JPS6210888B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the provision of a new separating and transporting means for automatically 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 Each sheet is taken out and the desired sewing or other processing is performed, and in order to increase efficiency and save labor, automated means for taking out and moving each sheet is adopted. Conventionally, suction means and clamping means have been frequently used as automated means for this purpose, but these still have drawbacks in automatically picking out single sheets accurately and are prone to mistakes such as multiple sheets being taken together or falling off during movement. There are many problems, and constant monitoring and modification are required.

The present invention solves these problems and smoothly and reliably applies one layer to a stack of fabrics from the top of the stack.
It is possible to take out a sheet and transfer it to a target position, and the gist of the present invention is that the arm main body 28 of the teaching/reproducing robot device 26 is fixedly held on the advancing/retracting arm 29 of the arm main body 28 which can be swiveled up and down. The fabric separating device main body 1 has a fabric locking member 12 on the lower surface thereof, an arm 7 that can move back and forth horizontally, and a movement rod 10 that can move back and forth simultaneously with the arm 7 and can move back and forth horizontally independently. A peeling pick-up member 13 is installed to be able to swing vertically and horizontally stop about its pivot point, and the pick-up member 1 is also mounted on the main body 1 of the apparatus.
By installing the fixed gripping tool 21 and the movable gripping tool 22 which are movable and retractable together in the direction of the pick-up member 13 in parallel in the horizontal direction, and the movable gripping tool 22 being openable and closable with respect to the fixed gripping tool 21, A piece of dough separated by the gripping tools 21,
22, and is moved to the target position via the operating arm 29.

The present invention will be described in detail below with reference to the illustrated embodiment. FIG. 1 shows the entire dough separating device according to the present invention. Moving blocks 3 and 4 are attached to the front and rear of the guide shaft 2 inserted into the
A reciprocating rod 6 of an air cylinder 5 provided on the main body 1 of the apparatus is connected to a moving block 3, and an arm 7 is provided protruding from the moving block 3, and a forked bracket 8 is attached to the front end of the arm 7 in a downwardly inclined shape. It is attached. The moving block 4 that moves together with the moving block 3 is provided with an air cylinder 9, and the advancing/retracting rod 10 of the cylinder 9 is made to protrude downward through the elongated hole 7a provided in the arm 7 of the moving block 3. A bifurcated bracket 11 provided at the lower end of the link 10 has a fulcrum shaft at the upper end of a link 14 that holds a pick-up member 13 for peeling the fabric, which has a clothing or other locking member 12 stretched on its lower surface to engage with the fabric. The lower end of the link 14 is pivotally connected via a fulcrum shaft 16 to the lower end of a forked bracket 8 attached to the front end of the arm 7 of the moving block 3 mentioned above. Reference numeral 17 indicates a guide stopper for the reciprocating rod 10 in the arm 7. Furthermore, an air cylinder 18 is provided at the bottom of the main body 1 of the dough separating device, and the pick-up member 1 is installed on the front side of a block 20 attached to the reciprocating rod 19 of the cylinder 18.
3, a gate-shaped or fork-bracket-shaped fixed gripping tool 21 with a notch in the center is integrally attached,
On both sides of the block 20, movable gripping tools 22, 22 for gripping the fabric correspond to both sides of the fixed gripping tool 21, and are attached to both ends of a fulcrum shaft 23 which is supported through both sides of the block 20. They are pivotally connected, and one movable gripper 22 is connected to a reciprocating rod 25 of an air cylinder 24, which is provided on a moving block 30 that is loosely fitted to the air cylinder 18, using the lower part of the main body 1 of the device. be. In the embodiment, the air cylinders 5, 9, 18, and 24 are used as the drive sources for the movement rods 6, 10, 19, and 25; Member 13
In the mechanism for varying the angle of the fabric locking surface with respect to the fabric, which includes the locking member 12, mechanisms other than those shown in the drawings may be freely used.

In the present invention, as illustrated in FIG.
For example, a known teaching/reproducing robot device 26 such as a cylindrical coordinate manipulator is used. That is, the actuating arm 29, which protrudes from the arm main body 28 held by the actuating shaft 27 which can be rotated and raised and lowered in the same robot device 26 in a manner that can extend and retract, is connected to the above-mentioned connecting portion 1a. By making the actuating arm perform a combination of rotational elevation and back-and-forth movement according to a program preset in the robot device 26, the main body 1 of the dough separating device can be moved between points A and B, for example. It is made to move back and forth over a period of time.

