JPS6296231A - Holding device for clothlike matter - Google Patents

Abstract

PURPOSE:To control cloth tension automatically as well as to hold sheetlike cloth without fail, by installing a push rod, shifting a card clothing holder, in a holding device for the sheetlike cloth. CONSTITUTION:When a signal is inputted into a computer 28, a holding signal is outputted to a three-directional control valve 23, and this three-direction control valve 23 comes into a state of being opened. The valve connected to an outer actuator 30 of the three-directional control valve 23 is opened first, and the cloth keep member 4 unitized with a slider 2 as one body is made contact with cloth 31. When an upper end face of this slider 2 as one body is made contact with cloth 31. Then an upper end face of this slider 2 comes into contact with the underside of a body 10, the valve connected to a pneumatic joint 21 of the three-directional control valve 23 is opened, whereby preset- pressure air enters the inside of the body 10 via an interconnecting hole 10a, pushing up a push rod 5 against energizing force of a piston return spring 14. At this time, this push rod 5 makes its taper part 5a, formed at the tip end, shift a card clothing holder 7 to the outside in a radial direction, stopping the set pressure at a position where tension of the cloth 31 balances, thus it holds the cloth 31 with constant tension.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gripping device for cloth-like objects, and more particularly to a gripping device that can automatically grip various kinds of cloth-like objects with appropriate tension.

[Conventional technology]

Grasp cloth-like materials stacked on a table one by one.

It has the function of transferring it to another table and releasing the grip at that position. Various gripping devices for cloth-like objects have been proposed in the past, but these conventional gripping devices do not allow the cloth-like object to be easily removed from the gripping surface of the pick-up head of the gripping device when releasing the cloth-like object. There were many cases where I couldn't leave. In addition, cloth-like objects were sometimes damaged by the clothing provided on the pickup head.As a means to solve these problems,
It was held with a fixed barb as disclosed by the '999 publication. Tension is applied to the cloth-like object by a rotating pierced body that is rotated by a starter such as a rotary linenite, and the rotation angle of this rotary pierced body is adjusted by adjusting the position of the stop plate to apply tension according to the type of cloth-like object. There are structures that adjust the
According to this proposal, manual mechanical adjustments had to be made every time the type of cloth material changed.

Also, JP-A-55-130436 and JP-A-57-
There is also a structure, as disclosed in Japanese Patent No. 62133, in which a cloth-like object is gripped or released by protruding or retracting a presser member from the end face of a clothing piece into which a cloth-like object has been pierced. However, in this proposal, as in the previous proposal, tension is applied to the cloth-like material by the rotation of the rotary solenoid.Moreover, since the rotation angle of the rotary solenoid is constant, this rotation angle can be expressed as, for example, the weight. There was a problem in that if the method was adjusted to be suitable for fabrics with curls or hard fabrics, it would be difficult to separate thin fabrics. In particular, when the cloth-like material is a thin material, it is difficult to separate the material because the material escapes even if the presser member is protruded from the end surface of the clothing material.

Furthermore, as disclosed in Japanese Utility Model Application Publication No. 59-149844, it has been proposed that an adjustment member is provided to adjust the tension depending on the type of cloth member, but in this proposal, the adjustment member is manually operated. Therefore, in the case of high-mix, low-volume production, a lot of adjustment time is required, and unmanned operation is not possible.

[Problem that the invention seeks to solve]

As mentioned above, the present invention has been problematic in the gripping device for cloth-like objects. This solution solves the problem that it was difficult to separate the cloth from the clothing depending on the type of cloth, and that it required a lot of time and manpower to adjust the tension to make it easier. It is an object of the present invention to provide a gripping device for a cloth-like article that can automatically control tension with a simple structure and that can efficiently and reliably grip and release cloth-like articles even during a production process of a wide variety of products in small quantities.

[Means to solve the problem]

A gripping device for a cloth-like object according to the present invention pierces a cloth-like object with a plurality of cloths arranged in a housing through a cloth holder, and moves the cloths outwardly away from each other or in a direction toward each other. A pick-up head for a cloth-like object configured to grip or release a cloth-like object, the push rod having a tapered tip for moving the clothing in the both directions via the clothing holder, and the push rod. It is composed of a pressing member that presses the pressing member, and a control member that controls the pressing force of the pressing member.

[Effect]

According to the above configuration, information about the cloth-like object is input to a control member such as a computer, and a signal that applies tension according to the cloth-like object is inputted from the computer to a pressing member such as an air cylinder or a motor. Since the push rod is pressed and the sheet-like object is automatically gripped with the appropriate tension, it has a simple structure and can easily and reliably grip and release even a wide variety of small quantities of cloth-like objects, making it ideal for conveyor lines. Cloth-like objects can be transported efficiently.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the drawings.

Example 1 There is approximately +l' on the outer periphery of the slide guide (housing) 1.
A lock nut 3 and a cap-shaped presser member 4 are screwed together, and the lock nut 3 adjusts and fixes the axial position of the fabric presser member 4. A circular opening 4a is formed in the surface of the presser member 4 that faces the end surface of the slider 2. A push rod 5 is slidably fitted into the through hole 1a formed in the inner diameter portion of the slide guide 1.
A tapered portion 5a is formed at one end on the side of the presser member 4, and a flange portion 5b is formed on the outer periphery of approximately the middle portion in the axial direction. The outer periphery of this flange portion 5b is in sliding contact with the inner diameter surface of the upper enlarged diameter portion 1b of the slide guide 1,
A circle ring 6 is provided on this sliding surface to maintain airtightness of the sliding surface. One end of a substantially cylindrical clothing holder 7 made of an elastic material such as synthetic resin is fixed to the inner diameter surface of the lower enlarged diameter portion IC of the slide guide 1 with a screw 8 . This clothing holder 7 has a plurality of, for example, four, cut portions formed along the axial direction in the direction of the cloth presser member 4, and is elastically movable in the radial direction. Furthermore, clothing 9 is fixed to one end of the clothing holder 7 that is cut in the direction of the presser foot member 4, and the tips of the needles 9a planted in these clothings 9 are connected to the presser foot. It is configured to be able to protrude from the opening 4a of the member 4. Furthermore, on the inner diameter surface of the slider 2 near one end on the presser member 4 side, there is a stepped portion 2 that engages with the clothing holder 7 when the clothing holder 7 is expanded in the radial direction at a predetermined position.
a is formed. The clothing holder 7 is adapted to be displaced in the radial direction via the tapered portion 5a by the axial movement of the push rod 5.

A body (air cylinder) 10 is airtightly screwed onto the upper end of the slide guide 1 via an O-ring 11. The push rod 5 is slidably and airtightly fitted into the body 10 via an O-ring 12, and projects upward. A slider return spring 13 is attached to the upper outer periphery of the slider 2. One end of the slider return spring 13 contacts the lower surface of the body 10, and the other end contacts a step formed on the outer periphery of the middle portion of the slider 2. The slider 2 is engaged with the portion 2b and urges the slider 2 in a direction to separate from the body 10. A piston return spring 14 is attached to the outer periphery of the push rod 5 within the upper enlarged diameter portion 1b of the slider guide 1.
One end of this piston return spring 14 is in contact with the lower surface of the flange portion 5b of the push rods 1 to 5, and the other end is latched to the lower surface of the upper enlarged diameter portion 1b, and is attached to the upper end surface of the inner diameter side of the body 10. Flange portion 5 of push rod 5
The upper surface of b is biased in the direction of contact.

An adjustment nut 15 for regulating the maximum expansion amount of the clothing holder 7 is screwed onto the upper end of the push rod 5, and the adjustment nut 15 is fixed by a lock nut 16. A fiber sensor 17 is provided through the center of the push rod 5 to detect the gripping state of a sheet-like object such as cloth.
The upper end of 7 is connected to a detection member 20 fixed to a bracket 19 via a sensor mounting bracket 18, and this bracket 19 is fixed to the body 10.

A pneumatic joint 21 is attached to the body 10,
It communicates with the inner diameter portion of the body 10 via a communication hole 10a formed in the body 10.

An air tube 22 is connected to this pneumatic joint 21, and this air tube 22 is connected to an air pressure source 25 via a three-way switching valve 23 and a proportional electromagnetic pressure control valve 24. These three-way switching valve 23 and pressure control valve 2
4 are connected to the computer 2 through amplifiers 26 and 27, respectively.
8, respectively gripping the clothing 9;
It is configured to transmit release signals and current command signals from computer 28 . Further, a manual setting device 29 for manually sending signals is connected in parallel to these signal circuits. Further, an external actuator 30 is connected to the three-way switching valve 23 to control the pressing force.

Next, the operation of this embodiment will be explained. When information regarding the cloth material sent to the gripping device from the upstream side of a series of lines such as the sewing process, such as information such as the weight of the cloth, the type of material, thickness, elasticity, etc., is input into the computer 28. The computer 28 calculates the current value to be passed through the pressure control valve 24 and outputs the current command value to the pressure control valve 24 so that the clothing holder 7 grips the cloth 31 with a tension matching this information.

As a result, air pressure is set in the pressure control valve via the air tube 22 and the pneumatic joint 21 into the body 10 from a pressure source 25 such as a compressor. Then, the conveyance device (not shown) to which the gripping device is attached moves to an appropriate gripping position, and when a signal indicating that the gripping position has been reached is inputted to the computer 28, a gripping signal is outputted to the switching valve 23 in three directions. The switching valve 23 becomes open.

At this time, the valve connected to the external actuator 30 of the three-way switching valve opens first, and the gripping device approaches the cloth 31 stacked on the table from above, and the cloth presser member integrated with the slider 2 4 is brought into contact with the cloth 31, moved further downward, and the cloth 31 is torn by the needle 9a planted in the clothing 9. At this stage, the upper end surface of the slider 2 is in contact with the lower surface of the body 10 against the biasing force of the slider return spring 13, and the push rod 5 is pushed upward by the biasing force of the piston return spring 14. 7 is not expanded in the radial direction. Further, the amount by which the needle 9a pierces the cloth 31 is determined by adjusting the position of the cloth presser member 4 using the lock nut 3 for adjustment.

When the upper end surface of the slider 2 comes into contact with the lower surface of the body 1o,
A valve connected to the pneumatic joint 21 of the three-way switching valve opens, and air at a set pressure flows through the communication hole 10a to the body 10.
inside, and push down the push rod 5 against the biasing force of the screw 1 to the return spring 14. At this time, the taper portion 5a formed at the tip of the push rod 5 moves the clothing holder 7 radially outward, and stops at a position where the tension of the cloth 31 balances the set pressure, gripping the cloth 31 with a constant tension. do. The gripping device that grips the cloth 31 switches the external actuator 3 by switching the three-way switching valve 23.
0 is activated and raised, and is moved to the release position by the transport device. During this time, the clothing holder 7 locks the slider 2 via the stepped portion 2a.

The gripping device that has been moved to the release position is
The three-way switching valve 23 closes in response to the cloth release signal output from the body 10, and the air pressure sent into the body 10 returns to atmospheric pressure.
The push rod 5 is raised by the biasing force of the piston return spring 14. This rise of the push rod 5 causes the clothing holder 7 to return radially inward, releasing the tension applied to the cloth 31. At the same time, the engagement between the ridge of the clothing holder 7 and the stepped part 2a of the slider 2 is released, and the cloth presser member 4 is lowered by the biasing force of the slider return spring 13, causing the cloth 31 to separate from the clothing 9. , placed open on a given table.

According to this embodiment, since cloth tension control can be performed automatically, it is possible to adjust the optimal gripping and releasing according to the conditions of various cloths in a short time without requiring manual labor. can. Therefore, even if the cloth or the like flowing on the conveyance line is of various kinds and in small quantities, it is possible to reliably grip and release the cloth or the like without damaging or deforming the cloth or the like. Furthermore, the gripping device according to this embodiment has a simple structure and is therefore inexpensive, and also has the advantage that a plurality of dedicated gripping devices can be installed depending on the shape of the cloth or the like.

