JP7451878B2 - sewing system - Google Patents

Description

The present invention relates to a sewing system.

Patent Document 1 discloses an apparatus for feeding fabric layers in a stacked manner and sewing them in a superposed state. The device includes a drive unit. The drive unit includes a fixed head that supports the arm. The arm supports the combination device at one end. The combination device includes a plurality of needles that are lowered to support the needles through the first fabric layer. The combination device lifts up while supporting the first fabric layer and moves onto the middle fabric layer. The combination device supports the central fabric layer in a similar manner. The combination device then supports the first fabric layer and the center fabric layer in a stacked manner.

Japanese Unexamined Patent Publication No. 1-314592

Sometimes the area of the first fabric layer to be conveyed is very large compared to the area of the combination device. At this time, when the combination device supports the first fabric layer and rises, a portion of the first fabric layer outside the portion supported by the combination device hangs downward. At this time, when the combination device moves toward the center fabric layer, the downwardly hanging portion of the first fabric layer may catch on the center fabric layer, and the position of the center fabric layer may shift. Therefore, the combination device could not stack fabric layers accurately.

An object of the present invention is to provide a sewing system that allows sewing objects to be stacked accurately.

A sewing system of the present invention includes a sewing machine capable of sewing an object to be sewn, and a robot arm capable of delivering the object to the sewing machine, wherein the robot arm is configured to sew the object to be sewn. The holding part is configured to move while holding the workpiece, and the holding part passes through a predetermined transport path between a placement position where the workpiece is placed and a delivery position where the workpiece is delivered to the sewing machine. The sewing machine includes a placing section on which at least a portion of the object to be sewn is placed at the delivery position, and a platform section at least a portion of which overlaps with the conveyance path in the vertical direction, The object to be sewn includes a first object to be sewn and a second object to be sewn which overlaps the first object to be sewn placed on the placement section, and the base section has an end portion perpendicular to the up-down direction. and has an opposing end that is close to or in contact with at least a part of the peripheral end of the first workpiece placed on the mounting section, and the opposing end is located at the position of the upper end. is located above the upper end of the first workpiece placed on the placement section.

In the sewing system, even when a part of the second workpiece sags when conveying the second workpiece having a larger area than the holding part, the base part allows the sagging part of the second workpiece to be moved to the second workpiece. The second workpiece can be moved to the delivery position without being caught by the end of the first workpiece. Therefore, the sewing system can accurately stack the objects to be sewn.

In the sewing system, the opposing end portion may have a shape that follows an outer peripheral portion of the first object to be sewn. The sewing system further facilitates moving the second workpiece directly above the first workpiece. Therefore, the sewing system can accurately stack the objects to be sewn.

In the sewing system, the sewing machine includes a bed section that extends horizontally, and a feeding section that is movable in the horizontal direction along the bed section and includes the mounting section, and the feeding section includes the holding section. a first position in which the second workpiece can be placed above the first workpiece when the second workpiece is in the delivery position, and the first workpiece and the second workpiece can be sewn. The second position may be movable. The sewing system can prevent the base from interfering with the workpiece when sewing the workpiece.

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

The sewing system may have a gap between the lower surface of the platform and the supporting part, and when the feeding part is in the first position, at least a part of the feeding part may be located in the gap. good. The sewing system can prevent interference between the feeding section and the base section, and can reliably place the workpiece on the mounting section.

In the sewing system, the stand has a third position in which the upper end of the opposing end is located above the upper end of the first workpiece placed on the placement part, and The upper end of the end portion may be movable to a fourth position located below the sending portion. In the sewing system, by moving the stand to the fourth position when the stand is not needed, the stand is less likely to interfere with the object to be sewn.

The sewing system controls a first drive section for moving the table section to the third position and the fourth position, and the first drive section, and the holding section controls the second workpiece. The device may further include a first control unit that moves the platform from the fourth position to the third position before moving. The sewing system can automatically move the platform from the fourth position to the third position when the platform is needed to accurately stack the objects to be sewn.