According to the apparatus of the present invention, in the following work order, for example, one piece of fabric is automatically separated and taken out from the top end of the stack of fabrics stacked in the vertical direction, and it is automated to transport it to a destination position. Work is possible. First, the operating arm 29 of the teaching and reproducing robot device 26 shown in FIG.
The pick-up member 13 is moved toward the block, and then the air cylinder 5 is driven to move the forward/backward rod 6 forward in the direction of the arrow in FIG. At the same time, by driving the air cylinder 9 and moving the reciprocating rod 10 forward in the direction of the arrow, the pick-up member 13 is tilted upward via the link 14 with the fulcrum shafts 15 and 16 as fulcrums. Furthermore, if the air cylinder 9 is driven in the opposite direction to move the advance/retreat rod 10 backward, the pick-up member 13
On the contrary, the pickup member 1 is tilted downward, so by driving the air cylinder 5 in the opposite direction and retracting the advance/retreat rod 6 in the opposite direction of the arrow, the pick-up member 1
The locking member 12 at 3 is located at 1 at the top end of the laminated fabric.
The two fabric surfaces are hooked and engaged. Therefore, next, the air cylinder 9 is driven to advance and retract the rod 1.
By moving the pick-up member 13 forward again, the pick-up member 13 is tilted upward with its locking member 12 hooking the fabric surface, so that the uppermost piece of fabric is reliably separated from the lower fabric. That will happen. If the robot device 26 is driven in this peeled state to move the main body of the separating device main body 1 to another desired position, the uppermost piece of fabric is held on top of the laminated fabric while being held by the pick-up member 13. It will move away from the edge. During this movement, the air cylinder 18 is driven to advance the reciprocating rod 19 in the direction of the arrow in the figure, thereby moving the fixed gripping tool 21 via the block 20 and moving the movable block 30 on the air cylinder 18. , the movable gripping tool 22 connected to the reciprocating rod 25 of the air cylinder 24 supported by the same block 30 moves together toward the pick-up member 13, and as a result, the pick-up member 1
3 and the fabric held by the member 13 will both enter between the gripping tools 21 and 22.
Therefore, in this state, by driving the air cylinder 9 and retracting its advancing/retracting rod 10 halfway, the pick-up member 13 assumes a horizontal position, and together with this, the air cylinder 24 is driven to move its advancing/retracting rod 25 in the direction of the arrow in the figure. By moving the movable gripping tools 22 forward, the movable gripping tools 22, 22 rotate around the fulcrum shaft 23 and lie down, sandwiching the fabric between both sides of the fixed support 21 and the pair of movable gripping tools 22, 22. grip it. At the same time as this gripping, the air cylinder 5 is driven and the forward/backward rod 6 is moved forward in the direction of the arrow, so that the pick-up member 1 assumes a horizontal position.
3 moves forward as the locking member 12 is removed from the fabric surface, and freely separates through the notch in the center of both gripping tools 21 and 22 to return to its original position. When the robot device 26 completes the movement of the entire fabric separating device main body 1 to the target position, the movable gripping tool 22 is rotated by driving the air cylinder 24 and retracting the advancing/retracting rod 25 in the opposite direction of the arrow. Then, as the air cylinder 18 is driven to move the forward/backward rod 19 backward in the direction opposite to the arrow, the fixed gripping tool 21 is retracted and the same gripping tool 2 is moved back.
The fabric above 1 will fall onto the target position,
In this way, a series of operations such as peeling one piece of fabric from the top of the stack, taking it out, transporting it to a destination, and dropping it can be accomplished fully automatically. In this way, by moving the main body 1 of the fabric separating device 1 again to a position above the fabric stacking surface via the robot device 26, this work of separating and transporting each fabric is automatically repeated.

The present invention is as described above, and is superior to conventional automated means in the following points. That is, in the present invention, a pick-up member 13 whose facing angle with respect to the dough can be freely adjusted is provided in the main body 1 of the separating device, and a fixed/movable gripping tool 21 that receives and grips the dough separated by the pick-up member 13. ,2
2 separately, the pick-up member 13 can be moved by the two reciprocating rods 6, 10.
By freely changing the overall positioning and the inclination angle of the locking member 12 surface with respect to the fabric,
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, the pair of gripping tools 2 can be immediately removed by the pick-up member 13 without having to be carried around all the time.
Since the fabric is moved to the 1 and 22 sides and gripped, troubles such as detachment or falling of the fabric during movement do not occur at all, and as a result, the fabric can be carried and moved accurately and reliably at all times. In addition, in the present invention, the entire main body 1 of the apparatus is operated by the teaching and reproducing robot member 26, instead of the conventional member that adsorbs or clamps the fabric independently making movements such as turning, rotating, advancing and retracting for transfer. Because we are transporting
The dough gripping member moves in a stable and immovable state, so there is no problem with the dough coming off or falling, and reliable and safe transfer can be easily performed. 1
A combination of forward and backward movements of 0, 19, and 25 is sufficient,
Its movement mechanism and movement contents can be simplified, and it can be assembled into a compact device, making it an excellent device for peeling and lifting various types of fabric one by one and transporting it to a destination point.

[Brief explanation of the drawing]

FIG. 1 is a side view of an embodiment of the dough separating apparatus of the present invention, and FIG. 2 is a side view of an embodiment of the apparatus of the present invention. 1... Dough separation device main body, 5, 9, 18, 24
. . . Air cylinder, 6, 10, 19, 25 . Section 26... Teach-and-play robot device, 29... Operating arm.

Claims (1)

[Scope of Claims] 1. An arm 7, which can move horizontally and move back and forth, is attached to the main body 1 of the fabric separating device, which is fixedly held on the arm 29 of the arm main body 28, which can rotate and move up and down, in the teaching and reproducing robot device 26. An advancing/retracting rod 10 that is capable of advancing and retracting as well as independently horizontally advancing and retreating.
Accordingly, a fabric peeling pick-up member 13 having a fabric locking member 12 on its lower surface is installed so as to be able to swing up and down and horizontally stop about its pivot point, and the pick-up member 13 is also attached to the main body 1 of the apparatus. 13
By installing the fixed gripping tool 21 and the movable gripping tool 22, which can move back and forth simultaneously toward the fixed gripping tool 21, in parallel in the horizontal direction, and the movable gripping tool 22 being openable and closable with respect to the fixed gripping tool 21, the pick-up member 13 A fabric separation and transfer device characterized in that one separated piece of fabric is moved and held between the gripping tools 21 and 22 and transferred to a target position via the operating arm 29.