JPS5992841A - Fabric separation conveyor - Google Patents

Abstract

PURPOSE:To smoothly and securely separate and lift every sheet of fabric of each kind and convey the sheet to a place, by providing a fabric separating member, a pick-up member movable back and forth and fabric holding members capable of being moved back and forth and being opened and closed. CONSTITUTION:A pick-up member 13, which can be adjusted of the angle of facing a fabric, and holders 21, 22, which can be moved back and forth and be opened and closed and receive and hold the fabric separated by the pick-up member 13, are separately provided in the body 1 of a separator. Two reciprocating rods 6, 10 are used to optionally change the position of the pick-up member 13 as a whole and the angle of inclination of an engaging member 12 to the fabric to securely engage the pick-up member with the uppermost sheet of the stacked fabric and lift the sheet without being accompanied by the other sheets.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the provision of a new separating and transporting means for automatically disposing and separating one piece of fabric from a large group of fabrics and transporting it to a destination position.

As is well known, in secondary processing such as manufacturing clothing using various fabrics, a large number of fabric pieces of each part cut into the required shape are laminated and assembled into a block shape, and from this aggregate, one Since each sheet is taken out and the desired sewing or other processing is performed, automatic means for taking out and moving each sheet is adopted for efficiency and labor saving. Conventionally, suction means and clamping means have been frequently used as automated means for this purpose, but these still have drawbacks in the ability to accurately take out single sheets automatically.
There are many mistakes such as multiple sheets being carried together or falling off during movement, so constant monitoring and repair are required.

The present invention solves these problems and makes it possible to smoothly and reliably take out one piece of stacked fabric from the top of the stack and transport it to a destination position.
The gist of the present invention is to include a pick-up section that is equipped with a fabric peeling member/material whose facing angle to the fabric can be adjusted and is provided to move forward and backward; The present invention is comprised of a dough separating device comprising a separating section provided with a dough gripping member, and a transfer means connected to the dough separating device and capable of moving the separating device between predetermined positions.

The present invention will be described in detail below with reference to the illustrated embodiments. Figure 1 shows the entire fabric separating apparatus according to the present invention. ) A movable block C5) (4> is attached to the front and rear of the guide shaft (2) slidably inserted in the guide shaft (2)), and a reciprocating rod (6) of the air cylinder (5) provided in the main body (1) of the device is attached.
is connected to the moving block (6), and an arm (7) is provided protruding from the moving block (3), and a two-pronged bracket (8) is attached to the front end of the arm in a downwardly inclined manner. A moving block that moves together with the moving block (3) (
4] is provided with an air cylinder (9), and the reciprocating rod αQ of the cylinder (9) is connected to the above-mentioned moving block (3).
) is provided with a two-pronged bracket (1υ) that protrudes downward through a long hole (7a) provided in the arm (7) and provided at the lower end of the advance/retreat rod αQ. Pick-up member a for fabric peeling with a stopper @
The upper end of the link 0Φ holding the link α4 is pivotally connected via the fulcrum shaft 09, and the lower end of the link α4 is connected to the forked bracket (8) attached to the front end of the arm (7) in the moving block (3) mentioned above. ) is pivotally connected to the lower end of the arm (7) via a fulcrum shaft αG, and αη indicates a guide stopper for the advancing/retracting rod 0Q in the arm (7).

Furthermore, an air cylinder Q is installed at the bottom of the dough separating device (1).
8) and the advance/retreat rod α9 of the same cylinder (to)
A gate-shaped or bifurcated bracket-shaped fixed grip Q1) with a notch in the center corresponding to the pickup member 03 is integrally attached to the front surface of the block (a) attached to the block (a), and a fixed gripping tool Q1) is integrally attached to the front side of the block (a) attached to the block (A). In this case, a movable gripping tool @ for gripping the fabric corresponding to the image side of the fixed gripping tool Qυ is pivoted at the leg end of the fulcrum shaft (to) which is supported through both sides of the block (to). One of the movable gripping tools (l) is a reciprocating rod for an air cylinder (c) provided on a movable block (to) that is loosely fitted to the air cylinder 08 and utilizing the lower part of the device main body (1). (to) are connected.In the y embodiment, the air cylinder (5) (9) Q81 (to) is illustrated as the drive source for advancing and retracting each advance/retreat rod (6) α009, but these are connected to the air cylinder It is possible to use a drive means other than the one described above, and the stop member (
2), it is also possible to use a mechanism other than the illustrated example in the variable mechanism for changing the angle of the fabric retaining surface with respect to the fabric.

As a transport means for moving the fabric separating device (1) having the above-mentioned configuration between predetermined fixed positions,
In the present invention, as illustrated in FIG. 2, a known teaching/reproducing robot device such as a cylindrical coordinate type manipulator is used. That is, in the same robot device (A), the operating arm holder, which extends and retracts freely from the arm body (to) held by the operating shaft (A) which can be rotated and raised and lowered, is connected to the above-mentioned connection part (1a). This allows the operating arm to perform multiple rotational elevation and back-and-forth movements in accordance with a program pre-assembled in the robot device@, thereby moving the main body of the dough separating device (1), for example, to A measurement. The object is moved back and forth between point and point B.

According to the apparatus of the present invention, one piece of fabric is automatically separated and taken out from the top end of a stack of fabrics stacked in the vertical direction, and the stiff pieces are transferred to a target position, for example, in the following work order: Automated work is possible.

