JP6894232B2 - Sewing transfer device - Google Patents

Description

The present invention relates to a sewn object transporting device for transporting a sewn object to be sewn.

Conventionally, a sewn object transporting device has been used in which a plurality of sewn objects to be sewn are stocked in a laminated state, and the uppermost sewn object is picked up and transported to a predetermined target position.
This sewn object conveying device includes a gripping member and a claw member in order to pick up the highest-level sewn object from the laminated sewn objects.
Then, the claw member can be moved in contact with and detached from the gripping member by an actuator, and when the claw member approaches, the uppermost sewn object is gripped by the gripping member and the claw member and taken up (for example, Patent Document 1). reference).

Japanese Unexamined Patent Publication No. 59-172341

In the above-mentioned sewn object transporting device, since the sewn object gripped by the gripping member and the claw member is transported in a suspended state, the sewn object is released and placed on the mounting surface of the transport destination. In this case, the end part on the front side of the gripping position of the sewn object is bent backward, or the part on the rear side of the gripping position of the sewn object is fluttered and rolled up during transportation. There was a case where it became a state.
In this way, if the front end portion and the rear end portion of the sewn object are in a disordered state, there is a possibility that the next processing cannot be performed at the transport destination, which causes work interruption.

An object of the present invention is to keep the sewn object in good condition after transportation.

The invention according to claim 1 is in a sewn product conveying device.
A flat mounting part that can stack multiple sewn items,
A gripping mechanism for gripping the sewn object located at the highest position on the above-mentioned resting portion,
A transport mechanism for transporting the sewn object gripped by the grip mechanism, and
It is provided with a flat work table on which the sewn object conveyed by the transfer mechanism is placed.
The gripping mechanism includes first and second gripping members that grip the sewn object, and an elevating mechanism that raises and lowers the first and second gripping members.
A smoothing mechanism is provided at the end of the workbench on the downstream side in the transport direction of the sewn product by the transport mechanism so that the end portion of the sewn product on the downstream side in the transport direction is along the upper surface of the workbench. Ori,
The gripping mechanism grips the position of the sewn object from the end on the downstream side in the transport direction by the transport mechanism, and transports the sewn product in a state where the end on the downstream side in the transport direction is hung downward.
The smoothing mechanism is
An extension plate rotatably connected to an end portion of the workbench on the downstream side in the transport direction of the sewn object by the transport mechanism,
The upper surface of the extension plate is lined up on the same plane as the upper surface of the work table, and the end portion of the extension plate on the downstream side in the transport direction of the sewn object by the transport mechanism is hung downward. It is characterized by having a drive source for switching.

The invention according to claim 2 is the sewing object conveying device according to claim 1.
A feature of the workbench is that a head portion is provided at an end portion of the workbench on the upstream side in the transport direction of the sewn product by the transport mechanism so that the end portion of the sewn product on the upstream side in the transport direction is slidably contacted. To do.

The present invention is provided with a smoothing mechanism 60 at the end of the workbench on the downstream side in the transport direction so that the end of the workbench on the downstream side in the transport direction is along the upper surface of the workbench 25. It is possible to prevent the part from sneaking in and bending and to place it flat, and the end of the fabric C after transportation can be in a good condition, and the sewn product after transportation is in a good condition. It becomes possible to do.

It is a perspective view of the dough transfer apparatus which is an embodiment of an invention. It is a perspective view of the cloth transporting apparatus excluding a frame. It is a perspective view which looked at the cloth transporting apparatus excluding a frame from the direction different from FIG. It is a perspective view around the gripping mechanism. It is a perspective view of the gripping mechanism. It is a perspective view which looked at the gripping mechanism from the direction different from FIG. 7 (A) is a side view of the gripping mechanism, and FIG. 7 (A) shows a state before gripping, and FIG. 7 (B) shows a state after gripping. It is a side view which shows the positional relationship of the structure around the gripping mechanism. 9 (A) is a side view of the gripping mechanism, FIG. 9 (A) shows a state after the gripping member is lowered, and FIG. 9 (C) is a state after the gripping member is raised. Is shown. 10 (A) is a side view of the gripping mechanism, and FIG. 10 (A) shows a state after the gripping member is lifted, and FIG. 10 (B) shows a state in which a cover member is inserted under the gripping member. 11 (A) is a side view of the gripping mechanism, showing a state after gripping the dough and before transporting, FIG. 11 (B) shows a state during transporting, and FIG. 11 (C) shows the release of the dough. Indicates the state. It is a block diagram which shows the control system of the dough transfer apparatus. It is a flowchart which shows the dough transfer operation of the dough transfer apparatus.

