JP7119965B2 - sewing system - Google Patents

Description

The present invention relates to a sewing system having a sewing machine.

Patent Document 1 discloses a sewing system having a sewing machine, a clamping jig, a conveying device, a robot arm, a marking device, and a base. The base supports the sewing machine, the transport device, and the robot arm. The indicating device has a frame-shaped aggregate and a wall surface member covering the aggregate, and is provided on the upper part of the base. The robot arm and sewing machine are placed in the inner area of the indicating device. The clamping jig holds the material to be sewn. The conveying device moves the clamp jig between the working position and the transfer position, and conveys the sewing material held by the clamp jig. The robot arm moves while holding the clamp jig at the transfer position, and supplies the sewing material held by the clamp jig to the sewing machine. The sewing machine sews the sewing material supplied by the robot arm.

JP 2017-196207 A

As the size of the sewing material increases, the size of the robot arm also needs to increase in order to stably hold the sewing material. As the size of the robot arm increases, the size of the base that supports the robot arm also increases, so it is necessary to increase the size of the sewing system as a whole. In this case, there is a problem that the environment in which the sewing system can be installed is limited. In addition, since the material to be sewn is stably held, it is necessary to add a member for supporting the robot arm. At this time, there is a problem that the cost of the sewing system increases.

SUMMARY OF THE INVENTION An object of the present invention is to provide a sewing system capable of saving space and reducing costs.

A sewing system according to the present invention comprises a sewing machine capable of sewing an object to be sewn, and a robot arm capable of transferring the object to be sewn between the sewing machine and the sewing machine, wherein the sewing machine includes a horizontally extending bed. a pair of pedestal portions spaced apart in a first direction parallel to the bed portion, each extending upward from the bed portion; and a beam portion extending in a first direction, a head portion supported by the beam portion so as to be movable in the first direction, and a head portion having a needle bar, wherein the robot arm is provided on the beam portion. do.

In the sewing system, the robot arm is attached to the beam of the sewing machine. At this time, the sewing system can stably fix the robot arm by the dead weight and rigidity of the sewing machine. Even if the material to be sewn is large, there is no need to increase the size of the base for supporting the robot arm, and there is no need for an additional member for supporting the robot arm. Therefore, the sewing system can be made space-saving and cost-effective.

In the present invention, the robot arm is a horizontal articulated arm having a vertically extending column and a horizontally extending first arm and a second arm, and the beam portion connects one end of the column. directly or indirectly, the other end of the first arm supports one end of the first arm so as to be rotatable about a rotation shaft extending in the vertical direction, and the other end of the first arm is , one end of the second arm may be rotatably supported about a rotation shaft extending in the vertical direction, and the other end of the second arm may support a holding mechanism for holding the sewing material. . The sewing system can easily transport the sewing material to any position in the horizontal direction by using a horizontally articulated robot arm.

In the present invention, the robot arm may further include a support portion interposed between one end portion of the support column and the beam portion, and the beam portion may support the one end portion of the support column via the support portion. . The sewing system can stably convey the sewing material within the movable range of the robot arm.

In the present invention, the sewing machine further comprises a moving mechanism for moving the sewing material placed on the bed portion in a second direction parallel to the bed portion and orthogonal to the first direction, a first sewing machine and a second sewing machine arranged in parallel, and the robot arm is arranged in the second direction with a first beam that is the beam of the first sewing machine and a second beam that is the beam of the second sewing machine. may be located between The sewing system can transfer the sewing material whose movement mechanism moves in the second direction between the first sewing machine and the second sewing machine by the robot arm.

The present invention further comprises a moving mechanism for moving the sewing material placed on the bed portion in a second direction parallel to the bed portion and perpendicular to the first direction, wherein the sewing machine is a first sewing machine. a second sewing machine arranged on one side in the second direction with respect to the first sewing machine, wherein the supporting portion comprises a first beam portion which is a beam portion of the first sewing machine and a beam portion of the second sewing machine; a first support extending in the second direction between the second beams and interposed between the post of the robot arm and the first beam and the second beam; The first beam portion and the second beam portion may support one end portion of the column of the robot arm via the first support portion. The first beam of the first sewing machine and the second beam of the second sewing machine support both ends of the first support. The sewing system can prevent the position of the robot arm from changing due to the deformation of the first support portion due to the weight of the robot arm. Therefore, the sewing system can stably transport the sewing material by the robot arm.

In the present invention, the robot arm includes a first robot arm and a second robot arm, and the first support section includes a first support that is a support of the first robot arm, the first beam, and the second support. The first beam and the second beam are interposed between the beams and support one end of the first column of the first robot arm via the first support, and the support is , a second support extending from the first beam in the other direction in the second direction and interposed between the first beam and a second support that is a support of the second robot arm; The one beam portion may support one end portion of the second support column of the second robot arm via the second support portion. The sewing system can transport the sewing material between the first sewing machine and the second sewing machine by means of the first robot arm. The sewing system can transfer the sewing material from the other side in the second direction to the first sewing machine by the second robot arm.

In the present invention, the head of the first sewing machine is provided on the other side in the second direction with respect to the first beam portion of the first sewing machine, and the head of the second sewing machine is provided on the second side of the second sewing machine. It may be provided on one side in the second direction with respect to the second beam portion of the sewing machine. At this time, the head of the first sewing machine is positioned on the opposite side of the first beam to the second sewing machine, and the head of the second sewing machine is positioned on the opposite side of the second beam to the first sewing machine. . Therefore, the other sewing machine does not exist on the side where the head of one sewing machine receives work from the operator. Therefore, the worker can easily work on the head.

In the present invention, the sewing machine includes a first sewing machine and a second sewing machine arranged on one side of the first sewing machine in the first direction, and the support section is a beam section of the first sewing machine. extending in the first direction between the first beam and the second beam that is the beam of the second sewing machine, and between the post of the robot arm and the first beam and the second beam The first beam portion and the second beam portion may support one end of the support column of the robot arm via the third support portion. The first beam of the first sewing machine and the second beam of the second sewing machine support both ends of the third support. The sewing system can suppress fluctuations in the position of the robot arm due to deformation of the third support portion due to the weight of the robot arm. Therefore, the sewing system can stably transport the sewing material by the robot arm.

In the present invention, the third support section may include a guide rail extending in the first direction, and a drive section that moves the robot arm along the guide rail in the first direction. The sewing system can transport the sewing material between the first sewing machine and the second sewing machine by the robot arm. Therefore, there is no need to have a plurality of robot arms, and the cost of the sewing system can be reduced compared to a configuration having a plurality of robot arms.

In the present invention, the post of the robot arm may be fixed to the beam. At this time, since the supporting part is not required, the cost of the transport system can be reduced. The sewing system can stably fix the robot arm by the dead weight and rigidity of the sewing machine.

1 is a perspective view of a sewing system 1A according to a first embodiment; FIG. Fig. 3 is a perspective view of the vicinity of the head portion 24 of the first sewing machine 2A according to the first embodiment, viewed from the front right. Fig. 3 is a front perspective view of the vicinity of the head portion 24 of the first sewing machine 2A according to the first embodiment; 1 is a plan view of a sewing system 1A according to a first embodiment; FIG. Fig. 11 is a perspective view of a sewing system 1B according to a second embodiment; Fig. 10 is a plan view of a sewing system 1B according to a second embodiment; Fig. 11 is a perspective view of a sewing system 1C according to a third embodiment; Fig. 10 is a plan view of a sewing system 1C according to a third embodiment; FIG. 11 is a perspective view of a sewing system 1D according to a fourth embodiment; FIG. 11 is a perspective view of a sewing system 1E according to a fifth embodiment; FIG. 11 is a plan view of a sewing system 1E according to a fifth embodiment; FIG. 11 is a perspective view of a sewing system 1F according to a sixth embodiment; FIG. 11 is a plan view of a sewing system 1F according to a sixth embodiment;

<First embodiment>
A sewing system 1A according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG. In the following description, left and right, front and rear, and up and down indicated by arrows in the drawings are used. The sewing system 1A includes a first sewing machine 2A, a second sewing machine 3A, a first robot arm 4A, a first support section 4B, a second robot arm 5A, a second support section 5B, mounting tables 9A, 9B, 9C, and a robot arm 9D. Prepare. The sewing system 1A is a system in which the first sewing machine 2A and the second sewing machine 3A cooperate to perform sewing on the sewing materials 90A to 90E (hereinafter collectively referred to as "the sewing materials 90"). be.

