EP0569519B1 - Device for producing seams in three-dimensional objects - Google Patents

Device for producing seams in three-dimensional objects Download PDF

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Publication number
EP0569519B1
EP0569519B1 EP92905889A EP92905889A EP0569519B1 EP 0569519 B1 EP0569519 B1 EP 0569519B1 EP 92905889 A EP92905889 A EP 92905889A EP 92905889 A EP92905889 A EP 92905889A EP 0569519 B1 EP0569519 B1 EP 0569519B1
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EP
European Patent Office
Prior art keywords
needle
sewing machine
movement
manipulator arm
stitch
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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.)
Expired - Lifetime
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EP92905889A
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German (de)
French (fr)
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EP0569519A1 (en
Inventor
Philipp Moll
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Moll Automatische Naehsysteme GmbH
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Moll Automatische Naehsysteme GmbH
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Publication of EP0569519A1 publication Critical patent/EP0569519A1/en
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    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B23/00—Sewing apparatus or machines not otherwise provided for
    • 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
    • D05D2207/00—Use of special elements
    • D05D2207/05—Magnetic devices
    • D05D2207/06—Permanent magnets

Definitions

  • the invention relates to a device for producing seams on three-dimensional objects made of fabrics such as textile fabrics, leather, plastic or the like. Such devices are used for the manufacture of clothing, upholstery for seating and automobiles and for shoe manufacture.
  • three-dimensional objects such as covers are made of fabric by sewing prefabricated two-dimensional blanks lying flat on top of one another with a sewing machine.
  • the two blanks are sewn together at a precisely defined distance from the cut edges.
  • the blanks have previously been provided with markings which must coincide with one another when sewing, it also being necessary to move the blanks relative to one another during the sewing.
  • the Assembling the blanks with a sewing machine is very time consuming and requires a high degree of routine for the operator who has to carry out the blanks and operate the sewing machine.
  • the performance possibilities of the sewing machine are not used by the relatively slow manual control.
  • the fabrics are fed by the sewing machine intermittently between the needle piercing movements.
  • DE 33 38 405 A1 discloses a device for producing three-dimensional articles with seams, in which a sewing machine is attached to a manipulator in the form of a robot arm. This sewing machine is moved by the manipulator in such a way that it is guided along the intended seam line of the two blanks to be sewn. A bobbin reaches under the blanks to be sewn and a hold-down presses against the top blank. The lower blank is supported by a bristle bed through which the bobbin moves.
  • a similar sewing device is known from EP 0 344 400 A1.
  • a sewing machine is attached to the manipulator arm of a robot, the details of which are not described, however.
  • the invention has for its object a device the creation of seams on three-dimensional objects, which enables the production of perfect and distortion-free seams at high sewing speed.
  • the manipulator arm is continuously moved parallel to the seam line to be formed and the parts forming the seam perform a compensating movement directed parallel thereto, in such a way that the needle does not move relative to the sewing material during the pierced phase of its stitch formation movement and it moves during the punched out their stitch pattern movement along the seam line to be formed performs the compensating movement.
  • the device used for this comprises two solution variants.
  • the sewing machine has a sewing head, with either the sewing machine or the sewing head moving along the seam line to be formed and the movement of which is controlled such that during the pierced phase of the needle movement relative to the holding device carrying the workpiece stand still.
  • This standstill movement can be generated in different ways.
  • a first possibility provides that the sewing head is guided in a linearly displaceable manner on the manipulator arm, in such a way that during the pierced phase of the stitch formation movement of the needle at approximately the same speed relative to the manipulator arm along the intended one Seam line is moved back and then makes up for the lost distance during the cut out phase of the stitch formation movement of the needle.
  • the manipulator arm is moved at a constant speed so that the tool center point of the manipulator moves at a constant speed along the seam line, but the sewing machine alternately falls behind the tool center point and then makes up for the loss of travel.
  • a guide is attached to the manipulator arm, which is always aligned parallel to the intended seam line and along which the entire sewing machine is guided linearly.
  • the holding device for the workpiece is moved with the manipulator arm, the entire sewing machine or the sewing head being moved linearly to carry out the moving movement, but the sewing machine or the sewing head — apart from their movements returning to the starting position — but stationary are.
  • the manipulator arm can be moved at a constant speed, while the reciprocating compensatory movements are carried out exclusively by the sewing head relative to the sewing machine.
  • a continuous movement of the manipulator arm has the advantage that the masses which are to be moved intermittently depending on the stitch formation movements of the needle are relative can be kept small and that no mutual coordination between the manipulator movements and the stitch formation movements of the needle is required.
  • the relative movement between the blanks and the sewing machine is generated by the manipulator arm.
  • the holding device does not necessarily have to be absolutely fixed, but rather can also be attached in such a way that it can be rotated, for example. It is important that the sewing machine itself has no feed device for the material to be sewn, and that it is not pushed between two stitches, ie during the pierced phase of the stitch formation movement of the needle.
  • the needle plate and the hold-down device are expediently moved apart during the pierced phase of the needle movement.
  • the sewing head or the sewing machine is moved further by a stitch length relative to the workpiece.
  • the workpiece is then clamped between the throat plate and the holding-down device in order to obtain an exact position of the workpiece and an exact mutual assignment of the blanks to be sewn during the next pierced phase of the needle movement.
  • FIG. 1 shows a holding device 10 which carries individual blanks which are placed against one another to form a three-dimensional hollow structure made of sheet material.
  • the workpiece to be produced, the blanks of which are fastened to the holding device 10, in the present case consists of the cover for an armrest of a motor vehicle.
  • the holding device 10 has a base body 11, around which a blank 12 in the form of a band-shaped strip is placed.
  • This blank 12 is fixed to the base body 11 by holding plates 13 which are pressed against the blank from the outside.
  • the blank 12 encloses the base body 11.
  • the side of the ring formed by the blank 12 is to be closed by a blank 14 in the form of a side part to be sewn on.
  • the blank 14 is placed against the side surface of the base body 11 and held there by a holding plate 15 which is pressed against the base body.
  • the holding plates 13 and 15 can be held on the base body 11, for example, with magnets or by suction.
  • the blanks 12 and 14 are so large that they overlap in the peripheral edges and form edge strips 16 there (see also FIG. 3).
  • the seam 17 is produced at the root of these edge strips 16.
  • Fig. 2 shows the holding device 10, the one (Not shown) holder is fixedly attached, and a sewing machine 18 which is attached to a manipulator arm 19.
  • the manipulator arm 19 is part of the manipulator 20, which is an industrial robot with a plurality of axes of movement, for example with six or eight axes of movement.
  • the manipulator 20 is numerically controlled in such a way that the tool center point, ie the point of action of a tool fixedly attached to the manipulator arm 19, can be moved along a predetermined movement path.