[Outline of Embodiment of the present invention]
Hereinafter, the fabric transfer device 10 as the sewn object transfer device according to the embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing the overall configuration of the dough transport device 10.
The fabric transporting device 10 stocks a plurality of body fabrics (hereinafter referred to as fabric C), which are objects to be sewn such as a sewing machine, in a laminated state, and picks up the fabrics C one by one to determine a predetermined value. It is for transporting to a work table where work is performed.
Here, as a predetermined work performed on the work table, a case where a robot arm (not shown) that supplies the cloth C to the sewing machine receives the cloth C is illustrated, but the content of the work performed on the work table is illustrated. There is no particular limitation on.

[Dough transfer device]
The dough transfer device 10 includes a frame 11 that supports the whole, a mounting plate 20 as a flat mounting portion on which a plurality of fabrics C can be laminated, and a fabric C located at the highest position on the mounting plate 20. A gripping mechanism 70 for gripping the fabric C, a transport mechanism 40 for transporting the dough C gripped by the gripping mechanism 70, a flat work table 25 on which the dough C transported by the transport mechanism 40 is placed, and a mounting plate 20. A pressing mechanism 30 (see FIG. 8) that presses the end portion of the fabric C above the fabric C from above, and a cover mechanism 50 that inserts a cover member 51 under the fabric C that the gripping mechanism 70 grips and raises. At the end of the workbench 25 on the downstream side in the transport direction of the dough C, a smoothing mechanism 60 for aligning the end on the downstream side of the dough C in the transport direction along the upper surface of the workbench 25, and a control device for controlling the operation of each of the above configurations. It is equipped with 100 (see FIG. 12).

In the following description, the horizontal and parallel directions to the transport direction of the dough C are defined as the Y-axis direction, the horizontal and orthogonal directions to the Y-axis direction are defined as the X-axis direction, and the vertical vertical direction is defined as the Z-axis direction.
Further, the downstream side in the transport direction of the dough C is "front", the upstream side in the transport direction is "rear", the left side when viewed from the front is "left", and the right side when viewed from the front is "right".

[flame]
The frame 11 is formed by assembling a pillar member having a rectangular cross section into a rectangular parallelepiped shape. Further, the upper portion of the frame 11 is long in the Y-axis direction, and the workbench 25 is fixedly supported in a horizontal state on the front side, and the mounting plate 20 is detachably supported in a horizontal state on the rear side. There is.
Further, the frame 11 is not provided with a pillar member along the X-axis direction in the rear half, and is open upward, rearward, and downward.
The mounting plate 20 is placed on a trolley (not shown) in a state in which a plurality of fabrics C are laminated in advance, and is transported to the fabric transport device 10. As described above, the frame 11 is open above, behind, and below for the latter half, so that the mounting plate 20 is carried inward from the rear end of the frame 11 together with the dolly, and the mounting plate 20 is framed. The structure is such that only the dolly can be carried out from the rear end of the frame 11 by setting it on the 11.

[Mounting board]
2 and 3 are perspective views of each configuration obtained by removing only the frame 11 from the dough transport device 10 from different line of sight.
The mounting plate 20 is composed of a rectangular flat plate, and is supported from below by a support mechanism 21 provided inside the rear portion of the frame 11 with the flat plate surface oriented horizontally.
The support mechanism 21 includes a mounting frame 211 that mounts and supports the mounting plate 20 from below, a support guide 212 that supports the mounting frame 211 so as to be vertically movable, and a vertical movement of the mounting frame 211 and the mounting plate 20. It is provided with a vertical movement motor 213 which is a drive source of the above, and a ball screw 214 which converts the torque of the vertical movement motor 213 into a vertical movement operation.

The mounting frame 211 is formed in a gate shape when viewed from above, and is supported by two support guides 212 along the vertical direction with its opening facing rearward. As a result, it is possible to avoid interference with the trolley when the mounting plate 20 is mounted on the trolley and carried in from the rear.
The mounting frame 211 is provided with four columns 215 having an installation plate at the upper end that contacts the lower surface of the mounting plate 20, and supports the outer edge of the lower surface of the mounting plate 20 from below at four points. be able to. When the mounting plate 20 is carried in, the mounting frame 211 is in a lowered state so that the upper ends of the four columns 215 are lower than the mounting plate 20, and when the mounting plate 20 is carried in by a trolley, the mounting plate 20 is mounted. The frame 211 is raised to support the mounting plate 20 in a state of being lifted upward, and only the trolley can be carried out of the frame 11.

When the uppermost fabric C of the plurality of laminated fabrics C comes into contact with the pressing member 31 of the pressing mechanism 30 described later from below during the ascending operation of the mounting plate 20, the pressing member 31 is equipped with the pressing member 31. The normally closed micro switch 33 (see FIG. 12) detects contact and opens, and the vertical movement motor 213 is controlled to stop driving.
The above control is executed not only when the mounting plate 20 is set, but also when the uppermost fabric C is picked up by the gripping mechanism 70. As a result, the uppermost fabric C on the mounting plate 20 can always maintain a constant height.