In the sewing system, the stand has a fifth position in which the opposing end is closer to the circumferential edge of the first workpiece, and a fifth position in which the opposite end is closer to the first workpiece than the fifth position. and a horizontally spaced sixth position. In the sewing system, by moving the base to the sixth position when the base is not needed, the base is less likely to interfere with the object to be sewn.

The sewing system controls the second drive unit and a second drive unit for moving the platform between the fifth position and the sixth position, and the holding unit controls the second workpiece. The device may further include a second control unit that moves the platform from the sixth position to the fifth position before moving. The sewing system can automatically move the platform from the sixth position to the fifth position when the platform is needed to accurately stack the objects to be sewn.

FIG. 4 is a perspective view of the sewing system 1A according to the first embodiment when the holding section 46 is located at the mounting position. FIG. 3 is a perspective view of the sewing system 1A according to the first embodiment when the holding section 46 is located at the delivery position. The perspective view when the lower feed plate 25B is located at the second position in the sewing system 1A according to the first embodiment. 4 is a partially enlarged view of the area around the head 24 in FIG. 3. FIG. FIG. 7 is a plan view of the sewing system 1A according to the first embodiment when the holding section 46 is located at the mounting position. FIG. 4 is a plan view of the sewing system 1A according to the first embodiment when the holding section 46 is located at the delivery position. FIG. 7 is a vertical cross-sectional view when the lower feed plate 25B is located at the first position in the sewing system 1A according to the first embodiment. The partial enlarged view of the surroundings of base part 26A when lower feed plate 25B is located in the first position in sewing system 1A according to the first embodiment. Electrical block diagram of PC10. Electrical block diagram of sewing machine 2A. Electrical block diagram of robot arm 4A. A flowchart of the first sewing process. FIG. 7 is a perspective view of the sewing system 1B according to the second embodiment when the base portion 26B is located at the operating position. FIG. 7 is a perspective view of a sewing system 1B according to a second embodiment when a stand 26B is located at a standby position. The left side view of the sewing system 1B according to the second embodiment when the base portion 26B is located at the operating position. The left side view of the sewing system 1B according to the second embodiment when the stand 26B is located at the standby position. Electrical block diagram of sewing machine 2B. Flowchart of the second sewing process.

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

<Sewing machine 2A>
As shown in FIGS. 1 to 3, the sewing machine 2A is a gate-type sewing machine. The sewing machine 2A is capable of sewing objects to be sewn 90A and 90B (hereinafter collectively referred to as "objects to be sewn 90"). The sewing machine 2A includes a bed section 21, a pair of pillar sections 22, a beam section 23, a head section 24, a moving mechanism 25, and a base section 26A.

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

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

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

The beam portion 23 is constructed between each of the pillar portions 22R and 22L. The beam portion 23 extends in the left-right direction between the pair of pillar portions 22 . The beam portion 23 has a housing 23U. The housing 23U extends between the upper end and the rear end of each of the pillar parts 22R and 22L. An X-axis motor 32 (see FIG. 10) and a rail (not shown) are provided in a space surrounded by the pillar parts 22R, 22L and the housing 23U. The rail has a rod shape and is installed between the pillar parts 22R and 22L. When the X-axis motor 32 is driven, the head 24, which will be described later, moves in the X-axis direction (left-right direction) along the rail. That is, the beam portion 23 supports the head 24 so as to be movable in the left-right direction. The bellows 23F is provided across the pillars 22R, 22L, the front ends of the housing 23U, and both left and right ends of the head 24, which will be described later. The bellows 23F covers the rail supporting the head 24 from the front side. The bellows 23F expands and contracts as the head 24 moves back and forth in the left-right direction along the rail.