  • the manipulator 20 can be programmed in such a way that the manipulator arm 19 with the tool attached to it is guided manually along the intended processing line in a learning phase.
  • the path values recorded here are stored and the manipulator 20 is then controlled in such a way that the manipulator arm 19 controls the same movements that were carried out in the learning phase.
  • the tool attached to the manipulator arm consists of the sewing machine 18.
  • a linear guide 21 is attached to the manipulator arm 19, along which a carriage 22, which carries the sewing machine 18, can be moved.
  • the guide 21 is aligned transversely to the needle of the sewing machine 18 and runs parallel to the seam line 17 to be produced.
  • the carriage 22 is driven by a drive (not shown).
  • This drive can be the drive motor 23 of the sewing machine, it being possible for the carriage to move by means of a cam disk moved by this drive motor 23.
  • the drive motor 23 of the sewing machine 18 drives a drive shaft via a belt drive 24 25, which drives the components of the sewing machine in a known manner.
  • the sewing machine has a sewing head 26, which is arranged here in a fixed connection to the sewing machine housing 18a.
  • the sewing head 26 includes the needle lever 27, which is attached to a reciprocating shaft 28 and carries the arcuate needle 29, a needle plate 30, which forms an abutment for the double-layered edge strip 16 and has a recess for the passage of the needle 29 , a hold-down device 31 opposite the throat plate 30 and a loop catcher 32 which is arranged behind the throat plate 30 and contains the lower thread supply.
  • the needle 29 is bent around the axis of the shaft 28.
  • the edge strip 16 is firmly clamped between the needle plate 30 and the hold-down device 31 during the stitching of the needle 29.
  • the needle plate 30 and the hold-down device 31 separate to release the edge strip.
  • the opening and closing movement of the hold-down device 31 is controlled by the needle lever 27, which takes a stop 33 of the hold-down device 31 with it during the cut-out phase of the needle movement, so that the hold-down device acts against the action of the spring 34, which pulls it towards the needle plate 30 , is lifted off from the edge strip 16.
  • the throat plate 30 is also removed from the edge strip during the pierced phase of the needle movement. This is done in that an arm 35 carrying the needle plate 30 is moved by a cam control 36 synchronized with the needle lever movement.
  • a Sensor 37 is provided which detects the presence of the edge strip 16 and stops the sewing machine if an edge strip is not recognized.
  • This sensor can be a light barrier, for example, in which the light transmitter is attached to the throat plate 30 and the receiver is attached to the hold-down device 31.
  • the thread 38 coming from a thread spool runs over a roller 39, which is driven by a stepping motor, and further via a deflection pin 40 to the thread transmitter 41, which can be moved up and down in the rhythm of the needle movement. From there it leads the thread 38 to a thread brake 42 provided on the needle lever 27 and further to the needle hole provided near the tip of the needle 29.
  • the stepper motor driving the roller 39 is activated in each cycle after the upward movement of the thread feeder 41 has ended in order to provide the thread quantity which corresponds to the predetermined stitch length.
  • a pressure roller presses the thread firmly against the roller 39 driven by the stepping motor, such that the thread is driven by the roller 39 without slippage.
  • the roller 39 is stationary, it is held by the stepper motor, so that it is not possible to pull the thread from the thread supply due to tensile forces acting behind the roller 39.
  • the carriage 22 is in its end position lying forward in the direction of movement of the manipulator arm 19. In this position, the point of insertion of the needle 29 into the fabric represents the tool center point of the manipulator.
  • the manipulator arm 19 is moved by the manipulator 20 in such a way that the tool center point moves along the intended seam line.
  • the drive motor 23 of the sewing machine 18 is controlled in dependence on the movement of the manipulator arm in such a way that the stitch length (the path from puncture to puncture) remains constant irrespective of the feed speed of the manipulator arm 19.
  • the speed component in the seam direction which is derived from the position sensors of the manipulator, is compared with the speed of the sewing machine motor.
  • the needle plate 30 and the hold-down device 31 are moved towards one another.
  • the carriage 22 is moved along the guide 21 counter to the feed movement carried out by the manipulator arm 19 (along the intended seam line), at a speed which corresponds to the feed speed.
  • the sewing machine 18 remains stationary during the pierced phase of the needle movement relative to the holding device 10 or to the workpiece, while the manipulator arm 19 is continuously moved on.
  • the prerequisite is that the manipulator arm 19 is aligned parallel to the intended seam direction.
  • the carriage 22 is moved along the guide 21 back to the front end position, while the manipulator arm 19 continues its continuous feed movement.
  • FIG. 5 Here, in the upper representation, the chronological course of the stitch movements s of the needle 29 is shown, the amplitude being greater the further the needle tip has been pushed through the needle plate 30 from its retracted position.
  • the lower illustration shows the absolute speed v of the sewing machine 18, where v is the constant feed speed of the manipulator arm 19.
  • the sewing machine is in its front end position in relation to the manipulator arm 19 and it moves at the feed speed v.
  • the sewing machine 18 moves along the guide 21 in the opposite direction to the feed movement of the manipulator arm, so that the absolute speed becomes zero.
  • the sewing machine 18 is again moved into the front end position, this displacement movement being superimposed on the feed movement of the manipulator arm 19.
  • the carriage 22 remains in the front end position until the next stitch is carried out. The carriage 22 is driven with respect to the guide 21 with the needle movements.
  • the sewing machine 48 is firmly and rigidly connected to the manipulator arm (not shown) and the components of the sewing head 26 are displaceable against the intended sewing direction indicated by the arrow 49.
  • the components of the sewing machine 48 are provided with the same reference numerals insofar as they correspond to the components of the previously described sewing machine 18. The following description is limited to the differences between the sewing machine 48 and the sewing machine 18.
  • the needle lever 27 is not rigidly connected to the shaft 28, but can be displaced along this shaft.
  • the arm holding the hold-down device 31 is connected in a rotationally fixed manner to the shaft 28, but is displaceable along this shaft.
  • the displacement of the needle lever 27 and the hold-down device 31 takes place with a fork 50 controlled by a cam disk which engages in an annular groove of a sleeve 51 seated on the shaft 28 and is controlled synchronously with the needle drive.
  • the needle plate 30 and the loop catcher 32 can be moved in the direction of arrow 49 and in the opposite direction.
  • the seam 17 is sewn to the workpiece in such a way that the double-layered edge strip 16 protrudes outward from the blanks. Following the production of the seam, the workpiece is turned over, the surfaces lying outside during production coming to lie inwards.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)

Abstract

PCT No. PCT/EP91/02508 Sec. 371 Date Jul. 2, 1993 Sec. 102(e) Date Jul. 2, 1993 PCT Filed Dec. 24, 1991 PCT Pub. No. WO92/13986 PCT Pub. Date Aug. 20, 1992.For making seams on three-dimensional objects, a manipulator (20) is used at the manipulator arm (19) of which a sewing machine (18) is secured. The cuttings (12,14) to be sewn are fixed to a holding device (10), and the sewing machine (18) sews the protruding edge strips (16) which confront each other. The sewing machine (18) can be guided by the manipulator arm (19) along the intended seam line at constant speed. While the needle penetrates the material, the sewing machine being guided on a guide (21) by means of a carriage (22) is driven in a direction opposite to the feeding direction of the manipulator so that the sewing machine is at a temporary standstill with respect to the holding device (10). After completion of the stitch, the carriage (22) is advanced on the guide (21) in feeding direction so that the sewing machine catches up with the lag. With each stitch, the edge strip (16) is clamped between a needle plate and a presser of the sewing machine.