[Transport mechanism]
FIG. 4 is an enlarged perspective view of the gripping mechanism 70 and the transport mechanism 40.
As shown in FIGS. 3 and 4, the transport mechanism 40 includes a prismatic support rod 41 along the X-axis direction that supports the three gripping mechanisms 70, and a pair of left and right support rods 41 that support both left and right ends. A slide rail 43 that slidably supports the support rod 41 and the pair of side plates 42 along the Y-axis direction via a side plate 42 and a slide block (not shown) provided at the lower end of each side plate 42, and a support rod. It includes a transport motor 44 (see FIG. 12) that serves as a movement drive source for the 41 and the pair of side plates 42 in the Y-axis direction, and a timing belt 45 that applies a moving force to the side plates 42 to the transport motor 44.

The pair of side plates 42 are connected by a long connecting plate 46 along the X-axis direction, and the support rod 41, the pair of side plates 42, and the connecting plate 46 form a turret-shaped movable body 47.
Then, on the rear surface side of the support rod 41, three gripping mechanisms 70 are fixedly supported side by side in the X-axis direction in a hanging state.

Further, timing belts 45 stretched along the Y-axis direction are connected to the lower ends of the pair of side plates 42, and the timing belt 45 is conveyed by a belt pulley to which torque is applied from the transfer motor 44. The movable body 47 moves along the Y-axis direction.
A sensor 48 that determines the origin position of the gripping mechanism 70 is provided on the moving path of the movable body 47. The gripping position where the movable body 47 grips the dough C on the mounting plate 20 and the release position where the dough C is released on the workbench 25 are determined from the drive amount of the transport motor 44 from the origin position. The movable body 47 can be stopped at each position.

[Gripping mechanism]
As described above, three gripping mechanisms 70 are provided in the transport mechanism 40, but since these have the same configuration, only one of them will be described.
FIG. 5 is a perspective view of the gripping mechanism 70 viewed from diagonally above, and FIG. 6 is a perspective view of the gripping mechanism 70 viewed from diagonally below.
As shown in the figure, the gripping mechanism 70 includes first and second gripping members 71 and 72 for gripping the dough, and a gripping air cylinder that is a driving source for gripping operations of the first and second gripping members 71 and 72. 73, an elevating mechanism 74 for raising and lowering the first and second gripping members 71 and 72, an adjusting unit 75 for adjusting the opening width of the first and second gripping members 71 and 72 before the start of gripping, and a transport mechanism. The support rod 41 of 40 is provided with first and second gripping members 71 and 72, and a mounting portion 76 for attaching the elevating mechanism 74.

The first gripping member 71 is suspendedly supported by the lower end of the first support plate 741 of the elevating mechanism 74, which will be described later, together with the gripping air cylinder 73, and the second gripping member 72 is the gripping air cylinder 73. It is supported by the piston.
The second gripping member 72 is arranged on the front side with respect to the first gripping member 71, and the front end surface 711 of the first gripping member 71 and the rear end surface 721 of the second gripping member 72 are in close contact with each other. There is.
Further, the first gripping member 71 and the second gripping member 72 have smooth bottom surfaces 712 and 722 and are supported at the same height. When gripping the dough C, the bottom surfaces 712 and 722 of the first and second gripping members 71 and 72 are brought into contact with the upper surface of the dough C, and the first and second gripping members 71 and 72 are relative to each other. A part of the dough C is sandwiched between the front end surface 711 and the rear end surface 721.

Therefore, in order to grip the fabric C well, friction bodies 713 and 723 are provided on the bottom surfaces 712 and 722 of the first and second gripping members 71 and 72, respectively. The friction bodies 713 and 723 may be in the form of a sheet having a friction coefficient larger than that of the smooth bottom surface 712 and 722, and examples thereof include fibers such as rubber sheets, sandpaper and cloth. Further, the bottom surfaces 712 and 722 of the first and second gripping members 71 and 72 may be provided with a friction structure for increasing the friction coefficient, for example, knurling or a serrated groove.

The gripping air cylinder 73 is supported by the first support plate 741 with the piston facing forward. When the fabric C is not gripped, the piston is projected forward, and when gripping, the piston is a cylinder. It is said to be in a state of retreating to the side.
As a result, the second gripping member 72 recedes from the state of being separated forward from the first gripping member 71, and the front end surface 711 of the first gripping member 71 and the rear end surface 721 of the second gripping member 72. Can be switched to the state of pressure contact with.

The adjusting portion 75 abuts on the front end surface of the second gripping member 72 and serves as a stopper for the second gripping member 72 in a state of being pushed forward by the piston of the gripping air cylinder 73 in the non-grasping state. The opening width of the first and second gripping members 71 and 72 before the start of gripping is defined.
Specifically, the adjusting unit 75 uses a micrometer that does not have a frame and anvil. The adjusting portion 75 is supported by the first support plate 741 with the spindle 751 movable back and forth facing rearward in an arrangement in front of the second gripping member 72.
Then, the tip of the spindle facing rearward abuts on the front end surface of the second gripping member 72, so that the stop position of the second gripping member 72 pushed forward by the gripping air cylinder 73 in a non-grasping state. The opening width of the first and second gripping members 71 and 72 before the start of gripping is specified.
Since the adjusting unit 75 is composed of a micrometer, the opening width of the first and second gripping members before the start of gripping can be arbitrarily adjusted in units of 0.01 [mm] by the spindle.

