4 is an end view of a main part viewed from a side showing a clamp operation state of FIG. 3, and FIG. 4B is a cross-sectional view taken along a cutting line XX in FIG. FIG. 7 shows an arrangement of the clamping means 50 and the material 70 to be sewn of the automatic sewing apparatus according to one embodiment of the present invention.
FIG. 3 is a plan view of a main part showing a sandwiched state of FIG.

In FIG. 1 to FIG. 3, a work position at a predetermined height of the table 10 is set by a base 11. The table 10 is provided with a sewing machine 20 as suturing means of the present embodiment. A moving member 30 that slides on the upper surface of the table 10 is slidably disposed on the plane of the table 10.

The sewing machine 20 itself as the suturing means of the present embodiment is a known industrial sewing machine, but in this embodiment, as shown in FIG. 2, the sewing machine 20 is mounted on a sewing machine receiving base 21 and integrally attached thereto. I have. Further, a rotary gear 22 is integrally attached to the sewing machine receiving table 21, and the rotating gear 22 is attached to the receiving table 21.
And a drive gear 23 driven by a sewing machine servomotor 24 mounted on a base plate 25 provided separately and side by side. The base plate 25 is fixed to the base 11 and is arranged side by side on the table 10. An auxiliary roller 26 is provided on the sewing machine receiving table 21, and transmits the load of the sewing machine receiving table 21 to the base plate 25 via the auxiliary roller 26. The central portion of the rotary gear 22 rotatably supports the sewing machine support 21 by a bearing 27.

Therefore, when the sewing machine servomotor 24 is driven, the driving gear driven by the sewing machine servomotor 24 is driven.
The rotation of the rotation gear 23 causes the rotation gear 22 meshing with the drive gear 23 to be rotatable left and right around the center thereof. As a result, the center of the sewing needle 28 of the sewing machine 20 coincides with the center of the rotation gear 22. Then, the sewing machine 20 rotates around the sewing needle 28. These servo motors 24 for the sewing machine, the drive gear 23
The turning gear 22 meshing with the driving gear 23 constitutes a turning drive section of a sewing means for turning the sewing machine 20 of this embodiment around the sewing needle 28.

As shown in FIG. 3, a servo motor mounting base 13 having a substantially U-shaped flat surface is fixed to the base plate 25, and Y-axis ball screws 14 are provided at both ends thereof. A Y-axis servo motor 15 is provided at one end of the Y-axis ball screw 14. The Y-axis ball screw 14 is screwed with a Y-axis movable body 16. The rotation of the Y-axis ball screw 14 controls the Y-axis movable body 16 It moves along the ball screw 14 for the shaft. On the upper surface of the Y-axis movable body 16, a moving member 30 that slides on the upper surface of the table 10 in the Y-axis direction, that is, in the front-rear direction, is fitted to the sliding holding member 17, and the sliding holding member 17 Thus, the moving member 30 is restricted from moving in the Y-axis direction, and the upper surface of the table 10 can be moved in the X-axis direction, that is, in the left-right direction.

Therefore, when the Y-axis servo motor 15 rotates the Y-axis ball screw 14, the Y-axis
The shaft movable body 16 is a sliding holding member depending on its rotation direction.
The moving member 30 can be moved in the Y-axis direction via 17, and these constitute the Y-axis moving means of the present embodiment.

A servo motor mounting base 33 having a substantially U-shaped plane is fixed to the table 10 shown in FIG. 1, and X-axis ball screws 34 are provided at both ends.
An axis servomotor 35 is provided. An X-axis movable body 36 is screwed to the X-axis ball screw 34. The rotation of the X-axis ball screw 34 restricts the rotation of the X-axis ball screw 34 by a guide rod 37 provided on the servo motor mount 33. It moves along the shaft ball screw. The X-axis movable body 36 is attached to one end of the moving member 30 via the connection auxiliary member 31. The moving member 30 whose movement in the Y-axis direction is restrained by fitting with the sliding holding member 17 moves the upper surface of the table 10 in the X-axis direction,
That is, they are fitted so as to be movable only in the left-right direction.