Description

Die Erfindung betrifft eine Vorrichtung zur Herstellung von Nähten an dreidimensionalen Gegenständen aus Stoffen wie textilen Geweben, Leder, Kunststoff oder ähnlichem. Solche Vorrichtungen werden benutzt für die Herstellung von Bekleidung, von Polstern für Sitzmöbel und Automobile sowie für die Schuhherstellung.The invention relates to a device for producing seams on three-dimensional objects made of fabrics such as textile fabrics, leather, plastic or the like. Such devices are used for the manufacture of clothing, upholstery for seating and automobiles and for shoe manufacture.

Üblicherweise werden dreidimensionale Gegenstände wie Hüllen aus Stoff dadurch hergestellt, daß vorgefertigte zweidimensionale Zuschnitte flach aufeinanderliegend mit einer Nähmaschine vernäht werden. Dabei werden die beiden Zuschnitte in einem genau festgelegten Abstand von den Schnittkanten miteinander vernäht. Die Zuschnitte sind zuvor mit Markierungen versehen worden, die beim Nähen miteinander zur Deckung kommen müssen, wobei es auch erforderlich ist, die Zuschnitte während des Nähens relativ zueinander zu verschieben. Das Zusammenfügen der Zuschnitte mit einer Nähmaschine ist sehr zeitaufwendig und erfordert ein hohes Maß an Routine der Bedienungsperson, die die Zuschnitte führen und die Nähmaschine bedienen muß. Die Leistungsmöglichkeiten der Nähmaschine werden durch die relativ langsame manuelle Kontrolle nicht ausgenutzt. Der Vorschub der Stoffe erfolgt durch die Nähmaschine intermittierend zwischen den Einstichbewegungen der Nadel.Usually, three-dimensional objects such as covers are made of fabric by sewing prefabricated two-dimensional blanks lying flat on top of one another with a sewing machine. The two blanks are sewn together at a precisely defined distance from the cut edges. The blanks have previously been provided with markings which must coincide with one another when sewing, it also being necessary to move the blanks relative to one another during the sewing. The Assembling the blanks with a sewing machine is very time consuming and requires a high degree of routine for the operator who has to carry out the blanks and operate the sewing machine. The performance possibilities of the sewing machine are not used by the relatively slow manual control. The fabrics are fed by the sewing machine intermittently between the needle piercing movements.

Aus DE 33 38 405 A1 ist eine Vorrichtung zum Herstellen dreidimensionaler mit Nähten versehener Artikel bekannt, bei der an einem Manipulator in Form eines Roboterarmes eine Nähmaschine befestigt ist. Diese Nähmaschine wird von dem Manipulator so bewegt, daß sie entlang der vorgesehenen Nahtlinie der beiden zu vernähenden Zuschnitte geführt wird. Eine Unterfadenspule greift unter die zu vernähenden Zuschnitte und ein Niederhalter drückt gegen den oberen Zuschnitt. Der untere Zuschnitt wird von einem Borstenbett gestützt, durch das sich die Unterfadenspule hindurchbewegt.DE 33 38 405 A1 discloses a device for producing three-dimensional articles with seams, in which a sewing machine is attached to a manipulator in the form of a robot arm. This sewing machine is moved by the manipulator in such a way that it is guided along the intended seam line of the two blanks to be sewn. A bobbin reaches under the blanks to be sewn and a hold-down presses against the top blank. The lower blank is supported by a bristle bed through which the bobbin moves.

Eine ähnliche Nähvorrichtung ist aus EP 0 344 400 A1 bekannt. Auch hier ist an dem Manipulatorarm eines Roboters eine Nähmaschine befestigt, deren Einzelheiten jedoch nicht beschrieben sind.A similar sewing device is known from EP 0 344 400 A1. Here, too, a sewing machine is attached to the manipulator arm of a robot, the details of which are not described, however.

Bei den bekannten Vorrichtungen, bei denen eine Nähmaschine von einem Manipulator in einem dreidimensionalen System bewegt wird, besteht eine Schwierigkeit darin, eine saubere und verzugsfreie Naht zu erhalten und den Nähvorgang gleichwohl mit hoher Arbeitsgeschwindigkeit durchzuführen.In the known devices in which a sewing machine is moved by a manipulator in a three-dimensional system, there is a difficulty in obtaining a clean and distortion-free seam and nevertheless carrying out the sewing process at high working speed.

Der Erfindung liegt die Aufgabe zugrunde, eine Vorrichtung der Herstellung von Nähten an dreidimensionalen Gegenständen zu schaffen, die bei hoher Nähgeschwindigkeit die Erzeugung von einwandfreien und verzugs freien Nähten ermöglicht.The invention has for its object a device the creation of seams on three-dimensional objects, which enables the production of perfect and distortion-free seams at high sewing speed.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß mit den im Patentanspruch 1 oder 2 angegebenen Merkmalen.This object is achieved according to the invention with the features specified in claim 1 or 2.

Dazu wird der Manipulatorarm parallel zur zu bildenden Nahtlinie kontinuierlich bewegt und die die Naht bildenden Teile führen eine hierzu parallel gerichtete Ausgleichsbewegung durch, derart, daß die Nadel sich gegenüber dem Nähgut während der eingestochenen Phase ihrer Stichbildebewegung nicht relativ zu diesem bewegt und sie während der ausgestochenen ihrer Stichbildebewegung entlang der der zu bildenden Nahtlinie die Ausgleichsbewegung durchführt.For this purpose, the manipulator arm is continuously moved parallel to the seam line to be formed and the parts forming the seam perform a compensating movement directed parallel thereto, in such a way that the needle does not move relative to the sewing material during the pierced phase of its stitch formation movement and it moves during the punched out their stitch pattern movement along the seam line to be formed performs the compensating movement.

Die hierzu dienende Vorrichtung umfaßt zwei Lösungsvarianten.The device used for this comprises two solution variants.