7 (A) and 7 (B) are operation explanatory views of the gripping operations of the first and second gripping members 71 and 72 as viewed from the right.
The first gripping member 71 and the second gripping member 72 are provided with friction bodies 713 and 723 on the bottom surfaces 712 and 722, respectively, and the first and second gripping members 71 and 72 are before the start of gripping. An adjusting unit 75 for adjusting the opening width of the above is provided.
If the opening width of the first and second gripping members 71 and 72 before the start of gripping is too wide with respect to the thickness of the dough C, two or more doughs C are gripped at the same time during gripping, resulting in double feeding. It will occur.
On the other hand, if the opening widths of the first and second gripping members 71 and 72 before the start of gripping are narrower than the thickness of the fabric C, the bottom surfaces 712 and 722 slip during gripping and a gripping error occurs. It will be easier to do.
Therefore, as shown in FIGS. 7A and 7B, friction bodies 713 and 723 are provided on the bottom surfaces 712 and 722 of the first and second gripping members 71 and 72 to adjust the opening width before the start of gripping. By making it adjustable by the portion 75, it is possible to more reliably grip one piece of cloth C with a narrow opening width suitable for gripping one piece of cloth C.

The elevating mechanism 74 includes the above-mentioned first support plate 741 and an elevating air cylinder 742 that elevates the first and second gripping members 71 and 72 obliquely upward and backward via the first support plate 741. There is.
FIG. 8 is an explanatory view seen from the right showing the relationship between the first and second gripping members 71 and 72 and the surrounding configuration.
When the first and second gripping members 71 and 72 are lowered diagonally downward by the elevating air cylinder 742, their respective bottom surfaces 712 and 722 come into contact with the uppermost fabric C on the upper surface of the mounting plate 20. It becomes the gripping height, and when it is raised diagonally upward by the elevating air cylinder 742, it becomes a transport height that can be moved forward without interfering with each surrounding configuration.
Further, in the elevating air cylinder 742, the moving direction of the piston is directed to an inclination angle of about 45 to 60 ° diagonally upward rearward with respect to the rear in the Y-axis direction. This is an angle suitable for satisfactorily peeling only the uppermost fabric C from the lower fabric C in relation to the pressing member 31 of the pressing mechanism 30 described later.

The mounting portion 76 includes a second support plate 761 that fixedly supports the lifting air cylinder 742 of the lifting mechanism 74 in the posture described above, a mounting rail 762 that is fixedly mounted on the rear surface of the support rod 41 of the transport mechanism 40, and a second. It is provided with a mounting block 763 that mounts the support plate 761 on the mounting rail 762.
The second support plate 761 supports the elevating air cylinder 742 on the flat plate surface at the above-mentioned inclination angle, and the mounting block 763 is fixed to the front end portion thereof.
The mounting rail 762 is fixed to the support rod 41 along the X-axis direction, and the mounting block 763 is mounted on the mounting rail 762 so as to be adjustable in position along the longitudinal direction thereof. That is, the positions of the first and second gripping members 71 and 72 can be adjusted along the X-axis direction via the mounting block 763. That is, when adjusting the position, an index plunger assembled to the support plate 761 is used, and positioning holes formed in the mounting plate of the mounting rail 762 in the same direction as the longitudinal direction of the rail are used arbitrarily. Positioning is possible.
The mounting rail 762 is shared by the three gripping mechanisms 70.

[Holding mechanism]
FIG. 9 is a side view showing a gripping operation of the fabric C using the pressing mechanism 30, and the gripping operation proceeds in the order of FIGS. 9A to 9C.
As shown in FIGS. 8 and 9, the pressing mechanism 30 can move the pressing member 31 that presses the front end portion of the fabric C laminated on the upper surface of the mounting plate 20 from above and the pressing member 31 up and down by the frame 11. A support structure (not shown), a micro switch 33 (see FIG. 12) as a detection unit for detecting the push-up of the pressing member 31 by the cloth C, and a pressing position of the pressing member 31 on the upper surface of the mounting plate 20 are provided. It is provided with a friction body 32.

The pressing member 31 is a strip-shaped flat plate that is horizontal and long in the X-axis direction, and its front end portion and rear end portion are bent vertically downward at a crease along the X-axis direction. Further, the pressing member 31 has a width similar to the width of the mounting plate 20 in the X-axis direction.
A protective material 311 for protecting the fabric C such as a molding material is attached to the entire width of the lower end portion of the portion bent vertically downward of the rear end portion of the pressing member 31, and has the protective material 311. The lower end portion presses the front end portion of the upper surface of the uppermost fabric C over the entire width in the X-axis direction by the weight of the pressing member 31.
The support structure of the pressing member 31 supports the pressing member 31 so as to be able to move up and down while keeping the pressing member 31 horizontal.