<First Sewing Machine 2A, Second Sewing Machine 3A>
The first sewing machine 2</b>A and the second sewing machine 3</b>A are gate-type sewing machines, respectively, and are capable of sewing a material 90 to be sewn. The first sewing machine 2A and the second sewing machine 3A have substantially the same configuration. The first sewing machine 2A and the second sewing machine 3A are arranged in the front-rear direction. The second sewing machine 3A is behind the first sewing machine 2A. The first sewing machine 2A will be described below, and the description of the second sewing machine 3A will be simplified.

As shown in FIGS. 1 to 3, the first sewing machine 2A has a bed portion 21, a pair of pedestal portions 22, a first beam portion 23, a head portion 24, and a moving mechanism 25. As shown in FIGS. The bed portion 21 has a base portion 21A and a frame body 21B. The base portion 21A has a substantially rectangular shape. The upper surface of the base 21A forms a horizontally extending flat holding surface 21U. A holding plate 21P extending forward along the holding surface 21U is provided at the front end of the base 21A. A bellows 21R extending in the front-rear direction is provided near the right end of the holding surface 21U. A bellows 21L extending in the front-rear direction is provided near the left end of the holding surface 21U. The bellows 21R and 21L extend linearly on both front and rear sides of a pair of back and forth moving mechanisms 251, which will be described later, between the front and rear ends of the holding surface 21U. The bellows 21R and 21L expand and contract according to the reciprocating movement of the pair of front-rear movement mechanisms 251 in the front-rear direction. The frame 21B is a lattice structure and supports the base 21A from below.

The pair of pedestal portions 22 has pedestal portions 22R and 22L. Each of the pedestals 22R and 22L has a substantially quadrangular prism shape. The pedestal portion 22R extends upward from the right end portion of the base portion 21A of the bed portion 21 and the center in the front-rear direction. The pedestal portion 22R is located on the right side of the bellows 21R in the left-right direction. The pedestal portion 22L extends upward from the left end portion of the base portion 21A of the bed portion 21 and the center in the front-rear direction. The pedestal portion 22L is positioned on the left side of the bellows 21L in the left-right direction. The pedestals 22R and 22L are spaced apart in the left-right direction.

The first beam portion 23 is constructed between each of the pedestal portions 22R and 22L. The first beam portion 23 extends in the left-right direction between the pair of pedestal portions 22 . The first beam portion 23 has a housing 23U. The housing 23U extends between the upper ends and the rear ends of the pedestals 22R and 22L. A rail (not shown) is provided in a space surrounded by the pillars 22R and 22L and the housing 23U. The rail has a bar shape and is installed between the pillars 22R and 22L. The rails movably support a head 24, which will be described later, in the left-right direction. That is, the first beam portion 23 supports the head portion 24 so as to be movable in the left-right direction. As shown in FIGS. 2 and 3, the bellows 23F is provided over the front ends of the pedestals 22R and 22L and the housing 23U, and the left and right ends of the head 24, which will be described later. The bellows 23F covers the rail supporting the head 24 from the front side. The bellows 23F expands and contracts as the head 24 reciprocates along the rail in the left-right direction.

The head portion 24 is provided on the front side with respect to the first beam portion 23 . As shown in FIG. 2, the head 24 includes a needle bar 24A, a presser foot 24B, a thread take-up mechanism 24C, a thread tension mechanism 24D, and the like. Needle bar 24A extends vertically, and a sewing needle 240 can be attached to its lower end. The needle bar 24A is vertically movable. The presser foot 24B has a through hole through which the sewing needle 240 passes as the needle bar 24A moves, and presses the sewing material 90 from above. The thread take-up mechanism 24C operates according to the vertical movement of the needle bar 24A to pull up the needle thread. The thread tension mechanism 24D adjusts the tension of the needle thread. A rail (not shown) in the first beam portion 23 supports the head portion 24 so as to be movable in the left-right direction. Therefore, the head portion 24 can move in the left-right direction along the front end portion of the first beam portion 23 extending in the left-right direction. A hook mechanism (not shown) is provided below the head portion 24 and inside the base portion 21A. The shuttle mechanism can move in the left-right direction in synchronism with the head 24 .

The moving mechanism 25 is provided above the holding surface 21U of the bed portion 21 of the first sewing machine 2A. The moving mechanism 25 moves the sewing material 90 placed on the bed portion 21 in the front-rear direction. As shown in FIG. 3 , the moving mechanism 25 has a support portion 250 , an upper feed plate 25 U, a lower feed plate 25 B, a pair of forward and backward moving mechanisms 251 and a pair of connecting portions 252 . The support portion 250 extends in the left-right direction between the bellows 21R and 21L provided on the holding surface 21U of the bed portion 21. As shown in FIG. The upper feed plate 25U has a substantially circular plate shape in plan view, and is provided at the center of the support portion 250 in the left-right direction. The upper feed plate 25U extends forward from the support portion 250 in parallel with the holding surface 21U. A substantially circular through hole 253 in plan view is provided in the center of the upper feed plate 25U. The support portion 250 has an air cylinder 257 (see FIG. 2) in the center in the left-right direction. The air cylinder 257 has a rod extending downward, and the rod moves forward and backward when driven by the air cylinder 257 . A rear end portion of the upper feed plate 25U is connected to the rod of the air cylinder 257 . Therefore, the upper feed plate 25U is driven by the air cylinder 257 to move vertically.

As shown in FIG. 3 , a pair of forward and backward movement mechanisms 251 are provided at both left and right end portions of the support portion 250 . The pair of forward/backward movement mechanisms 251 has a forward/backward movement mechanism 251R provided at the right end of the support portion 250 and a forward/rearward movement mechanism 251L provided at the left end of the support portion 250 . The forward/backward moving mechanism 251R is connected to a belt (not shown) provided below the bellows 21R. The forward/backward moving mechanism 251L is connected to a belt (not shown) provided below the bellows 21L. The pair of back-and-forth moving mechanisms 251 moves the support portion 250 back and forth in response to synchronous rotation of the belts connected to the back-and-forth moving mechanisms 251R and 251L.

A pair of connecting portions 252 are provided inside the pair of back-and-forth moving mechanisms 251 of the support portion 250 . The pair of connecting portions 252 has connecting portions 252R and 252L. The connecting portion 252R is provided on the left side of the longitudinal movement mechanism 251R, and the connecting portion 252L is provided on the right side of the longitudinal movement mechanism 251L. The pair of connecting portions 252 has a lower feed plate 25B at the lower ends of the connecting portions 252R and 252L. The lower feed plate 25B has a triangular plate shape in plan view. The lower feed plate 25B extends forward from near the bottom of the support portion 250 in parallel with the holding surface 21U. The upper feed plate 25U is driven by the air cylinder 257 and can move between a state in which it approaches the lower feed plate 25B from above and a state in which it is separated from the lower feed plate 25B. An elongated through hole 254 is provided in the lower feed plate 25B from the vicinity of the top of the front end toward the rear side. A circular through hole 255 is provided at the rear end of the through hole 254 in the lower feed plate 25B. The position of the through hole 255 corresponds to the position of the through hole 253 of the upper feed plate 25U in plan view.

