WO1985002389A1 - Dispositif de prelevement de tissu - Google Patents

Dispositif de prelevement de tissu Download PDF

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Publication number
WO1985002389A1
WO1985002389A1 PCT/AU1984/000247 AU8400247W WO8502389A1 WO 1985002389 A1 WO1985002389 A1 WO 1985002389A1 AU 8400247 W AU8400247 W AU 8400247W WO 8502389 A1 WO8502389 A1 WO 8502389A1
Authority
WO
WIPO (PCT)
Prior art keywords
article
engagement
workpiece
bars
movement
Prior art date
Application number
PCT/AU1984/000247
Other languages
English (en)
Inventor
Paul Charles Wong
Robin Wei Shin Yu
Original Assignee
Wong Paul C
Robin Wei Shin Yu
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wong Paul C, Robin Wei Shin Yu filed Critical Wong Paul C
Publication of WO1985002389A1 publication Critical patent/WO1985002389A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles

Definitions

  • This invention relates to apparatus for the engagement or pick-up of elastic, porous, limp, mesh, cellular, woven or knitted materials, articles or workpieces. More particularly, but not exclusively, the invention is applicable to apparatus for picking up articles or workpieces made from woven fabric, knitted sheets, and foam rubber materials to enable the article or workpiece to be positioned, manipulated, and/or transported in automatic manufacturing processes. Such an automatic manufacturing process may be found in a robotic or mechanised production line for garments or foam rubber products.
  • One type of known device employs retractable annularly displaced, conically extending, needles to engage the workpiece; another uses retractable curved needles for the same purpose and yet another engages the workpiece by pinching it between inwardly closing prongs, pinching wheels, or by mechanical nipping a wave created in the workpiece to be engaged. Still others employ vacuum techniques, adhesion to a sticky surface, and the gripping of a fabric workpiece by mechanical fingers after causing it to flap appropriately by a jet of air.
  • a further object of the invention is to allow adequate control of the form or flatness of the sheet or workpiece, so that operations such as accurate placement or glueing with very limp materials, can be performed with greater precision.
  • a further object of the invention is to provide an effective means for engaging and controlling the edges of a sheet or workpiece made of the said materials, so that it does not sag, distort, droop, or become otherwise uncontrollable or unpredictable.
  • a further object of the invention is to provide an effective means for engaging and retaining control of the shape and flatness of complex and narrow workpieces.
  • Bo complex is meant shapes possessing boundaries similar to that possessed by, for example, the letters "A” or "X"; by narrow workpieces is meant workpieces in which sections may have widths in the order of 10mm.
  • a workpiece having the shape of a grating, for example, would be complex and possess narrow sections.
  • a further object of the invention is to provide an apparatus for effectively handling a range of workpiece sizes and shapes without the need to perform adjustments to the apparatus.
  • a further object of the invention is to provide an alternative means for effectively separating the sheet or workpiece being engaged from the neighbouring sheet or workpiece, for example, in separating a single ply from a stack of plys.
  • a further object of the invention is to provide an alternative means for effectively disengaging a sheet or workpiece from the engagement and handling apparatus.
  • the present invention is particularly suitable to be attached to -a robot or a similar materials handling device, .so that the manual material- handling operations in garment manufacturing processes can be automated, it is equally applicable to other apparatus by which workpieces or articles consisting substantially of any of the said materials requires to be positioned, manipulated, and/or transported.
  • the invention provides means for engaging the workpiece(s) or article(s) made substantially from the said materials, that comprises means for generating a tension pattern in the article(s) to be engaged, and wherein the tension pattern in the said article(s) in turn creates firstly, a mechanical and/or frictional holding force between the said article(s) and the apparatus, and secondly, a distortion pattern in the said article(s) which is manifest as a pattern of relative movement between the article(s) being engaged and adjacent article(s), if any. 5
  • article(s) or workpiece(s) is meant discrete sheet(s) or part(s) of a continuous filament or roll,
  • the first form of the invention comprises means for generating the said tension pattern in a
  • the distortion pattern in workpiece material is distributed on the engaged surface of the workpiece (according to the tension pattern generated) , and can be arranged at localities on the engaged surface of the workpiece, without commensurately large distortions being evident at the workpiece boundaries.
  • One preferred form by which the said distribution of engagement points is obtained is by a means consisting of a planar pad of adjacent bars which engage the said article(s) by means of a multiplicity of sharp pins (similarly raked and in the longitudinal direction of the bar) protruding a uniform extent from the engaging face of each bar, and in which alternate bars are constrained to move together forming two sets of interleaved bars capable of relative reciprocating movement in a direction parallel to the axes of the bars, and in which this reciprocating motion, working in conjunction with the raked pins (which are oppositely raked for each set of bars) enables, when in contact with the said article(s) , engagement and release of the said article(s) as desired.
  • U j ⁇ tS& ⁇ 'fa distributed engagement of the article, with a zig-zag shaped tension and distortion pattern is generated. It is the distributed engagement that enables the workpiece to be picked up over its entire surface irrespective of shape; and it is the relative distortion movements due to the zig-zag tension pattern over the entire surface of the workpiece that creates relative motion, and thus separation, with respect to the workpiece adjacent or underneath the one being picked up.