The micro switch 33 outputs an OFF signal when the pressing member 31 reaches a predetermined height or higher.
The friction body 32 may be a flat surface having a friction coefficient larger than that of the upper surface of the smooth mounting plate 20, and examples thereof include fibers such as rubber sheets, sandpaper, and cloth. Further, the upper surface of the mounting plate 20 itself may be provided with a friction structure for increasing the friction coefficient, for example, knurling or a serrated groove.
The significance of the friction body 32 will be described later together with the significance of the pressing member 31.

As shown in FIG. 9, the first and second gripping members 71 and 72 grip the uppermost fabric C in a state where the pressing member 31 is applied from above the front end portion of the laminated fabric C. Then, the elevating mechanism 74 ascends upward and in a direction (rearward) away from the pressing member 31.
In that case, the front end portion of the second fabric C can maintain a fixed position by friction with the third fabric C against the sliding friction with the uppermost fabric C, and the uppermost fabric C can be maintained in a fixed position. The dough C and the second dough C are gripped together, and the second dough C is dragged by the sliding friction with the top dough C and is in a disordered state such as slack, wrinkles, and rolling up. It is possible to suppress or reduce this.
In particular, when the elevating mechanism 74 raises the first and second gripping members 71 and 72 at an inclination angle of 45 to 60 °, the above effect of the pressing member 31 can be satisfactorily obtained.

Further, since the friction body 32 is provided at the front end portion of the upper surface of the mounting plate 20, the uppermost fabric C is gripped when the remaining two fabrics C mounted on the mounting plate 20 are left. The second piece of dough C cannot obtain the frictional force to hold it in place from the underlying dough C, but instead rubs the same or more frictional force. Since it can be obtained from the body 32, the second fabric C (the last fabric C) is also gripped together with the top fabric C, and is in a disordered state due to the top fabric C. It is possible to suppress or reduce this.

[Cover mechanism]
10 (A) and 10 (B) are operation explanatory views of the cover mechanism 50.
As shown in FIGS. 2, 4 and 10, the cover mechanism 50 is a cover member inserted under the uppermost cloth C gripped and raised by the first and second gripping members 71 and 72. 51, a drive rod 52 along the X-axis direction that holds the rear end of the cover member 51, two slide blocks 53 that individually support the left and right ends of the drive rod 52, and each slide block 53 on the Y axis. It includes two slide rails 54 that slidably support along the direction, and a cover motor 56 (see FIG. 12) as a drive source that reciprocates the drive rod 52 along the slide rail 54.

The drive rod 52 is slightly longer than the width of the mounting plate 20 in the X-axis direction, and holds one end (rear end) of the cover member 51 in the longitudinal direction.
Then, as shown in FIG. 8, the drive rod 52 is formed by a pair of slide blocks 53 and a pair of slide rails 54, and the bottom surfaces of the first and second gripping members 71 and 72 when ascending from the upper surface of the mounting plate 20. Maintaining a height between 712 and 722, from a position slightly forward of the front end of the mounting plate 20 (front position) to the position of the rear end of the mounting plate 20 (rear position). It is supported so that it can move back and forth within the range.
The reciprocating operation is applied to the drive rod 52 via a belt mechanism (not shown) using the cover motor 56 as a drive source.

The cover member 51 is a flexible rectangular sheet material, and one end in the longitudinal direction thereof is supported by a drive rod 52. Then, the cover member 51 faces forward from the drive rod 52 at the front position, is curved by the support roller 55 (see FIG. 10) at a position in front of the rear end of the workbench 25, and faces downward, and the cover member 51 The other end of 51 is in a state of hanging downward.
The cover member 51 is longer than the moving length of the movable range in the front-rear direction of the drive rod 52, and in a state where the drive rod 52 has moved to the rear position, the cover member 51 is stretched horizontally over the entire length of the mounting plate 20. The mounting plate 20 can be covered.

Therefore, as shown in FIG. 10 (A), in a state where the first and second gripping members 71 and 72 grip the uppermost fabric C and rise, as shown in FIG. 10 (B), the uppermost portion. A cover member 51 can be interposed between the cloth C of the cloth C and the second and subsequent cloths C remaining on the mounting plate 20, and when the top-level cloth C is subsequently transported to the workbench 25. , It is possible to prevent sliding contact with the second and subsequent fabrics C, and it is possible to suppress and reduce the disorder of the second and subsequent fabrics C due to the sliding contact.

