WO2001002637A1

WO2001002637A1 - Splicing structural body, splicing method, and splicing device, and connecting structural body, connecting method, and connecting device

Info

Publication number: WO2001002637A1
Application number: PCT/JP2000/004443
Authority: WO
Inventors: Hiroshi Furudate
Original assignee: Hashimoto, Yoshiko; Furudate, Akira
Priority date: 1999-07-05
Filing date: 2000-07-04
Publication date: 2001-01-11
Also published as: AU5709200A; JP2001017763A; JP4141058B2

Abstract

A splicing device safe to environment and human body, capable of tightly and surely splicing almost all members without being affected by the compatibility between materials, and also capable of releasing the spliced state easily at the time of disposal, comprising a connection piece (11) formed of a hard member and a first tape piece (13) formed of a soft member, wherein the connection piece (11) and the first tape piece (13) are positioned so as to be partly overlapped, a plurality of through holes for seaming (17) are drilled in the overlapped portion of the connection piece (11), and the area between the through holes (17) and the overlapped portion in the first tape piece (13) is seamed so as to form a first splicing structural body (10) which is combined with a second tape piece (19) of a slide fastener (12) so as to form a connection device (20).

Description

Description Joining structure, joining method, joining device, joining structure, joining method, and joining tool technology

The present invention relates to a technique for joining a plurality of members, and more particularly to a technique for joining hard members that cannot be penetrated by a sewing needle or between a hard member and a soft member by sewing. Background technology

Conventionally, welding, bonding, or screw fastening (bolt fastening) has been used as a method of joining hard members such as metal, plastic, wood, and ceramics to soft members such as cloth, vinyl, and rubber. .

Welding is to heat and melt the end of a soft member such as rubber or vinyl and fix it to a hard member such as a metal piece.

Adhesion means that a predetermined adhesive is interposed between the hard member and the soft member, and the two members are fixed with the bonding force.

Further, screw fastening means that a plurality of through holes for screw insertion are formed in advance on the soft member side, screw holes are formed on the hard member side, and screws are inserted into each through hole of the soft member. This is a method of fixing between the two members by inserting and screwing into the screw holes of the hard member.

However, the conventional joining methods described above have the following disadvantages.

First, in the case of welding, there is an advantage that the joining process itself is relatively easy, but the joining strength is generally weak and cannot be applied depending on the material to be joined. Sometimes.

In the case of bonding, there is a danger that the adhesive itself will have a bad effect on the environment and the human body. Also, with the general public's awareness of environmental issues being raised, there is a growing interest in recycling waste, but it is extremely difficult to separate the dissimilar components that have been once firmly adhered to. It is a major factor preventing reuse of goods.

In the case of screwing, the joining process requires a relatively long time, so that the joining points cannot be formed very densely. Also, since the head of the screw is exposed, it is not suitable for applications that emphasize aesthetics. In addition, it was necessary to remove individual screws to separate the components, which was not satisfactory from the viewpoint of waste recycling, though not as much as in the case of bonding.

The problems arising from the difficulties of separation at the time of disposal also apply to the joining of hard members made of different materials, such as metal and plastic.

The present invention has been devised to solve the above-mentioned problems of the conventional joining method, and has no adverse effect on the environment or the human body, and has almost no influence on compatibility between materials. The purpose of the present invention is to realize a joining technique capable of densely and surely joining members, and easily dissolving the joined state at the time of disposal. Disclosure of the invention

In order to achieve the above object, a first joint structure according to the present invention includes a hard member to be joined and a soft member to be joined, and the hard member and the soft member The rigid member is positioned and arranged so that at least a part thereof overlaps with each other. A plurality of suture through holes are formed in the overlapping portion of the hard member. of It is characterized by being stitched between.

Further, a first joining method according to the present invention is a method of joining a hard member to be joined to a soft member to be joined with another, and a plurality of suturing penetrations to the hard member. A hole is drilled in advance, and both members are positioned and arranged so that at least a part of the soft member and the through hole overlap, and a sewing machine is provided between the through hole of the hard member and the soft member. It is characterized by suturing.

Here, the “hard member” refers to a material having a hardness such that a general sewing needle of the sewing machine cannot directly penetrate (for example, metal, hard plastic, ceramic, wood, metal fiber, organic material, or the like). (Fibers made of inorganic materials, materials composed of at least one of them, etc.). On the other hand, the “soft member” refers to a material made of a material through which the sewing needle of the sewing machine can penetrate (for example, cloth, knit, leather, rubber, soft plastic, vinyl, and the like).

In addition, the above-mentioned "stitching" is typically a case where both members are sewn together with a lockstitch seam in which an upper thread and a lower thread are entangled. This is a concept that also broadly encompasses the case of suturing through a double-ringed seam that combines と and 璟. This definition of "suturing" also applies below.

In this way, a hard member that cannot be penetrated by a sewing needle of a sewing machine is previously provided with a through hole for suturing, and is sewn to a soft member through the through hole to obtain a hard member. The member and the soft member can be easily joined.

Since only suture thread is used in this connection, there is no danger of adversely affecting the environment and the human body unlike adhesives.

In addition, there is no problem of compatibility due to the material to be joined as in the case of welding, and the two members can be securely joined.

Furthermore, by setting the pitch between the through holes to be narrow, the joint point Many stitches can be provided, and the stitches (seams) are not so noticeable, so that the appearance is not significantly impaired as with screw fastening.

In addition, since the hard member and the soft member can be separated very easily by removing or burning out the suture at the time of disposal, it is possible to promote recycling based on separation and disposal.

The present invention can also be applied to joining between hard members.

That is, a second joint structure according to the present invention includes a first hard member to be joined to one side and a second hard member to be joined to the other side. The first hard member and the second hard member are each provided with a plurality of through-holes for suturing in the overlapping portion of the first hard member and the second hard member. It is characterized in that the space between the through holes of each member is sewn via a thread.

