JPS59155284A - Gripper - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to a gripper used for automatic sewing of clothing.

More specifically, during the automatic sewing of garments, the fabric is attached to a gripper attached to an automatic device, such as a so-called robot, and used to transport the material to be sewn from one place to another during the automatic sewing cycle. It is gradually processed in different locations. Automatic handling is therefore desirable to move fabrics from one location to another while being processed. Such automatic handling includes grasping a piece of fabric, moving the fabric to the work station, placing the fabric in the correct position on the sewing table, steering the fabric during sewing, and handling the fabric after it has been processed. It consists of moving the fabric again from one place to another in the sewing cycle. Appropriate grippers are required for these automatic handling operations,
It is an object of the present invention to provide such a gripper.

According to the present invention, there is provided a gripper for moving fabric in automatic sewing of clothing, which is provided with at least one operation surface, and includes a hollow interior space and a gripper provided on the operation surface communicating with the interior space. at least one aperture and at least one stud provided on each of said operating surfaces projecting slightly beyond said aperture, optionally adapted to establish a reduced pressure within said interior space; There is provided a gripper characterized in that it uses a body having an air suction means and a discharge means that connects the internal space.

A reduced pressure is established in the hollow space for picking up, so that when the gripper approaches or contacts a piece of fabric on the sewing table, the piece of fabric is suctioned against the operating surface. During pick-up, studs on the operating surface keep the opening clear of the fabric and the sewing table. This allows the gripper to rest on the fabric for picking up without the operating surface resting on the fabric on the sewing table. When the pressure inside the gripper is reduced, the fabric is drawn to the gripper and the gripper does not stick to the sewing table. Once transported and reaching the desired location, the reduced pressure inside the gripper is released, thereby releasing the piece of material to be sewn into the desired new position.

According to one embodiment of the invention, said body is in the form of a hollow box. According to another embodiment, a distribution duct is provided in the body, from which one or more holes lead to the operating surface.

Hereinafter, the present invention will be described based on the accompanying drawings, but the accompanying drawings are merely illustrative and the present invention is not limited thereto.

Note that FIG. 1 is a perspective view showing an embodiment of the gripper of the present invention with the operation surface facing upward, and FIGS. 2 and 6 are views of the gripper shown in FIG. 1 during operation. Perspective views illustrating different suspension methods, Figures 4-
FIG. 9 is a perspective view for explaining various situations in which a piece of fabric is handled using the gripper of the present invention attached to a robot, and FIG. 10 is a perspective view of a robot arm equipped with a plurality of grippers of the present invention. FIG. 3 is a plan view showing the end.

The gripper of the invention shown in FIG. 1 has a rectangular hollow body (1) to which a tube (2) can be attached and connected to a vacuum pump. The body (1) has an operating surface (3) in which six holes (4) are provided, each hole (4) having a respective protruding tubular rubber boxwood. (5) is installed. Operation surface (3)
three smaller holes (6) near one corner of the hole and a tubular rubber boxwood (7) attached to each hole (6).
and is provided. Finally, two identical stud bolts (
8) is provided on the operating surface (3), said stud (8) projecting slightly beyond the collars (5) and (7). Boxwood (5) and (7) are not always necessary;
In some cases they may be removed.

During operation, the operating surface (3) faces downwards and the opposite surface (9) is fixed, for example by means of a stud α0) as shown in FIG. 2 or by a grooved track α1) as shown in FIG. means adapted to receive a matching member forming part of a robot arm (not shown) or connected to the robot arm by any other similar attachment means.

A vacuum must be used to pick up the fabric pieces as shown in FIGS. 2 and 3. Obviously, too weak a vacuum will not hold the fabric, but too much vacuum will fold the edges of the fabric, cause unwanted creases, or damage the fabric in any other way. The vacuum must therefore be carefully controlled in a manner obvious to those skilled in the art.