Further, in the cover motor, when the first and second gripping members 71 and 72 grip the uppermost fabric C and rise by the control device, the drive rod 52 is quickly moved from the front position to the rear position. The drive rod 52 is moved from the rear position to the front position in synchronization with the start of the forward movement of each gripping mechanism 70 by the transport mechanism 40.
As a result, when the gripping mechanism 70 moves forward, the fabric C moves forward together with the cover member 51 to suppress sliding between the fabrics, so that the disturbance of the fabric C due to sliding can be reduced. .. Further, since the cover member 51 is quickly retracted from above the laminated fabric C, the next gripping operation can be performed quickly.
When the drive rod 52 is moved from the rear position to the front position, the cover member 51 returns to the suspended state again via the support roller 55.

[Work table and smoothing mechanism]
11 (A) to 11 (C) are operation explanatory views showing a transport operation when the dough C is transported to the work table 25.
As shown in FIGS. 1 to 3 and 11, the workbench 25 is composed of a rectangular flat plate, and is fixedly supported on the front upper portion of the frame 11 with the flat plate surface oriented horizontally. The height of the upper surface of the work table 25 is the same as the height at which the support mechanism 21 of the mounting plate 20 keeps the uppermost fabric C on the mounting plate 20 constant.

An opening 252 as a drop portion is formed on the rear side of the rear end portion 251 of the work table 25. To be precise, this opening 252 is a gap between the rear end portion 251 of the work table 25 and the portion where the cover member 51 of the cover mechanism 50 is curved downward by the support roller 55.
As shown in FIGS. 11A to 11B, when the dough C is transported from the mounting plate 20 to the workbench 25, the rear end of the dough C is air when the transport speed is high or the like. It may be disturbed by resistance and may be rolled up or bent. In that case, the rear end portion of the fabric C is passed over the opening 252, temporarily hung from the rear end portion 251 of the work table 25, and slid at the corner of the rear end portion 251 to obtain the fabric C. It is possible to return from a disordered rear end to a flat and normal state.
It is desirable that the corner portion where the rear end portion 251 of the workbench 25 slides has an arcuate cross section as shown in FIG. 11B.

As shown in FIGS. 1 and 11, the smoothing mechanism 60 is an extension plate 61 rotatably connected to the front end of the workbench 25 around the X axis, and a drive source for rotating the extension plate 61. It is equipped with a rotating air cylinder 62 (see FIG. 12).

The extension plate 61 is a flat plate elongated in the X-axis direction, and the length in the X-axis direction is substantially equal to the width in the X-axis direction of the workbench 25. The rear end of the extension plate 61 is rotatably connected to the work table 25 by a plurality of hinges.
When the extension plate 61 is turned horizontally by rotation, its upper surface becomes flush with the upper surface of the work table 25 (horizontal state), and the front end portion can be rotated downward from that state (hanging state). To do).
The rotating air cylinder 62 can rotate the extension plate 61 to switch between the horizontal state and the hanging state.

As shown in FIGS. 11B to 11C, the dough C is conveyed by being gripped by the first and second gripping members 71 and 72 at positions from the front end portion thereof, but the gripping position of the dough C is conveyed. The portion on the front side is in a state of hanging downward during transportation. Therefore, when the cloth C is released by transporting the cloth to the target position and releasing the gripping states of the first and second gripping members 71 and 72, the portion of the cloth C in front of the gripping position of the hanging cloth C becomes the cloth C. It sneaks into the lower side or bends.
Therefore, when transporting the dough C, the extension plate 61 is set in a hanging state in advance, and the dough C is held from the gripped state at a position where the gripping position of the dough C is in front of the front end portion of the work table 25, preferably near the front end portion. release.
As a result, the portion on the front side of the hanging dough C from the gripping position is in a state along the extension plate 61 in the hanging state as shown in FIG. 11 (C). In this state, by controlling the rotating air cylinder 62 so that the extension plate 61 rotates from the hanging state to the horizontal state, the extension plate 61 is placed flat without slipping or bending in the front end portion of the fabric C. Can be.

[Dough transfer device: control system]
As shown in FIG. 12, the control device 100 of the dough transport device 10 has
The vertical movement motor 213 of the support mechanism 21, the transfer motor 44 of the transfer mechanism 40, and the cover motor 56 of the cover mechanism 50 are connected via drive circuits 213a, 44a, and 56a, respectively.
Further, the control device 100 includes an electromagnetic valve 62a that operates the rotating air cylinder 62 of the smoothing mechanism 60, an electromagnetic valve 73a that operates the gripping air cylinder 73 of the gripping mechanism 70, and an elevating air cylinder 742 of the elevating mechanism 74. The solenoid valve 742a to be operated is connected via drive circuits 62b, 73b, 742b, respectively.
Although three gripping mechanisms 70 are provided, only one of the gripping air cylinder 73 and the elevating air cylinder 742 is shown in FIG. 12, and the rest are omitted. On the other hand, there is only one solenoid valve 73a and its drive circuit 73b that operate the three gripping air cylinders 73, and the three air cylinders are operated at the same time in common.
Further, there is only one solenoid valve 742a and its drive circuit 742b that operate the elevating air cylinder 742, and three air cylinders are operated at the same time in common.