As shown in FIG. 1, the second sewing machine 3A has a bed portion 31, a pair of pedestal portions 32, a second beam portion 33, a head portion 34 (see FIG. 4), and a moving mechanism . The bed portion 31, the pair of pedestal portions 32, the second beam portion 33, the head portion 34, and the moving mechanism 35 are the bed portion 21, the pair of pedestal portions 22, the first beam portion 23, and the head portion of the first sewing machine 2A, respectively. The part 24 corresponds to the moving mechanism 25 . The bed portion 31 of the second sewing machine 3A has a base portion 31A and a frame body 31B. base 21A, holding surface 21U, holding plate 21P, bellows 21R and 21L, and frame 21B. The pair of pedestal portions 32 of the second sewing machine 3A has pedestal portions 32R and 32L, which are the pedestal portions 22R and 22L of the pair of pedestal portions 22 of the first sewing machine 2A, respectively. corresponds to The second beam portion 33 of the second sewing machine 3A has a housing 33U, and the housing 33U and the bellows 33F correspond to the housing 23U and the bellows 23F of the first beam 23 of the first sewing machine 2A, respectively. The movement mechanism 35 of the second sewing machine 3A includes a support portion (not shown), an upper feed plate (not shown), a lower feed plate 35B, a pair of forward and backward movement mechanisms (not shown), and a pair of vertical movement mechanisms (not shown). have The lower feed plate 35B corresponds to the lower feed plate 25B of the moving mechanism 25 of the first sewing machine 2A. A support portion, an upper feed plate, a pair of front-rear movement mechanisms, and a pair of connecting portions (not shown) are the support portion 250, the upper feed plate 25U, and the pair of front-rear movement mechanisms 251 of the movement mechanism 25 of the first sewing machine 2A, respectively. , and a pair of connecting portions 252 .

The second sewing machine 3A is oriented in the front-rear direction opposite to the first sewing machine 2A. Therefore, the head 34 of the second sewing machine 3A is provided on the rear side with respect to the second beam portion 33. As shown in FIG. The bellows 31R of the second sewing machine 3A is provided near the left end of the holding surface 31U. The bellows 31L of the second sewing machine 3A is provided near the right end of the holding surface 31U. The pedestal portion 32</b>L of the second sewing machine 3</b>A extends upward from the right end of the base portion 31</b>A of the bed portion 31 . A pedestal portion 32</b>R of the second sewing machine 3</b>A extends upward from the left end of the base portion 31</b>A of the bed portion 31 . The housing 33U extends between the upper ends and front ends of the pedestals 32R and 32L. The rear surface of the housing 23U of the first beam portion 23 of the first sewing machine 2A faces the front surface of the housing 33U of the second beam portion 33 of the second sewing machine 3A in the front-rear direction. The lower feed plate 35B of the second sewing machine 3A differs from the lower feed plate 25B of the first sewing machine 2A in that it extends forward and rearward from near the bottom of the support portion.

<Mounting tables 9A, 9B, 9C>
As shown in FIG. 1, the mounting table 9A is located on the front side of the first sewing machine 2A. The mounting table 9A is a lattice structure. As shown in FIG. 4, the mounting table 9A has accommodating portions 91A, 91B, and 91C. The accommodating portion 91A can accommodate a plurality of circular sewn articles 90A that are stacked. The accommodating portion 91B can accommodate a plurality of rectangular sewn articles 90B stacked one upon another. The storage portion 91C can store a plurality of rectangular sewn articles 90C smaller than the sewn article 90B in a stacked manner.

As shown in FIG. 1, the mounting table 9B is located on the rear side of the first sewing machine 2A and on the front side of the second sewing machine 3A. The mounting table 9B has a plate-shaped holding surface 92U extending along the same plane as the holding surface 21U of the first sewing machine 2A and the holding surface 31U of the second sewing machine 3A. As shown in FIG. 4, the mounting table 9B has housing portions 91D and 91E on the left side of the center of the holding surface 92U in the left-right direction. The accommodating portion 91D accommodates a plurality of rectangular sewn articles 90D stacked one upon the other. The storage portion 91E stores a plurality of rectangular sewn articles 90E having approximately the same size as the sewn article 90D.

As shown in FIGS. 1 and 4, the mounting table 9C is located on the rear side of the second sewing machine 3A. The mounting table 9C has an accommodating portion 91F and a frame 91G. The housing portion 91F has a box shape with an open upper end. The storage portion 91F can store the sewing material 90 sewn by the first sewing machine 2A and the second sewing machine 3A. The accommodating portion 91F fixes a frame 95, which is a lattice structure, on the upper side. As shown in FIG. 1, the frame 91G is a lattice structure and supports the housing portion 91F from below.

<First Supporting Portion 4B, Second Supporting Portion 5B>
As shown in FIG. 1 , the first support portion 4B has a base portion 41 and extension portions 42 . The base portion 41 has a substantially rectangular parallelepiped shape. The base portion 41 is provided in the left-right center of the upper end of the housing 33U of the second beam portion 33 of the second sewing machine 3A. The base portion 41 protrudes upward from the housing 33U. The extension part 42 is a grid-like structure. The extending portion 42 extends horizontally forward from the upper end portion of the base portion 41 . As shown in FIG. 4, the front end portion of the extension portion 42 is positioned rearward of the first beam portion 23 of the first sewing machine 2A and above the mounting table 9B.

As shown in FIG. 1, the second support portion 5B has the same configuration as the first support portion 4B and has a base portion 51 and an extension portion 52. As shown in FIG. The base portion 51 and the extension portion 52 respectively correspond to the base portion 41 and the extension portion 42 of the first support portion 4B. The base portion 51 is provided at the center in the left-right direction of the upper end of the housing 23U of the first beam portion 23 of the first sewing machine 2A. The base portion 51 protrudes upward from the housing 23U. The extending portion 52 horizontally extends forward from the upper end portion of the base portion 51 . As shown in FIG. 4, the front end portion of the extension portion 52 is located above the mounting table 9A.

<First Robot Arm 4A, Second Robot Arm 5A>
The first robot arm 4A and the second robot arm 5A are horizontally articulated arms, and are also called horizontal articulated robots, SCARA robots, and SCARA robots. The first robot arm 4A is provided on the second beam portion 33 of the second sewing machine 3A via the first support portion 4B. The first robot arm 4A transfers the sewing material 90 between the first sewing machine 2A and the second sewing machine 3A. The second robot arm 5A is provided on the first beam portion 23 of the first sewing machine 2A via the second support portion 5B. The second robot arm 5A transfers the sewing material 90 between the mounting table 9A and the first sewing machine 2A. The first robot arm 4A and the second robot arm 5A have the same configuration. The second robot arm 5A will be described below, and the description of the first robot arm 4A will be simplified.

As shown in FIG. 2, the second robot arm 5A has a column 53, a first arm 54, a second arm 55, and a holding mechanism 56. The support 53 has a columnar shape and extends vertically. The upper end of the support 53 is connected to the lower surface of the tip of the extended portion 52 of the second support portion 5B. A first arm 54 extends horizontally from the lower end of the support 53 . A lower end portion of the strut 53 supports one end portion of the first arm 54 so as to be rotatable around a rotation shaft extending in the vertical direction.