Further, a second joining method according to the present invention is a method of joining a first hard member to be joined to one another and a second hard member to be joined to the other one, wherein the first A plurality of suturing through holes are formed in advance in the member and the second hard member, respectively, and the first hard member and the second hard member are positioned and arranged so that the through holes of the members communicate with each other. A feature is that sewing is performed between the through holes of each member by a sewing machine.

As a result, it is possible to add a completely new joining method called “sewn” to the conventional joining method between hard members such as welding or screw fastening, and it works effectively depending on the purpose and material of the hard member. obtain.

In particular, when the first hard member and the second hard member are made of different materials, such as a joint between a metal and a hard plastic, great utility value is generated. That is, when the first hard member and the second hard member are made of the same kind of material, they can be subjected to a regeneration treatment without separating them at the time of disposal, but they can be made of different kinds of materials. It is necessary to dissolve the joining state beforehand. At this time, both If the members are joined by suturing, they can be easily separated by pulling out or burning out the suture as described above.

By the way, if the sewing needle of the sewing machine escapes from the through hole and hits the surface of the hard member when performing each of the above-mentioned joining methods, the sewing needle is broken and scatters around, which is very dangerous. As a countermeasure, it is conceivable to form the diameter and pitch of the through-holes with extremely high precision.However, it is difficult to transfer the object at an accurate pitch during suturing, and the number of through-holes is difficult. If there is a large number, there is a high possibility that the displacement will gradually increase.

Therefore, when the bonding method according to the present invention is carried out, a step of storing in advance a feature of the through hole formed on the surface of the hard member in the storage means, and a step of storing the surface of the hard member using an image sensor. And a step of detecting a through-hole having the characteristics stored in the storage means based on the image. The coordinates of the position of the through-hole are sequentially calculated, and the coordinates and the sewing needle of the sewing machine are calculated. Calculating the difference between the coordinates of the sewing machine and the position where the sewing needle and the through hole of the sewing machine are aligned based on the calculation result, and sequentially executing the sewing to the through hole. It is desirable to add.

As a result, the sewing needle of the sewing machine can reliably pass through the through hole.

The above joining step is specifically realized by the following device.

That is, the joining device according to the present invention includes at least one table for placing an object to be joined, a sewing needle that is vertically movable, and a motor that moves the sewing needle up and down. An X-Y feed mechanism for moving the sewing machine body by a required amount in a direction parallel to the table and for moving the sewing machine body by a required amount in a direction perpendicular to the table; An image sensor that captures image data of the surface of the member, a storage unit that stores characteristics of the suture through hole formed in the surface of the hard member, and the image sensor A through-hole having a feature stored in the storage means is detected from the image data sequentially captured by the storage means, and coordinates of the position of the through-hole are sequentially calculated. A control means for calculating a difference from the coordinates where the needle is currently placed, moving the sewing machine body in a required direction by a required amount based on the calculation result, and instructing execution of the sewing to the through hole. And fe again.

A first connecting structure according to the present invention includes a hard member to be connected, a connecting piece connected to the hard member, and a soft member to be connected to the other. The piece is composed of a hard member, and the soft member and the connecting piece are positioned and arranged so that at least a part of each of the soft members and the connecting piece overlap. It is characterized in that a plurality of through holes are formed, and the portion between the through hole and the overlapping portion of the soft member is sewn.

Further, a first connection method according to the present invention is a method of connecting another hard member and a soft member via a connection piece made of a hard member, wherein a plurality of suture penetrations are provided on the connection piece. A hole is drilled in advance, and at least a part of the soft member and the through hole are positioned and arranged so as to overlap with each other. A sewing machine is used to stitch between the through hole of the connecting piece and the soft member. After that, the connection piece is connected to the hard member.

As described above, instead of directly sewing the soft member to the hard member to be joined originally, the connecting piece made of the hard member is sewn to the soft member, and the connecting piece and the hard member are joined together. With such a configuration, it is possible to connect a hard member that is larger than a sewing machine and a hard member having a complicated shape and a soft member via a connecting piece. In this case, it goes without saying that the first joint structure described above is substantially formed by the connecting piece and the soft member. The connection between the hard member and the connecting piece may be performed by means such as welding, welding, or screwing. If the hard member and the connecting piece are formed of the same material, there is no need to separate them at the time of disposal, and the suture between the connecting piece and the soft member may be simply released.

A second connection structure according to the present invention includes a first hard member to be connected, a first connection piece connected to the hard member, and a second hard member to be connected to the other. And a second connecting piece connected to the hard member. The first connecting piece and the second connecting piece are made of a hard member, and the first connecting piece and the second The connecting pieces are positioned and arranged so that at least a part of each of them overlaps, and the overlapping portions of the first connecting piece and the second connecting piece each have a through-hole for suturing. It is characterized in that a plurality of holes are drilled and the connection pieces are sewn between the through holes.

Further, the second connecting method according to the present invention is a method of connecting between the first hard member and the second hard member via the first connecting piece and the second connecting piece made of a hard member. A plurality of suture through-holes are drilled in advance in each of the connecting pieces, and both are positioned and arranged so that the through-holes of the two connecting pieces communicate with each other. After the holes are sewn with a sewing machine, the first connecting piece is connected to the first hard member, and the second connecting piece is connected to the second hard member.

Also in this case, instead of directly suturing the rigid members to be joined together, first, a pair of connecting pieces made of the hard member is sewn together to form a connecting tool. By connecting each to a hard member, it is possible to connect larger hard members. It is needless to say that the above-described second joint structure is substantially formed by the first connection piece and the second connection piece.

If the first hard member and the second hard member are made of different materials, It is preferable that the connecting piece is made of the same material as the first hard member, and the second connecting piece is made of the same material as the second hard member.