Bei der ersten erfindungsgemäßen Nähvorrichtung weist die Nähmaschine einen Nähkopf auf, wobei entweder die Nähmaschine oder der Nähkopf sich entlang der zu bildenden Nahtlinie bewegen und deren Bewegung derart gesteuert ist, daß sie/er während der eingestochenen Phase der Nadelbewegung relativ zu der das Werkstück tragenden Haltevorrichtung stillstehen. Diese Stillstandsbewegung kann auf unterschiedliche Weise erzeugt werden.
Eine erste Möglichkeit sieht vor, daß der Nähkopf an dem Manipulatorarm linear verschiebbar geführt ist, und zwar derart, daß er während der eingestochenen Phase der Stichbildebewegung der Nadel mit etwa der derselben Geschwindigkeit relativ zum Manipulatorarm entlang der vorgesehenen Nahtlinie zurück bewegt wird und anschließend während der ausgestochenen Phase der Stichbildebewegung der Nadel die verlorene Wegstrecke wieder aufholt. Der Manipulatorarm wird mit konstanter Geschwindigkeit so bewegt, daß der Toolcenterpoint des Manipulators sich mit konstanter Geschwindigkeit entlang der Nahtlinie bewegt, wobei jedoch die Nähmaschine abwechselnd gegenüber dem Toolcenterpoint zurückfällt und dann den Wegverlust wieder aufholt. Hierbei ist an dem Manipulatorarm eine Führung befestigt, die stets parallel zu der vorgesehenen Nahtlinie ausgerichtet wird und entlang der die gesamte Nähmaschine linear geführt ist.In the first sewing device according to the invention, the sewing machine has a sewing head, with either the sewing machine or the sewing head moving along the seam line to be formed and the movement of which is controlled such that during the pierced phase of the needle movement relative to the holding device carrying the workpiece stand still. This standstill movement can be generated in different ways.
A first possibility provides that the sewing head is guided in a linearly displaceable manner on the manipulator arm, in such a way that during the pierced phase of the stitch formation movement of the needle at approximately the same speed relative to the manipulator arm along the intended one Seam line is moved back and then makes up for the lost distance during the cut out phase of the stitch formation movement of the needle. The manipulator arm is moved at a constant speed so that the tool center point of the manipulator moves at a constant speed along the seam line, but the sewing machine alternately falls behind the tool center point and then makes up for the loss of travel. Here, a guide is attached to the manipulator arm, which is always aligned parallel to the intended seam line and along which the entire sewing machine is guided linearly.

Bei einer weiteren Ausführungsform der Erfindung wird die Haltevorrichtung für das Werkstück mit dem Manipulatorarm bewegt, wobei die gesamte Nähmaschine oder der Nähkopf zur Durchführung der Mitgehbewegung linear bewegt werden, die Nähmaschine oder der Nähkopf -abgesehen von ihren sie in die Ausgangslage rückführenden Bewegungen- aber stationär sind.In a further embodiment of the invention, the holding device for the workpiece is moved with the manipulator arm, the entire sewing machine or the sewing head being moved linearly to carry out the moving movement, but the sewing machine or the sewing head — apart from their movements returning to the starting position — but stationary are.

Im Rahmen der Erfindung liegt es ferner, die Nähmaschine fest an dem Manipulatorarm anzubringen und den Nähkopf mit seinen Komponenten entlang linearer Verschiebewege so zu bewegen, daß der Nähkopf während der eingestochenen Phase der Stichbildebewegung der Nadel relativ zum Werkstück stillsteht. Auch hierbei kann der Manipulatorarm mit konstanter Geschwindigkeit bewegt werden, während die hin- und hergehenden Ausgleichsbewegungen ausschließlich von dem Nähkopf relativ zur Nähmaschine durchgeführt werden.It is also within the scope of the invention to firmly attach the sewing machine to the manipulator arm and to move the sewing head with its components along linear displacement paths such that the sewing head remains stationary relative to the workpiece during the pierced phase of the stitch formation movement of the needle. Here too, the manipulator arm can be moved at a constant speed, while the reciprocating compensatory movements are carried out exclusively by the sewing head relative to the sewing machine.

Eine kontinuierliche Bewegung des Manipulatorarmes hat den Vorteil, daß die Massen, die intermittierend in Abhängigkeit von den Stichbildebewegungen der Nadel zu bewegen sind, relativ klein gehalten werden können und daß keine gegenseitige Abstimmung zwischen den Manipulatorbewegungen und den Stichbildebewegungen der Nadel erforderlich ist.A continuous movement of the manipulator arm has the advantage that the masses which are to be moved intermittently depending on the stitch formation movements of the needle are relative can be kept small and that no mutual coordination between the manipulator movements and the stitch formation movements of the needle is required.

Bei den erfindungsgemäßen Nähvorrichtungen wird die Relativbewegung zwischen den Zuschnitten und der Nähmaschine durch den Manipulatorarm erzeugt. Bei der eine stationär angeordnete Haltevorrichtung vorsehenden Lösung muß die Haltevorrichtung nicht unbedingt absolut feststehen, sie kann vielmehr auch so angebracht sein, daß sie beispielsweise gedreht werden kann. Wichtig ist, daß die Nähmaschine selbst keine Vorschubvorrichtung für das Nähgut aufweist, und daß dieses zwischen zwei Stichen, also während der eingestochenen Phase der Stichbildebewegung der Nadel, nicht weitergeschoben wird.In the sewing devices according to the invention, the relative movement between the blanks and the sewing machine is generated by the manipulator arm. In the case of the solution providing a stationary holding device, the holding device does not necessarily have to be absolutely fixed, but rather can also be attached in such a way that it can be rotated, for example. It is important that the sewing machine itself has no feed device for the material to be sewn, and that it is not pushed between two stitches, ie during the pierced phase of the stitch formation movement of the needle.

Um eine Relativbewegung des Nähkopfes in bezug auf das Werkstück zwischen zwei Stichen zu ermöglichen, werden zweckmäßigerweise die Stichplatte und der Niederhalter während der ausgestochenen Phase der Nadelbewegung auseinander bewegt. In diesem Zustand wird der Nähkopf oder die Nähmaschine relativ zum Werkstück um eine Stichlänge weiterbewegt. Danach wird das Werkstück zwischen Stichplatte und Niederhalter wieder eingespannt, um während der nächsten eingestochenen Phase der Nadelbewegung eine exakte Position des Werkstückes und eine exakte gegenseitige Zuordnung der zu vernähenden Zuschnitte zu erhalten.In order to enable a relative movement of the sewing head with respect to the workpiece between two stitches, the needle plate and the hold-down device are expediently moved apart during the pierced phase of the needle movement. In this state, the sewing head or the sewing machine is moved further by a stitch length relative to the workpiece. The workpiece is then clamped between the throat plate and the holding-down device in order to obtain an exact position of the workpiece and an exact mutual assignment of the blanks to be sewn during the next pierced phase of the needle movement.