The head 24 is provided on the front side with respect to the beam portion 23. As shown in FIG. 4, the head 24 includes a needle bar 24A, a presser foot 24B, a thread take-up mechanism 24C, a thread tension mechanism 24D, a main motor 31 (see FIG. 10), and the like. The needle bar 24A extends in the vertical direction, and a sewing needle 240 can be attached to the lower end thereof. Needle bar 24A is connected to main motor 31. The needle bar 24A is movable in the vertical direction by driving the main motor 31. The sewing needle 240 holds a needle thread (not shown) inserted through the eye hole. The sewing needle 240 moves up and down together with the needle bar 24A. The presser foot 24B has a through hole through which the sewing needle 240 passes as the needle bar 24A moves, and presses the workpiece 90 from above. The thread take-up mechanism 24C operates in accordance with the movement of the needle bar 24A and pulls up the upper thread. The thread tension mechanism 24D adjusts the tension of the upper thread. A hook mechanism (not shown) is provided below the head 24 and inside the base 21A. The shuttle mechanism is capable of accommodating a bobbin thread. The hook mechanism is movable in the left-right direction in synchronization with the head 24.

As shown in FIGS. 1 and 2, the moving mechanism 25 is provided above the base 21A of the bed 21 of the sewing machine 2A. The moving mechanism 25 is capable of placing an object to be sewn 90 thereon, and moves the placed object to be sewn 90 in the front-rear direction. The moving mechanism 25 includes a support portion 250, an upper feeding plate 25U, a lower feeding plate 25B, a pair of forward and backward moving mechanisms 251, and a pair of connecting portions 252.

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

A pair of connecting portions 252 are provided inside the pair of forward and backward moving mechanisms 251 . The pair of connecting portions 252 includes connecting portions 252R and 252L. The connecting portion 252R is provided on the left side with respect to the longitudinal movement mechanism 251R, and the connecting portion 252L is provided on the right side with respect to the longitudinal movement mechanism 251L.

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

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

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

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

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

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

<Placement stand 9>
As shown in FIGS. 1 to 3, the mounting table 9 is provided on the front side of the sewing machine 2A. The mounting table 9 is a grid-like structure. The mounting table 9 has accommodating parts 91A and 91B. The accommodating portion 91A can accommodate a plurality of rectangular sewing objects 90A having long sides and short sides, stacked one on top of the other. The accommodating portions 91A are provided in a pair of front and rear rows on the upper left side of the mounting table 9. The accommodating portion 91B can store a plurality of circular sewing objects 90B, which are larger than the sewing object 90A, in a stacked manner. The housing portion 91B is provided on the right side of the housing portion 91A. The upper surface of the accommodating portion 91B is located above the base portion 26A. A plurality of casters 92 are provided at the lower end of the mounting table 9. The plurality of casters 92 support the mounting table 9 from below so as to be movable in the horizontal direction.

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

<Robot arm 4A>
The robot arm 4A is a horizontally articulated arm, and is also referred to as a horizontally articulated robot, a SCARA type robot, or a SCARA robot. The robot arm 4A is provided on the beam section 23 of the sewing machine 2A via a support section 4B. The robot arm 4A transfers the workpiece 90 between the mounting table 9 and the sewing machine 2A.

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

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

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

The other end of the second arm 45 supports a support rod 47 that extends in the vertical direction. The support rod 47 is a ball screw, and is connected to the third drive motor 36 and the fourth drive motor 37, respectively. The support rod 47 is movable in the vertical direction with respect to the second arm 45 by driving the third drive motor 36 . The support rod 47 is rotatable with respect to the second arm 45 by driving the fourth drive motor 37 about a rotation shaft extending in the vertical direction.

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

The holding part 46 includes a plurality of vacuum grippers (not shown) and a solenoid valve 83 (see FIG. 11). The holding portion 46 is connected to an air compressor (not shown) via an air tube (not shown). The solenoid valve 83 is provided in the air supply path supplied by the air compressor. When the solenoid valve 83 opens, the plurality of vacuum grippers of the holding part 46 blow out the air supplied by the air compressor. At this time, the holding section 46 attracts and holds the workpiece 90 by the negative pressure generated between the lower surfaces of the plurality of vacuum grippers and the workpiece 90 . When the solenoid valve 83 closes, the plurality of vacuum grippers of the holding part 46 stop blowing out air. At this time, the holding section 46 releases the holding of the sewing object 90, and the sewing object 90 separates from the holding section 46 due to its own weight.