As an application example of the first joint structure, a connecting tool according to the present invention includes a connecting piece made of a hard member and a slide fastener, and the connecting piece has a plurality of suturing through holes. The slide fastener includes a pair of tape members made of a soft member, a group of engaging teeth formed on opposing sides of each of the tape members, and a group of engaging teeth of each of the tape members. And a positioning hole is provided so that the through hole of the connecting piece and one of the tape pieces of the slide fastener overlap with each other, and the space between the through hole and the tape piece is stitched. It is characterized by:

In this case, the above-described first joint structure is substantially formed by the connecting piece and one of the tape pieces.

Since the slide fastener is attached to another member via a tape piece made of a soft member, the slide fastener has conventionally been mainly used for connection between the soft members such as an opening / closing portion of clothes. On the other hand, if one tape piece of the slide fastener is sewn to a connecting piece made of a hard member as described above, by connecting this connecting piece to another hard member, One piece of tape on the slide fastener can be easily attached.

Then, if the other tape piece is sewn to a soft member such as vinyl or cloth, the hard member and the soft member can be detachably connected through the opening and closing operation of the slide fastener.

Of course, if another hard member is sewn to the other piece of tape, the hard members can be detachably connected by opening and closing the slide fastener. Brief explanation of drawings FIG. 1 is a plan view showing a first joint structure and a connector according to the present invention. FIG. 2 is a partial cross-sectional view showing an application example of the above-mentioned coupler.

FIG. 3 is a side view showing a joining device according to the present invention.

FIG. 4 is a plan view showing the joining device.

FIG. 5 is a partial side view showing a modified example of the lower shaft structure of the joining device. FIG. 6 is a front view showing an example of a fixing needle plate.

FIG. 7 is a block diagram showing a control system of the bonding apparatus.

FIG. 8 is a flowchart showing the basic operation of the above-mentioned joining apparatus.

FIG. 9 is an enlarged partial cross-sectional view showing a stitched portion of the first joint structure. FIG. 10 is a plan view showing a state in which the hard members are connected to each other via the above-mentioned connecting member.

FIG. 11 is a plan view showing another connecting member.

FIG. 12 is a plan view showing a second joint structure according to the present invention.

FIG. 13 is an enlarged partial cross-sectional view showing a stitched portion of the second joint structure. BEST MODE FOR CARRYING OUT THE INVENTION

The first joint structure 10 according to the present invention will be described based on FIG.

The first joint structure 10 includes a plate-shaped connecting piece 11 made of a hard member such as stainless steel, aluminum, or steel, and a first tape piece 13 of a slide fastener 12.

The first tape piece 13 is made of a soft material such as a long cloth, and an engaging tooth group 14 and an engaging male fitting 15 are attached along one side thereof. The group of engaging teeth 14 includes a number of engaging teeth 16 arranged at predetermined intervals.

A large number of suturing through-holes 17 are formed in the connecting piece 11 in a straight line at regular intervals.

Also, the first tape piece 13 has a part thereof (the engagement tooth group 14 is not formed). Is positioned so as to overlap the through hole 17 of the connecting piece 11. The overlapping portion of the first tape piece 13 and the through hole 17 of the connecting piece 11 are sewn with a strong suture 18 (upper thread 18a) made of glass fiber or the like. Thus, strong joining between the first tape piece 13 and the connecting piece 11 is realized.

By using the second tape piece 19 of the slide fastener 12, the first joint structure 10 constitutes the connecting tool 20.

That is, like the first tape piece 13, the second tape piece 19 is made of a soft member such as a long cloth, and the engaging teeth group 14 and the engaging female metal fitting are provided along one side thereof. 21 and a slider 22.

Then, the male fitting 15 for engagement of the first tape piece 13 is fitted to the slider 22 and the female fitting 21 for engagement of the second tape piece 19, and the slider 22 is moved rightward in the figure. As a result, the engaging teeth groups 14 and 14 of both tape pieces 13 and 19 are engaged. Also, if the slider 22 is moved in the opposite direction, the engagement teeth 14 of the two tape pieces 13 are separated from each other.

On the second tape piece 19, a soft member 23 such as a vinyl sheet, a rubber sheet, or a cloth to be connected is overlapped, and the overlapping portion is sewn via a suture thread 24. . The connecting piece 11 is connected to a larger hard member 26 via a bolt 25.

As a result, the soft member 23 is detachably connected to the hard member 26 via the connector 20.

In this case, it is desirable that the connecting piece 11, the hard member 26, and the bolt 25 be made of the same material.

Instead of connecting the connecting piece 11 and the hard member 26 via the bolt 25, the two may be connected by welding.

Originally, slide fastener 12 allows easy connection between two separated members Although it is useful as a simple means, it has been mainly used as a connecting means between soft members, such as the opening and closing part of clothes.

On the other hand, by using the connecting member 20, the hard member 26 such as a metal and the soft member 23 such as a vinyl sheet can be removably connected using the slide fastener 12, so that an extremely wide range is provided. The application in the field can be expected.

Further, when the hard member 26 to which the connecting piece 11 is attached is discarded, the suture 18 can be cut off and cut off at several places, or by burning off with a burner, so that it is relatively easy. The first tape piece 13 can be separated, and it is possible to meet the demand for sorting and disposal. (If the connecting piece 11 and the hard member 26 are formed of the same material, the two can be connected with each other. Can be discarded).

Furthermore, if the pitch of the suturing through holes 17 formed in the connecting piece 11 is finely set (for example, about 2 mm), the number of joint points with the first tape piece 13 increases accordingly. It becomes possible to join them both densely.

FIG. 2 shows an example in which the above-mentioned connecting member 20 is used as an engagement means between the truck bed 27 and the truck cover 28.

That is, the connecting piece 11 is fixed to the outer wall surface 27 a of the loading platform 27 via the bolt 25 in advance. A second tape piece 19 is sewn in advance on the inner surface of the side portion 28a of the carrier cover.

