JPH0125599B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a fabric handling device for overlapping, sewing, etc. of fabrics.

Conventional technology This type of conventional fabric handling device usually does not use an auxiliary jig, but instead holds two stacked fabrics by partially hooking them using a needle or the like from above. The operation is being performed.

Problems to be Solved by the Invention However, in fabric manipulation in such a device,
There were problems such as the lower fabric shifting during fabric manipulation, wrinkles easily occurring when sewing using a sewing machine such as a sewing machine, and fabric not being able to be quickly attached and detached. .

That is, as shown in FIGS. 5 to 7, as a method for gripping two upper and lower pieces of fabric at the same time, the hand 13 attached to the robot 10 is configured as shown in FIG. Since the fabrics 3 and 4 are partially held and manipulated using the needle 11 guided by the needle guide 12 in the state shown in FIG. 7, their positions may shift. However, problems such as wrinkles occurring during the sewing process and the inability to quickly attach and detach the fabric by moving the needle 11 back and forth have not been solved.

Means for Solving the Problems The technical means of the present invention for solving the above-mentioned problems is to create an industrial robot having multiple degrees of freedom with a hand having two holding means, a vacuum suction means and an electromagnetic suction means. The present invention uses an auxiliary plate that is attached to the electromagnetic attraction means and is detachably attracted to the electromagnetic attraction means.

Effect The effect of this technical means is as follows.

In other words, when manipulating each piece of fabric individually, the hand's vacuum suction function is used, and when stacking fabrics and manipulating them at the same time, the electromagnetic suction function between the hand and the auxiliary plate is used, and the fabric is sandwiched between the two. The method is to hold it in place and perform operations such as suturing.

As a result, when handling stacked fabrics, the area of the auxiliary plate holds the fabric against the surface, which prevents misalignment and wrinkles, and both suction means can hold and release the fabric. ON,
This can be done quickly and reliably with the OFF setting.

It also has the advantage that changes in the shape of the fabric can be easily dealt with by changing the shape of the auxiliary plate, and there are no particular parts to change in response to changes in thickness.

Embodiment An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, reference numeral 1 denotes an industrial robot having multiple degrees of freedom, and a hand 2 is attached to the tip of the industrial robot 1, which operates an auxiliary plate 5 made of cloth 3, 4 and a ferromagnetic metal plate. Do the following.

Reference numeral 6 denotes a workbench used when manipulating the fabrics 3 and 4 and the auxiliary plate 5, and 7 a processing machine for sewing the fabrics 3 and 4.

In FIG. 3, 8 is a vacuum valve having the function of adsorbing the fabrics 3 and 4, 14 is a vacuum chamber, 1
A large number of holes 0 are provided for vacuum suction, and the vacuum suction means 16 is constituted by these holes.

On the other hand, 9 is an electromagnetic plate that attracts the auxiliary plate 5;
15 is an electromagnetic coil, and these act as an electromagnetic attraction means 17.
It consists of

Next, the operation of the configuration of this embodiment will be explained in the first section.
This will be explained using the diagram and FIG.

In Fig. 1, an industrial robot 1 has a hand 2.
First, the auxiliary plate 5 is attracted and held by activating the electromagnetic attraction means 17 and placed at a predetermined position near the processing machine 7 on the workbench 6.

Next, the industrial robot 1 operates the vacuum suction means 16 of the hand 2 to suction and hold the fabric 4, and places it at a predetermined position on the auxiliary plate 5 that has been positioned and placed previously.

Next, the industrial robot 1 operates the vacuum suction means 16 of the hand 2 to suction and hold the fabric 3, and places it in a predetermined position on the fabric 4 placed on the auxiliary plate 5, as shown in FIG. The state will be as follows.

Then, the auxiliary plate 5 is attracted using the electromagnetic attraction means 17 of the hand 2, and the fabrics 3 and 4 are held in a sandwiched state.

Through this series of actions, both fabrics 3 and 4 are overlapped in a predetermined position and held by the hand 2 and the auxiliary plate 5, and the industrial robot 1 works in conjunction with the processing machine 7 to remove the fabric 3. , 4 are sutured at the predetermined positions.

When the processing is completed, only the auxiliary plate 5 is left at the place where it was initially positioned near the processing machine 7 on the workbench 6, and only the sewn fabrics 3 and 4 are sent to the next process. Repeat positioning and suturing.

Next, other embodiments of the present invention will be described.

The embodiment shown in Fig. 1 is generally an operating device suitable for handling small fabrics, but when operating large fabrics, two industrial robots 1a and 1b are used as shown in Fig. 4. Using the auxiliary plate 5 suitable for the shape of the fabric, each industrial robot 1
The two hands 2, 2 held by the two hands 2, 2 hold both ends of the fabrics 3, 4, and perform overlapping, stitching, etc. of the fabrics.

Specifically, the industrial robot 1a transfers the auxiliary plate 5 onto the first workbench 6a using the pair of hands 2, 2, and also transfers the fabric 3 and the fabric 3 sent on the first line 20a. The fabric 4 sent on the second line 20b is transferred onto the first workbench 6a,
It is configured to carry out the work of overlapping these fabrics 3 and 4 on the auxiliary plate 5. The industrial robot 1b uses a pair of hands 2, 2 to transfer the overlapped fabrics 3, 4 and the auxiliary plate 5 on the first workbench 6a onto the second workbench 6b.
It is configured to perform a predetermined stitching process in conjunction with the processing machine 7.

Effects of the Invention As described above, according to the present invention, the holding and releasing of the fabric during positioning of the fabric is carried out quickly and reliably by turning on and off the electromagnetic adsorption means and the vacuum adsorption means of the hand, and the fabric is During operation, the auxiliary plate is held in place by the surface contact, which eliminates problems such as misalignment of the fabric and wrinkles.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a fabric manipulation device according to an embodiment of the present invention, FIG. 2 is a perspective view of the same robot hand,
Fig. 3 is a longitudinal sectional view of the same robot hand, Fig. 4 is a perspective view showing another embodiment of the present invention, Fig. 5 is a sectional view of the conventional robot hand, and Fig. 6 is an exploded view of the main parts. FIG. 7 is an enlarged sectional view of the main parts of the robot hand. 1, 1a, 1b...Industrial robot, 2...Hand, 5...Auxiliary plate, 16...Vacuum suction means, 17...Electromagnetic suction means.

Claims (1)

[Claims] 1. An industrial robot having multiple degrees of freedom, a hand that is attached to the industrial robot and includes a vacuum suction means and an electromagnetic suction means, and an auxiliary plate that is removably attracted to the electromagnetic suction means. Fabric manipulation device.