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

<Electrical configuration of PC 10>
The electrical configuration of the PC 10 will be explained with reference to FIG. The PC 10 includes a CPU 51, a RAM 52, a chipset 53, a flash ROM 54, a storage device 55, an input section 56, and a communication interface (hereinafter referred to as "communication I/F") 57. The CPU 51 controls the PC 10. CPU51 is electrically connected to RAM52. RAM 52 stores various temporary data.

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

<Electrical configuration of sewing machine 2A>
Referring to FIG. 10, the electrical configuration of the sewing machine 2A will be described. The control unit 20A of the sewing machine 2A includes a CPU 61, a ROM 62, a RAM 63, a storage device 64, a communication I/F 65, an input/output interface (hereinafter referred to as "input/output I/F") 66, and drive circuits 67-69. The CPU 61, ROM 62, and RAM 63 are electrically connected to the input/output I/F 66 via a bus. The CPU 61 controls the sewing machine 2A. The ROM 62 stores programs, data, and the like. RAM 63 stores various temporary data. The storage device 64 is a nonvolatile storage device and stores various setting information and the like.

Communication I/F65 is electrically connected to input/output I/F66. The communication I/F 65 is connected to the communication I/F 57 of the PC 10. The drive circuits 67 to 69 are electrically connected to the input/output I/F 66. The drive circuit 67 is electrically connected to the main motor 31, the drive circuit 68 is electrically connected to the X-axis motor 32, and the drive circuit 69 is electrically connected to the Y-axis motor 33. The CPU 61 controls the drive circuits 67 to 69 to drive the corresponding main motor 31, X-axis motor 32, and Y-axis motor 33, respectively. The input/output I/F 66 is electrically connected to the solenoid valve 81 and the solenoid valve 82 . The CPU 61 controls the opening and closing of the electromagnetic valves 81 and 82, and drives and controls the corresponding drive units 256 and 257, respectively.

<Electrical configuration of robot arm 4A>
The electrical configuration of the robot arm 4A will be described with reference to FIG. 11. The control unit 40 of the robot arm 4A includes a CPU 71, a ROM 72, a RAM 73, a storage device 74, a communication I/F 75, an input/output I/F 76, and drive circuits 77-80. The CPU 71, ROM 72, and RAM 73 are electrically connected to the input/output I/F 76 via a bus. The CPU 71 controls the robot arm 4A. The ROM 72 stores programs, data, and the like. RAM 73 stores various temporary data. The storage device 74 is a nonvolatile storage device and stores various setting information and the like.

Communication I/F75 is electrically connected to input/output I/F76. The communication I/F 75 is connected to the communication I/F 57 of the PC 10. The drive circuits 77 to 80 are electrically connected to the input/output I/F 76. The drive circuit 77 is electrically connected to the first drive motor 34 , the drive circuit 78 is electrically connected to the second drive motor 35 , the drive circuit 79 is electrically connected to the third drive motor 36 , and the drive circuit 80 is electrically connected to the fourth drive motor 37 . The CPU 71 drives and controls the corresponding first to fourth drive motors 34 to 37, respectively, by controlling the drive circuits 77 to 80. The input/output I/F 76 is electrically connected to the solenoid valve 83. The CPU 71 controls opening and closing of the electromagnetic valve 83 and controls holding of the sewing object 90 by the holding section 46 or release of the holding.

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

When the sewing system 1A is in the initial state, the position of the through hole 253 of the upper feed plate 25U is separated to the left of the position of the through hole 255 of the lower feed plate 25B in plan view, and is separated upward from the lower feed plate 25B. position. The lower feed plate 25B is located at the first position, and the holding portion 46 is located above the mounting table 9. The operator stores the sewing objects 90A and 90B in the storage portions 91A and 91B of the mounting table 9, respectively. The operator operates the input unit 56 of the PC 10 to instruct execution of the first sewing process shown in FIG. 12. The CPU 51 reads the program for the first sewing process from the storage device 55 and executes it.

