JPH038787B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention provides three-dimensional support for the sleeves and the body in order to automate the process of sewing the sleeves and the body of a blazer, suit, etc. This invention relates to a sleeve and body support mechanism in three-dimensional sewing in which sleeves and body are sewn together using a sewing machine attached to the tip of an articulated robot.

Prior Art Conventionally, the sleeve attaching process is an assembly process in which the sleeves and the body, which have been processed as parts, are sewn together, and as shown in FIG. 11, the sleeve 3 shown in FIG. In the process of sewing the attachment parts 4, the respective positions are manually determined, and a fixed sewing machine is used to manually guide the body 1 and the sleeve 3 so that the sewing line 5 (hereinafter referred to as the suture line) of the armhole 2 of the body 1 is aligned. The sleeve attachment portion 4 of the sleeve 3 was sewn together on the suture line 6.

Problem to be Solved by the Invention However, in order to create a bulge in the vicinity of the top 7 of the attachment part 4 of the sleeve 3, especially in order to sew around the attachment end 8 of the top part 7 of the attachment part, the attachment part There are many wrinkles near the top 7 and the mounting end 8. In addition, this stitching is often done while sewing the sleeve 3 and the body 1 while simultaneously tucking the top part 7 and the attachment end 8, but in this way, the sleeve attaching process involves stitching a three-dimensional part all the way around. This process involves manually moving the sleeve 3 and the body 1 around the body, which has the drawback of being extremely time consuming. Due to the shirring, there are many wrinkles at the top 7 and the sleeve attachment end 8, and it requires skill to guide them accurately to the sewing machine process, and it takes even more skill and time to sew while shirring. It was a difficult process requiring several steps.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a body bar supported on a body support body with a plurality of divided shoulders each having a leaf spring each having a cylinder and a flexible material. The clamp is configured to press and fix the upper side of the armhole of the body, and a plurality of divided side clamps each having a plate spring each having a cylinder and a flexible material are used to secure the body to the sleeve support part of the sleeve support. The lower end of the armhole and the lower end of the sleeve are fixed by pressing.

Effect According to the present invention, the entire circumference of the armhole part of the body is divided into a plurality of (for example, 6) clamps, the upper half clamp (shoulder clamp) presses and fixes the body to the body support, and the lower half clamp (shoulder clamp) presses and fixes the body to the body support. Clamp (side clamp)
Since the body and sleeves are simultaneously pressed and fixed against the sleeve support, it is only necessary to provide the body support in the upper half of the armhole of the body, and after sewing is completed,
If the entire body support body is retracted upward, the workpiece can be easily taken out, and the sleeves can also be easily attached when the sleeves are attached.

Embodiment FIG. 1 is an overall view of a three-dimensional automatic device implementing the present invention, in which a small sewing machine 12 is attached to the tip of an articulated robot 10 mounted on a movable table 9. In addition, the fabric support 13 is a movable table 1
A collar support part 17 is attached to a table 15 on top of the collar 4 and supports the body 16 on the table 15.
Sleeve support parts 19a and 19b are attached to support the two sleeves 18a and 18b.

FIG. 2 is a front view of this sleeve support 19, in which a threaded portion 21 is attached to a support base 20 provided within the table 15.
A male screw 22 engaged with this threaded portion 21 is connected to a motor 79 via a connecting portion 23. Therefore, the support stand 20 can slide inward and outward directions with respect to the body support shaft 54 (see FIG. 3) on the guide stand 15b fixed to the turntable 15a. A support frame 24 is fixed onto this support stand 20 via a support stand 20a, and six branch support parts 25a, 25b, 25c, 25 are attached to the upper part of this support frame 24.
A support body 25 having numbers d, 25e, and 25f is attached, and a sliding rod 26 is supported on this support body 25 so as to be slidable. A wire 27 is connected to one end of the sliding rod 26, and one ends of links 29 and 30 are rotatably supported at both ends of an arm portion 28 at the tip. The other ends of these links 29, 30 are supported by the intermediate parts of levers 31, 32, which are rotatably supported at one end by the branch supports 25a, 25b, and these levers 31, 32 are supported by the sub-bars 33, 34. Supported at one end. The other ends of these sub-bars 33 and 34 are rotatably supported by one ends of levers 35 and 36, and the other ends of these levers 35 and 36 are supported by the branch support portion 25 of the support body 25.
It is rotatably supported at 25f and 25f.