Further, the microswitch 33 of the pressing mechanism 30 and the sensor 48 of the transport mechanism 40 are connected to the control device 100 via the interfaces 33a and 48a, respectively.
Then, the control device 100 includes a CPU 101 that performs predetermined control on each of the motors 213, 44, 56 and each air cylinder 62, 73, 742, and a memory in which a control program and setting data for executing the control are written. It is equipped with 102.

[Operation control of fabric transfer device]
The transfer operation of the dough transfer device 10 will be described with reference to the flowchart of FIG. 13 based on the operation control executed by the control device 100.
First, when the mounting plate 20 on which the plurality of fabrics C are stacked by the trolley is carried into the rear part of the frame 11, the CPU 101 of the control device 100 controls the vertical movement motor 213 to mount the fabrics C. The plate 20 is raised (step S1).
Then, when the mounting plate 20 reaches a certain height, the micro switch 33 provided on the pressing member 31 is turned off, the CPU 101 stops the vertical movement motor 213, and the uppermost cloth C is kept constant. Maintain at the target height (step S3).

Next, the CPU 101 controls the solenoid valve 742a of the elevating air cylinder 742 to lower the first and second gripping members 71 and 72 that have been waiting above the gripping position (step S5), and the gripping air. The solenoid valve 73a of the cylinder 73 is controlled to grip the uppermost fabric C (step S7).
Further, the CPU 101 controls the solenoid valve 742a of the elevating air cylinder 742 to raise the first and second gripping members 71 and 72 (step S9), and then controls the cover motor 56 to control the cover mechanism. The drive rod 52 of 50 is moved from the front position to the rear position (step S11). As a result, the cover member 51 is inserted between the uppermost fabric C picked up above and the remaining second and subsequent fabrics C.
Immediately after the uppermost fabric C is picked up, the second fabric C rises and is adjusted to the highest height.

Then, the CPU 101 controls the transport motor 44 to start the forward movement of the first and second gripping members 71 and 72 (step S13), and at the same time, controls the cover motor 56 to push the drive rod 52. It is moved from the rear position to the front position (step S15). As a result, the cover member 51 is conveyed forward so as to follow the conveyed fabric C, and is returned to the retracted state (hanging state).

Then, when the arrival of the stop position is detected by the drive amount of the transfer motor 44 from the origin position indicated by the sensor 48, the CPU 101 controls the transfer motor 44 to control the first and second gripping members 71 and 72. The forward movement is stopped (step S17). At this time, the rear end portion of the fabric C transported immediately before the stop falls into the opening 252 behind the rear end portion of the work table 25, causing sliding at the corner portion of the rear end portion 251 of the work table 25. , The disorder of the rear end portion of the fabric C is corrected.

Next, the CPU 101 controls the solenoid valve 73a of the gripping air cylinder 73 to release the gripping state of the fabric C (step S19). As a result, the dough C is placed on the work table 25, and the front end portion of the dough C is in a hanging state following the extension plate 61 in the hanging state.
Further, the CPU 101 controls the solenoid valve 62a of the rotating air cylinder 62 to rotate the extension plate 61 in a horizontal state (step S21). As a result, the front end portion of the fabric C is also horizontal, and the fabric C is straightened to a horizontal and flat state as a whole.
The first and second gripping members 71 and 72 are returned to the gripping position of the dough C immediately after the dough C is released.

As a result, the control of the transport operation of the dough C is completed.
The dough C placed on the work table 25 shifts to the work of the next step. That is, the fabric C is held at the tip of the robot arm and supplied to the sewing machine to perform predetermined sewing.

[Effect of Embodiment]
In the dough transfer device 10, friction bodies 713 and 723 are provided on the bottom surfaces 712 and 722 of the first and second gripping members 71 and 72 of the gripping mechanism 70, and the gripping mechanism 70 has the first and second gripping mechanisms 70. It has an adjusting portion 75 for adjusting the opening width of the gripping members 71 and 72 before the start of gripping.
Therefore, it is possible to more reliably grip one piece of cloth C with a narrow opening width suitable for gripping one piece of cloth C.
Further, even when the thickness of the cloth C to be gripped changes, the opening width before the start of gripping may be adjusted by the adjusting portion 75, eliminating the complicated replacement work of the first and second gripping members 71 and 72. It becomes possible.

Further, since the dough transport device 10 includes a pressing mechanism 30 that presses the front end portion of the dough C on the mounting plate 20 from above, when the uppermost dough C is picked up, the second dough C is used. The front end can be maintained in place by friction with the third fabric C, and the top fabric C and the second fabric C can be gripped together, and the second fabric C can be held together. It is possible to prevent or reduce C from being dragged by sliding friction with the uppermost fabric C and becoming a disordered state such as slack, wrinkles, and rolling up.