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

The CPU 51 outputs a first transport command to the CPU 71 of the robot arm 4A (S12). The CPU 71 controls the robot arm 4A to transport the sewing object 90A based on the first transport command. The CPU 71 drives and controls the corresponding first drive motor 34 and second drive motor 35 by controlling the drive circuits 77 and 78, respectively. At this time, the robot arm 4A rotates the first arm 44 and the second arm 45 to move the holding part 46 to the upper side of the housing part 91A. The CPU 71 controls the third drive motor 36 by controlling the drive circuit 79 . At this time, the holding part 46 moves downward to the first mounting position. The “first placement position” is a position where the holding portion 46 holds the sewing object 90A contained in the storage portion 91A. The CPU 71 controls the electromagnetic valve 83 so that the holding portion 46 holds the sewing object 90A.

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

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

When receiving the signal notifying the completion of the first transport command, the CPU 51 outputs a second transport command to the CPU 71 of the robot arm 4A (S13). Based on the second transport command, the CPU 71 controls the robot arm 4A to transport the workpiece 90B. In the same manner as the first transport command, the robot arm 4A moves the holding part 46 to the second mounting position under the control of the CPU 71. The “second placement position” is a position where the holding portion 46 holds the sewing object 90B contained in the storage portion 91B. The robot arm 4A holds the sewing object 90B using the holding part 46 (see FIGS. 1 and 5).

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

When receiving the signal notifying the completion of the second transport command, the CPU 51 outputs the first transport command to the CPU 61 of the sewing machine 2A (S14). Based on the first feed command, the CPU 61 controls the sewing machine 2A to move the sewing objects 90A and 90B. The CPU 61 controls the drive unit 256 by controlling the electromagnetic valve 81 . The upper feed plate 25U moves to a position where the position of the through hole 253 corresponds to the position of the through hole 255 of the lower feed plate 25B in plan view. The CPU 61 controls the drive unit 257 by controlling the electromagnetic valve 82 . The upper feed plate 25U approaches the lower feed plate 25B from above. The upper feed plate 25U and the lower feed plate 25B sandwich the objects to be sewn 90A and 90B. The CPU 61 drives and controls the corresponding Y-axis motor 33 by controlling the drive circuit 69 . At this time, the upper feed plate 25U and the lower feed plate 25B, which sandwich the objects to be sewn 90A and 90B, move from the first position to the second position. As the lower feed plate 25B moves, the peripheral edge of the sewing object 90B moves forward relative to the peripheral edge of the base 26A in plan view (see FIG. 3). At this time, the object to be sewn 90B is placed on the upper side of the lower feed plate 25B and the bed section 21. The CPU 61 outputs a signal to the CPU 51 notifying the completion of the first feed command.

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

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

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

When determining that the completion signal has been received (S17: YES), the CPU 51 adds 1 to the number of steps and stores it in the RAM 52 (S18). The CPU 51 determines whether the number of processes is smaller than the number of processes set in S11 (S19). When determining that the number of processes is smaller than the number of processes (S19: YES), the CPU 51 returns to the process of S12. When determining that the number of processes is equal to the number of processes (S19: NO), the CPU 51 ends the first sewing process.

<Actions and effects of the first embodiment>
The sewing machine 2A has a base portion 26A. The opposing end portion 261 of the table portion 26A is provided at a position that overlaps in the vertical direction with the conveyance path R when the holding portion 46 moves the workpiece 90B from the mounting position to the delivery position. When the holding part 46 places the workpiece 90A on the mounting part 258, the opposing end 261 is close to the circumferential edge of the workpiece 90A, and the upper end thereof is located at the position of the workpiece 90A. It is located above the upper end of the object 90A. In the sewing system 1A, even when a part of the workpiece 90B hangs down when transporting the workpiece 90B having a larger area than the holding part 46, the base part 26A prevents the hanging part of the workpiece 90B from being sewn. The object to be sewn 90B can be moved without being caught by the end of the object 90A. Therefore, the sewing system 1A can accurately stack the objects 90 to be sewn.