Im folgenden werden unter Bezugnahme auf die Zeichnungen Ausführungsbeispiele der Erfindung näher erläutert.Exemplary embodiments of the invention are explained in more detail below with reference to the drawings.

Es zeigen:

Fig. 1
eine Haltevorrichtung mit daran fixierten, miteinander zu vernähenden Zuschnitten,
Fig. 2
eine Darstellung der Haltevorrichtung zusammen mit dem Manipulator und der darin befestigten Nähmaschine,
Fig. 3
einen Schnitt entlang der Linie III-III von Fig. 2,
Fig. 4
eine Stirnansicht der Nähmaschine,
Fig. 5
ein Diagramm der zeitlichen Zuordnung der Bewegungen des Nähkopfes zu den Stichbewegungen der Nadel und
Fig. 6
eine Seitenansicht einer anderen Ausführungsform, bei der der Nähkopf relativ zur Nähmaschine linear bewegbar ist.
Show it:
Fig. 1
a holding device with blanks fixed to it and to be sewn together,
Fig. 2
a representation of the holding device together with the manipulator and the sewing machine attached therein,
Fig. 3
2 shows a section along the line III-III of FIG. 2,
Fig. 4
a front view of the sewing machine,
Fig. 5
a diagram of the temporal assignment of the movements of the sewing head to the stitch movements of the Needle and
Fig. 6
a side view of another embodiment in which the sewing head is linearly movable relative to the sewing machine.

In Fig. 1 ist eine Haltevorrichtung 10 dargestellt, die einzelne Zuschnitte trägt, welche zur Bildung eines dreidimensionalen Hohlgebildes aus Flächenmaterial gegeneinandergesetzt werden. Das herzustellende Werkstück, dessen Zuschnitte an der Haltevorrichtung 10 befestigt werden, besteht im vorliegenden Fall aus der Hülle für eine Armlehne eines Kraftfahrzeugs.1 shows a holding device 10 which carries individual blanks which are placed against one another to form a three-dimensional hollow structure made of sheet material. The workpiece to be produced, the blanks of which are fastened to the holding device 10, in the present case consists of the cover for an armrest of a motor vehicle.

Die Haltevorrichtung 10 weist einen Grundkörper 11 auf, um den ein Zuschnitt 12 in Form eines bandförmigen Streifens herumgelegt wird. Dieser Zuschnitt 12 wird durch Halteplatten 13, die von außen gegen den Zuschnitt gedrückt werden, am Grundkörper 11 fixiert. Der Zuschnitt 12 umschließt den Grundkörper 11. Die Seite des von dem Zuschnitt 12 gebildeten Ringes soll durch einen Zuschnitt 14 in Form eines anzunähenden Seitenteiles verschlossen werden. Der Zuschnitt 14 wird gegen die Seitenfläche des Grundkörpers 11 gesetzt und dort von einer Halteplatte 15, die gegen den Grundkörper gedrückt wird, festgehalten. Das Festhalten der Halteplatten 13 und 15 am Grundkörper 11 kann beispielsweise mit Magneten oder durch Saugwirkung erfolgen.The holding device 10 has a base body 11, around which a blank 12 in the form of a band-shaped strip is placed. This blank 12 is fixed to the base body 11 by holding plates 13 which are pressed against the blank from the outside. The blank 12 encloses the base body 11. The side of the ring formed by the blank 12 is to be closed by a blank 14 in the form of a side part to be sewn on. The blank 14 is placed against the side surface of the base body 11 and held there by a holding plate 15 which is pressed against the base body. The holding plates 13 and 15 can be held on the base body 11, for example, with magnets or by suction.

Die Zuschnitte 12 und 14 sind so groß, daß sie sich in den umlaufenden Rändern überlappen und dort Randstreifen 16 bilden (s. auch Fig. 3). An der Wurzel dieser Randstreifen 16 wird die Naht 17 erzeugt.The blanks 12 and 14 are so large that they overlap in the peripheral edges and form edge strips 16 there (see also FIG. 3). The seam 17 is produced at the root of these edge strips 16.

Fig. 2 zeigt die Haltevorrichtung 10, die an einem (nicht dargestellten) Halter ortsfest angebracht ist, und eine Nähmaschine 18, die an einem Manipulatorarm 19 angebracht ist. Der Manipulatorarm 19 ist Bestandteil des Manipulators 20, bei dem es sich hier um einen Industrieroboter mit einer Vielzahl von Bewegungsachsen handelt, beispielsweise mit sechs oder acht Bewegungsachsen. Der Manipulator 20 ist numerisch derart gesteuert, daß der Toolcenterpoint, also der Wirkungspunkt eines an dem Manipulatorarm 19 fest angebrachten Werkzeugs, entlang einer vorbestimmten Bewegungsbahn bewegt werden kann. Die Programmierung des Manipulators 20 kann in der Weise erfolgen, daß der Manipulatorarm 19 mit dem daran befestigen Werkzeug entlang der vorgesehenen Bearbeitungslinie manuell in einer Lernphase geführt wird. Die hierbei aufgenommenen Bahnwerte werden gespeichert und anschließend wird der Manipulator 20 so gesteuert, daß der Manipulatorarm 19 dieselben Bewegungen gesteuert ausführt, die in der Lernphase durchgeführt worden sind. Das am Manipulatorarm befestigte Werkzeug besteht im vorliegenden Fall aus der Nähmaschine 18.Fig. 2 shows the holding device 10, the one (Not shown) holder is fixedly attached, and a sewing machine 18 which is attached to a manipulator arm 19. The manipulator arm 19 is part of the manipulator 20, which is an industrial robot with a plurality of axes of movement, for example with six or eight axes of movement. The manipulator 20 is numerically controlled in such a way that the tool center point, ie the point of action of a tool fixedly attached to the manipulator arm 19, can be moved along a predetermined movement path. The manipulator 20 can be programmed in such a way that the manipulator arm 19 with the tool attached to it is guided manually along the intended processing line in a learning phase. The path values recorded here are stored and the manipulator 20 is then controlled in such a way that the manipulator arm 19 controls the same movements that were carried out in the learning phase. In the present case, the tool attached to the manipulator arm consists of the sewing machine 18.

Am Manipulatorarm 19 ist eine lineare Führung 21 befestigt, längs der ein Schlitten 22, welcher die Nähmaschine 18 trägt, bewegt werden kann. Die Führung 21 ist quer zur Nadel der Nähmaschine 18 ausgerichtet und sie verläuft parallel zu der zu erzeugenden Nahtlinie 17. Der Schlitten 22 wird von einem (nicht dargestellten) Antrieb angetrieben. Dieser Antrieb kann der Antriebsmotor 23 der Nähmaschine sein, wobei die Schlittenbewegung durch eine von diesem Antriebsmotor 23 bewegte Nockenscheibe erfolgen kann.A linear guide 21 is attached to the manipulator arm 19, along which a carriage 22, which carries the sewing machine 18, can be moved. The guide 21 is aligned transversely to the needle of the sewing machine 18 and runs parallel to the seam line 17 to be produced. The carriage 22 is driven by a drive (not shown). This drive can be the drive motor 23 of the sewing machine, it being possible for the carriage to move by means of a cam disk moved by this drive motor 23.