For this reason, the engaging teeth 14 of the first tape 13 sewn to the connecting piece 11 and the engaging teeth 14 of the second tape 19 sewn to the carrier cover 28 By operating and engaging the da 22, the carrier cover 28 is easily and firmly connected to the carrier 27. In addition, the carrier cover 28 can be easily removed when it becomes unnecessary.

In the case of rainy weather, it is necessary to cover the truck opening 27b of the truck with a bed force bar 28 made of a waterproof sheet. The two had to be fixed by tying a connecting string attached at a distance to a projection provided around the loading platform 27, which was very time-consuming. On the other hand, the use of the connecting member 20 makes it extremely easy to attach and detach the carrier cover 28.

Other than the above, the connecting device 20 can be applied in various fields. For example, although not shown, a connecting piece 11 in which a first piece of tape 13 is sewn to a metal support of a greenhouse is connected via a bolt 25 or the like, and <and together with a second piece of tape. If the piece 19 is sewn to the vinyl sheet, the engagement teeth group 14 of the second tape piece 19 and the engagement teeth group 14 of the first tape piece 13 are joined together. It is possible to easily attach the vinyl sheet to the support. Even if the vinyl sheet deteriorates, it can be easily replaced with a new one.

As described above, this connecting tool 20 is formed with a large number of through holes 17 for suturing in advance on a hard member that cannot be penetrated by a sewing needle, and the through holes 17 and the slide fastener 12 are formed. It is formed by suturing the first tape piece 13.

It is, of course, not impossible to sew the through-hole 17 and the first tape piece 13 by hand stitching. However, since there is a limit in productivity improvement, suturing using a sewing machine is not possible. It is desirable to do it.

Therefore, based on FIGS. 3 to 9, a method for realizing automatic suturing between the through hole 17 formed in the connecting piece 11 made of a hard member and the first tape piece 13 made of a soft member will be described. Is exemplified.

FIG. 3 is a side view showing the overall configuration of the joining device 29 used for the suturing, and FIG. 4 is a plan view thereof.

The joining device 29 includes a sewing machine main body 32, a first table 33, and a second table 34.

The sewing machine main body 32 is parallel to the arm 35 that is passed almost horizontally and the arm 35. The sewing machine includes a sewing machine bed 36 and a column 37 connecting the arm 35 and the bed 36.

At the end of the arm 35, a head portion 38 is formed which slightly hangs down to the side of the bead 36, and a needle bar 39 projects from a lower end of the head portion 38, A sewing needle 40 is fixed to the tip of 39.

A CCD (Charge Coupled Device) camera 42 as an image sensor is attached to the back side of the head section 38. The focus of the CCD camera 42 is adjusted to a portion that comes into contact with the sewing object when the sewing needle 40 hangs down. The installation location of the CCD camera 42 is not particularly limited, and may be attached to the front side of the head portion 38.

A ring light 43 for lighting is attached to the tip of the head part 38.

A balance 44 protrudes from the front of the head 38.

On the upper surface of the arm 35, a spool pin 45 and a spool 46 are set up. A spool 47 is mounted on the spool 46. The suture upper thread 18a drawn out from the thread spool 47 is inserted into the needle hole of the sewing needle 40 through the through holes of the thread stand bar 45 and the balance 44.

A first servomotor 48 is attached to the rear end of the arm 35. In addition, the drive shaft of the first servomotor 48 is connected to an upper shaft 49 which is disposed in the arm 35 in the lateral direction.

Inside the arm 35, a rotation sensor 50 for detecting the rotation speed and the number of rotations of the upper shaft 49 is arranged. The rotary sensor 50 includes a light-emitting element and a light-receiving element. The light-receiving element receives light from the light-emitting element that has passed through a slit of a disk 51 attached in the middle of the upper shaft 49. It is a mechanism that detects the state of the upper shaft 49 by capturing it.

A not-shown crank mechanism is engaged with the tip of the upper shaft 49. The rotational movement of the upper shaft 49 is converted into the vertical movement of the needle bar 39 via the crank mechanism of the present invention.

A first bevel gear 52 is attached to the rear end side of the upper shaft 49, and the first bevel gear 52 is engaged with the second bevel gear 53. The second bevel gear 53 is attached to the upper end of a transmission shaft 54 that is vertically arranged in the column 37. Further, a third bevel gear 55 is attached to a lower end portion of the transmission shaft 54, and the third bevel gear 55 is engaged with a fourth bevel gear 56.

The fourth bevel gear 56 is connected to the rear end of a lower shaft 57 disposed laterally in the bed 36. At the end of the lower shaft 57, a fully-rotatable shuttle 58 is attached. The shuttle 58 has a structure substantially similar to that used for a so-called lockstitch sewing machine, and includes an outer shuttle having a sword point, and an inner shuttle having a bobbin wound with a bobbin thread detachably stored therein. However, since the configuration itself is well known, detailed description is omitted.

The drive shaft of the air cylinder 60 is connected to the back surface of a bearing member 59 that supports the lower shaft 57. By moving the drive shaft of the air cylinder 60 up and down, the lower shaft 57 is Each member 58 can move up and down along the guide members 61 and 61. The fourth bevel gear 56 engages with the third bevel gear 55 when the lower shaft 57 moves to the uppermost position, and is disengaged when moved to the lowermost position.

In order to provide the above configuration, when the first servomotor 48 is driven to rotate the upper shaft 49, the needle bar 39 and the sewing needle 40 start moving up and down, and at the same time, the rotation of the upper shaft 49 is transmitted. The signal is transmitted to the lower shaft 57 via the shaft 54, and the lower shaft 57 and the shuttle 58 also rotate. That is, the rotary movement of the shuttle 58 is realized in synchronization with the vertical movement of the sewing needle 40.