The front end of the mounted workpiece 90A is parallel to the left-right direction. Opposing end portion 261 is parallel to the left-right direction. That is, the opposing end portion 261 is along the outer periphery of the placed object to be sewn 90A. The sewing system 1A can further easily move the object to be sewn 90B directly above the object to be sewn 90A. Therefore, the sewing system 1A can accurately stack the objects 90 to be sewn.

The sewing machine 2A has a lower feed plate 25B including a mounting portion 258, and the lower feed plate 25B is movable in the front-rear direction along the holding surface 21U of the bed portion 21. The lower feed plate 25B has two positions: a first position where the workpiece 90B can be placed above the workpiece 90A when the holding part 46 is in the delivery position, and a second position where the workpiece 90A and the workpiece 90B can be sewn. It can be moved to different positions. The sewing system 1A can prevent the base portion 26A from interfering with the objects 90A, 90B when sewing the objects 90A, 90B.

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

There is a gap created by the plurality of support stands 21T between the lower surface of the stand part 26A and the support part 21P. When the lower feed plate 25B is located at the first position, the front end of the lower feed plate 25B is located in the gap. Therefore, the sewing system 1A can suppress interference between the lower feed plate 25B and the base portion 26A, and can reliably place the workpiece 90 on the placement portion 258.

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

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

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

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

The platform portion 26B is provided at the upper end of the movable platform 260. The platform section 26B is connected to the movable platform 260 via a plurality of drive sections 263. The structure of the pedestal section 26B is similar to the structure of the pedestal section 26A. The platform 26B has an opposing end 262 that corresponds to the opposing end 261 of the platform 26A.

The platform 26B is movable in the vertical direction by being driven by the drive unit 263. The base portion 26B has a third position in which its upper end is located above the upper end of the lower feed plate 28B in the vertical direction, and a third position in which its upper end is located at approximately the same position in the vertical direction as the holding surface 21U. It can be moved to a fourth position. The platform portion 26B is movable in the front-rear direction by being driven by the drive portion 271. The platform 26B moves in the front-rear direction to a fifth position closer to the bed 27 and a sixth position farther away from the bed 27 than the fifth position. When the base portion 26B is located at the third position in the vertical direction and the fifth position in the front-rear direction, the base portion 26B is said to be located in the “operating position”. When the platform 26B is located at the fourth position in the vertical direction and at the sixth position in the front-rear direction, the platform 26B is said to be located at the "standby position." In this embodiment, the platform 26B is movable between an operating position (see FIGS. 13 and 15) and a standby position (see FIGS. 14 and 16).

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

The electrical configuration of sewing machine 2B will be described with reference to FIG. 17. The electrical configuration of the sewing machine 2B is different in that the control section 20B of the sewing machine 2B corresponds to the control section 20A, and the input/output I/F 66 is further electrically connected to the solenoid valves 84 and 85. The CPU 61 controls the opening and closing of the electromagnetic valves 84 and 85, and drives and controls the corresponding drive units 271 and 263, respectively.

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

The initial state of the sewing system 1B differs from the initial state of the sewing system 1A in that the stand 26B is located at the standby position. The operator operates the input unit 56 of the PC 10 to instruct execution of the second sewing process shown in FIG. The CPU 51 reads the second sewing process program from the storage device 55 and executes it. In the following description, processes similar to the first sewing process will be given the same reference numerals and descriptions will be omitted, and the first movement command and second movement command will be described.