Gemäß Fig. 3 treibt der Antriebsmotor 23 der Nähmaschine 18 über einen Riementrieb 24 eine Antriebswelle 25, die in bekannter Weise die Komponenten der Nähmaschine antreibt. Die Nähmaschine weist einen Nähkopf 26 auf, der hier in fester Verbindung zum Nähmaschinengehäuse 18a angeordnet ist. Zum Nähkopf 26 gehören der Nadelhebel 27, der an einer hin- und hergehend gedrehten Welle 28 angebracht ist und die bogenförmige Nadel 29 trägt, eine Stichplatte 30, die ein Widerlager für den doppellagigen Randstreifen 16 bildet und eine Aussparung für den Durchtritt der Nadel 29 aufweist, einen der Stichplatte 30 gegenüberliegenden Niederhalter 31 und einen Schlingenfänger 32, der hinter der Stichplatte 30 angeordnet ist und den Unterfadenvorrat enthält. Die Nadel 29 ist um die Achse der Welle 28 herum gebogen.3, the drive motor 23 of the sewing machine 18 drives a drive shaft via a belt drive 24 25, which drives the components of the sewing machine in a known manner. The sewing machine has a sewing head 26, which is arranged here in a fixed connection to the sewing machine housing 18a. The sewing head 26 includes the needle lever 27, which is attached to a reciprocating shaft 28 and carries the arcuate needle 29, a needle plate 30, which forms an abutment for the double-layered edge strip 16 and has a recess for the passage of the needle 29 , a hold-down device 31 opposite the throat plate 30 and a loop catcher 32 which is arranged behind the throat plate 30 and contains the lower thread supply. The needle 29 is bent around the axis of the shaft 28.

Der Randstreifen 16 ist während des Stichs der Nadel 29 zwischen der Stichplatte 30 und dem Niederhalter 31 fest eingespannt. Wenn die Nadel aus dem Randstreifen 16 herausgezogen ist, gehen die Stichplatte 30 und der Niederhalter 31 auseinander, um den Randstreifen freizugeben. Die Öffnungs- und Schließbewegung des Niederhalters 31 wird durch den Nadelhebel 27 gesteuert, der während der ausgestochenen Phase der Nadelbewegung einen Anschlag 33 des Niederhalters 31 mitnimmt, so daß der Niederhalter gegen die Wirkung der Feder 34, die ihn in Richtung auf die Stichplatte 30 zieht, vom Randstreifen 16 abgehoben wird.The edge strip 16 is firmly clamped between the needle plate 30 and the hold-down device 31 during the stitching of the needle 29. When the needle is pulled out of the edge strip 16, the needle plate 30 and the hold-down device 31 separate to release the edge strip. The opening and closing movement of the hold-down device 31 is controlled by the needle lever 27, which takes a stop 33 of the hold-down device 31 with it during the cut-out phase of the needle movement, so that the hold-down device acts against the action of the spring 34, which pulls it towards the needle plate 30 , is lifted off from the edge strip 16.

Auch die Stichplatte 30 wird während der ausgestochenen Phase der Nadelbewegung vom Randstreifen entfernt. Dies geschieht dadurch, daß ein die Stichplatte 30 tragender Arm 35 durch eine mit der Nadelhebelbewegung synchronisierte Nockensteuerung 36 bewegt wird.The throat plate 30 is also removed from the edge strip during the pierced phase of the needle movement. This is done in that an arm 35 carrying the needle plate 30 is moved by a cam control 36 synchronized with the needle lever movement.

An der Stichplatte 30 bzw. am Niederhalter 31 ist ein Sensor 37 vorgesehen, der das Vorhandensein des Randstreifens 16 erkennt und die Nähmaschine außer Betrieb setzt, wenn ein Randstreifen nicht erkannt wird. Dieser Sensor kann beispielsweise eine Lichtschranke sein, bei der der Lichtsender an der Stichplatte 30 und der Empfänger am Niederhalter 31 angebracht ist.On the throat plate 30 or on the hold-down device 31 is a Sensor 37 is provided which detects the presence of the edge strip 16 and stops the sewing machine if an edge strip is not recognized. This sensor can be a light barrier, for example, in which the light transmitter is attached to the throat plate 30 and the receiver is attached to the hold-down device 31.

Gemäß Fig. 4 verläuft der von einer (nicht dargestellten) Garnspule kommende Faden 38 über eine Rolle 39, die von einem Schrittmotor angetrieben wird, und weiter über einen Umlenkstift 40 zu dem im Rhythmus der Nadelbewegung auf- und abbewegbaren Fadengeber 41. Von dort führt der Faden 38 zu einer am Nadelhebel 27 vorgesehenen Fadenbremse 42 und weiter zu dem in der Nähe der Spitze der Nadel 29 vorgesehenen Nadelloch. Der die Rolle 39 treibende Schrittmotor wird in jedem Zyklus nach Beendigung der Aufwärtsbewegung des Fadengebers 41 in Funktion gesetzt, um diejenige Fadenmenge bereitzustellen, die der vorgegebenen Stichlänge entspricht. Eine Andrückrolle drückt den Faden fest gegen die von dem Schrittmotor angetriebene Rolle 39, derart, daß der Faden von der Rolle 39 schlupffrei angetrieben wird. Wenn die Rolle 39 stillsteht, wird sie von dem Schrittmotor festgehalten, so daß kein Nachziehen des Fadens von dem Fadenvorrat durch hinter der Rolle 39 wirkende Zugkräfte möglich ist.According to FIG. 4, the thread 38 coming from a thread spool (not shown) runs over a roller 39, which is driven by a stepping motor, and further via a deflection pin 40 to the thread transmitter 41, which can be moved up and down in the rhythm of the needle movement. From there it leads the thread 38 to a thread brake 42 provided on the needle lever 27 and further to the needle hole provided near the tip of the needle 29. The stepper motor driving the roller 39 is activated in each cycle after the upward movement of the thread feeder 41 has ended in order to provide the thread quantity which corresponds to the predetermined stitch length. A pressure roller presses the thread firmly against the roller 39 driven by the stepping motor, such that the thread is driven by the roller 39 without slippage. When the roller 39 is stationary, it is held by the stepper motor, so that it is not possible to pull the thread from the thread supply due to tensile forces acting behind the roller 39.