  • the engagement means may be constructed so that the distance between adjacent engagement points on the workpiece is in the order of 5mm for handling narrow sections (or of this dimensional order) however a distance of 10mm to 20mm will provide adequate workpiece control for most garment assembly/handling operations.
  • a distributed engagement pattern is obtained by means which consist of a planar pad of adjacent bars which engages the said article(s) by means of a multiplicity of sharp pins (preferably similarly raked in- a direction transverse to the length of the bar) and protruding a uniform extent from the engaging face of each bar, and in which each bar is moveable essentially in a lateral direction with respect to each other (in the plane of the pad) , so that in conjunction with the said pins (which are raked towards the direction of movement) , engagement of the said article(s) when in contact is achieved and a unidirectional tension pattern is created over the parts (or the entire surface) of the said article(s) that is engaged, and where movement of the bars in the direction of pin rake engages the said article(s) and conversely movement in the reverse direction' allows disengagement, and where the reaction against the force created in the said article(s) by the said engagement is provided by another pad of (or single) similar engagements bars working in the opposite direction.
  • the workpiece or article engagement means may be flexible to allow the contours of the workpiece or article to be followed, and separately or additionally, the engagement means may be configured to form an engagement surface that is not necessarily flat and/or whose surface can be controlled to take on any desired shape.
  • the pins on the engagement bars may be retractable and/or the extent of protrusion may be adjustable to allow pin engagement to be set to a desired depth.
  • means are provided which allow the ramp in (when the pins engage) movement distance of the egagement bars to be
  • a second form of the invention which comprises means by which the said tension pattern is generated in the workpiece (s) to be engaged by means comprising two or more opposing pairs of engagement bars each of which contains a multiplicity of sharp pins (similarly raked in the direction transverse to the bar's length) protruding a uniform extent from the engaging face of each bar, and in which each said engagement bars of each said opposing pair are moved into contact with the said workpiece (s) and are moved outwards (in the direction i G
  • a third form of the invention comprises means by which the said tension pattern is generated in the workpiece(s) to be engaged by means comprising two or more opposing pairs of engagement rollers (or part thereof) each of which contains a multiplicity of sharp pin (similarly raked) protruding a uniform extent from the surface of the said roller, and in which the roller pairs rotate in opposite directions while in contact with the workpiece(s) to be engaged, so that the sets of oppositely raked pins on each roller will engage the said workpiece(s) thereby creating a tension pattern in the said workpiece(s) .
  • Disengagement is by reversing the rotation of the rollers.
  • a variation of the third form of the invention comprises means to utilise the said engagement rollers to engage the workpiece in a semi-distributed manner (that is, workpiece engagement is distributed across the workpiece in lines at a number of intervals along the workpiece length) , wherein the tension pattern is generated by opposing sets of the said rollers, in which each set may comprise of a multiplicity of the said rollers which are rotated differentially in the same direction so that a tension pattern is generated in the said workpiece(s) in between such rollers.
  • the magnitude of the transient movement may be greater than the steady state position finally achieved, and means may be provided to allow a high rate of movement, as further means to enhance the separation of the workpiece (s) being engaged from the adjacent workpiece(s) .
  • Figure 1 is a perspective view of one preferred form of the invention.
  • Figure 2 is a perspective view of a double action actuator mechanism which may be used as an alternative actuation arrangement in the form of the invention depicted in Figure 1.
  • Figure 3 is a perspective view of another preferred form of the invention.
  • Figure 4 is a perspective view of a preferred form of flexible workpiece engagement means.
  • Figure 5 is a perspective view of another preferred form of the invention.
  • Figure 6 is a perspective view of a preferred form of a roll-into-engagement means being a ' variation for the form depicted in Figure
  • Figure 7 is a partial section view of a preferred means of implementing retractable and adjustable protrusion pins.
  • FIG. 1 One preferred form, embodying the distributed engagement points and uniform tension pattern principles, is shown in Figure 1.
  • This form comprises a control module (1) which in turn comprises two guiding means (2,3) a crossar (3,7) actuation means (which can be any known means, but for the purposes of
  • Mounting means (6,7) allow the control module (1) to be attached to an apparatus with manipulative and/or motion ability (not shown) .
  • Inner crossarms (8,9) and outer crossarms (10,11) (or similar engagement bars (15,16) linking means) which are free to move but constrained by the guiding means (2,3) , provide attachment points for the engagement bars types (15,16).
  • Engagement bars type (15) are attached to the inner crossarm (8) and outer crossarm (11), and contain pins (for example, (14)), raked in a similar direction.
  • Engagement bars type (16) are attached to inner crossarm (9) and outer crossarm (10) , and contain pins raked similarly but in the opposite direction . to those on engagement bars type (15) .
  • the inner crossarms (8,9) are connected to their respective actuating means (4,5).
  • the inner crossarms are screwed