Further, a motor 37a is fixed to the upper part of the support base 20, and a male thread 37c is connected to the shaft of the motor 37a via a connection 37b, and is engaged with a threaded portion 39 of the movable base 38. A wire 40, one end of which is connected to the end of the moving table 38, is connected to a support roller 41,
42, and the other end of the wire 40 is supported by the support frame 2.
4 is connected to one end of a sliding rod 43 which is slidably mounted on the rod 43. Further, the other end of the sliding rod 43 is connected to one end of a main bar 45 via a link 44. This main bar 45 has a link 4 in the middle.
A branch support portion 25d of the support body 25 is connected to the main bar 45 via the main bar 6, and the other end of the main bar 45 rotatably supports a rubber pad 47 provided with a support piece 47a. Further, a sliding rod 48 is configured to be able to slide on the support frame 24, one end of this sliding rod 48 is connected to a wire 49, and the other end is connected to one end of a link 51a of a main bar 51 via a link 50. connected so that it can move. One end of a link 52 is connected to the intermediate portion of this link 51a, and the other end of this link 52 is connected to a branch support portion 25c of the support body 25. The uppermost part 18c of the sleeve 18 is attached to the link 51b of the main bar 51 at the end of this link 51a.
Rubber pad 53 equipped with support piece 53a that supports
is connected. These main bars 45,5
1 and sub-bars 33 and 34 are sleeve 18 supports disposed at substantially equal intervals so as to extend from the inside to the outside along the circumference of the sleeve 18 around the body support axis 54 (see FIG. 3). (The example is 12
It consists of books). In the sleeve support 19 configured in this way, the external thread 22 rotates via the connecting part 23 as the motor 79 rotates, and the support base 20 is inserted through the threaded part 21 with which the external thread 22 is engaged. It moves along the guide stand 15b and adjusts its position according to the size of the body and sleeves. Furthermore, when the motor 37a rotates, the male screw 37c rotates via the connecting portion 37b, thereby moving the movable table 38 through the threaded portion 39 with which the male screw 37c is engaged. By moving the moving table 38, the wire 40 connected thereto is pulled to the right in FIG. 2 against the compression spring 43a, thereby moving the main bar 45 to the second Since it is pulled downward in the figure, the branch support part 2 of the support body 25
By pulling the main bar 45 downward using the other end of the link 46, one end of which is supported by 5d, as a fulcrum,
The rubber pad 47 expands outward. Further, such a motor 37a, a connecting portion 37b, a male screw 37c,
All moving mechanisms such as the moving table 38 and the threaded portion 39 are also provided at the ends of the wires 27 and 49. Furthermore, the wire 49 resists the compression spring 48a and
When pulled downward in the figure, the sliding rod 48 and link 50
By pulling the main bars 51, 51a, and 51b downward through the rubber pads 53, the rubber pads 53 expand outward, and the upper part 18c of the sleeve 18 is pushed and expanded. Furthermore, when the wire 27 is pulled, the sliding rod 26 is pulled downward in FIG. By pressing down, the sub-bars 33 and 34 expand outward, thereby expanding the center portion of the sleeve 18 outward. In addition, rubber pad 4
7 and 53 have different shapes depending on their positions, as shown in FIG.

In addition, in FIG. 3, a body support 55 is attached to the upper part of a body support shaft 54 provided at the top of the table 15, and armholes 16a (numerals in FIG. 11) of the body 16 are provided on both sides of the body support 55. Six body bars 56, 57 are provided on each side to support the body parts (equivalent to 2). For example, the body bar 57 of this body bar 56 or 57 is connected to the support frame 58 of the body support body 55 as shown in FIG.
The body bar 57 is rotatably provided on a support member 59 fixed to the body bar 57 by a pivot shaft 60, and a spring 61 supported by the pivot shaft 60 rotates the body bar 57 in a counterclockwise direction. Further, one end of a wire 62 is connected to the lower end of this body bar 57, and the other end of this wire 62 is connected to a movable table 38 as shown in FIG.
A mechanism (incorporated into a mechanism box 130 in FIG. 3) consisting of a connecting portion 37b and a motor 37a is connected thereto. By rotating the motor, the body bar is rotated clockwise.

In the body support body 55 configured in this manner, the position of the tip of the body bar 57 can be arbitrarily determined by adjusting the position at which the wire 62 is pulled depending on the size of the armhole 16a of the body body.