The second arm 55 extends horizontally from the other end of the first arm 54 . The second arm 55 is provided above the first arm 54 in the vertical direction. The other end of the first arm 54 supports one end of the second arm 55 so as to be rotatable about a rotation shaft extending in the vertical direction. The other end of the second arm 55 supports a vertically extending support rod 56A. The support rod 56A is a ball screw and is rotatable and vertically movable with respect to the second arm 55 . The support rod 56A supports the holding mechanism 56 at its lower end. That is, the other end of the second arm 55 supports the holding mechanism 56 via the support rod 56A. The holding mechanism 56 has a plurality of vacuum grippers on its underside. The holding mechanism 56 can hold the sewing material 90 by means of a plurality of vacuum grippers. The holding mechanism 56 rotates as the support rod 56A rotates, and moves up and down as the support rod 56A moves up and down.

The second robot arm 5A is connected to the first beam portion 23 of the first sewing machine 2A via the second support portion 5B. The first beam portion 23 of the first sewing machine 2A indirectly supports the upper end portion of the post 53 of the second robot arm 5A via the second support portion 5B. At this time, the second support portion 5B is interposed between the upper end portion of the post 53 of the second robot arm 5A and the first beam portion 23 of the first sewing machine 2A. As shown in FIG. 4, the second robot arm 5A is located in front of the first beam portion 23 of the first sewing machine 2A in the front-rear direction.

As shown in FIGS. 2 and 4, the first robot arm 4A has a column 43, a first arm 44, a second arm 45, and a holding mechanism 46 (see FIG. 4). The column 43, first arm 44, second arm 45 and holding mechanism 46 correspond to the column 53, first arm 54, second arm 55 and holding mechanism 56 of the second robot arm 5A, respectively. The upper end portion of the support 43 is connected to the lower surface of the tip portion of the extension portion 42 of the first support portion 4B. A support rod 46A provided at the other end of the second arm 45 corresponds to the support rod 56A of the second robot arm 5A. The support rod 46A supports the holding mechanism 46 at its lower end.

The first robot arm 4A is connected to the second beam portion 33 of the second sewing machine 3A via the first support portion 4B. The second beam portion 33 of the second sewing machine 3A indirectly supports the upper end portion of the post 43 of the first robot arm 4A via the first support portion 4B. At this time, the first support portion 4B is interposed between the upper end portion of the post 43 of the first robot arm 4A and the second beam portion 33 of the second sewing machine 3A. As shown in FIG. 4, the first robot arm 4A is positioned between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-rear direction.

<Robot arm 9D>
As shown in FIG. 1, the robot arm 9D is an orthogonal movement type arm, and is also called an orthogonal robot or a gantry robot. The robot arm 9D moves the sewing material 90 sewn by the second sewing machine 3A to the storage section 91F of the mounting table 9C. The robot arm 9D has a guide rail 96 and a holding mechanism 97. As shown in FIG. The guide rail 96 is fixed to the frame 95 of the mounting table 9C. The guide rail 96 extends linearly in the front-rear direction. As shown in FIG. 4, the front end of the guide rail 96 is located above the holding plate 31P of the second sewing machine 3A. A rear end portion of the guide rail 96 is positioned above the accommodating portion 91F of the mounting table 9C.

The holding mechanism 97 is movable in the front-rear direction along the guide rails 96 . When the holding mechanism 97 is moved to the front end of the guide rail 96, it is positioned above the holding plate 31P of the second sewing machine 3A. When the holding mechanism 97 is moved to the rear end of the guide rail 96, it is positioned above the housing portion 91F of the mounting table 9C. The holding mechanism 97 has a plurality of vacuum grippers on its underside. The holding mechanism 97 can hold the article 90 by means of a plurality of vacuum grippers. The holding mechanism 97 has an air cylinder. The air cylinder has a rod that moves up and down, and a plurality of vacuum grippers are connected to the lower end of the rod. A plurality of vacuum grippers can be moved up and down by driving air cylinders.

<Overview of Operation of Sewing System 1A>
1 to 4, the outline of the operation of the sewing system 1A to sew the sewing material 90 will be described. The operator stores the sewing objects 90A to 90E in the storage sections 91A to 91C of the mounting table 9A and the storage sections 91D and 91E of the mounting table 9B, respectively. The second robot arm 5A holds the sewing material 90A by the holding mechanism 56. As shown in FIG. The second robot arm 5A moves the holding mechanism 56 upward and rotates the first arm 54 and the second arm 55, thereby moving the holding mechanism 56 holding the sewing material 90A onto the holding plate 21P. . The second robot arm 5A moves the holding mechanism 56 downward to release the holding of the sewing material 90A by the holding mechanism 56, thereby placing the sewing material 90A on the holding plate 21P and the lower feed plate 25B. Next, the second robot arm 5A moves the sewing objects 90B and 90C onto the sewing objects 90A placed on the holding plate 21P and the lower feed plate 25B by the same method as described above. are stacked on the sewing material 90A.

The moving mechanism 25 of the first sewing machine 2A moves the supporting portion 250 forward by a pair of forward and backward moving mechanisms 251 . The upper feed plate 25U moves forward in accordance with the movement of the support portion 250, and is positioned above the sewing materials 90A to 90C placed on the holding plate 21P and the lower feed plate 25B. The lower feed plate 25B moves forward as the support portion 250 moves. The moving mechanism 25 drives the air cylinder 257 to move the upper feed plate 25U downward. The upper feed plate 25U approaches the lower feed plate 25B from above and sandwiches the sewing materials 90A to 90C with the lower feed plate 25B. Next, the moving mechanism 25 moves the supporting portion 250 rearward by the pair of forward and backward moving mechanisms 251 . The upper feed plate 25U and the lower feed plate 25B move rearward in accordance with the movement of the support portion 250 while sandwiching the sewing materials 90A to 90C. The sewing materials 90A to 90C are arranged below the head 24 of the first sewing machine 2A.

The needle bar 24A of the head 24 of the first sewing machine 2A moves vertically. A sewing needle 240 provided on the needle bar 24A moves vertically together with the needle bar 24A. The thread take-up mechanism 24C of the head 24, the thread tension mechanism 24D, and the hook mechanism in the bed 21 operate in conjunction with the needle bar 24A. The first sewing machine 2A sews the sewing objects 90A to 90C with the needle thread passed through the sewing needle 240 and the bobbin thread housed in the hook mechanism.

After the sewing materials 90A to 90C are sewn by the first sewing machine 2A, the moving mechanism 25 moves the supporting portion 250 rearward by the pair of forward and backward moving mechanisms 251. As shown in FIG. The upper feed plate 25U and the lower feed plate 25B move rearward in accordance with the movement of the support portion 250 while holding the sewn materials 90A to 90C. The sewn objects 90A to 90C are arranged behind the first beam portion 23 of the first sewing machine 2A. The moving mechanism 25 drives the air cylinder 257 to move the upper feed plate 25U upward. The upper feed plate 25U is separated upward from the lower feed plate 25B to release the sewing materials 90A to 90C. The moving mechanism 25 moves the support portion 250 forward by a pair of forward and backward moving mechanisms 251 .

The first robot arm 4A holds the sewn objects 90A to 90C by means of a holding mechanism 46. As shown in FIG. The first robot arm 4A moves the holding mechanism 46 upward and rotates the first arm 44 and the second arm 45 to move the holding mechanism 46 holding the sewing objects 90A to 90C to the second sewing machine 3A. It moves above the holding surface 31U of the bed portion 31 and to the front side of the second beam portion 33 . The first robot arm 4A releases the sewing objects 90A to 90C from the holding mechanism 46 and places the sewing objects 90A to 90C on the holding surface 31U. Next, the first robot arm 4A moves the sewing objects 90D and 90E onto the sewing objects 90A to 90C in the same manner as above, and overlaps the sewing objects 90A to 90C with the sewing objects 90D and 90E. Place.