In the above, the entire lower shaft 57 moves up and down in conjunction with the up and down movement of the air cylinder 60, and each time the fourth bevel gear 56 and the third bevel gear 55 are engaged. Detachment is repeated, but by devising the structure of the lower shaft 57, only the hook 58 side moves up and down while maintaining the engagement state between the fourth bevel gear 56 and the third bevel gear 55. It may be configured as follows.

For example, as shown in FIG. 5, a lower shaft 57 is connected to a lower shaft 57a connected to a hook 58, a lower shaft 57b connected to a fourth bevel gear 56, and a lower shaft 57b connected to a lower bevel gear 56. One example is a universal joint 57c that connects the shaft 57a to the lower shaft 57b on the rear end side.

The rear end lower shaft 57 b is rotatably supported by a fixed bearing member 62.

The distal lower shaft 57 a is rotatably supported by a movable bearing member 63.

The drive shaft of the air cylinder 60 is connected to the back surface of the movable bearing member 63. By moving the drive shaft of the air cylinder 60 up and down, the lower shaft 57a on the distal end side is connected to the shuttle 58. Although the guide member 61 moves vertically along the guide member 61, the rear lower shaft 57 b does not move vertically, so that the fourth bevel gear 56 and the third bevel gear 55 The engaged state will be maintained.

Of course, the rotary motion of the third bevel gear 55 and the fourth bevel gear 56 is transmitted to the lower shaft 57a on the distal end via the unity salut joint 57c, so that the shuttle 58 rotates the upper shaft 49. It can be rotated in synchronization with.

The sewing machine main body 32 is mounted and fixed on an XY table 64. The XY table 64 includes an X-axis feed mechanism 65 for moving the sewing machine main body 32 in a direction orthogonal to the first table 33 and a sewing machine main body 32 in a lateral direction along the table 33. And a Y-axis feed mechanism 66 for moving.

The X-axis feed mechanism 65 includes a first movable portion 65a connected to the bottom surface of the bed 36, a ball screw 65b engaged with the first movable portion 65a, and a ball screw 65b. 65b for the second sub-boom that rotates b and 65d for the linear bearing It has.

Further, the Y-axis feed mechanism 66 is engaged with a second movable section 66a connected to the base 65e of the X-axis feed mechanism 65 and the second movable section 66a. A ball screw 66b, a third servomotor 66c for rotating the ball screw 66b, a linear bearing 66d, and a base 66e.

The first table 33 and the second table 34 are arranged at approximately the same height. ■ The table is fixed, and a gap (a needle path 67) through which the sewing needle 40 passes is formed between the two. .

A needle plate 68 for fixing is arranged near the tip in the second table 34 as shown in FIG. 1, and the needle plate 68 for fixation is arranged at a minute interval as shown in FIG. It has a number of fixed needles 69 erected on a straight line.

The above-mentioned fixing needle plate 68 is arranged so as to be able to move up and down by the action of an air cylinder 70 ゃ solenoid, etc., and when the fixing needle plate 68 reaches the uppermost position. Is set so that the fixed needle 69 protrudes from the surface of the second table 34, and when it reaches the lowest position, the fixed needle 69 is completely buried in the second table 34. Have been.

A pressing member 71 is disposed on the front side of the second table 34. The pressing member 71 is made of a relatively long metal bar or the like.

A groove-shaped recess 72 extending in the longitudinal direction is formed on the lower surface, and the recess 72 has a depth capable of completely storing the fixed needle 69 protruding from the surface of the second table 34. It has.

On the surface of the first table 33, a first fixing plate 73 having a rectangular shape is arranged along the course 67.

Along the first fixing plate 73, a second fixing plate 74 slightly thicker than this is disposed.

The first fixing plate 73 and the second fixing plate 74 are made of a fixed material such as vinyl or rubber. It is made of a material having surface adhesiveness.

Above the first table 33, a bar-shaped pressing member 75 parallel to the pressing member 71 is passed. The pressing member 75 and the pressing member 71 are integrated by connecting members 76, 76.

Although not shown, the connecting members 76, 76 are arranged so as to be movable up and down and back and forth by an appropriate driving device such as an air cylinder and a solenoid.

The first piece of tape 13 to be sewn and the connecting piece 11 to be sewn are placed on the first table 33 and the second table 34 in the following procedure. · Fixed.

First, by operating a switch (not shown) or the like, the pressing member 71 and the pressing member 75 are raised to a sufficient height, and are retracted to a position where they do not interfere with the set.

Next, a switch or the like (not shown) is operated to raise the fixing needle plate 68 to the highest position. As a result, the fixed needle 69 protrudes from the surface of the second table 34.

The first tape piece 13 is pierced into the fixed needle 69 in a straight line.

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Further, the remaining portion of the first tape piece 13 is placed on the first fixing plate 73 of the first table over the course 67.

The connecting piece 11 is superimposed on the first tape piece 13. At this time, the row of the suture through holes 17 formed in the connecting piece 11 is positioned so as to overlap the needle path 67. Is done.

Also, a part of the connecting piece 11 is in contact with the surface of the second fixing plate 74. As described above, after the arrangement of the first tape piece 13 and the connecting piece 11 is completed, a switch (not shown) or the like is operated to move the pressing member 71 and the pressing member 75 back to the original state. Return to position and lower.

As a result, the surface of the first tape piece 13 is pressed with a constant pressure by the pressing member 71. At this time, since the entire fixed needle 69 is accommodated in the concave portion 72 of the pressing member 71, the first tape 13 is firmly fixed by the pressing member 71 and the fixed needle 69. .

Also, the overlapping portion of the connecting piece 11 and the first tape piece 13 is pressed by the pressing member 75 at a constant pressure, and both of them contact the first fixing plate 73 or the second fixing plate 74. As a result, the position is not easily shifted.

