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EP0112116A1 - Saugluftaufnehmer für Gewebestücke behandelnde automatische Maschinen - Google Patents

Saugluftaufnehmer für Gewebestücke behandelnde automatische Maschinen Download PDF

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Publication number
EP0112116A1
EP0112116A1 EP83307404A EP83307404A EP0112116A1 EP 0112116 A1 EP0112116 A1 EP 0112116A1 EP 83307404 A EP83307404 A EP 83307404A EP 83307404 A EP83307404 A EP 83307404A EP 0112116 A1 EP0112116 A1 EP 0112116A1
Authority
EP
European Patent Office
Prior art keywords
gripper
cloth
hollow space
operative
operative face
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP83307404A
Other languages
English (en)
French (fr)
Inventor
Haim Gershoni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenkar College of Textile Technology and Fashion
Original Assignee
Shenkar College of Textile Technology and Fashion
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenkar College of Textile Technology and Fashion filed Critical Shenkar College of Textile Technology and Fashion
Publication of EP0112116A1 publication Critical patent/EP0112116A1/de
Withdrawn legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B33/00—Devices incorporated in sewing machines for supplying or removing the work
    • D05B33/02—Devices incorporated in sewing machines for supplying or removing the work and connected, for synchronous operation, with the work-feeding devices of the sewing machine
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2207/00—Use of special elements
    • D05D2207/02—Pneumatic or hydraulic devices
    • D05D2207/04—Suction or blowing devices
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2209/00—Use of special materials
    • D05D2209/08—Use of special materials elastic, e.g. rubber spring

Definitions

  • the present invention concerns automatic sewing of garments and more specifically gripper means to be mounted on automatic equipment, e.g. so-called robots, and serving for the transfer of material during an automatic sewing cycle and from one station to another.
  • automatic equipment e.g. so-called robots
  • automatic sewing of garments the cloth is processed progressively at different stations and consequently automatic handling is desired for moving the cloth while being processed and also from one station to another.
  • automatic handling comprises grasping a piece of cloth, moving the cloth to a work place, putting the cloth in proper position on a sewing machine table, manipulating the cloth during sewing, and again moving the cloth after it is processed from one station of a sewing cycle to another.
  • adequate grippers are required and it is the object of the present invention to provide such grippers.
  • a gripper for moving material in automatic sewing of garments which gripper comprises a body with at least one opexative face and having an inner hollow space, at least one opening in said operational face leading to said hollow space, at least one stud on each operational face projecting slightly above said opening(s), and ducting means for connecting said hollow space to air pumping means adapted to establish at will a reduced pressure within said hollow space.
  • a reduced pressure is established within said hollow space and in conseqnence when the gripper is brought close to or in contact with a piece of cloth on a table, the cloth is sucked onto the operative face.
  • the studs on the operative face keep the opening(s) slightly clear of the cloth and table when making the pick-up. This allows the gripper to rest on the cloth for the pick-up without the operative face resting on the cloth which lies on the table.
  • pressure inside the gripper is reduced the cloth is attracted to the gripper and the gripper does not stick to the table.
  • the reduced pressure inside the gripper is relieved whereby the piece of material is released onto the desired new location.
  • said body is in the form of a hollow box.
  • a distributor duct is provided within the body and one or more bores lead therefrom to the operative face.
  • the gripper according to the invention shown in Fig. 1 comprises a rectangular prismatic hollow body 1 fitted with a tube 2 by which it can be connected to a vacuum pump.
  • Body 1 comprises an operative face 3 having three holes 4 each fitted with a protruding tubular rubber collar 5. Near one of the edges the surface 3 comprises three smaller holes 6 each fitted with a tubular rubber collar 7. Finally, there are provided on face 3 two identical studs 8 which protrude slightly above collars 5 and 7. Collars 5 and 7 are not always required and in some instances they may be disposed with.
  • the operative face faces downward and the opposite face 9 is connected to a robot arm, e.g. by means of a stud 10 as shown in Fig. 2 or by means of a slotted track 11 adapted to receive a matching member forming part of the robot arm (not shown) , as shown in Fig. 3, or any similar attachment means.
  • a gripper of a kind shown in Fig. 1 that measures 10-15 cm in length, 3 cm across, 3 cm in height and in which the larger holes measure 6 mn , and the smaller ones 3mm in diameter, will lift about 240 g which is quite adequate when bearing in mind that a front panel of a pair of trousers weighs about 115g and a pocket only 15 g. Obviously the vacuum requirements will change with-the nature of the cloth.
  • tubular holes 4 and 6 apply the vacuum and allow the gripper to lift the cloth while minimizing the pull on the table.
  • the rubber collars also minimize the tendency of the cloth to slide away to the side.
  • the auxiliary smaller holes 6 serve to support the edge of the cloth which would other-wise tend to hang down and double back over the larger holes.
  • Studs 8 serve essentially to keep the tubular rubber rims a bit above the cloth when making a pick-up. This allows the gripper to rest on studs 8 while the vacuum sucks the cloth up from the table.
  • An individual gripper according to the invention having one or more holes may be used singly or be assembled in arrays to lift larger parts. In either case the shape and design of an individual gripper may be changed to fit a particular part of a garment.
  • gripper assemblies a plurality of gripppers are assembled in a frame so that the edges of the processed cloth that is to be lifted will be under control.
  • a gripper frame may also hold gripper configurations for several different parts used in a series of operations. In such a case vacuum will be applied in each operation selectively only to those grippers which have to operate during a particular stage.
  • Figs. 4 to 9 show several operational-stages of noving a cloth with the aid of a robot fitted with a gripper according to the invention.
  • a piece of cloth 13 rests in proper position on a table 14 ready for pick-up.
  • a gripper 15 of the kind shown in Fig. 1 mounted at the end of an arm 16 of a robot is caused to bear on cloth 13 while vacuum is applied. In consequence, cloth 13 is attracted to the gripper 15 and lifted from table 4 as shown in Fig. 6.
  • Fig. 7 the cloth is transported to another working table 17 fitted with a sewing machine symbolized by foot 18 and needle 19.
  • Fig. 8 the cloth has been put on table 17 in proper position with respect to the sewing machine 18, 19.
  • cloth 13 is left on the table ready for processing as shown in Fig. 9.
  • Fig. 10 shows diagrammatically a gripper array for a trouser panel in which a plurality of gripper modules of the kind shown in Figs. 1 to 3 is mounted on a frame.
  • a frame 20 is mounted on a robot arm 21 and carries a plurality of gripper modules 22 each fitted with vacuum hoses 23 connected to a central vacuum tube leading to a vaccum pump (not shown) .
  • the assembly is suitable, for example, for lifting a trouser panel.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
EP83307404A 1982-12-10 1983-12-06 Saugluftaufnehmer für Gewebestücke behandelnde automatische Maschinen Withdrawn EP0112116A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL67454A IL67454A (en) 1982-12-10 1982-12-10 Gripper for automatic cloth handling equipment
IL67454 1982-12-10