Further, the vertical movement mechanism of the body support shaft 54 that supports the body support 55 is constructed as shown in FIG. In FIG. 5, body support shaft 54
A rack portion 63 is provided on the side surface, and a pinion 64 is engaged with this rack portion 63.
A worm wheel 65 is engaged with the shaft of 4, and a worm shaft 67 connected to a vertical motor 66 is engaged with the worm wheel 65. Further, the body support shaft 54 slides vertically with respect to the gear box 73b by a pair of ball slide pline bearings 73a, but is mounted so as not to rotate. It also rotates. Further, a pinion 69 fixed to the shaft of the rotation motor 70 is engaged with a spur gear 68 fixed to the gear box 73b. A magnetic body 71a is fixed to this spur gear 68, and a switch 71b is fixed to a frame opposite to this, and the position where the switch 71b is turned on with this magnetic body 71a becomes the origin of the rotation direction of the body support shaft 54. . Similarly, a switch 72b is located at the bottom of the body support shaft 54 at a position opposite to the magnetic body 72a.
A switch 72c is fixed to the frame and detects the upper and lower positions of the body support shaft 54. Note that the spur gear 68 is supported on a stand 74 via a bearing 73. Further, the gear box 73b is rotated by the rotation motor 70 via the pinion 69 and the spur gear 68, and the turntable 15a can be rotated.

The vertical rotation mechanism of the body support body 55 configured in this way is operated by rotating the vertical motor 66.
The worm shaft 67 rotates, and the worm wheel 65 engaged therewith rotates, thereby rotating the pinion 64, and the rack portion 63 engaged with the pinion 64 moves the body support shaft 54 up and down. Further, by rotating the rotation motor 70, the pinion 69 rotates, and the spur gear 68 engaged with the pinion rotates, thereby rotating the body support shaft 54.

By vertically moving or rotating the body support shaft 54 in this manner, the armhole 16a of the body 16 can be vertically positioned at the attachment portion of the sleeve 18, as shown in FIG.

Further, in FIG. 3, the shoulder clamp arm 77 above the body bars 56, 57 is moved up and down by a cylinder (not shown) along the axis of a shoulder clamp shaft 75 which projects from the body support shaft 54 and is fixed. In addition, a leaf spring 87 having a flexible material 88 at the tip of the shoulder clamp operating body is pressed by the operation of the air cylinder 80 on the tip of the shoulder clamp arm 77 supported by the shoulder clamp shaft 75, so that the gap between the body bar 57 and the flexible material 88 is pressed. It is configured to hold the body 16 of the body fixedly. Here, the air cylinder 80, the shoulder clamp operating body, the flexible material 88,
A shoulder clamp 78 is formed using a leaf spring 87 or the like. This shoulder clamp 78 is provided with a cylinder 80 as shown in FIG. 6, and a mounting plate 82 is provided on a cylinder rod 81 of this cylinder 80 to form a drive shaft.
One end of each of a first clamp lever 84 and a second clamp lever 85 is rotatably provided on a pivot shaft 83 (hereinafter referred to as shaft) provided on this mounting plate 82 . Also, the first clamp lever 84
The other end is connected to one end of a leaf spring 87 via a link 86, and the other end of the second clamp lever 85 is connected to the other end of the leaf spring 87. This second clamp lever 85 is bent in an F-shape. Further, a flexible material 88 such as neoprene sponge is bonded to the leaf spring 87. Further, the center portion of a clamp pressure spring 89 is supported by the shaft 83, and the first and second clamp levers 84, 85 are pressed in a direction to close each other.

Shoulder clamp 7 of this embodiment configured in this way
8, as shown in FIG. 6, before the cylinder rod 81 of the cylinder 80 projects, the shoulder 16 of the body 16
Although it is configured almost flat with respect to the curvature of b,
When the cylinder rod 81 of the cylinder 80 is extended, the flexible material 8 of the leaf spring 87 first appears as shown in FIG.
8 is approximately at the center in the left-right direction at the shoulder portion 16 of the body 16.
Press b. Furthermore, when the cylinder rod 81 protrudes, the body 16
The leaf spring 8 is bent along the curve of the shoulder portion 16b of the leaf spring 8.
The entire surface of the flexible material 88 of No. 7 contacts the shoulder portion 16b.
Furthermore, the cylinder rod 81 protrudes against the spring force in the direction of closing the first and second clamp levers 84 and 85, and
stop when they are reasonably spaced apart from each other. At that point, the spring pressure of the clamp pressure spring 89 becomes an acting force in the direction of closing the clamp levers 84 and 85, and this acting force applies appropriate pressure to the shoulder portion 16b and tension to the leaf spring 87. The pressure is applied so that the pressure is almost uniform over the entire surface of the flexible material 88 that is in contact with and pressed against the shoulder portion 16b (see FIG. 7).