Es sei angenommen, daß der Schlitten 22 sich in seiner in Bewegungsrichtung des Manipulatorarms 19 vorn liegenden Endstellung befindet. In dieser Position stellt die Einstichstelle der Nadel 29 in den Stoff den Toolcenterpoint des Manipulators dar. Der Manipulatorarm 19 wird vom Manipulator 20 so bewegt, daß der Toolcenterpoint sich entlang der vorgesehenen Nahtlinie bewegt.It is assumed that the carriage 22 is in its end position lying forward in the direction of movement of the manipulator arm 19. In this position, the point of insertion of the needle 29 into the fabric represents the tool center point of the manipulator. The manipulator arm 19 is moved by the manipulator 20 in such a way that the tool center point moves along the intended seam line.

Der Antriebsmotor 23 der Nähmaschine 18 ist in Abhängigkeit von der Bewegung des Manipulatorarms derart gesteuert, daß die stichlänge (der Weg von Einstich zu Einstich) unabhängig von der Vorschubgeschwindigkeit des Manipulatorarms 19 konstant bleibt. Hierzu wird die von den Weggebern des Manipulators abgeleitete Geschwindigkeitskomponente in Nahtrichtung mit der Geschwindigkeit des Nähmaschinenmotors verglichen. Bevor die Spitze der Nadel 29 in den Randstreifen 16 eindringt, werden die Stichplatte 30 und der Niederhalter 31 gegeneinanderbewegt. Gleichzeitig wird der Schlitten 22 längs der Führung 21 entgegen der von dem Manipulatorarm 19 ausgeführten Vorschubbewegung (längs der vorgesehenen Nahtlinie) bewegt, und zwar mit einer Geschwindigkeit, die der Vorschubgeschwindigkeit entspricht. Dadurch bleibt die Nähmaschine 18 während der eingestochenen Phase der Nadelbewegung relativ zur Haltevorrichtung 10 bzw. zum Werkstück stillstehen, während der Manipulatorarm 19 kontinuierlich weiterbewegt wird. Voraussetzung ist, daß der Manipulatorarm 19 parallel zur vorgesehenen Nahtrichtung ausgerichtet ist. Während der eingestochenen Phase der Nadelbewegung wird der Schlitten 22 längs der Führung 21 wieder in die vordere Endstellung bewegt, während der Manipulatorarm 19 seine kontinuierliche Vorschubbewegung fortsetzt.The drive motor 23 of the sewing machine 18 is controlled in dependence on the movement of the manipulator arm in such a way that the stitch length (the path from puncture to puncture) remains constant irrespective of the feed speed of the manipulator arm 19. For this purpose, the speed component in the seam direction, which is derived from the position sensors of the manipulator, is compared with the speed of the sewing machine motor. Before the tip of the needle 29 penetrates into the edge strip 16, the needle plate 30 and the hold-down device 31 are moved towards one another. At the same time, the carriage 22 is moved along the guide 21 counter to the feed movement carried out by the manipulator arm 19 (along the intended seam line), at a speed which corresponds to the feed speed. As a result, the sewing machine 18 remains stationary during the pierced phase of the needle movement relative to the holding device 10 or to the workpiece, while the manipulator arm 19 is continuously moved on. The prerequisite is that the manipulator arm 19 is aligned parallel to the intended seam direction. During the pierced phase of the needle movement, the carriage 22 is moved along the guide 21 back to the front end position, while the manipulator arm 19 continues its continuous feed movement.

Diese Bewegungsverhältnisse sind in Fig. 5 dargestellt. Hier ist in der oberen Darstellung der zeitliche Verlauf der stichbewegungen s der Nadel 29 dargestellt, wobei die Amplitude umso größer ist, je weiter die Nadelspitze aus ihrer Rückzugsposition durch die Stichplatte 30 hindurch vorgeschoben worden ist. In der unteren Darstellung ist die absolute Geschwindigkeit v der Nähmaschine 18 dargestellt, wobei v die konstante Vorschubgeschwindigkeit des Manipulatorarms 19 ist.These movement relationships are shown in FIG. 5. Here, in the upper representation, the chronological course of the stitch movements s of the needle 29 is shown, the amplitude being greater the further the needle tip has been pushed through the needle plate 30 from its retracted position. The lower illustration shows the absolute speed v of the sewing machine 18, where v is the constant feed speed of the manipulator arm 19.

Während der ausgestochenen Phase der Nadelbewegung befindet sich die Nähmaschine in ihrer vorderen Endstellung in bezug auf den Manipulatorarm 19 und sie bewegt sich mit der Vorschubgeschwindigkeit v. In der eingestochenen Phase der Nadelbewegung bewegt sich die Nähmaschine 18 längs der Führung 21 in Gegenrichtung zur Vorschubbewegung des Manipulatorarmes, sodaß die Absolutgeschwindigkeit zu Null wird. In der ausgestochenen Phase der Nadelbewegung wird die Nähmaschine 18 wieder in die vordere Endstellung bewegt, wobei sich diese Verschiebebewegung der Vorschubbewegung des Manipulatorarmes 19 überlagert.In der vorderen Endstellung verbleibt der Schlitten 22 solange, bis der nächste Stich ausgeführt wird. Der Antrieb des Schlittens 22 in bezug auf die Führung 21 erfolgt mit den Nadelbewegungen.During the punched-out phase of the needle movement, the sewing machine is in its front end position in relation to the manipulator arm 19 and it moves at the feed speed v. In the pierced phase of the needle movement, the sewing machine 18 moves along the guide 21 in the opposite direction to the feed movement of the manipulator arm, so that the absolute speed becomes zero. In the staggered phase of the needle movement, the sewing machine 18 is again moved into the front end position, this displacement movement being superimposed on the feed movement of the manipulator arm 19. The carriage 22 remains in the front end position until the next stitch is carried out. The carriage 22 is driven with respect to the guide 21 with the needle movements.

Bei dem Ausführungsbeispiel von Fig. 6 ist die Nähmaschine 48 fest und starr mit dem (nicht dargestellten) Manipulatorarm verbunden und die Komponenten des Nähkopfes 26 sind entgegen der vorgesehenen, durch den Pfeil 49 bezeichneten Nährichtung verschiebbar. Die Komponenten der Nähmaschine 48 sind, sofern sie den Komponenten der vorbeschriebenen Nähmaschine 18 entsprechen, mit den selben Bezugszeichen versehen. Die nachfolgende Beschreibung beschränkt sich auf die Unterschiede der Nähmaschine 48 gegenüber der Nähmaschine 18.In the embodiment of FIG. 6, the sewing machine 48 is firmly and rigidly connected to the manipulator arm (not shown) and the components of the sewing head 26 are displaceable against the intended sewing direction indicated by the arrow 49. The components of the sewing machine 48 are provided with the same reference numerals insofar as they correspond to the components of the previously described sewing machine 18. The following description is limited to the differences between the sewing machine 48 and the sewing machine 18.