The moving mechanism 35 of the second sewing machine 3A moves the support portion (not shown) forward. An upper feed plate (not shown) moves forward and is positioned above the sewing materials 90A to 90E. Before this movement, the second sewing machine 3A moves the head 34 to the right with respect to the upper feed plate while moving the upper feed plate downward, thereby moving the upper feed plate upward. The moving mechanism 35 moves the support forward. The lower feed plate 35B moves forward together with the upper feed plate. The moving mechanism 35 moves the upper feed plate downward and sandwiches the sewing materials 90A to 90E with the lower feed plate 35B. The moving mechanism 35 moves the support portion rearward to move the sewing objects 90A to 90E placed on the holding surface 31U rearward from a position on the front side of the second beam portion 33 to a position below the head portion 34. Moving. The second sewing machine 3A sews the sewing materials 90A to 90E in the same manner as the first sewing machine 2A. After sewing by the second sewing machine 3A, the moving mechanism 35 moves the sewing objects 90A to 90E rearward to the holding plate 31P of the second sewing machine 3A.

The robot arm 9D moves the holding mechanism 97 forward to the front end of the guide rail 96 . The holding mechanism 97 holds the sewing material 90 sewn by the first sewing machine 2A and the second sewing machine 3A. The robot arm 9D moves the holding mechanism 97 rearward from the front end to the rear end of the guide rail 96 . The sewn material 90 held by the holding mechanism 97 moves to above the storage portion 91F of the mounting table 9C. The robot arm 9D releases the sewing material 90 from the holding mechanism 97 and stores the sewing material 90 in the storage section 91F.

<Operations, effects, and modifications of the first embodiment>
The first robot arm 4A is provided on the second beam portion 33 of the second sewing machine 3A, and the second robot arm 5A is provided on the first beam portion 23 of the first sewing machine 2A. At this time, the sewing system 1A can stably fix the first robot arm 4A and the second robot arm 5A by the weight and rigidity of the first sewing machine 2A and the second sewing machine 3A. Even when the sewing material 90 is large, there is no need to increase the size of the base supporting the first robot arm 4A and the second robot arm 5A, and the additional member supporting the first robot arm 4A and the second robot arm 5A can be used. No need. Therefore, the sewing system 1A enables space saving and cost reduction.

The first robot arm 4A and the second robot arm 5A are horizontal articulated robot arms. Therefore, the sewing system 1A can easily transport the sewing material 90 to any horizontal position by the first robot arm 4A and the second robot arm 5A.

The sewing system 1A includes a first support portion 4B interposed between the upper end portion of the post 43 of the first robot arm 4A and the second beam portion 33. As shown in FIG. The second beam portion 33 supports the upper end portion of the column 43 via the first support portion 4B. At this time, the sewing system 1A can arrange the movable range of the first robot arm 4A forward compared to when the first support portion 4B is not provided. In addition, since the front end of the first support portion 4B can be arranged above the mounting table 9B, the first robot arm 4A can move between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A. The holding mechanism 46 can be smoothly moved between. Therefore, the first robot arm 4A can stably convey the sewing material 90 from the first sewing machine 2A to the second sewing machine 3A. Furthermore, the first support portion 4B can stably support the first robot arm 4A at a position forwardly away from the second beam portion 33 . Therefore, the sewing system 1A can stably transport the sewing material 90 within the movable range of the first robot arm 4A. The second robot arm 5A also has the same effect.

The first sewing machine 2A has a movement mechanism 25 that moves in the front-rear direction. The moving mechanism 25 moves backward the sewing material 90 sewn by the first sewing machine 2A. The first robot arm 4A is positioned between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-rear direction. At this time, the first robot arm 4A can smoothly transfer the sewing material 90 sewn by the first sewing machine 2A to the second sewing machine 3A.

The head 24 of the first sewing machine 2A is provided on the front side of the first beam 23, and the head 34 of the second sewing machine 3A is provided on the rear of the second beam 33. As shown in FIG. The head 24 of the first sewing machine 2A is located on the side opposite to the second sewing machine 3A with respect to the first beam 23, and the head 24 of the second sewing machine 3A is located on the second beam 33 with respect to the first sewing machine 2A. Located opposite. At this time, the head of one of the first sewing machine 2A and the second sewing machine 3A does not exist on the side where the other of the first sewing machine 2A and the second sewing machine 3A receives work from the operator. Therefore, the operator can easily work on the heads 24 and 34 .

The sewing system 1A may include only the first robot arm 4A without the second robot arm 5A. The sewing system 1A may include only the second robot arm 5A without the first robot arm 4A. The first robot arm 4A and the second robot arm 5A are not limited to horizontal articulated robot arms, and may be other types of robot arms. For example, the first robot arm 4A and the second robot arm 5A may be orthogonal robots, vertical articulated robots, or the like. The sewing system 1A does not have to include the first support portion 4B and the second support portion 5B. The configuration will be described later in the fourth embodiment. In the sewing system 1A, the first robot arm 4A may be movable in the front-rear direction. The first robot arm 4A is positioned between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-rear direction, and at a position on the front side of the first beam portion 23. It may be movable across. The first sewing machine 2A and the second sewing machine 3A may be arranged in such a direction that the position of the head 24 with respect to the first beam 23 and the position of the head 34 with respect to the second beam 33 match. For example, the head 24 of the first sewing machine 2A may be positioned on the front side of the first beam 23, and the head 34 of the second sewing machine 3A may be positioned on the front of the second beam 33. . The first sewing machine 2A and the second sewing machine 3A may have a pair of pillars 22, 32 detachable from the beds 21, 31, respectively.

<Second embodiment>
A sewing system 1B according to a second embodiment of the present invention will be described with reference to FIGS. 5 and 6. FIG. The sewing system 1B differs from the sewing system 1A in that it does not have a second robot arm 5A and a second support section 5B, and it has a first support section 4C instead of the first support section 4B of the sewing system 1A. . Other configurations of the sewing system 1B are the same as those of the sewing system 1A. In each of the following embodiments, configurations common to sewing system 1A are denoted by the same reference numerals as sewing system 1A, and description thereof is omitted. 5 to 13, which will be described later, mounting tables 9A, 9B, 9C and a robot arm 9D are omitted.

As shown in FIG. 5, the first support portion 4C has base portions 41C and 51C and an extension portion 42C. The base portions 41C and 51C have a substantially rectangular parallelepiped shape. The base portion 41C is provided at the center in the left-right direction of the upper end of the housing 33U of the second beam portion 33 of the second sewing machine 3A. The base portion 41C protrudes upward from the housing 33U. The base portion 51C is provided at the center in the left-right direction of the upper end of the housing 23U of the first beam portion 23 of the first sewing machine 2A. The base portion 51C protrudes upward from the housing 23U. The extending portion 42C has a plate shape extending in the front-rear direction. A rear end portion of the extension portion 42C is fixed to the base portion 41C of the second beam portion 33 . A front end portion of the extension portion 42C is fixed to the base portion 51C of the first beam portion 23 . The extending portion 42C extends in the front-rear direction between the base portions 41C and 51C. That is, the extension portion 42C extends in the front-rear direction between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the base portions 41C and 51C. The extending portion 42C has an elongated hole extending in the front-rear direction.

As shown in FIG. 6, the upper end of the column 43 (see FIG. 5) of the first robot arm 4A is connected to the longitudinal center of the extension 42C of the first support 4C. The first robot arm 4A is connected to the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the first support portion 4C. The first beam portion 23 and the second beam portion 33 indirectly support the upper end portion of the column 43 of the first robot arm 4A via the first support portion 4C. At this time, the first support portion 4C is interposed between the upper end portion of the column 43 of the first robot arm 4A and the first beam portion 23 and the second beam portion 33 . The first robot arm 4A is positioned between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-rear direction.

The sewing system 1B sews the sewing material 90 differently from the sewing system 1A in the process of placing the sewing materials 90A to 90C on the holding plate 21P and the lower feed plate 25B of the first sewing machine 2A. , and other processes are the same as those of the sewing system 1A. In the sewing system 1B, the operator places the sewing material 90A on the holding plate 21P and the lower feed plate 25B of the first sewing machine 2A, and then places the sewing materials 90B and 90C on the sewing material 90A. Place on top of each other. The operations performed by the sewing system 1B after the sewing objects 90A to 90C are placed are the same as those of the sewing system 1A, so the description thereof will be omitted.

<Actions, effects, and modifications of the second embodiment>
The first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A support the front and rear end portions of the first support portion 4C. The sewing system 1B can prevent the position of the first robot arm 4A from changing due to the deformation of the first support portion 4C due to the weight of the first robot arm 4A. Therefore, the sewing system 1B can stably transport the sewing material 90 by the first robot arm 4A. In addition, the extension portion 42C of the first support portion 4C may be provided with a guide rail extending in the front-rear direction. The first robot arm 4A may be movable forward and backward along a guide rail.

<Third embodiment>
A sewing system 1C according to a third embodiment of the present invention will be described with reference to FIGS. 7 and 8. FIG. The sewing system 1C has a first support portion 4D instead of the first support portion 4B of the sewing system 1A, and a second support portion 5D instead of the second support portion 5B of the sewing system 1A. Differs from 1A. Other configurations of the sewing system 1C are the same as those of the sewing system 1A.

As shown in FIG. 7, the first support portion 4D has base portions 41D and 51D and a partial extension portion 42D. The base portions 41D and 51D have a substantially rectangular parallelepiped shape. The base portion 41D is provided at the center in the left-right direction of the upper end of the housing 33U of the second beam portion 33 of the second sewing machine 3A. The base portion 51D is provided at the center in the left-right direction of the upper end of the housing 23U of the first beam portion 23 of the first sewing machine 2A. The extending portion 40 has a plate shape extending in the front-rear direction. A rear end portion of the extension portion 40 is fixed to the base portion 41</b>D of the second beam portion 33 . A portion of the extending portion 40 on the front side of the center in the front-rear direction is fixed to the base portion 51</b>D of the first beam portion 23 . A front end portion of the extension portion 40 protrudes forward from the base portion 51</b>D of the first beam portion 23 .

The partial extension portion 42D is a portion of the extension portion 40 that extends in the front-rear direction between the base portions 41D and 51D. The partial extension portion 42D extends in the front-rear direction between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the base portions 41D and 51D.

The second support portion 5D has a base portion 51D and a partial extension portion 52D. The partial extension portion 52D is a portion of the extension portion 40 that protrudes forward from the base portion 51D. The partial extension portion 52D extends forward from the first beam portion 23 of the first sewing machine 2A via the base portion 51D.

The upper end portion of the column 43 of the first robot arm 4A is connected to the front-back direction center of the partial extension portion 42D of the first support portion 4D. The first robot arm 4A is connected to the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the first support portion 4D. The first beam portion 23 and the second beam portion 33 indirectly support the upper end portion of the column 43 of the first robot arm 4A via the first support portion 4D. At this time, the first support portion 4D is interposed between the upper end portion of the column 43 of the first robot arm 4A and the first beam portion 23 and the second beam portion 33 . As shown in FIG. 8, the first robot arm 4A is positioned between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A in the front-rear direction.

As shown in FIG. 7, the upper end of the post 53 of the second robot arm 5A is connected to the front end of the partial extension 52D of the second support 5D. The second robot arm 5A is connected to the first beam portion 23 of the first sewing machine 2A via the second support portion 5D. The first beam portion 23 indirectly supports the upper end portion of the column 53 of the second robot arm 5A via the second support portion 5D. At this time, the second support portion 5D is interposed between the upper end portion of the column 53 and the first beam portion 23 of the second robot arm 5A. As shown in FIG. 8, the second robot arm 5A is positioned forward of the first beam portion 23 of the first sewing machine 2A in the front-rear direction.

The operation of the sewing system 1C to sew the sewing material 90 is the same as that of the sewing system 1A, so the description thereof is omitted.

<Actions, effects, and modifications of the third embodiment>
The first support portion 4D spans between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A. The first beam portion 23 and the second beam portion 33 support the upper end portion of the column 43 of the first robot arm 4A via the first support portion 4D. The second support portion 5D extends forward from the first beam portion 23 of the first sewing machine 2A. The first beam portion 23 supports the upper end portion of the column 53 of the second robot arm 5A via the second support portion 5D. At this time, the sewing system 1C can transport the sewing material 90 between the first sewing machine 2A and the second sewing machine 3A by the first robot arm 4A. The sewing system 1C can transfer the sewing material 90 from the mounting table 9A positioned in front of the first sewing machine 2A to the first sewing machine 2A by the second robot arm 5A.

The partial extension portion 42D of the first support portion 4D and the partial extension portion 52D of the second support portion 5D constitute a common extension portion 40. As shown in FIG. At this time, the strength of the first support portion 4D and the second support portion 5D can be maintained as compared with the case where the first support portion 4D and the second support portion 5D are configured by separate members. Therefore, the sewing system 1C can more stably transfer the sewing material by the first robot arm 4A and the second robot arm 5A. Incidentally, the partial extension portions 42D and 52D may be provided separately. At this time, the base portion 51D may be divided into a portion connected to the front end portion of the partial extension portion 42D and a portion connected to the rear end portion of the partial extension portion 52D.

<Fourth embodiment>
A first sewing machine 2C provided in a sewing system 1D according to a fourth embodiment of the present invention will be described with reference to FIG. In FIG. 9, the second sewing machine, mounting tables 9A, 9B, 9C, and robot arm 9D included in the sewing system 1D are omitted. The configuration of the second sewing machine is the same as that of the first sewing machine 2C, so the explanation is omitted. The first sewing machine 2C differs from the first sewing machine 2A of the sewing system 1A in that it does not include the second support portion 5B. The first sewing machine 2C differs from the first sewing machine 2A in that it has a robot arm 6A instead of the second robot arm 5A of the first sewing machine 2A. Other configurations of the sewing system 1D are the same as those of the sewing system 1A.

As shown in FIG. 9, the robot arm 6A has a column 63, a first arm 64, a second arm 65, and a holding mechanism 66. The strut 63 is fixed to the upper end of the housing 23U of the first beam portion 23. As shown in FIG. The strut 63 extends vertically. A lower end portion of the support 63 is connected to a position on the left side of the center of the housing 23U of the first beam portion 23 in the left-right direction. A first arm 64 extends horizontally from the upper end of the support 63 . The upper end of the strut 63 supports one end of the first arm 64 so as to be rotatable about the rotation shaft extending in the vertical direction.

A second arm 65 extends horizontally from the other end of the first arm 64 . The second arm 65 is provided above the first arm 64 in the vertical direction. The other end of the first arm 64 supports one end of the second arm 65 so as to be rotatable about a rotation shaft extending in the vertical direction. The other end of the second arm 65 supports a vertically extending support rod 66A. The support rod 66A is a ball screw and is rotatable and vertically movable with respect to the second arm 65 . The support rod 66A supports the holding mechanism 66 at its lower end. The holding mechanism 66 has a plurality of vacuum grippers on its underside. The holding mechanism 66 rotates as the support rod 66A rotates, and moves up and down as the support rod 66A moves up and down. In the process in which the sewing system 1D sews the sewn article 90, the robot arm 6A holds the sewn articles 90A to 90C placed on a mounting table (not shown) by the holding mechanism 66 and places them on the holding plate 21P. and place it. The operations performed by the sewing system 1D after the sewing objects 90A to 90C are placed are the same as those of the sewing system 1A, so the description thereof will be omitted.

<Functions, Effects, and Modifications of the Fourth Embodiment>
The support 63 of the robot arm 6A is directly connected to the first beam 23 without a support. At this time, since the support portion is not required, the cost of the sewing system 1D can be reduced. The sewing system 1D can stably fix the robot arm 6A by the dead weight and rigidity of the first sewing machine 2C. The robot arm 6A may be provided with the second arm 65 below the first arm 64 in the vertical direction.

<Fifth embodiment>
A sewing system 1E according to a fifth embodiment of the present invention will be described with reference to FIGS. 10 and 11. FIG. The sewing system 1E differs from the sewing system 1A in the arrangement direction of the first sewing machine 2A and the second sewing machine 3A. The sewing system 1E includes a support portion 70A instead of the first support portion 4B and the second support portion 5B, and robot arms 7A, 7B and 7C instead of the first robot arm 4A and the second robot arm 5A. It differs from the sewing system 1A in that it has Other configurations of the sewing system 1E are the same as those of the sewing system 1A.

As shown in FIG. 10, the first sewing machine 2A and the second sewing machine 3A are arranged in the horizontal direction. The second sewing machine 3A is on the right side of the first sewing machine 2A. The first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A are aligned in the horizontal direction. The arrangement of the head 24 with respect to the first beam 23 of the first sewing machine 2A and the arrangement of the head 34 with respect to the second beam 33 of the second sewing machine 3A are the same, and both face forward. The first sewing machine 2A and the second sewing machine 3A are slightly separated in the left-right direction. Therefore, a gap is provided between the right end of the first sewing machine 2A and the left end of the second sewing machine 3A.

A support portion 70A is provided on the upper surface of each of the housing 23U of the first beam portion 23 and the housing 33U of the second beam portion 33. As shown in FIG. The support portion 70A has a rectangular shape elongated in the left-right direction. The support portion 70A extends in the left-right direction between the left end portion of the first beam portion 23 of the first sewing machine 2A and the right end portion of the second beam portion 33 of the second sewing machine 3A.

Robot arms 7A, 7B, 7C have the same configuration. The robot arms 7A, 7B, 7C have the same configuration as the robot arm 6A (see FIG. 9). The robot arms 7A, 7B, 7C each have a post 73, a first arm 74, a second arm 75, and a holding mechanism 76. The post 73, the first arm 74, the second arm 75, and the holding mechanism 76 are the post 63, the first arm 64, the second arm 65, and the holding mechanism 66 (see FIG. 9) of the robot arm 6A (see FIG. 9), respectively. corresponds to A support rod 76A that supports the holding mechanism 76 corresponds to the support rod 66A (see FIG. 9) of the robot arm 6A.

The post 73 of the robot arm 7A is fixed in the vicinity of the left end of the support portion 70A, more specifically, at a position on the left side of the center of the first beam portion 23 in the left-right direction of the support portion 70A. The post 73 of the robot arm 7B is fixed at the center of the support section 70A in the left-right direction, more specifically, at a position between the first beam section 23 and the second beam section 33 of the support section 70A. The post 73 of the robot arm 7C is fixed in the vicinity of the right end of the support portion 70A, more specifically, at a position on the right side of the center of the second beam portion 33 in the left-right direction of the support portion 70A (see FIG. 11). . As shown in FIG. 11, the robot arms 7A, 7B, and 7C are arranged in this order on the right side.

The robot arms 7A, 7B, and 7C are connected to the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A via the support portion 70A. The first beam portion 23 and the second beam portion 33 indirectly support the lower ends of the support columns 73 of the robot arms 7A, 7B, and 7C via the support portion 70A. At this time, the support portion 70A is interposed between the lower end portions of the struts 73 of the robot arms 7A, 7B, and 7C and the first beam portion 23 and the second beam portion 33, respectively.

In the process in which the sewing system 1E sews the sewing material 90, the robot arm 7A holds the sewing materials 90A to 90C placed on a table (not shown) located on the left side of the first sewing machine 2A. It is held by 76, moved onto the holding plate 21P of the first sewing machine 2A, and stacked thereon. The first sewing machine 2A receives sewing materials 90A to 90C and sews the sewing materials 90A to 90C. The robot arm 7B holds the sewing objects 90A to 90C sewn by the first sewing machine 2A by the holding mechanism 76, moves them onto the holding plate 31P of the second sewing machine 3A, and places the sewing objects 90A to 90C thereon. is transferred from the first sewing machine 2A to the second sewing machine 3A. The robot arm 7B holds the sewing objects 90D and 90E placed on a placement table (not shown) positioned on the left side of the second sewing machine 3A by the holding mechanism 76, and moves them onto the holding plate 31P of the second sewing machine 3A. It is placed on top of the sewing materials 90A to 90C. The second sewing machine 3A sews the sewing materials 90A to 90E. The robot arm 7C holds the sewing objects 90A to 90E sewn by the second sewing machine 3A with the holding mechanism 76 and delivers them to a mounting table (not shown) located on the right side of the second sewing machine 3A.

<Functions and Effects of the Fifth Embodiment>
In the sewing system 1E, the first sewing machine 2A and the second sewing machine 3A are arranged in the horizontal direction. The support portion 70A extends in the left-right direction between the first beam portion 23 of the first sewing machine 2A and the second beam portion 33 of the second sewing machine 3A. At this time, the first beam portion 23 and the second beam portion 33 support the support portion 70A from below over substantially the entire area in the left-right direction. Therefore, it is possible to more effectively suppress deformation of the support portion 70A due to the weight of the robot arms 7A, 7B, and 7C. At this time, the positions of the robot arms 7A, 7B, and 7C are further stabilized, so that the sewing system 1E can more stably transport the sewing material 90 by the robot arms 7A, 7B, and 7C.

The positions in the front-rear direction of the first sewing machine 2A and the second sewing machine 3A may be different. At this time, the support portion 70A may bend between the first beam portion 23 and the second beam portion 33 . The support portion 70A is provided only between the right end portion of the first beam portion 23 and the left end portion of the second beam portion 33, and must be provided above the first beam portion 23 and above the second beam portion 33. good too. At this time, the robot arm may be provided only at a position between the first sewing machine 2A and the second sewing machine 3A.

The first sewing machine 2A and the second sewing machine 3A may have a common beam. The beam portion may extend in the left-right direction between the first sewing machine 2A and the second sewing machine 3A. The strut 73 of each robot arm 7A, 7B, 7C may be directly connected to the beam. At this time, the sewing system 1E may not have the support portion 70A.

<Sixth embodiment>
A sewing system 1F according to a sixth embodiment of the present invention will be described with reference to FIGS. 12 and 13. FIG. The sewing system 1F differs from the sewing system 1E in that it does not have the robot arms 7B and 7C, and in that the support section 70A includes a guide rail 70B and a motor 77. FIG. Other configurations of the sewing system 1F are the same as those of the sewing system 1E. Hereinafter, the same reference numerals as those of the sewing system 1E will be assigned to the configurations that are common to the sewing system 1E, and the description thereof will be omitted.

As shown in FIG. 12, in sewing system 1F, support portion 70A has guide rail 70B. The guide rails 70B are concave grooves provided at the front and rear ends of the support portion 70A. The guide rail 70B extends in the left-right direction between the left end and the right end of the support portion 70A.

A slider 70C is provided at the lower end of the post 73 of the robot arm 7A. The slider 70C is fitted to the guide rail 70B of the support portion 70A so as to be movable in the left-right direction. The slider 70C engages the ball screw inside the support 70A. The support portion 70A has a motor 77 at its left end. The motor 77 has an output shaft extending inside the support portion 70A. The output shaft of the motor 77 is connected to the ball screw inside the support portion 70A to rotate the ball screw. Therefore, the slider 70C can move in the horizontal direction. The robot arm 7A can move in the left-right direction along the guide rail 70B according to the movement of the slider 70C with respect to the guide rail 70B.

The robot arm 7A conveys the sewing material 90 throughout the entire process of sewing the sewing material 90 by the sewing system 1F. Details are as follows. The robot arm 7A is positioned near the left end of the support portion 70A. The robot arm 7A holds the sewing objects 90A to 90C placed on a placement table (not shown) positioned on the left side of the first sewing machine 2A by the holding mechanism 76, and moves them onto the holding plate 21P of the first sewing machine 2A. Place on top of each other. The first sewing machine 2A receives sewing materials 90A to 90C and sews the sewing materials 90A to 90C. The robot arm 7A is driven by a motor 77 to move from the vicinity of the left end of the support portion 70A to substantially the center in the left-right direction. After the movement, the robot arm 7A holds the sewing materials 90A to 90C sewn by the first sewing machine 2A by the holding mechanism 76, moves them onto the holding plate 31P of the second sewing machine 3A, and places them thereon. Transfer 90A to 90C from the first sewing machine 2A to the second sewing machine 3A. The robot arm 7A holds the sewing objects 90D and 90E placed on a placement table (not shown) located on the left side of the second sewing machine 3A by the holding mechanism 76, and moves them onto the holding plate 31P of the second sewing machine 3A. It is placed on top of the sewing materials 90A to 90C. The second sewing machine 3A sews the sewing materials 90A to 90E. The robot arm 7A is driven by a motor 77 to move from the center of the support portion 70A in the left-right direction to the vicinity of the right end portion. After the movement, the robot arm 7A holds the sewing objects 90A to 90E sewn by the second sewing machine 3A by the holding mechanism 76, and moves from the second sewing machine 3A to a mounting table (not shown) located on the right side of the second sewing machine 3A. hand over to

The slider 70C may be connected to the timing belt inside the support portion 70A, and the motor 77 may drive the timing belt inside the support portion 70A to move the slider 70C in the horizontal direction. A rodless cylinder, a fluid cylinder, or the like may be used as the driving portion for moving the slider 70C in the left-right direction.

<Functions and effects of the sixth embodiment>
The sewing system 1F can convey the sewing material 90 by the robot arm 7A in the process of sewing the sewing material 90. As shown in FIG. Therefore, there is no need to have a plurality of robot arms, and the cost of the sewing system 1F can be reduced compared to a configuration having a plurality of robot arms. In addition, the robot arm 7A may move in the left-right direction while holding the sewing material 90 . At this time, the sewing system 1F transfers the sewing material 90 from the first sewing machine 2A to the second sewing machine 3A by moving the robot arm 7A to the right while moving the sewing material 90 to the right. can.

<Others>
The strut 43 is an example of the "first strut" of the present invention. The strut 53 is an example of the "second strut" of the present invention. The support portion 70A is an example of the "third support portion" of the present invention. The motor 77 is an example of the "driving section" of the present invention. The horizontal direction is an example of the "first direction" in the present invention. The front-rear direction is an example of the "second direction" of the present invention. The rear side is an example of "one side in the second direction" in the present invention. The front side is an example of "the other side in the second direction" in the present invention. The right side is an example of "one side in the first direction" of the present invention. The left side is an example of "the other side in the first direction" in the present invention.

1A, 1B, 1C, 1D, 1E, 1F: sewing systems 2A, 2C: first sewing machine 3A: second sewing machine 4A: first robot arms 4B, 4C, 4D: first support section 5A: second robot arm 5B, 5D: second support portion 6A: robot arms 7A, 7B, 7C: robot arm 21: bed portion 31: bed portions 22, 22L, 22R, 32, 32L, 32R: pedestal portion 23: first beam portions 24, 34 : Head 24A : Needle bars 25, 35 : Moving mechanism 33 : Second beam 43 : Posts 44, 54, 64, 74 : First arms 45, 55, 65, 75 : Second arms 46, 56, 76 : Holding mechanisms 53, 63 : Post 66 : Holding mechanism 70A : Support part 70B : Guide rail 73 : Post 77 : Motors 90, 90A, 90B, 90C, 90D, 90E : Material to be sewn

Claims (10)

A sewing system comprising a sewing machine capable of sewing an object to be sewn and a robot arm capable of transferring the object to be sewn between the sewing machine and the sewing machine,
The sewing machine
a pair of pedestal portions spaced apart in a first direction parallel to a horizontally extending bed portion, each of said pair of pedestal portions extending upward from said bed portion;
a beam portion extending in the first direction between each of the pair of pedestal portions;
a head portion supported movably in the first direction by the beam portion and having a needle bar;
A sewing system, wherein the robot arm is provided on the beam. The robot arm is a horizontal articulated arm having a vertically extending column and a horizontally extending first arm and a second arm,
The beam directly or indirectly supports one end of the support,
the other end of the strut supports one end of the first arm so as to be rotatable about a rotation shaft extending in the vertical direction;
the other end of the first arm supports one end of the second arm so as to be rotatable about a rotation shaft extending in the vertical direction;
2. The sewing system according to claim 1, wherein the other end of said second arm supports a holding mechanism for holding said sewing object. further comprising a support portion interposed between one end portion of the support column and the beam portion of the robot arm;
3. The sewing system according to claim 2, wherein the beam supports one end of the support through the support. further comprising a moving mechanism for moving the sewing material placed on the bed portion in a second direction parallel to the bed portion and perpendicular to the first direction;
The sewing machine
comprising a first sewing machine and a second sewing machine arranged in the second direction;
The robot arm is
4. The first beam of the first sewing machine and the second beam of the second sewing machine in the second direction. 2. The sewing system according to claim 1. further comprising a moving mechanism for moving the sewing material placed on the bed portion in a second direction parallel to the bed portion and perpendicular to the first direction;
The sewing machine
A first sewing machine and a second sewing machine arranged on one side of the first sewing machine in the second direction,
The support part is
extending in the second direction between a first beam portion that is the beam portion of the first sewing machine and a second beam portion that is the beam portion of the second sewing machine; A first support portion interposed between the portion and the second beam portion,
4. The sewing system according to claim 3, wherein the first beam portion and the second beam portion support one end portion of the support of the robot arm via the first support portion. the robot arm comprises a first robot arm and a second robot arm,
The first support part is interposed between a first support that is a support of the first robot arm and the first beam and the second beam,
The first beam and the second beam support one end of the first support of the first robot arm via the first support,
The support part is
further comprising a second support extending from the first beam in the other side in the second direction and interposed between the first beam and a second support that is a support of the second robot arm;
6. The sewing system according to claim 5, wherein the first beam supports one end of the second support of the second robot arm via the second support. the head of the first sewing machine is provided on the other side in the second direction with respect to the first beam portion of the first sewing machine;
7. The head of the second sewing machine according to any one of claims 4 to 6, wherein the head of the second sewing machine is provided on one side in the second direction with respect to the second beam portion of the second sewing machine. sewing system. The sewing machine
A first sewing machine and a second sewing machine arranged on one side in the first direction with respect to the first sewing machine,
The support part is
extending in the first direction between a first beam portion that is the beam portion of the first sewing machine and a second beam portion that is the beam portion of the second sewing machine; A third support portion interposed between the portion and the second beam portion,
4. The sewing system according to claim 3, wherein the first beam portion and the second beam portion support one end portion of the support of the robot arm via the third support portion. The third support part is
a guide rail extending in the first direction;
9. The sewing system according to claim 8, further comprising a driving section that moves the robot arm along the guide rail in the first direction. 3. The sewing system according to claim 2, wherein the post of the robot arm is fixed to the beam.

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