Therefore, when the X-axis servo motor 35 rotates the X-axis ball screw 34, the X-axis movable body 16 screwed with the X-axis ball screw 34 slides the slide holding member 17 according to the rotation direction. The moving member 30 moves in the X-axis direction along the X-axis ball screw 34. These constitute the X-axis moving means of the present embodiment.

Therefore, the Y-axis movable body 16 moved by the Y-axis servo motor 15 moves the relative distance to the needle 28 of the sewing machine 20 as the suturing means along the Y-axis ball screw 14 depending on the rotation direction. The X-axis movable body 16 which is displaced in the Y-axis direction and is moved by the X-axis servomotor 35, determines the relative distance to the needle 28 of the sewing machine 20 as the suturing means by the rotation direction. The moving member according to the present embodiment can be displaced in the X-axis direction along the ball screw 34 for the shaft.
The relative position between the sewing machine 30 and the sewing needle 28 of the sewing machine 20 as the suturing means is displaced in two dimensions, and the Y-axis servo motor 15 is moved.
And / or X-axis moving means and Y-axis moving means driven by the X-axis servo motor 35.

A lever pressing member 41 is provided in parallel with the moving member 30, and both ends of the lever pressing member 41 have fulcrum shafts 42.
The clamp operating body 43 is driven by air cylinders 44 provided at both ends of the moving member 30, and the clamp operating body 43 is supported together with the lever pressing member 41 by a fulcrum. It rotates around the shaft 42.

As shown in FIG. 4, a clamp base 51 having a substantially U-shaped cross section is disposed on the moving member 30. An end of the clamp base 51 is arranged in contact with the upper surface of the table 10 in parallel with a work receiving portion 51a, a position determining rule portion 51b formed to rise vertically from the work receiving portion 51a, Base portion 51c that is parallel to the upper surface of the moving member 30, separated from the surface of the table 10 by the height of the position determining portion 51b, and contacts the upper surface of the moving member 30.
Consists of In addition, the work receiving portion 51a has a needle 51d for preventing detachment.
Is provided. The clamp base 51 is a pair of two, and a guide member 52 is provided between and on both outer sides thereof as a moving member.
It is in contact with 30 and prevents the pair of clamp bases 51 from moving in the length direction of the moving member 30. The pair of clamp bases 51 are pressed by the clamp pressing pieces 53 by screwing the fixing screws 54 so as not to separate from the upper surface of the moving member 30. Thereby, the clamp base 51
Can slide only in a direction perpendicular to the length direction of the moving member 30.

An end of the clamp movable body 55 is pivotally supported at an end of the clamp base 51, and a spring 56 is interposed therebetween. Due to the elastic force of the spring 56, the clamp base 51 and the clamp movable body 55 are opened on the side of the work receiving portion 51a about the position where the clamp is supported. A substantially L-shaped side clamp piece 55A is screw-connected to an end of the clamp movable body 55, and the position of the lower end of the clamp piece 55A faces the needle 51d for preventing the workpiece receiving portion 51a from being detached. It is positioned as follows.

An opening 55a is provided at the center of the clamp movable body 55, and a lever 57 pivotally supported by a ratchet pin 58 protrudes from the opening 55a at the front of the clamp base 51. A spring 59 is provided between the clamp base 51 and a pivotally supported lever 57, and the clamp movable body
An elastic force is urged in a direction in which the lever 57 projects from the opening 55a of the 55.

The lever 57 is formed with a ratchet 57a at the front thereof for restraining upward movement from below, and the clamp movable body 55 has an engagement piece 60 having a free end located on the opening 55a side. Is attached, and can be engaged with the ratchet 57a.