Bei der Nähmaschine 48 ist der Nadelhebel 27 nicht starr mit der Welle 28 verbunden, sondern längs dieser Welle verschiebbar. In gleicher Weise ist auch der den Niederhalter 31 tragende Arm mit der Welle 28 drehfest verbunden, jedoch entlang dieser Welle verschiebbar.In the sewing machine 48, the needle lever 27 is not rigidly connected to the shaft 28, but can be displaced along this shaft. In the same way, the arm holding the hold-down device 31 is connected in a rotationally fixed manner to the shaft 28, but is displaceable along this shaft.

Die Verschiebung des Nadelhebels 27 und des Niederhalters 31 erfolgt mit einer von einer Nockenscheibe gesteuerten Gabel 50, die in eine Ringnut einer auf der Welle 28 sitzenden Hülse 51 eingreift und synchron mit dem Nadelantrieb gesteuert ist. In ähnlicher Weise ist auch die Stichplatte 30 und der Schlingenfänger 32 in Richtung des Pfeiles 49 und in Gegenrichtung verschiebbar.The displacement of the needle lever 27 and the hold-down device 31 takes place with a fork 50 controlled by a cam disk which engages in an annular groove of a sleeve 51 seated on the shaft 28 and is controlled synchronously with the needle drive. Similarly, the needle plate 30 and the loop catcher 32 can be moved in the direction of arrow 49 and in the opposite direction.

Die Naht 17 wird an dem Werkstück in der Weise genäht, daß der doppellagige Randstreifen 16 von den Zuschnitten nach außen absteht. Im anschluß an die Herstellung der Naht wird das Werkstück gewendet, wobei die bei der Herstellung außenliegenden Flächen nach innen zu liegen kommen.The seam 17 is sewn to the workpiece in such a way that the double-layered edge strip 16 protrudes outward from the blanks. Following the production of the seam, the workpiece is turned over, the surfaces lying outside during production coming to lie inwards.

Claims (9)

  1. Device for making seams on objects, with a damping device (10) for holding the cuttings (12, 14) to be sewn together and a manipulator (20) which carries out relative movements between a manipulator arm (19) carrying a sewing machine (18) and the clamping device (10) which movements are directed parallel to the seam line to be sewn, wherein the sewing machine (18) has a needle head (26) as stitch-forming means, a needle plate (38) as counter surface for the cuttings, a workpiece retainer (31) which presses these against the needle plate and a needle (29) which makes stitch-forming movements directed crosswise to the cuttings,
    wherein
    the manipulator arm (19) moves continuously and the movement of the needle head (26) together with the stitch-forming means alone, or together with the entire sewing machine, is controlled in such a way that during the withdrawn phase of the needle movement it moves parallel to the seam line to be produced relatively to, and in the feeding direction of, the manipulator arm (19) and during the penetrated phase of the needle movement moves parallel to the seam line to be produced relatively to the manipulator arm and opposite to the feeding direction of the manipulator arm (19) at the same speed, so that there is a dwell of the feeding movement of the needle (29) compared with the clamping device (10).
  2. Device for making seams on objects, with a clamping device (10) for holding the cuttings (12, 14) to be sewn together and a manipulator (20) with a manipulator arm (19) which carries out relative movements directed parallel to the seam line to be sewn between the clamping device (10) and a sewing machine (18) working interactively with the clamping device, wherein the sewing machine (18) has a needle head (26) and stitch-forming means, a needle plate (30) as counter surface for the cuttings, a workpiece retainer (31) which presses these against the needle plate and a needle (29) which makes stitch-forming movements directed crosswise to the cuttings,
    wherein,
    the sewing machine (18) is movable independently of the manipulator arm (19) and the clamping device (10) is affixed to the manipulator arm (19) and the latter is continuously moved, and the movement of the sewing machine (18) or the needle head (26) is controlled in such a way that during the penetrated phase of the needle movement the entire sewing machine (18) or the needle head (26) together with the stitch forming means alone carries out a movement of equal speed and equal direction, so that a dwell in the relative movement of the needle parallel to the seam line to be formed is obtained in relation to the clamping device (19) and in the withdrawn phase of the needle movement the entire sewing machine or the needle head alone is moved back to its basic position.
  3. Device according to Claim 1, wherein only the needle head (26) together with the stitch-forming means moves relatively to the sewing machine housing firmly connected with the manipulator arm (19).
  4. Device according to one of Claims 1 to 3, wherein the sewing machine (48) is movably mounted on the manipulator arm (19) in relation to the sewing machine housing (18a) parallel to the feeding direction.
  5. Device according to one of Claims 1 to 4, wherein the needle plate (30) and the retainer (31) are moved apart during the withdrawn phase of the needle movement and shortly before the beginning of the penetrated phase of the needle movement are moved against each other to hold the sewing material.
  6. Device according to one of Claims 1 to 5, wherein the needle head (26) has at least one sensor (37) for ascertaining whether sewing material is present between the retainer (31) and the needle plate (30).
  7. Device according to one of Claims 1 to 6, wherein the needle (29) is unrotatably fixed to a needle arm (27) connected to a shaft (28) and is curved about the shaft (28).
  8. Device according to one of Claims 1 to 7, wherein the drive motor (23) of the sewing machine (18) is controlled dependently of the movement of the manipulator arm (19) in such a way that the stitch length stays constant, regardless of the feeding speed of the manipulator arm (19).
  9. Device according to one of Claims 1 to 8, wherein the sewing machine has a thread feed with a stepping motor which produces a corresponding amount of thread for the set stitch length for every cycle of the needle movement.
EP92905889A 1991-01-31 1991-12-24 Device for producing seams in three-dimensional objects Expired - Lifetime EP0569519B1 (en)

Applications Claiming Priority (3)

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DE4102840A DE4102840C1 (en) 1991-01-31 1991-01-31
DE4102840 1991-01-31
PCT/EP1991/002508 WO1992013986A1 (en) 1991-01-31 1991-12-24 Device for producing seams in three-dimensional objects

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EP0569519A1 EP0569519A1 (en) 1993-11-18
EP0569519B1 true EP0569519B1 (en) 1996-03-27

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US (1) US5381743A (en)
EP (1) EP0569519B1 (en)
JP (1) JP2646041B2 (en)
AT (1) ATE136069T1 (en)
DE (1) DE4102840C1 (en)
ES (1) ES2085006T3 (en)
WO (1) WO1992013986A1 (en)

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ES2085006T3 (en) 1996-05-16
JPH06511395A (en) 1994-12-22
JP2646041B2 (en) 1997-08-25
US5381743A (en) 1995-01-17
WO1992013986A1 (en) 1992-08-20
ATE136069T1 (en) 1996-04-15
EP0569519A1 (en) 1993-11-18
DE4102840C1 (en) 1992-10-15

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