FIG. 7 is a block diagram showing a main part of a control system of the joining device 29. The joining device 29 first includes a control device 77 and a storage device 78.

The control device 77 is constituted by a CPU such as a programmable controller, a micro-computer, a personal computer, an engineering work station, or the like.

Further, the storage device 78 stores R 0 M 78 a in which the control program of the joining device 29 is stored, and R A in which data such as various setting conditions is temporarily stored.

Consists of M78b.

A controller 79 of the CCD camera 42 is connected to the input side of the controller 77, and the image controller 79 is connected to the monitor 80 and an input device in addition to the CCD camera 42. All of the consoles 81 are connected to a keyboard or numeric keypad (not shown). Further, the rotation sensor 50 and other various sensors 82 arranged in the sewing machine main body 32 are connected to a control device 77 via a signal processing circuit 83 and an input interface 84.

The output side of the controller 77 is connected to an output interface 85 and a drive circuit 86 via a first servo motor 48, a second servo motor 65c, and a third servo motor.

-The vocator 66c and the drive system 87 of the air cylinder 60 are connected. Various output devices 88 such as an indicator lamp and an alarm buzzer are also connected to the control device 77 via the output interface 85.

Next, the basic operation of the joining apparatus 10 will be described with reference to the flowchart of FIG.

First, the switch (not shown) is turned ON to drive the XY table 64, thereby moving the sewing machine main body 32 to a position where the CCD camera 42 can catch the through hole 17 of the connecting piece 11.

Then, an image of the surface of the connecting piece 11 is captured via the CCD camera 42. Based on the captured image, the characteristics (shape, diameter, etc.) of the “through hole 17”, which is the target to be penetrated by the sewing needle 40, are set and stored in the storage device 78 (S 1 ).

Specifically, the operator operates the console 81 while watching the enlarged image from the CCD camera 42 displayed on the monitor 80, and designates one through-hole 17 by surrounding it with a search window. do it.

Next, the start switch (not shown) is set to 0 N, the sewing machine main body 32 is moved left and right, and the stored image data is input from the CCD camera 42 and stored in the image data processed by the image controller 79. The controller 77 detects the through-holes whose characteristics match those of the through-holes, and reads the pitch (interval) between the through-holes 17. The read pitch information is stored in the storage device 78 as a reference pitch (S2). However, instead of using the CCD camera 42 to read the reference pitch, it is also possible to directly input the reference pitch value using an input means such as a keyboard or numeric keypad.

When the reference pitch reading operation is completed, an indicator lamp or the like is turned on, or a specific pitch value is displayed on the monitor 80 to inform the outside to the outside, and the sewing machine main body 32 is moved to the home position (first position). Automatically moves to the right end of table 33). This is the preparation stage, and the full-scale suturing process is started by setting the automatic operation switch (not shown) to 0 N. First, based on a command from the controller 77, the sewing machine main body 32 automatically moves to the sewing start position (the left end of the first table 33) (S3) and stops at the same time, and the air cylinder 60 operates. Then, the lower shaft 57 and the shuttle 58 of the sewing machine main body 32 are moved up to a position where sewing is possible.

Next, the control device 77 analyzes the image data captured from the CCD camera 42 and subjected to image processing such as digitization and thinning at the image controller 79, and is already stored. By searching for a shape that matches the image data of the through hole 17 (S4), the coordinates of the position of the first through hole 17 to be sewn are detected (S5), and the second sample is detected. The sewing machine body 32 is moved in the XY direction so that the sewing machine 40 reaches the position where the sewing machine 40 can penetrate the through-hole 17 by driving the motor 65c and the third servomotor 66c (S6).

Next, the first servomotor 48 is driven based on a command from the control device 77, and the sewing needle 40 that has passed the upper thread 18a through the needle hole starts descending. When the sewing needle 40 passes through the first tape piece 13 through the first through hole 17 of the connecting piece 11, and carries the upper thread 18 a to the vicinity of the shuttle 58, it turns upward.

The shuttle 58 starts rotating in synchronization with the movement of the sewing needle 40. When the sewing needle 40 moves upward, the needle 58 catches the upper thread 18a with the point of a sword, and is stored in the inside during the rotation. Feed out the lower thread and entangle it with the loop of the upper thread 18a. As a result, as shown in FIG. 9, the upper thread 18 a is inserted between the through hole 17 of the connecting piece 11 and the through hole 89 of the first tape piece 13 (the hole penetrated by the sewing needle 40). The so-called lockstitch seam 90 in which the thread and the lower thread 18b are entangled is formed, and the two are firmly joined (S7) o

The controller 77 can be used while the main sewing operation is being performed by the sewing needle 40. Is analyzing the image data sent from the CCD camera 42, searching for the next through-hole 17 (S8) and detecting the coordinates where it is located (S9). Then, the difference between the previously stored reference pitch and the actually detected position coordinate of the through hole 17 is calculated, and the reference pitch is corrected based on the calculation result (S10), and the sewing machine 32 is moved. Then, the second through-hole 17 is moved to a position where sewing is possible (S ll). Then, the sewing needle 40 is lowered and raised to realize the suturing of the through hole 17 (S12).

Thereafter, by repeating the same steps as above, suturing through the through holes 17 is performed one after another.

Then, when the suturing for the predetermined number of through holes 17 is completed (S13), the control device 77 stops the operation of searching for the next through hole 17 and stops the suturing operation (S14). . Further, the air cylinder 60 is driven to lower the shuttle 58 to the original position, and after cutting the upper thread 18a and the lower thread 18b, the sewing machine main body 32 is returned to the home position (S15).