When driven by air cylinders 44 provided at both ends of the moving member 30, the lever pressing member 41
When rotating around 42, the clamp operating body 43 rotates together with the lever pressing member 41, and the lever 57 is
41, and rotates by receiving the pressing force.
The engagement between the engagement piece 60 and the engagement piece 60 is released, and the clamp movable body 55 is raised by the elastic force of the spring 56, so that the clamp piece 55a is in an open state. These clamp bases
The clamp member 51, the clamp movable body 55 pivotally supported thereon, the clamp piece 55A attached to the clamp movable body 55, the lever 57, and the like constitute a clamp means 50 for clamping the material 70 to be sewn in this embodiment. Further, as shown in FIG.
A plurality of clamps are arranged on the moving member 30 continuously.

This kind of clamp means 50 and a clamp row in which a plurality of the clamp means are continuously arranged on the moving member 30 operate as follows.

FIG. 5 (a) is an end view of the main part viewed from the side showing the opening operation state of the clamp means 50 used in the automatic sewing device of the present embodiment, and FIG. 5 (b) is a cutting line X in FIG. −
It is sectional drawing by X. FIG. 6 (a) is an end view of a main part viewed from the side showing a release operation state of the clamp means 50 used in the automatic sewing device of the present embodiment.
(B) is a sectional view taken along the line XX in (a).

In the state shown in FIG. 5, the driving of the air cylinders 44 disposed at both ends of the moving member 30 is released (this state is maintained in the normal state), and the lever pressing member 41 is
Rotate away from 57. As a result, the lever pressing member 41 is separated from the lever 57. However, the elastic force of the spring 56 causes the clamp movable body 55 to rotate upward, and the elastic force of the spring 59 causes the lever 57 to rotate.
The lever pressing member 41 is also rotated upward, and the lever pressing member 41 is moved in a substantially parallel state where the lever pressing member 41 is stopped.
And the upward rotation of the lever 57 is stopped.

At this time, all the clamp means 50 are opened and the clamp pieces 55
A and the needle 51d have a maximum separation distance. Therefore, the end of the material 70 to be sewn as a work is brought over the work receiving portion 51a, and the end is brought into contact with the position determining portion 51b, and in this state, the end of the material 70 to be sewn is pressed. The needle 51d provided in the work receiving portion 51a is stabbed, and the material 7 to be sewn along the sewing line is sewn.
The temporary positioning of 0 is performed. Then, the upper portion of each of the clamp pieces 55A is pressed down with a finger, and the lower end of the clamp piece 55A is cut into the material 70 to be sewn in the state shown in FIG. 4, so that a predetermined pressure is applied. During this time, the ratchet 57 formed on the lever 57
“a” allows the clamp piece 55A to be relatively displaced downward while the engagement piece 60 elastically contacts. When the pressing force that pressed down the upper portion of the clamp piece 55A is released, the engagement piece 60 and the ratchet are released.
57a engages to prevent the clamp movable body 55 from rising.
Therefore, the end of the material 70 to be sutured is
Is held at a predetermined pressing force between the lower end of the workpiece and the work receiving portion 51a.
1d helps it.

As described above, by clamping the end portion of the material 70 to be sewn by the clamp means 50 arranged on the moving member 30, the material 70 to be sewn is supported by each clamp means 50. In addition, since each of the clamp means 50 can move in the direction perpendicular to the length direction of the moving member 30, the material to be sewn 70 can be supported according to the shape of the end of the material to be sewn 70. .
Further, the ends of the material 70 to be sewn are clamped in a row by each clamping means 50, and sewing can be performed near the clamped piece 55A and the work receiving portion 51a. Can be formed, and the seam can be strengthened.

On the other hand, when the work such as sewing is completed and the air cylinders 44 provided at both ends of the moving member 30 are driven to rotate the lever pressing member 41 in the direction of the lever 57, the lever pressing member 41 Presses the lever 57. As a result, the lever 57 pivots downward against the elastic force of the spring 59, and the engagement between the engagement piece 60 and the ratchet 57a, which has been restricted from moving the clamp movable body 55, is released. The clamp movable body 55 is allowed to rise. That is, the state shown in FIG. 6 is obtained.