The first movement command will be explained. When receiving the signal notifying the completion of the first transport command (S12), the CPU 51 outputs a first movement command to the CPU 61 of the sewing machine 2B (S21). The CPU 61 moves the platform 26B based on the first movement command. The CPU 61 drives and controls the corresponding drive units 271 and 263 by controlling the electromagnetic valves 84 and 85, respectively. The platform 26B moves from the standby position (see FIGS. 14 and 16) to the operating position (see FIGS. 13 and 15). When the stand 26B is in the working position, the opposing end 262 of the stand 26B is close to the front end of the object to be sewn 90A (see FIG. 15). The upper end of the opposing end 262 is located above the upper end of the object to be sewn 90A (see FIG. 15). The CPU 61 outputs a signal to the CPU 51 notifying completion of the first movement command. When receiving the signal notifying the completion of the first movement command, the CPU 51 outputs a second transport command to the CPU 71 of the robot arm 4A (S13).

The second movement command will be explained. When receiving the signal notifying the completion of the first feed command (S14), the CPU 51 outputs a second movement command to the CPU 61 of the sewing machine 2B (S22). The CPU 61 moves the platform 26B based on the second movement command. The CPU 61 drives and controls the corresponding drive units 271 and 263 by controlling the electromagnetic valves 84 and 85, respectively. The platform 26B moves from the operating position to the standby position. When the stand 26B is in the standby position, the upper end of the opposing end 262 is located below the lower feed plate 28B (see FIG. 16). The CPU 61 outputs a signal to the CPU 51 notifying completion of the second movement command. When receiving the signal notifying the completion of the second movement command, the CPU 51 outputs a sewing command to the CPU 61 of the sewing machine 2B (S15).

<Actions and effects of the second embodiment>
In the vertical direction, the platform 26B has a third position in which the upper end is located above the upper end of the lower feed plate 28B, and a fourth position in which the upper end is located below the lower feed plate 28B. It can be moved to different positions. In the sewing system 1B, when the base portion 26B is not needed, such as during sewing, the base portion 26B is moved to the fourth position, thereby making it difficult for the base portion 26B to interfere with the object to be sewn 90.

The sewing machine 2B includes a drive section 263 that supports the base section 26B so as to be movable between a third position and a fourth position. The CPU 61 of the sewing machine 2B controls the drive section 263 by controlling the solenoid valve 85. The sewing system 1B can automatically move the platform 26B from the fourth position to the third position when the platform 26B is needed to accurately stack the objects 90 to be sewn.

The platform 26B moves in the front-rear direction to a fifth position closer to the bed 27 and a sixth position farther away from the bed 27 than the fifth position. When the workpiece 90A is placed on the mounting unit 288, the stand 26B located at the sixth position is further away from the workpiece 90A than the stand 26B located at the fifth position in the front-rear direction. . In the sewing system 1B, when the base portion 26B is not needed, such as during sewing, the base portion 26B is moved to the sixth position, thereby making it difficult for the base portion 26B to interfere with the object to be sewn 90.

The sewing machine 2B includes a drive section 271 that supports the base section 26B so as to be movable between a fifth position and a sixth position. The CPU 61 of the sewing machine 2B controls the drive section 271 by controlling the solenoid valve 84. The sewing system 1B can automatically move the platform 26B from the sixth position to the fifth position when the platform 26B is needed to accurately stack the objects 90 to be sewn.

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

<Modified example>
The present invention is not limited to the above embodiments. If the upper ends of the opposing ends 261 and 262 are located above the upper end of the workpiece 90A placed on the mounting parts 258 and 288, the opposing ends 261 and 26B of the stand parts 26A and 26B , 262 may be located below the upper end of the object to be sewn 90A. Although the base portions 26A and 26B have a flat plate shape, they are not limited to this. For example, the upper surface may have a gently curved surface.

In the sewing systems 1A and 1B, the object to be sewn 90A is placed on the placement sections 258 and 288 by the robot arm 4A, but the invention is not limited thereto. For example, a worker may place the workpiece 90A on the placement units 258, 288, or a second robot arm different from the robot arm 4A may place the workpiece 90A on the placement units 258, 288. You may.