During the above suturing operation, the sewing machine main body 32 is continuously operated without stopping. However, when the sewing needle 40 enters the ascending stroke, the operation is performed at a low speed, and the search for the next through hole 17 is ensured.When the through hole 17 is detected and the sewing needle 40 shifts to the descending stroke, the operation is restarted. It may be programmed to convert to high speed operation. Specifically, based on the output data from the rotation sensor 50 monitoring the rotation status of the upper shaft 49, the controller 77 reads the rotation angle and the rotation speed of the upper shaft 49, and based on the result, This is realized by adjusting the rotation speed of the first servomotor 48.

In addition, if the coordinates detected as the position of the next through hole 17 to be sewn are larger than the coordinates calculated based on the reference pitch by a certain value or more, skip. It may be determined that an error has occurred, and the program may be programmed to return to the previous stitching position and perform a search again. The joining device 29 according to the present invention can accurately determine the actual coordinates where the through hole 17 is located based on the image data captured by the CCD camera 42 as described above, and can also determine the coordinates where the sewing needle 40 is currently located. If it is determined that it is not possible to reach the next through-hole 18 by moving according to the initially set reference pitch, the reference pitch is corrected and the sewing machine body 32 The course to move ゃ the amount of movement can be modified.

For this reason, even if the positional accuracy of each through-hole 17 is somewhat low, there is an advantage that the sewing can be performed reliably. The needle 40 hitting the surface of the connecting piece 11 may break off, which is very dangerous.)

At the very least, the pitch and opening between the through holes 17, 17 are formed extremely accurately, and the feed pitch of the objects to be sutured (the connecting piece 11 and the first tape piece 13) can be kept constant. If so, it is also possible to suture using a general sewing machine that does not have a feedback function by the CCD sensor 42.

In the joining device 29 described above, the sewing machine main body 32 is moved in the X and Y directions so that the sewing needle 40 and the through hole 17 are aligned with each other. The table 33 and the second table 34 may be moved in the X and Y directions to perform the above-described alignment. Further, the sewing machine main body 32 may be moved in one of the X and Y directions, and the first table 33 and the second table 34 may be moved in the remaining X and Y directions.

Although illustration is omitted, a chain-shaped seam formed by one thread is used, in which a wedge-shaped looper is attached to the end of the lower shaft 57 instead of the shuttle 58 as the sewing machine main body 32. (Single ring) may be used to suture between the through hole 17 and the first tape piece 13.

In the connecting tool 20 described above, the soft member 23 is stitched to the second tape piece 19. As shown in FIG. 10, as shown in FIG. 10, the second tape piece 19 (the second connecting piece 91 made of a hard member is overlapped, and a large number of through holes formed in the connecting piece 91 are formed). The hole 17 and the second tape piece 19 may be sewn via the upper thread 18a and the lower thread 18b (in this case, the second tape piece 19 and the second connecting piece 91). Thus, the first joint structure 10 is formed).

As a result, by connecting the connecting pieces 11 and 91 connected to the first tape piece 13 and the second tape piece 19 to the separate hard members 26 and 92, respectively, , 91 can be detachably connected via the slide fastener 12.

As shown in FIG. 11, even if the first connecting piece 11 made of a hard material is sewn to a soft connecting piece 92 made of a soft material other than the tape piece of the slide fastener, the first connecting piece 11 is made of a hard material. Good.

The soft connecting piece 92 is made of cloth, vinyl, rubber, or the like, and is arranged so as to partially overlap with the suture through hole 17 of the connecting piece 11 made of a hard member, and is connected to the connecting piece 11 through the through hole 17. Sutured.

Another larger hard member 26 is connected to the connecting piece 11 via a bolt 25, and another larger soft member 23 is sewn to the soft connecting piece 92 via a suture 24. I have.

That is, the joint structure of the connection piece 11 made of the hard member and the soft connection piece 92 constitutes one connection tool 93 by itself.

As described above, if the relatively small and easily sewable connecting piece 11 and the soft connecting piece 92 are sewn to form the connecting tool 93 in advance, the larger hard member 26 and The connection between the soft members 23 becomes possible, which is convenient.

When the connecting structure 94 composed of the connecting piece 11, the soft connecting piece 92, the hard member 26, and the soft member 23 is discarded, the upper thread 18a and the lower thread 18 between the connecting piece 11 and the soft connecting piece 92 are discarded. Removal of b facilitates hard member 26 and soft member 23 Can be separated into

Instead of using the soft connecting piece 92, the soft member 23 may be directly sewn to the connecting piece 11 to form a connecting structure.

FIG. 12 shows the second joint structure 95. The second joint structure 95 is characterized in that the first connecting piece 11 made of a hard member and the same <second connecting piece 91 made of a hard member are joined by sewing. .

That is, the first connecting piece 11 and the second connecting piece 91 each have a large number of through holes 17 for suturing, and as shown in FIG. 13, the through holes 17 of both connecting pieces 11 and 91 are provided. After positioning so that they communicate with each other, the joints 29 are sewn between the two through-holes 17 according to the above-described procedure. As a result, the upper thread 18a and the lower thread 18b form a strong seam 90, and the two connecting pieces 11 and 91 are tightly joined.

The first hard member 26 is connected to the first connecting piece via the bolt 25, and the second hard member 92 is also connected to the second connecting piece 91 via the bolt 25. ing.

That is, the second joint structure 95 including the first connection piece 11 and the second connection piece 91 made of the hard member constitutes one connection tool 96 by itself. In this way, the relatively small and easily sewable connecting pieces 11 and 91 are sewn together to form the connecting tool 96 in advance, so that the larger hard members 26 and 92 can be connected as necessary. Is convenient.

When discarding the connecting structure 97 composed of the first connecting piece 11, the second connecting piece 91, the first hard member 26, and the second hard member 92, the distance between the two connecting pieces 11, 91 By removing the upper thread 18a and the lower thread 18b, the first hard member 26 and the second hard member 92 can be easily separated.