First, the main body of the dough separation device (1) is operated by the operating arm (to) of the teaching and reproducing robot device (to) shown in Fig. 2.
The pick-up member α3 is moved close to the top surface of the laminated fabric of interest, and then the air cylinder (5) is driven to advance the advancing/retracting rod (6) in the direction of the first arrow. Moving block (3) (4) Arm (7)
'' and the two-pronged bracket (8), and at the same time drive the air cylinder (9) to advance the advance/retreat rod 0a in the direction of the arrow.
is tilted upward through the link αΦ with the fulcrum axis 151 am as the fulcrum. Furthermore, if the air cylinder (9) is driven in the opposite direction to move the advancement/retraction rod aG backward, the pickup member (to) will be in a downwardly inclined position, so the air cylinder (5) is driven in the opposite direction to move the advancement/retraction rod aG back. (6) To move back in the opposite direction of the arrow, pick up member 0
The stop member a2 in step 3 hooks and engages the uppermost layer of the laminated fabric. 6 Therefore, by driving the air cylinder (9) and moving the reciprocating rod QCI forward again, Since the pick-up member α3 is turned into an upwardly inclined position with its locking member (end) hooked on the pot surface, the uppermost piece of fabric is reliably separated from the lower fabric. If you drive the robot device @ with this peeled part and move the entire separation device main body (1) to a different target position 1 (the uppermost piece of fabric is held by the pick-up member 03) During this movement, the air cylinder α81 is driven to advance its reciprocating rod α9 in the direction of the arrow in the figure, thereby releasing the fixed gripping tool Qυ and Through the movement of the moving block (l) on the air cylinder α mark, both the movable gripping tool (a) connected to the advancing/retracting wood (a) of the air cylinder 0241 supported by the same block (to) are integrated. Together, they head toward the pick-up member 03 side, and due to the stiffness, both the pick-up member /13 and the fabric held by the pick-up member 03 enter between the gripping tools Qυ.Therefore, in this state, the air By driving the cylinder (9) and partially retracting its advancing/retracting rod Q(l), the pickup member a3 assumes a horizontal position, and together with and h, the air cylinder (
By driving the forward/backward rod (to) and advancing the forward/backward rod in the direction of the arrow in the figure, the movable gripping tool (A) (A) moves to the fulcrum shaft (A).
The material is rotated and laid down using C) as a fulcrum, and the fabric is held in a sandwich-like manner between both sides of the fixed support 0υ and a pair of movable gripping tools (A) and (A). By driving the air cylinder (5) at the same time as this gripping and moving the advance/retreat rod (6) forward in the direction of the arrow, the pickup member 03 in the horizontal position moves forward as the locking member (■) is released from the dough surface. Same gripping tool al
It can be freely separated and returned to the old position via the notch in the central part of l(a). The robot device @ completes the movement of the entire dough separation device living body (1) to the target position, and at the same time drives the air cylinder (c) to move the forward and backward movement rod (
By moving the movable grip C1J backward in the direction opposite to the arrow, the movable grip C1J is rotated and released, and then, as the fixed grip C1J is moved back, the movable grip C1J is moved back in the opposite direction by the drive of the air cylinder 0&. The fabric on the gripping tool 01) will fall onto the target position, and in this way, the series of operations of peeling one fabric from the top of the stack, taking it out, transferring it to the destination point, and dropping it will be completely automatic. It can be obtained in a practical manner. In this way, by moving the main body of the fabric separating device (1) to a position above the surface of the Y layer of precious fabric via the robot device @, the separation and transfer operation of the fabric for one piece is automatically repeated.

The present invention is as described above, and is superior to conventional automated means in the following points. In the present invention, a pick-up member αS whose facing angle to the fabric can be freely adjusted is provided in the separating device living body (1), and a fixing device for receiving and gripping the fabric separated by the pick-up member 03;
By separately providing the movable gripping tool c211H, first, the pickup member a3 can be moved between the two advancing and retracting rods (6) Q
Q allows you to freely change the overall positioning and the inclination angle of the locking member 02 surface with respect to the fabric, and
By reliably engaging the surface of the fabric and pulling it up, only one fabric can be pulled up reliably and smoothly without the risk of the second and subsequent fabrics being pulled up together. Furthermore, since the fabric is immediately transferred to and gripped by the pair of gripping tools f and 2D (a) without being carried by the pick-up member 03 from beginning to end, troubles such as detachment or falling of the fabric during movement do not occur at all. This means that the fabric can be transported and moved accurately and reliably at all times. In addition, in the present invention, unlike in the past, the member that sucks or clamps the fabric does not independently perform movements such as turning, rotating, advancing and retracting for transfer, but the main body (1) of the entire device is a teaching and reproducing robot member (i.e. ), the dough gripping member moves in a stable and immovable state, so there is no problem with the dough coming off or falling, and it is easy to transfer the dough reliably and safely. Simple forward and backward movement rod (6) Q
It is an excellent device for peeling off sheets, lifting them, and transporting them to their destination.

[Brief explanation of the drawing]

FIG. 1 is a side view of a fabric separation bag@embodiment of the present invention, and FIG. 2 is a side view of an embodiment of the apparatus of the present invention. (1)...Mainly the dough separation device, (5) (9) (to)
(c)... Air cylinder, (6) θ009 (c)...
・Advancing/retracting rod, O2... Holding member, O3... Pickup member, Ql)... Fixed gripping tool, ■... Movable gripping tool, (1a)... Transfer member connection part, (to) ...Teaching and reproducing robot device, Ushio...operating arm.

Claims (1)

[Claims] 1. A pick-up section that is equipped with a fabric peeling member whose facing angle at which it cuts the fabric can be adjusted and can move forward and backward, and a fabric gripping member that can move forward and backward toward the fabric peeling member and can be opened and closed. What is claimed is: 1. A fabric separating and transferring device comprising: a fabric separating device comprising a separating section; and a transfer means connected to the fabric separating device and capable of moving the device between predetermined positions.