By releasing the engagement between the engagement piece 60 and the ratchet 57a, the clamp movable body 55 rotates upward by the elastic force of the spring 56, and the clamp movable body 55 rotates until it comes into contact with the lever pressing member 41, The clamp piece 55A also rises, and the space between the clamp piece 55A and the work receiving portion 51a is opened. Therefore, in this state, the end of the sutured material 70 can be removed from the needle 51d of the work receiving portion 51a.

FIG. 8 is a block diagram showing an overall configuration for controlling the automatic sewing apparatus of the present embodiment.

In FIG. 8, a control circuit 90 has a memory function composed of a microcomputer or the like and is controlled by a program. More specifically, the control circuit 90 is controlled by a program according to X-axis data and Y-axis data input from an external keyboard 95. Is performed. It should be noted that the data input by the key board 95 stores data indicating which position in the Y-axis direction is the seam 72 and which is the final data with respect to the moving distance in the X-axis direction. The control circuit 90 includes a start switch 91 for starting a control program, an air cylinder
An X-axis start position, which is a hole position of the open / close switch 92 for manually controlling 42, the X-axis movable body 36 moved by the X-axis servo motor 35, and the Y-axis movable body 16 moved by the Y-axis servo motor 15; An X-axis limiter 93 and a Y-axis limiter 94 for detecting the presence of the X-axis movable body 16 and the Y-axis movable body 36 at the Y-axis start position are input, respectively.

The output of the control circuit 90 drives the air cylinder 42 via a driver 96, and drives the X-axis servomotor 35 via a driver 97 and the Y-axis servomotor 15 via a driver 98, respectively. The circuit is configured to drive the servomotor 24 for the sewing machine via 99.

FIG. 9 is a flowchart of a main control program for controlling the automatic sewing device of this embodiment, and FIG. 10 is a flowchart of a sewing machine control program for controlling the automatic sewing device of this embodiment.

First, initialization is performed in step S0. At this time, the air cylinder 42 is driven for a predetermined time, and the clamp means 50 is set in an open state. In step S1, "0" is set in the parameter memory "n" for specifying the data storage address. X-axis movable body moved by X-axis servo motor 35 in step S2
36 and Y-axis movable body 16 moved by Y-axis servo motor 15
Is detected as the home position by the X-axis limiter 93 and the Y-axis limiter 94, and when not at the home position, the X-axis servomotor 35 and / or Y
The axis servomotor 15 is driven to wait for the home position.

If it is determined that the X-axis movable body 36 moved by the X-axis servo motor 35 and the Y-axis movable body 16 moved by the Y-axis servo motor 15 are at the home position,
In step S4, the routine stops at step S1, step S2, and step S4 to wait for the start switch 91 to be turned on.

During this time, the air cylinder 42 causes the lever pressing member 41
Is turned in a direction away from the lever 57, and the lever pressing member 41 is in a rotation stopped state of the clamp movable body 55 and the lever 57 under a substantially parallel state in which the lever pressing member 41 is in a stopped state.

At this time, the operator places the end of the material 70 to be sutured on the work receiving portion.
51a, the end of which is brought into contact with the position determining portion 51b, the end of the material 70 to be sewn is pressed in this state, and the needle 51d provided in the work receiving portion 51a is stabbed, and the necessary portion is pierced. After the temporary positioning of all the clamping means 50 is performed, the upper part of all the necessary clamping pieces 55A is pressed down with a finger, the lower end of the clamping piece 55A is cut into the material 70 to be sutured, and a predetermined pressure is applied. The engaging piece 60 and the ratchet 57a are engaged with each other, and the material 70 to be sutured is clamped by all necessary clamping means 50.

Therefore, when the start switch 91 is turned on, "n + 1" is entered in the parameter memory "n" for specifying the data storage address in step S5.

In step S6, the Y-axis data Yn is read by specifying an address with the X-axis data Xn to which the sewing needle 28 advances, and in step S7, the X-axis servo motor 35 according to the X-axis data Xn and the Y-axis data Yn is read.
Then, the X-axis movable body 36 and the Y-axis movable body 16 which are moved by the Y-axis servo motor 15 are moved. Then, the "sewing machine control routine" is called in step S8.