Therefore, the first hard member 26 and the first connecting piece 11 are made of metal, and the second hard member 92 and the second connecting piece 91 are made of hard plastic. Can be easily separated and discarded, which helps to promote recycling. Note that the hard member 92 may be directly sewn to the first connection piece 11 without using the second connection piece 91 to form a connection structure. In this case, it goes without saying that the suturing through hole 17 corresponding to the hard member 92 should be provided. Industrial applicability

In the first joint structure, the second joint structure, the first connection structure, and the second connection structure according to the present invention, a stitch is formed between the hard members or between the hard member and the soft member. Since there is no risk of adversely affecting the environment or human body as in the case of bonding using an adhesive, there is also a problem of compatibility due to the material of the target member as in the case of welding. In addition, the two members can be joined firmly.

Furthermore, by setting the pitch between the through-holes to be small, it is possible to provide a large number of joint points, and the seam marks (seams) are less noticeable, so the appearance is similar to that of a screw. Large <No damage.

In addition, by cutting and extracting or burning out the suture at the time of disposal, each member can be separated very easily, and it is possible to sufficiently meet the demand for recycling based on sorting and disposal. .

Claims

The scope of the claims

1. Rain the hard member to be joined and the soft member to be joined

The hard member and the soft member are positioned and arranged so that at least a part of each member overlaps each other.

A plurality of suturing through holes are formed in an overlapping portion of the hard member, and a sewn portion is formed between the through hole and the overlapping portion of the soft member. Structure.

2. A method of joining a hard member to be joined to a soft member to be joined to the other,

A plurality of suture through holes are drilled in advance in the hard member,

Positioning and positioning both members such that at least a portion of the soft member and the through hole overlap,

A joining method, characterized by suturing between the through hole of the hard member and the soft member by a sewing machine.

3. A first hard member to be joined and a second hard member to be joined,

The first hard member and the second hard member are positioned and arranged so that at least a part of each of the first hard member and the second hard member overlaps with each other.

In the overlapping portion of the first hard member and the second hard member, a plurality of suture through holes are respectively formed,

A joint structure wherein the through holes of each member are stitched.

4. A method of joining a first hard member to be joined to one another and a second hard member to be joined to another,

Each of the first hard member and the second hard member has a plurality of through holes for suturing. Drilled in advance,

The first hard member and the second hard member are positioned and arranged so that the through holes of each member communicate with each other,

A joining method, wherein sewing is performed between the through holes of each member by a sewing machine.

5. a step of storing the characteristics of the through-hole for suturing formed on the surface of the hard member in advance in the storage means;

Capturing an image of the surface of the hard member using an image sensor; detecting a through-hole stored in the storage means based on the image; sequentially calculating coordinates at which the through-hole is located; Calculating a difference between the coordinates and the coordinates where the sewing needle of the sewing machine is currently placed;

A step of aligning the sewing needle of the sewing machine with the through-hole based on the calculation result, and sequentially executing suturing to the through-hole;

5. The joining method according to claim 2, wherein the joining method includes at least:

6. At least one of the objects to be joined is a device for joining a plurality of members made of hard members,

At least one table on which to place the objects to be welded,

A sewing machine body having a sewing needle arranged vertically and a motor for moving the sewing needle up and down,

An X-Y feed mechanism that moves the sewing machine body by a required amount in a direction parallel to the table and relatively by a required amount in a direction perpendicular to the table;

An image sensor that captures image data of the hard member surface,

Storage means for storing the characteristics of the suture through-hole formed on the surface of the hard member;

From the image data sequentially captured by the image sensor, In addition to detecting the through-holes stored in the storage means, the coordinates at which the through-holes are located are sequentially calculated, and the difference between the coordinates and the coordinates at which the sewing needle of the sewing machine body is currently placed is calculated. And a control means for moving the sewing machine body in a required direction in a required amount based on the calculation result and instructing to execute suturing to the through hole.

7. At least a hard member, a connecting piece connected to the hard member, and a soft member,

The connecting piece is made of a hard material,

The soft member and the connecting piece are positioned and arranged so that at least a part of each of them is overlapped with each other.

A connection structure, wherein a plurality of suturing through holes are formed in an overlapping portion of the connecting piece, and a portion between the through hole and the overlapping portion of the soft member is sewn.

8. A method of connecting another hard member and a soft member via a connecting piece made of a hard member,

A plurality of suture through holes are drilled in advance in the connection piece,

At least part of the soft member and the through hole are positioned and arranged so as to overlap with each other, and

A connection method, wherein the connection piece is connected to the hard member after sewing between the through hole of the connection piece and the soft member by a sewing machine.

9. It comprises a first hard member, a first connection piece connected to the hard member, a second hard member, and a second connection piece connected to the hard member. The first connecting piece and the second connecting piece are made of a hard member, and the first connecting piece and the second connecting piece are positioned and arranged so that at least a part of each of them overlaps with each other. Yes,

The overlapping portions of the first connecting piece and the second connecting piece are each provided with a suture thread. Multiple through holes are drilled,

A connection structure, wherein a through hole of each connection piece is sewn.

10. A method of connecting between a first hard member and a second hard member via a first connection piece and a second connection piece made of a hard member,

A plurality of suturing through holes are drilled in advance in each of the connecting pieces, and both are positioned and arranged so that the through holes of the connecting pieces communicate with each other. After doing

A connection method comprising: connecting a first connection piece to a first hard member; and connecting the second connection piece to a second hard member.

1 1. It has a connecting piece made of a hard member and a slide fastener, and the connecting piece has a plurality of through holes for suturing.

The above-mentioned slide fastener includes a pair of tape pieces made of a soft member, an engaging tooth group formed on the opposite side of each tape piece, and a slider for engaging between the engaging tooth groups of each tape piece. Equipped,

The through hole of the connecting piece and one tape piece of the slide fastener are positioned and arranged so as to overlap,

A connecting member, wherein a portion between the through hole and the tape piece is sewn;