A vacuum of 15 cm of mercury, or about 175 cm of atmospheric pressure, and an air flow rate of about 10 cm per minute through the denim fabric.
0//m, the length shown in Figure 1 is 10 to 15 cm,
Width 6 om, height 5 am, larger hole size 6Mn and smaller hole size 6- gripper lifts about 240, but the front of the pants is about 1159 and the pockets are only 15. That's entirely appropriate considering that. Obviously, the vacuum required will vary depending on the nature of the fabric.

During operation, the tubular holes (4) and (6) are vacuumed;
The fabric can be lifted by the gripper with minimal suction on the sewing table. The rubber brim also minimizes the tendency for the fabric to shift laterally. The auxiliary smaller holes (6) serve to support the edges of the fabric, which otherwise tends to sag and fold over the larger holes (4).

The stud (8) essentially serves to keep the tubular rubber rim slightly above the fabric when picked up. Thereby, the gripper can rest on the stud (8) when the fabric is drawn up from the sewing table by the vacuum.

According to the invention, individual grippers having one or more holes may be used alone or in clusters in an array for lifting larger parts. In either case, the shape and design of the individual grippers can be varied to suit each part of the garment. When arranging the grippers, a plurality of grippers are arranged on the frame in such a way that the edge of the fabric to be treated and lifted receives a good gripper roll.

The grit frame may also carry a gripper arrangement used in a series of operations for several different parts. In such cases, the vacuum is applied selectively for each operation, applying only to the gripper to be operated at each scene.

Figures 4-9 illustrate several scenes in which fabric is moved by a robot attached to the glyph of the present invention. In Figure 4, the piece of fabric (B) is placed in the correct position on the sewing table 0→ and is ready to be picked up. In FIG. 5, a gripper of the type shown in FIG. 1 attached to the end of a robot arm .theta.6) is compressing a piece of fabric (b) while a vacuum is applied.

As a result, the piece of fabric is attracted to the gripper and lifted off the sewing table as shown in FIG.

In FIG. 7, the piece of fabric α3) is transferred to another workbench (1'i) equipped with a sewing machine. The sewing machine is illustrated with 7 points (G) and a sewing needle (B). In the 8th Fga, the piece of fabric (18) is placed on the workbench (b) in the correct position with respect to the sewing machine. When the vacuum is released and the gripper leaves workbench 1 (12), the fabric piece (b) is left on the workbench .alpha..eta. ready to be processed, as shown in FIG.

FIG. 10 schematically shows a gripper arrangement for pants in which a unit of grippers of the type illustrated in FIGS. 1 to 3 is attached to a frame. As shown, seven frames are attached to the robot arm @η, and the frame has w number of grippers per unit. Attached to each gripper unit is a vacuum hose connected to a central vacuum tube leading to a vacuum pump (not shown). Suitable for lifting pants.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the gripper of the present invention with the operation surface facing upward, and FIGS. 2 and 6 are respectively views of the gripper shown in FIG. 1 during operation. 4 to 9 are perspective views showing different hanging methods, and FIG. 10 is a perspective view illustrating various situations in which a piece of fabric is handled using the gripper of the present invention attached to a robot, and FIG. 2 is a plan view showing the end of a robot arm provided with a plurality of grippers of the invention. (Drawing codes) (1): Hollow body (2): Tube (3): Operation surface (4), (6): Hole (5), (A) Double barb (8), α0): Studded bolt (9): Opposing surface (6): Grooved track 1 piece of fabric 1 sewing table (b) Cogripper (16), @wa: 4 bot arms αη: workbench (e): 7 points of sewing machine (19): Sewing needle @O: in the frame) in one nigeripper unit): vacuum hose patent applicant Schenkar College op Textile A Technologie & Fashion

Claims (1)

[Claims] 1. A gripper for moving fabric in automatic sewing of clothing, which is provided with at least one operating surface, has a hollow internal space, and at least one opening provided in the operating surface that communicates with the internal space. , at least one stud provided on each of said operating surfaces projecting slightly beyond said opening; and air suction means optionally adapted to establish a reduced pressure in said interior space. Gripper 82, characterized in that the body comprises a body having a discharge means connected to the inner space. Gripper 0 according to claim 1, wherein the gripper 0 is provided with a distribution duct and at least one hole leading from the distribution duct to the operating surface.