When the "sewing machine control routine" is called, the processing of the flowchart of FIG. 10 is started.

In step S21, the previous X-axis data Xn-1 is subtracted from the current X-axis data Xn to obtain a small moving distance ΔX in the X-axis direction. In step S22, the current Y-axis data Yn is converted to the previous Y-axis data Xn. By subtracting Yn-1, the minute movement distance ΔY in the Y-axis direction and the minute movement distance ΔX in the X-axis direction are obtained.
By, Tan ^-1 θ = calculates the (ΔY / ΔX), step S
The sewing machine servo motor 15 is driven by the
Is rotated from the reference position by θ degrees, the sewing machine 20 is provided with a rotation angle, and the moving direction of the sewing needle 28 is set to the tangential direction of the sewing direction. Then, at step S25, a known "sewing control routine" is called and executed. The "sewing control routine" means a known sewing control, and has no direct relation to the gist of the present invention. This "sewing control routine"
Then, as shown in FIG. 7, the sewing machine 20 rotates about its sewing needle 28, and the center line of the sewing machine 20 is perpendicular to the sewing line 71, that is, the traveling direction of the sewing needle 28 is When the X-axis movable body 36 moved by the X-axis servomotor 35 and the Y-axis movable body 16 moved by the Y-axis servomotor 15 are driven by predetermined two-dimensional sewing line data. The seam 72 has a uniform step width along the sewing line 71.

Further, by clamping the end of the material 70 to be sewn with each clamp means 50 arranged on the moving member 30, the material 70 to be sewn is supported by each clamp means 50. Since the moving member 30 can move in the vertical direction with respect to the length direction, the sutured material 70 can be supported in accordance with the shape of the rebound of the sutured material 70.

Then, the ends of the material 70 to be sewn are clamped in a row by each clamping means 50, and the clamp piece 55A thus clamped and the work receiving portion 5 are clamped.
Since the sewing can be performed in the vicinity of 1a, the tension of the suture can be increased, and the sewn portion can be strengthened.

Then, in step S9, it is determined whether or not the sewing of all the predetermined data has been completed, based on the existence of the data, and the routine from step S5 to step S9 is processed until the sewing of all the predetermined data is completed.

When it is determined in step S9 that the sewing of all the predetermined data has been completed, in step S10, the X-axis servomotor 35 and the Y-axis servomotor 15 are driven to return to the home position, and in step S1, the air cylinder 44 is operated. After being driven for a predetermined time, the lever pressing member 41 is rotated in the direction of the lever 57, and the lever pressing member 41 presses the lever 57. Thereby,
The lever 57 pivots downward against the elastic force of the spring 59 to release the relationship between the engaged engagement piece 60 and the ratchet 57a, and raise the clamp movable body 55. Therefore,
The opening between the clamp piece 55A and the work receiving portion 51a is opened, and the end of the material 70 to be sewn can be removed from the needle 51d of the work receiving portion 51a.

As described above, the automatic sewing apparatus according to the present embodiment uses the material to be sutured.
A clamp row in which a plurality of clamp means 50 holding the clamp 70 are continuously arranged, and each clamp means 50 of the clamp row are independently movably disposed, and the entire clamp row is moved integrally. A moving member 30, a suturing means 20 including a sewing machine 20 rotatable around the position of the sewing needle 28, and a sewing needle 28 of a suturing means including the moving member 30 and the sewing machine 20;
An X-axis ball screw 34 and an X-axis movable body 16 driven by an X-axis servo motor 35 for two-dimensionally displacing the relative position of
And a Y-axis moving means comprising a Y-axis ball screw 14 driven by a Y-axis servo motor 15 and a Y-axis movable body 16. This can be used as the automatic sewing apparatus according to the first embodiment of the present invention.

In the embodiment of the invention of this type, the relationship between the suturing means 20 including a sewing machine 20 or the like which is rotatable around the position of the sewing needle 28 and the X-axis moving means and the Y-axis moving means is determined electrically or mechanically. If the stitching change of the two-dimensional sewing line is large, the suturing means is rotatable around the position of the sewing needle. The angle can be adjusted to almost match, and embroidery sewing of a two-dimensional pattern similar to that of an embroidery sewing machine can be performed. In addition, unlike embroidery, a predetermined tension can be applied to a sewing thread. Can be sewn with cloth, foamable synthetic resin or the like.

In addition, when the change of the sewing line is slow, even if manual control is performed, a cloth as a material to be sewn, foamable synthetic resin or the like can be sewn simultaneously with formation of a two-dimensional pattern.

An X-axis ball screw driven by an X-axis servo motor 35 for two-dimensionally displacing the relative position between the moving member 30 of the present embodiment and the sewing needle 28 of the sewing means including the sewing machine 20 and the like.
X-axis moving means including a movable member 34 and an X-axis movable body 16, and Y-axis ball screws 14 and Y driven by a Y-axis servo motor 15
The Y-axis moving means composed of the movable body 16 for the axis is formed by omitting the servomotor 35 for the X-axis and the ball screw 34 for the X-axis, and the servomotor 15 for the Y-axis and the ball screw 14 for the Y-axis. The moving means can be freely moved, and the sewing control can be performed only by the feed of the suturing means.

Furthermore, even if the material to be sutured 70 is thick, the clamping means
Since sewing can be performed at locations close to the 50 clamps, the sewing needle 28
Does not break.

The automatic sewing apparatus according to the present embodiment includes a clamp row in which a plurality of clamp means 50 for clamping a material 70 to be sewn are continuously arranged, and each clamp means 50 in the clamp row is independently movable. In addition, a moving member 30 for integrally moving the entire clamp row, a sewing means 20 including a sewing machine 20 rotatable around the position of the sewing needle 28, and a sewing device including the moving member 30, the sewing machine 20 and the like. An X-axis moving means including an X-axis ball screw 34 and an X-axis movable body 16 driven by an X-axis servo motor 35 for two-dimensionally displacing the relative position of the means with the sewing needle 28, and a Y-axis servo motor 15 are provided. From the movement data of the Y-axis moving means comprising the Y-axis ball screw 14 and the Y-axis movable body 16 to be driven and the sewing line 71 for driving the X-axis moving means and the Y-axis moving means, the traveling direction of the sewing needle 28 is determined. Eyes 72
The control circuit 90 for adjusting the rotation angle θ of the suturing means around the sewing needle 28 and the servomotor 24 for the sewing machine, the driving gear 23 rotated therewith, and the driving gear 23 And a rotation angle control unit including a rotation drive unit including the rotation gear 22. This can be used as the automatic sewing apparatus according to the embodiment of the second aspect of the present invention.

According to the embodiment of the invention of this type, the rotation angle θ of the suturing means is adjusted around the sewing needle 28 from the movement data of the sewing line 71 so that the traveling direction of the sewing needle 28 is tangential to the stitch 72. This makes it possible to perform automatic sewing with a uniform seam. Moreover, at this time, even if the suturing means is rotated because the position of the sewing needle 28 of the suturing means is the center, unlike the case where the suturing means is rotated about the base of the main body of the sewing machine 20, the sewing needle is thereby rotated.
Since the position 28 is not displaced, there is no need to correct the movement data of the X-axis moving means and the Y-axis moving means. Further, even if the material to be sewn 70 has a large thickness, the sewing needle 28 can be sewn at a position close to the clamping portion of the clamping means 50, so that the sewing needle 28 does not break.

By the way, in the above embodiment, the clamp row in which a plurality of clamping means for holding the material to be sutured are continuously arranged is described as an example of a single row. However, when the present invention is implemented, a plurality of rows are required. Can also.

In addition, while the clamp members of the clamp row of the above embodiment are independently movably disposed, and the moving member for integrally moving the entire clamp row has been described as a rod-shaped member, the present invention is implemented. In this case, it may be plate-shaped.

The industrial sewing machine is used as the suturing means rotatable around the position of the sewing needle in the above embodiment. However, in the case of practicing the present invention, any means capable of suturing the material to be sewn may be used. .

Further, the X-axis moving means and the Y-axis moving means for two-dimensionally displacing the relative position between the moving member and the sewing needle of the suturing means in the above embodiment are driven by a servomotor, but using a stepping motor. Alternatively, other DC or AC or ultrasonic motor and encoder pairs may be used. Alternatively, depending on the embodiment, it is only necessary to have a driving source and to be able to freely move two-dimensionally.

Furthermore, the rotational angle of the suturing means is adjusted around the sewing needle from the movement data for driving the X-axis moving means and the Y-axis moving means in the above embodiment so that the traveling direction of the sewing needle is tangential to the stitch. The rotation angle control means obtains the data from the data of the sewing line. However, in the case of practicing the present invention, the rotation angle control means determines the distance from each clamp means in the clamp row or X
Data detected from an encoder or the like that detects the movement of the axis moving unit and / or the Y-axis moving unit may be used.

The clamp piece 55A of the clamp movable body 55 of the above embodiment is formed separately from the clamp movable body 55 and integrated therewith. However, when the present invention is carried out, the clamp movable body 55 And the clamp piece 55A may be integrally formed.
Further, the lower end of the clamp piece 55A is for preventing the increase of the contact pressure with the sutured material 70 or the movement of the sutured material 70,
A configuration in which a sawtooth shape, a wavy shape, or a needle end is provided to increase contact resistance can be adopted. Naturally, it is desirable to correspond to the opposite side in the same manner.

Further, the X-axis moving means and the Y-axis moving means for two-dimensionally displacing the relative position between the moving member 30 and the sewing needle of the suturing means move the moving member 30 side. When carrying out, the suturing means can also be moved.

[Effects of the Invention] As described above, the automatic sewing device according to the first aspect moves the entire clamp row as a unit and moves each clamp means of the clamp row independently in a direction perpendicular to the moving direction. A movable member disposed so as to be able to move, a suturing means rotatable around the position of the sewing needle, an X-axis moving means and a Y-axis moving means for two-dimensionally displacing a relative position between the moving member and the sewing needle of the suturing means And the relationship between the suturing means rotatable around the sewing needle, the X-axis moving means and the Y-axis moving means substantially coincides with the direction of the sewing line in which the advancing direction of the sewing needle of the suturing means is sewn. As described above, it is possible to electrically or mechanically determine the angle, so that even if the two-dimensional sewing line has a large change in stitching, the angle can be adjusted so that it almost matches the sewing line direction, and the two-dimensional sewing machine is similar to the embroidery sewing machine. Pattern embroidery In addition, unlike the embroidery sewing machine, it is possible to apply a predetermined tension to the sewing thread, and to simultaneously form a two-dimensional pattern and simultaneously sew cloth, foam synthetic resin, or the like as a material to be sewn. Can be stubbornly curved. Further, if the X-axis moving means and the Y-axis moving means for two-dimensionally displacing the relative position between the moving member and the sewing needle of the suturing means are movable, sewing can be performed only by the feed of the suturing means. it can. Even if the material to be sewn is thick, the sewing needle can be sewn at a location near the clamping portion of the clamping means, so that the sewing needle does not break.

According to a second aspect of the present invention, there is provided an automatic sewing apparatus, comprising: a moving member for integrally moving the entire clamp row, and independently movably disposing each clamping means of the clamp row in a direction perpendicular to the moving direction; Suturing means rotatable about the position, X-axis moving means and Y-axis moving means for two-dimensionally displacing the relative position between the moving member and the sewing needle, X-axis moving means and Y-axis moving means From the movement data driving the
A rotation angle control means for adjusting a rotation angle of the suturing means around the sewing needle so that the traveling direction of the sewing needle is tangential to the stitch; Can be adjusted so that the traveling direction is the tangential direction, so that automatic sewing can be performed in which the stitches are always uniform. In addition, at this time, even if the suturing means is rotated since the suturing means is centered on the suturing means, the position of the suturing needle is not displaced by this, so it is necessary to correct the movement data of the X-axis moving means and the Y-axis moving means. There is no. Further, even if the material to be sutured has a large thickness, the sewing needle can be sewn at a location close to the clamping portion of the clamping means, so that the sewing needle does not break.

[Brief description of the drawings]

FIG. 1 is a perspective view of the entire configuration of an automatic sewing apparatus according to one embodiment of the present invention, and FIG. 2 is a perspective view of the main part of a rotation drive section of a sewing means of the automatic sewing apparatus according to one embodiment of the present invention. FIG. 3 is a perspective view of a main part of the automatic sewing apparatus according to an embodiment of the present invention when a moving member is removed, and FIG. 4 is a clamp used in the automatic sewing apparatus according to the embodiment of the present invention. Sectional view showing the main part viewed from the side and the cutting line X-
FIG. 5 is a cross-sectional view of a main part and a cross-sectional view taken along a cutting line XX showing an opening operation state of a clamp means used in the automatic sewing apparatus according to one embodiment of the present invention. FIG. 6 is a cross-sectional view of a main part and a cross-sectional view taken along a cutting line XX showing a releasing operation state of the clamp means used in the automatic sewing device according to one embodiment of the present invention, and FIG. FIG. 8 is a plan view of an essential part showing an arrangement of clamping means and a clamped state of a material to be sewn in an automatic sewing apparatus according to an embodiment. FIG. 8 is a block diagram showing an overall configuration for controlling the automatic sewing apparatus according to an embodiment of the present invention. FIG. 9 is a flowchart of a main control program for controlling the automatic sewing apparatus according to one embodiment of the present invention, and FIG. 10 is a flowchart of a sewing machine control program for controlling the automatic sewing apparatus according to one embodiment of the present invention. In the figure, 10: table, 14: ball screw for Y axis 15: servo motor for Y axis 16: movable body for Y axis, 20: sewing machine (sewing means) 24: servo motor for sewing machine 28: sewing needle, 30: moving member 34 : X-axis ball screw 35: X-axis servo motor 36: X-axis movable body, 50: clamping means 70: material to be sewn, 71: sewing line 72: stitch, 90: control circuit In the drawings, the same reference numerals and symbols indicate the same or corresponding parts.

Continuation of the front page (56) References Japanese Utility Model Sho 63-153979 (JP, U) Japanese Patent Publication Sho 62-54033 (JP, B2) Japanese Patent Publication Sho 56-47792 (JP, B2) (58) Fields surveyed (Int .Cl. ⁶ , DB name) D05B 1/00-83/00

Claims (2)

(57) [Claims] 1. A clamp row comprising a plurality of clamp means for continuously clamping a material to be sutured, and the entire clamp row is moved integrally, and the clamp row is moved in a direction perpendicular to the moving direction. A moving member for arranging each of the clamping means independently and movably; a suturing means rotatable around a position of a sewing needle; a relative position between the moving member and the sewing needle of the suturing means in two dimensions. An automatic sewing device, comprising: an X-axis moving unit and a Y-axis moving unit for displacing. 2. A clamp array comprising a plurality of clamp means for continuously clamping a material to be sutured, and the entire clamp array is integrally moved, and the clamp array is moved in a direction perpendicular to the moving direction. A moving member for arranging each of the clamping means independently and movably; a suturing means rotatable around a position of a sewing needle; a relative position between the moving member and the sewing needle of the suturing means in two dimensions. X-axis moving means and Y-axis moving means to be displaced, and from the movement data for driving the X-axis moving means and Y-axis moving means, suturing around the sewing needle so that the traveling direction of the sewing needle is tangential to the stitch. And a rotation angle control means for adjusting a rotation angle of the means.