The robot arm 4A is not limited to a horizontal multi-joint type robot arm, but may be a robot arm of another type. For example, the robot arm 4A may be an orthogonal robot, a vertically articulated robot, or the like. Although the holding section 46 holds the sewing object 90 using a plurality of vacuum grippers, the present invention is not limited thereto. For example, the holding part 46 may have a plurality of needles extending downward from the lower end, and the plurality of needles may be supported by penetrating the object 90 to be sewn.

Although the upper surface of the support portion 21P extends forward along the holding surface 21U, the present invention is not limited thereto. For example, a gap may be provided between the support portion 21P and the holding surface 21U.

In the sewing system 1B, the movement of the stand 26B executed in S44 and the movement of the stand 26B executed in S50 include vertical movement (movement between the third position and fourth position) and back-and-forth movement (movement between the fifth and fourth positions). (movement between the position and the sixth position), but either one may be performed. Further, the platform portion 26B may be moved in the left-right direction.

Although the drive units 263 and 271 are air cylinders, they may also be devices driven by motors or the like, for example. It does not have the drive parts 263 and 271, and for example, an operator can manually move the platform 26B in the vertical direction (movement between the third position and the fourth position) or the front-back direction (movement between the fifth position and the sixth position). movement).

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

Claims (6)

A sewing system comprising a sewing machine capable of sewing a workpiece, and a robot arm capable of delivering the workpiece to the sewing machine,
The robot arm is
a holding part that holds and moves the object to be sewn;
The holding part is
moving through a predetermined conveyance path between a placement position where the workpiece is placed and a delivery position where the workpiece is delivered to the sewing machine;
The sewing machine is
a placing section that places at least a portion of the workpiece at the delivery position;
a platform portion at least partially overlapping the conveyance path in the vertical direction;
A bed section that extends horizontally,
a feeding section that is movable in a horizontal direction along the bed section and includes the placing section;
an upper feeding plate movable between a state approaching the feeding section from above and a state away from the feeding section upwardly;
The object to be sewn includes a first object to be sewn and a second object to be sewn which overlaps the first object to be sewn placed on the placement portion,
The base portion is
having an opposing end that is a part of the end perpendicular to the up-down direction and that approaches or contacts at least a part of the peripheral end of the first workpiece placed on the placement section;
a third position in which the upper end of the opposing end is located above the upper end of the first workpiece placed on the placement section; and a fourth position located below the part,
The sewing machine is
a first drive unit for moving the platform between the third position and the fourth position;
arranging the stand at the fourth position before the holding section moves the first workpiece;
After the holding section completes movement of the first object to be sewn and before the holding section moves the second object to be sewn, moving the platform from the fourth position to the third position;
After the holding part completes movement of the second workpiece, and before the holding part starts sewing with the sewing machine, the base part is moved from the third position to the fourth position, a first control section that controls the first drive section;
The sending section is
a first position where the second workpiece can be placed above the first workpiece when the holding section is in the delivery position; and a first position where the second workpiece can be placed above the first workpiece; It is movable to a second position where sewing can be performed,
When moving from the first position to the second position, the first workpiece and the second workpiece are sandwiched together with the upper feed plate that approaches the feed section from above. sewing system. The sewing system according to claim 1, wherein the opposing end has a shape that follows the outer circumference of the first object to be sewn. The bed portion is
a support portion extending in a first direction from the second position toward the first position, beyond the feeding portion located at the first position;
The sewing system according to claim 1, wherein the base portion is provided on the support portion. having a gap between the lower surface of the platform and the support section;
The sewing system according to claim 3, wherein when the feeder is in the first position, at least a portion of the feeder is located in the gap. The base portion is
a fifth position in which the opposing end is close to the circumferential edge of the first object to be sewn; and a sixth position in which the opposing end is further apart in the horizontal direction from the first object than in the fifth position. The sewing system according to claim 1 or 2, wherein the sewing system is movable. a second drive unit for moving the platform between the fifth position and the sixth position;
a second control section that controls the second driving section and moves the platform from the sixth position to the fifth position before the holding section moves the second sewing object; The sewing system according to claim 5 , characterized in that:

Images