This configuration is similarly applied to the side clamp 90 shown in FIGS. 3 and 4. This side clamp 9
0 (air cylinder 90a, side clamp operating body,
A side clamp arm 92 is rotatably supported by a support part 91 provided on the table 15, and a sleeve support is provided by a cylinder 93 provided between the support part 91 and the side clamp arm 92. A side clamp 90 can be pressed against the body 19.

Furthermore, the configuration of the shoulder clamps 78 and the side clamps 90 are provided around the armholes 16a of the body 16, as shown in FIG. In FIG. 8, three shoulder clamps 78 and three side clamps 90 are provided, and the central shoulder clamp (cylinder 80a) and side clamp (cylinder 90a) have cylinder rods 81 attached to leaf springs 87. The shoulder clamps (cylinders 80b, 80c) and side clamps (cylinders 90b, 90c) on both sides are pressed vertically against the shoulder clamp arm 77 and the side clamp arm 92, respectively.
6,97 are provided, and the supports 94,9
Lever 98, 99, 1 at 5, 96, 97 respectively
00, 101 are fixed, and this lever 98, 9
One end of 9, 100, 101 is a cylinder 8, respectively.
Cylinder rod 81 of 0b, 80c, 90b, 90c
are connected, and the other ends of the levers 98 to 101 are connected to the first,
It is connected to the shaft 83 of the second clamp lever 84,85. Moreover, the shoulder clamp cylinder 80b,
80c and the cylinder rods 81 of the side clamp cylinders 90b and 90c act in the retracting direction. In addition,
In this case, the drive shafts are 98-81, 99-81, 1
00-81, 101-81. With this configuration, the shoulder clamps 78 and the armpit clamps 90 can press around the armholes 16a of the body 16 with equal pressure.

Operation Next, FIG. 9 is a block diagram of a control circuit that controls the above-mentioned mechanism. 12, and a feedback signal is sent back from the small sewing machine 12 to the small sewing machine CPU 103. The main CPU 105 includes a foot switch 106, a teaching box 107,
Driver 10 receives a signal from console 108
9, the cylinders of each part of the fabric support 13 are driven.

FIG. 10 is a block diagram showing the configuration of the main CPU in FIG. 9 in more detail, in which the robot 10 is connected to the main processor 110 via an interface 111 for an articulated robot, and a floppy disk controller A floppy disk driver 113 is connected through a floppy disk driver 112 , a console 108 is connected through a drive device interface 114 , and a teaching box 107 and a foot switch 106 are connected through a command interface 116 . Further, a fabric support 13 having an actuator 13a and sensors 13b such as an origin detection sensor and a limit detection sensor is connected to the main processor 110 via an output controller 117 and a driver 118, and an interrupt controller 119 is connected to the fabric support 13. has been done.

In the control device configured in this way, the position data of each motor corresponding to each size of blazer, suit, etc. is transmitted by the teaching box 107 to the main processor 110 via the command interface 116, and then sent to the floppy disk driver 113. is driven and stored on the floppy disk. Furthermore, the data taught corresponding to each size is stored with a file name assigned to it by a console consisting of a display and a keyboard. By specifying the file again using the console 108 and pressing the foot switches in sequence, the taught data of each size is sequentially reproduced and each bar etc. is moved to its optimum position.

Further, when a start command is input through the console 108, the body support 55, shoulder clamps 78, and side clamps 90 of the fabric support 13 are in the state shown in FIG. 3, and the sleeve supports 19a, 1
9b is in a contracted state. In addition, FIG. 3 shows it in an expanded state. Therefore, the thin part of the cuff can be easily passed through, and the sleeve supports 19a, 1
Body support 55 and side clamp 9 at the tip of 9b
Since 0 is largely retracted, it is easy to put on the sleeves. Next, when inputting the file name of the size of the worn sleeve from the console 108 and pressing the foot switch 106, the main bar 4 of the sleeve support 19 is
5 and 51, 51a, 51b and sub bar 3
3 and 34 are expanded and stopped at the taught data position, and the sleeve 18 is supported. At this time, the motor 79 that drives the support stand 20 also rotates, and the sleeve support 19 moves left and right, and the movement in the left and right directions with respect to the body support 55 due to the stop position of the sleeve support 19 is also corrected by teaching in advance. Move to a memorized position. Next, the foot switch 106
When you press , the body support 55 is lowered, the body support 55 and the sleeve support 19 are stopped at the optimum position memorized in advance by teaching, and then the body support 55 is moved to the taught position. Moving.
Here, the body 16 is attached to the body support 55 and positioned. Next, when the foot switch 106 is pressed, the solenoid valve 120 (see Fig. 5) operates, the air cylinder 93 of the armpit clamp 90 operates, the armpit clamp arm 92 (see Fig. 3) rotates inward, and the shoulder clamp 78 and the leaf spring 87 of the side clamp 90 move to the vicinity of the body. Next foot switch 10
By pressing 6, cylinder 80, cylinder 90
a operates, and the body 16 is held by the shoulder clamps 78 and side clamps 90 to the body bars 56, 57 and the sleeve supports 1.
9, 19a, and 19b for fixed support. The next press of the foot switch 106 causes the multi-joint robot 10 to operate and move along the suture line as the movement trajectory of the small sewing machine 12 has been stored in advance.