Embodiment 2 FIG. 2 is a longitudinal sectional view showing a second embodiment of the sheet-like object gripping device according to this embodiment. In the figure, the same or equivalent parts as in the first embodiment are designated by the same reference numerals, and the explanation thereof will be omitted.

In this embodiment, the air pressure of the push rod 5 in the first embodiment is replaced with the rotational force of a motor, and the upper part of the body 10 is equipped with a reduction gear D.
A small motor 32 such as a C motor or a pulse motor is fixedly installed. The inner diameter surface of this body 10 has a body 10
A cylindrical slider 34 is fitted with a rotation-preventing key groove that slidably fits into a key 33 provided in the slider. A female thread is formed on the inner diameter surface of the slider 34 and engages with a male thread 35 fixed to the rotating shaft of the motor 32, so that the slider 34 moves up and down within the body 10 as the motor 32 rotates. This slider 34 is connected to the upper end of the push rod 5.

The motor 32 is connected via a current amplification circuit 37 and a motor forward/reverse control circuit 38 to a computer 36 which manually inputs surface information and gripping device position information and outputs a current command value and a motor forward/reverse signal. These connection circuits also include a manual current setting circuit 39 and a manual switch 40 for manually operating the push rod 5.
are connected in parallel.

Next, the operation of this embodiment will be explained. As in the case of the first embodiment, the current command value for applying the appropriate tension calculated based on the cloth information to the cloth 31 via the clothing holder 7 is supplied to the motor 32 from the bonpiyuter 36 via the current amplification circuit 37. , the motor 32 rotates with an appropriate rotational torque. This rotation of the motor 32 moves the push rod 5 up and down via the slider 34, thereby applying a preset appropriate cloth tension to the cloth 31. Further, the cloth 31 is gripped or released by outputting a forward/reverse signal from the computer 35 to the motor 32.

In both the first and second embodiments, when manually gripping or releasing the cloth 31, manual setting devices 29, 39, and 40 provided in parallel in the circuit may be used.

This embodiment also has the same effects as the first embodiment.

” In the two embodiments described above, the push rod 5
Although an example of a mechanism for moving the clothing holder 7 has been described, this mechanism may be any other mechanism having a similar effect.

〔Effect of the invention〕

As described above, according to the present invention, the sheet-like material gripping device is provided with a push rod for moving the clothing holder, and the push rod is pressed with an appropriate pressing force by the pressing member whose pressing force is controlled by the control member. As a result, the fabric tension can be automatically controlled with a simple structure, and sheet-like objects can be reliably and easily gripped or released even in the case of a wide variety of products in small quantities.

[Brief explanation of drawings]

FIG. 1 is a partially sectional front view and circuit diagram showing a first embodiment of a sheet gripping device according to the present invention, and FIG. 2 is a partially sectional front view showing a second embodiment of the present invention. and a circuit diagram. 1...Slide guide (housing) 5...Push rod 7...Clothing holder 9...Clothing 10...Body (air cylinder) 12---Computer 31---・Cloth material 3211
··motor

Claims (4)

[Claims] (1) Pierce a cloth-like object with a plurality of clothing items arranged in a housing through clothing holders, move the clothing items outward from each other to grasp the cloth-like object, and move the clothing items inside each other. A pick-up head for a cloth-like object configured to be able to move the cloth-like object in the direction of the cloth-like object to release the cloth-like object, the push rod having a tapered tip for moving the cloth-like object in the both directions via the cloth holder; A gripping device for a sheet-like object, comprising: a pressing member that presses the push rod; and a control member that controls the pressing force of the pressing member. (2) The sheet-like object gripping device according to claim 1, wherein the pressing member is an air cylinder. (3) The cloth-like article gripping device according to claim 1, wherein the pressing member is a motor. (4) The sheet-like object gripping device according to claim 1, 2, or 3, wherein the control member is a computer into which information regarding the cloth-like object is input.