  • the engagement bars type (16) move towards the right of the Figure 1. If the apparatus in Figure 1 is placed on a workpiece (pins in contact) and the actuators (4,5) are driven, the alternate engagement bars type (15,16) move in the opposite directions driving their pins (for example, (14)), into the workpiece engaging over a matrix of points and generating a repeating zig-zag shaped tension pattern and distortion. Such a pattern which is repeated many times over the length and breadth of a workpiece, is in this citation termed a uniform pattern.
  • a central module (17) comprises guiding means (18,19) , mounting means., (20) (to a manipulating/handling apparatus, not shown), and actuating means.which in this particular- illustrative embodiment is an electric stepper motor (21) , driving a cam bar (22) , containing a multiplicity of fixed cam bosses, for example, (23).
  • actuating means which in this particular- illustrative embodiment is an electric stepper motor (21) , driving a cam bar (22) , containing a multiplicity of fixed cam bosses, for example, (23).
  • Guided by means (18,19) are engagement bars, for example, (24,25) comprising transversely raked pins, for example, (26) , that are outwardly raked.
  • the engagement bars (24,25) contain cam slots, for example, (27).
  • FIG. 4 shows two of the actuator units of Figure 1 connected to a long pad of engagement bars.
  • the control module (1) of the two actuator units are mounted by studs (6,7) to some support means which could either maintain the relative positions of the actuator units, or vary them under control, thus changing the form of the engagement surface (formed by the engagement bars types (15,16)), and consequently, that of the workpiece engaged.
  • the fixed relative positions of the actuator units is achievable .by, say, a mounting frame, and secondly, to achieve controllable and variable relative positions and attitudes between the actuator • units, the known technology of robots, for example, can be used to manipulate each actuator unit relative to the other (s) .
  • some degree of flexibility of the engagement means in this illustration, the engagement bars (15,16)
  • limited flexibility can be provided by resilient engagement bars (15,16) by using known means such as construction from elastic materials, and this flexibility allows the engagement surface to better follow variations in the contour of the workpiece(s) to be engaged.
  • engagement bars (15,16) constructed from, for example, materials (or fabrications) exhibiting a high degree of plasticity (for example, by using plastic and wire composites).
  • a number of discrete engagement apparatus • such as that depicted in Figures 1 and 3 can be moved in appropriate (fixed or variable) formation by robotic or transfer devices for workpiece(s) form control (that is, fixed flat form, fixed non-flat form, or variable surface form) .
  • One preferred embodiment is that form depicted in Figure 3, but with all of the engagement bars (24,25) removed except the outermost ones at either side; the principle of operation is as described earlier for this embodiment.
  • a further variant of this provides for some immediate engagement bars (24,25) enabling immediate engagement points across the workpiece'.
  • Another preferred embodiment is depicted in perspective in Figure 5, comprising sets of rollers (30,31) with raked pins (32) fixed onto their cylindrical surface. These rollers (30,31) are constrained (by known means such as an axle and bearings) , to rotate relative to a support means, say a frame (33), which is attachable by means, say studs (34) to a manipulation/transfer apparatus (not shown) .
  • rollers (30,31) are connected to actuation means, say electric stepper motors (35) , which provides controlled rotation of the rollers.
  • actuation means say electric stepper motors (35) , which provides controlled rotation of the rollers.
  • the rollers With the rollers (30,31) in the position depicted in Figure 3, the rollers are brought into contact with the workpiece (s) (36) (direction of arrows) , the rollers are then rotated; rollers (30) ' clockwise, rollers (31) counter-clockwise, so engaging the pins (32) and tensioning the workpiece (s) (36) , enabling its pick-up.
  • the number of rollers (30,31) (or part thereof) , can be varied from one to many on each side, as appropriate to the workpiece to be handled.
  • the magnitude of pin movement whilst in the material of the workpiece can be controlled by either magnitude-of-movement control (whether translational or rotation) or threshold-of-tension control.
  • magnitude-of-movement control whether translational or rotation
  • threshold-of-tension control is easily provided by regulation of pneumatic pressure.
  • magnitude-of-movement control is attained.
  • magnitude-of-movement control can be provided by movement controlled actuators, such as the electric stepper motor drive embodied in the apparatus of Figure 3, in this case simply by specifying the number of steps to be turned by the stepper motor, the desired magnitude-of-movement is obtained.
  • separation is further enhanced by means providing rate-of-tensioning control and transient movement in excess of the at-rest movement (when engaged) .
  • actuator control for example, in the electric stepper motor actuation embodiments by controlling the rate, number and directions of step triggering signals.
  • FIG. 7 This embodiment has been devised to operate with the apparatus depicted in Figure 1, it is a scrap section illustrating a relevant portion of the pin retraction means.
  • Extended pins (45,46) on engagement bars types (15,16) are attached on modified crossarms as on example 47.
  • the crossarms move within guiding means (2,3) .
  • the modified crossarms (47) embody a cam surface which engages a ramp means (48) which is fixed to a framework which connects to a perforated plate (49) situated over the engagement surface of the apparatus, with perforations lining up with the matrix of pins (45,46).
  • Pins (45) belong to type (15) engagement bars and pins (46) to the adjacent type (16) engagement bars.
  • This perforated plate is biased outwards (see arrows) by forcing means such as the compression spring (50) and guide (51) . 'When-the crossarm.
  • engagement bars and engagement rollers are selected with appropriate pins protrusion extent to match the thickness of the article(s) intended for engagement.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