Further, since the friction body 32 is provided at the pressing position by the pressing mechanism 30 on the upper surface of the mounting plate 20, the top-ranked fabric is in a state where the fabric C mounted on the mounting plate 20 remains two sheets. Even when C is gripped and raised, the second piece of cloth C can obtain a frictional force for holding the cloth C in a fixed position by the friction body 32, and prevents the cloth C from being disturbed. It is possible to reduce it.

Further, since the fabric transfer device 10 is provided with a cover mechanism 50 that inserts the cover member 51 under the sewn object that is gripped and raised by the first and second gripping members, the fabric transfer device 10 is the highest-level fabric. When the C is transported to the work table 25, it is possible to prevent the second and subsequent fabrics from sliding with each other, and it is possible to suppress and reduce the disturbance of the second and subsequent fabrics C due to the sliding contact. Is.

Further, in the cover mechanism 50, the cover member 51 is extended rearward in the direction opposite to the conveying direction of the dough C by the conveying mechanism 40, and the first and second gripping members 71 and 72 grip and raise the dough. It is inserted under the C, and the cover member 51 is controlled to be returned together with the transport operation of the fabric C by the transport mechanism 40.
Therefore, when the fabric C is conveyed, the cover member 51 and the fabric C move forward together with each other to suppress sliding between the fabrics C, so that the disturbance of the fabric C due to sliding can be reduced. Further, since the cover member 51 is quickly retracted from above the laminated fabric C, the next gripping operation can be performed quickly.

Further, since the dough transport device 10 is provided with a smoothing mechanism 60 at the front end portion of the work table 25 so that the front end portion of the dough C is aligned with the upper surface of the work table 25, the front end portion of the dough C can be sunk or bent. It can be avoided and placed in a flat state, and the front end portion of the dough C after transportation can be in a good state.

Further, since the dough transport device 10 is provided with an opening 252 at the rear end portion 251 of the work table 25 for sliding the rear end portion of the dough C, the rear end portion of the dough C to be transported is provided with the work table 25. By sliding at the corner of the rear end portion 251 it is possible to return the rear end portion of the fabric C from a disordered state to a flat normal state, and the rear end portion of the fabric C after transportation is in a good state. It becomes possible to do.

[Other]
In the dough transport device 10, the above-described pressing member 31 of the pressing mechanism 30 presses the front end portion of the dough C, but the pressing mechanism 30 may have a configuration of pressing the rear end portion of the dough C.
In that case, it is desirable that each gripping mechanism 70 has a configuration in which the first and second gripping members 71 and 72 are raised obliquely forward and upward.

Further, the opening 252 provided at the rear of the work table 25 may be a structure having a corner portion where the rear end portion of the fabric C is in sliding contact due to the drop structure, and is not limited to the opening.

10 Fabric transfer device 11 Frame 20 Mounting plate (mounting part)
21 Support mechanism 25 Worktable 30 Pressing mechanism 31 Pressing member 32 Friction body 33 Microswitch 40 Conveying mechanism 50 Cover mechanism 51 Cover member 60 Smoothing mechanism 61 Extension plate 70 Gripping mechanism 71 First gripping member 72 Second gripping member 73 Gripping Air cylinder 74 Lifting mechanism 75 Adjustment unit 100 Control device 101 CPU
251 Rear end 252 opening (head)
712,722 Bottom surface 713,723 Friction body C fabric (sewing)

Claims (2)

A flat mounting part that can stack multiple sewn items,
A gripping mechanism for gripping the sewn object located at the highest position on the above-mentioned resting portion,
A transport mechanism for transporting the sewn object gripped by the grip mechanism, and
It is provided with a flat work table on which the sewn object conveyed by the transfer mechanism is placed.
The gripping mechanism includes first and second gripping members that grip the sewn object, and an elevating mechanism that raises and lowers the first and second gripping members.
A smoothing mechanism is provided at the end of the workbench on the downstream side in the transport direction of the sewn product by the transport mechanism so that the end portion of the sewn product on the downstream side in the transport direction is along the upper surface of the workbench. Ori,
The gripping mechanism grips the position of the sewn object from the end on the downstream side in the transport direction by the transport mechanism, and transports the sewn product in a state where the end on the downstream side in the transport direction is hung downward.
The smoothing mechanism includes an extension plate rotatably connected to an end portion of the work table on the downstream side in the transport direction of the sewn object by the transport mechanism, and the upper surface of the extension plate is the same as the upper surface of the work table. It is characterized by including a drive source that switches between a state in which the extension plate is arranged in a plane and a state in which the end portion of the extension plate on the downstream side in the transport direction of the sewn object is hung downward by the transport mechanism. Sewing object transfer device. A feature of the workbench is that a head portion is provided at an end portion of the workbench on the upstream side in the transport direction of the sewn product by the transport mechanism so as to slide the end portion of the sewn product on the upstream side in the transport direction. The sewn object conveying device according to claim 1.

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