Publications (1)

Publication Number Publication Date
EP0112116A1 true EP0112116A1 (de) 1984-06-27

Family

ID=11053931

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83307404A Withdrawn EP0112116A1 (de) 1982-12-10 1983-12-06 Saugluftaufnehmer für Gewebestücke behandelnde automatische Maschinen

Country Status (3)

Country Link
EP (1) EP0112116A1 (de)
JP (1) JPS59155284A (de)
IL (1) IL67454A (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0331787A1 (de) * 1988-03-11 1989-09-13 THE SHENKAR COLLEGE OF TEXTILE TECHNOLOGY & FASHION Automatische Nahtransferstrasse
WO1990003740A1 (en) * 1988-10-04 1990-04-19 Courtaulds Textiles (Holdings) Limited A robot end effector
RU2174568C1 (ru) * 2000-04-07 2001-10-10 Московский государственный университет дизайна и технологии Машинный комплекс для автоматизированной сборки швейных изделий различных конструкций, форм и размеров
CN109095173A (zh) * 2018-08-27 2018-12-28 嘉兴宝联机器人有限公司 一种新型布料夹取装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3474747A (en) * 1967-08-24 1969-10-28 Ivanhoe Research Corp Apparatus for manipulating a workpiece along an irregular contoured path through a workstation
FR2043313A5 (de) * 1969-04-14 1971-02-12 Bata Shoe Financial Corp
US3611960A (en) * 1970-05-11 1971-10-12 Ivanhoe Research Corp Rotating plate workpiece orienting and point-to-point feeding apparatus
US3945632A (en) * 1973-05-22 1976-03-23 Usm Corporation Machine for assembling flexible workpieces
FR2467902A1 (fr) * 1979-10-18 1981-04-30 Valton Sa Dispositif pour la mise automatique en position d'une piece de vetement en vue de l'execution d'une couture

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3474747A (en) * 1967-08-24 1969-10-28 Ivanhoe Research Corp Apparatus for manipulating a workpiece along an irregular contoured path through a workstation
FR2043313A5 (de) * 1969-04-14 1971-02-12 Bata Shoe Financial Corp
US3611960A (en) * 1970-05-11 1971-10-12 Ivanhoe Research Corp Rotating plate workpiece orienting and point-to-point feeding apparatus
US3945632A (en) * 1973-05-22 1976-03-23 Usm Corporation Machine for assembling flexible workpieces
FR2467902A1 (fr) * 1979-10-18 1981-04-30 Valton Sa Dispositif pour la mise automatique en position d'une piece de vetement en vue de l'execution d'une couture

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0331787A1 (de) * 1988-03-11 1989-09-13 THE SHENKAR COLLEGE OF TEXTILE TECHNOLOGY & FASHION Automatische Nahtransferstrasse
WO1990003740A1 (en) * 1988-10-04 1990-04-19 Courtaulds Textiles (Holdings) Limited A robot end effector
US5240299A (en) * 1988-10-04 1993-08-31 Courtaulds Textiles (Holdings) Limited Robot end effector
RU2174568C1 (ru) * 2000-04-07 2001-10-10 Московский государственный университет дизайна и технологии Машинный комплекс для автоматизированной сборки швейных изделий различных конструкций, форм и размеров
CN109095173A (zh) * 2018-08-27 2018-12-28 嘉兴宝联机器人有限公司 一种新型布料夹取装置

Also Published As

Publication number Publication date
IL67454A (en) 1986-07-31
IL67454A0 (en) 1983-05-15
JPS59155284A (ja) 1984-09-04

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Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): CH DE GB IT LI

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 19850228

RIN1 Information on inventor provided before grant (corrected)

Inventor name: GERSHONI, HAIM