Dispositif permettant d'engager et/ou prélever une pièce élastique, poreuse, flasque, en maille, cellulaire, tissée ou tricotée. Ce dispositif comprend au moins deux organes d'engagement (15, 16) dont chacun est muni d'une pluralité d'éléments en saillie (14) engageant la pièce, d'organes de déplacement (4, 5) servant à déplacer au moins l'un des organes d'engagement par rapport à l'autre organe, et des organes (6, 7) servant à mettre le dispositif en et hors contact avec une face de la pièce à usiner, les éléments en saillie (14) engageant la pièce étant tels que lorsqu'ils sont engagés dans la pièce et que les organes d'engagement (15, 16) sont déplacés l'un par rapport à l'autre, ces éléments en saillie (14) exercent une tension sur la pièce disposée entre eux, en la retenant ainsi sur les organes d'engagement (15, 16).
PCT/AU1984/000247 1983-11-29 1984-11-28 Dispositif de prelevement de tissu WO1985002389A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPG2607 1983-11-29
AU260783 1983-11-29

Publications (1)

Publication Number Publication Date
WO1985002389A1 true WO1985002389A1 (fr) 1985-06-06

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ID=3693119

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU1984/000247 WO1985002389A1 (fr) 1983-11-29 1984-11-28 Dispositif de prelevement de tissu

Country Status (3)

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EP (1) EP0197932A1 (fr)
JP (1) JPS62500021A (fr)
WO (1) WO1985002389A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4684120A (en) * 1986-04-25 1987-08-04 Nabil Kamal Picking and separating device for transporting one or more fabric piles from a stack
EP0345865A2 (fr) * 1988-06-07 1989-12-13 RIMOLDI S.r.l. Dispositif d'assemblage de couches textiles en particulier pour machines de confection
US5370024A (en) * 1992-06-16 1994-12-06 Color Communication, Inc. Apparatus for the manufacture of sheets bearing display samples

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1218433A (en) * 1968-02-09 1971-01-06 David Oldroyd Devices for picking up pieces of sheet material from a stack of pieces
US3625506A (en) * 1969-11-28 1971-12-07 Ivanhoe Research Corp Method and apparatus for differentiating the top fibrous workpiece from a stack of fibrous workpieces and for separating the differentiated workpiece from the stack
SU521369A1 (ru) * 1973-08-06 1976-07-15 Подольский Механический Завод Им.М.И.Калинина Устройство дл отделени детали от пачки
AU7992075A (en) * 1973-12-02 1976-10-14 K. J Lt. Ttlewood Pickup device for fabric work pieces
US4009786A (en) * 1974-12-02 1977-03-01 Kenneth Joseph Littlewood Method of and apparatus for handling fabric workpieces
US4103884A (en) * 1977-01-10 1978-08-01 Yoshiro Kawashima Cloth article transporters
JPS54110568A (en) * 1978-02-18 1979-08-30 Kayaba Ind Co Ltd Pick-up head for suspending sheet-like material
JPS552542A (en) * 1978-06-20 1980-01-10 Kayaba Ind Co Ltd Apparatus for picking up fabric
JPS55123832A (en) * 1979-03-12 1980-09-24 Kayaba Ind Co Ltd Pick-up head of sheet article
SU903265A1 (ru) * 1980-05-29 1982-02-07 Предприятие П/Я Р-6378 Устройство дл поштучного отделени от стопы тканых изделий

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1218433A (en) * 1968-02-09 1971-01-06 David Oldroyd Devices for picking up pieces of sheet material from a stack of pieces
US3625506A (en) * 1969-11-28 1971-12-07 Ivanhoe Research Corp Method and apparatus for differentiating the top fibrous workpiece from a stack of fibrous workpieces and for separating the differentiated workpiece from the stack
SU521369A1 (ru) * 1973-08-06 1976-07-15 Подольский Механический Завод Им.М.И.Калинина Устройство дл отделени детали от пачки
AU7992075A (en) * 1973-12-02 1976-10-14 K. J Lt. Ttlewood Pickup device for fabric work pieces
US4009786A (en) * 1974-12-02 1977-03-01 Kenneth Joseph Littlewood Method of and apparatus for handling fabric workpieces
US4103884A (en) * 1977-01-10 1978-08-01 Yoshiro Kawashima Cloth article transporters
JPS54110568A (en) * 1978-02-18 1979-08-30 Kayaba Ind Co Ltd Pick-up head for suspending sheet-like material
JPS552542A (en) * 1978-06-20 1980-01-10 Kayaba Ind Co Ltd Apparatus for picking up fabric
JPS55123832A (en) * 1979-03-12 1980-09-24 Kayaba Ind Co Ltd Pick-up head of sheet article
SU903265A1 (ru) * 1980-05-29 1982-02-07 Предприятие П/Я Р-6378 Устройство дл поштучного отделени от стопы тканых изделий

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4684120A (en) * 1986-04-25 1987-08-04 Nabil Kamal Picking and separating device for transporting one or more fabric piles from a stack
EP0345865A2 (fr) * 1988-06-07 1989-12-13 RIMOLDI S.r.l. Dispositif d'assemblage de couches textiles en particulier pour machines de confection
EP0345865A3 (fr) * 1988-06-07 1991-07-03 RIMOLDI S.r.l. Dispositif d'assemblage de couches textiles en particulier pour machines de confection
US5370024A (en) * 1992-06-16 1994-12-06 Color Communication, Inc. Apparatus for the manufacture of sheets bearing display samples
US5622594A (en) * 1992-06-16 1997-04-22 Color Communications, Inc. Apparatus for the manufacture of sheets bearing display samples

Also Published As

Publication number Publication date
EP0197932A1 (fr) 1986-10-22
JPS62500021A (ja) 1987-01-08

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