After sewing is completed, the small sewing machine 12 moves the fabric support 1
Evacuate from 3 and stop. Next, foot switch 1
When 06 is pressed, the sleeve support 19 contracts, and the shoulder clamps 78 and side clamps 90 return to their original positions. Furthermore, when the foot switch is pressed, the motor 6
6 (FIG. 5) rotates, and the body support 55 is retracted upward. At this time, the sewn body with sleeves easily comes off from the sleeve support, so there is no problem with the body after sewing is completed.

Effects of the Invention As is clear from the above description, the present invention has a plurality of (for example, six) armholes all around the body.
The upper half clamp (shoulder clamp) presses and secures the body against the body support, and the lower half clamp (armpit clamp) presses and secures the body and sleeves against the sleeve support at the same time. Therefore, it is only necessary to provide the body support part (body bar) in the upper half of the body armhole, and by retracting the whole body support body upward after sewing is completed, the workpiece can be easily taken out and the sleeves can be attached. It also has the advantage that the sleeves can be easily attached. In addition, the seams between the sleeve and the body come into close contact, improving sewing conditions and improving sewing quality.

[Brief explanation of the drawing]

Fig. 1 is an overall view of a three-dimensional sewing device embodying the present invention, Fig. 2 is a partially detailed front view of a sleeve support embodying the present invention, and Fig. 3 is a front view of a fabric support embodying the present invention. , FIG. 4 is a partially enlarged cross-sectional view of the body and sleeves supported by the fabric support, FIG. 5 is a cross-sectional view of the vertical rotation mechanism of the body support shaft according to the present invention, and FIG. 6 is the first embodiment of the present invention. A front view of the body clamp of the embodiment, FIG. 7 is a diagram showing the state in which the body clamp shown in FIG. 6 is driven, and FIG. 8 is a state in which the body clamp and the side clamp are pressed against the sleeve support body implementing the present invention. FIG. 9 is a block diagram of a control circuit for driving the sleeve support, body support, body clamp, and side clamp according to the present invention, and FIG. 10 is a further diagram of the control circuit of FIG. 9. A detailed block diagram, FIG. 11 is a perspective view of the body, and FIG. 12 is a perspective view of the sleeve. 15...Table, 19...Sleeve support, 20...
...Support stand, 21...Threaded part, 22...Male thread, 2
3... Connection portion, 79... Motor, 24... Support frame, 25... Support body, 26... Sliding rod, 27...
Wire, 28... arm, 29, 30... link,
31, 32... Lever, 33, 34... Sub bar, 35, 36... Lever, 37a... Motor,
37b...Connection part, 37c...Male thread, 38...
Moving table, 39...Screw part, 40...Wire, 4
1, 42...Support roller, 43...Sliding rod, 44
... Link, 46 ... Link, 47 ... Rubber part, 48 ... Sliding rod, 49 ... Wire, 50 ...
Link, 51 (51a, 51b)...Main bar, 52...Link, 53...Rubber part, 5
6,57...Body bar, 78...Shoulder clamp, 8
0...Cylinder, 81...Cylinder rod, 82...
Mounting plate, 83... Pivoting shaft, 84... First clamp lever, 85... Second clamp lever, 86
... Link, 87 ... Leaf spring, 88 ... Flexible material,
89...Crank pressure spring.

Claims (1)

[Claims] 1. A body bar supported by a body support body is configured to press and fix the upper side of the armhole of the body with a plurality of shoulder clamps each having a plate spring each having a cylinder and a flexible material, and
The lower end of the armhole of the body and the lower end of the sleeve are configured to be pressed and fixed to the sleeve support part of the sleeve support body using a plurality of divided armpit clamps each having a plate spring each having a cylinder and a flexible material. The sleeve and body support mechanism in three-dimensional sewing is characterized by: