EP3365485B1 - Sewing unit - Google Patents

Sewing unit Download PDF

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Publication number
EP3365485B1
EP3365485B1 EP16782234.5A EP16782234A EP3365485B1 EP 3365485 B1 EP3365485 B1 EP 3365485B1 EP 16782234 A EP16782234 A EP 16782234A EP 3365485 B1 EP3365485 B1 EP 3365485B1
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EP
European Patent Office
Prior art keywords
needle
gripper
sewing
bar
tongue
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.)
Active
Application number
EP16782234.5A
Other languages
German (de)
French (fr)
Other versions
EP3365485C0 (en
EP3365485A1 (en
Inventor
Harald Kallenbach
Robert Keilmann
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.)
Pfaff Industriesysteme und Maschinen GmbH
Original Assignee
Pfaff Industriesysteme und Maschinen GmbH
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.)
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Publication date
Application filed by Pfaff Industriesysteme und Maschinen GmbH filed Critical Pfaff Industriesysteme und Maschinen GmbH
Publication of EP3365485A1 publication Critical patent/EP3365485A1/en
Application granted granted Critical
Publication of EP3365485B1 publication Critical patent/EP3365485B1/en
Publication of EP3365485C0 publication Critical patent/EP3365485C0/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B57/00—Loop takers, e.g. loopers
    • D05B57/30—Driving-gear for loop takers
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B21/00—Sewing machines with devices for automatically controlling movement of work-carrier relative to stitch-forming mechanism in order to obtain particular configuration of seam, e.g. programme-controlled for sewing collars, for attaching pockets
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B29/00—Pressers; Presser feet
    • D05B29/12—Presser-foot attachment
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B55/00—Needle holders; Needle bars
    • D05B55/14—Needle-bar drives
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B69/00—Driving-gear; Control devices
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B69/00—Driving-gear; Control devices
    • D05B69/30—Details

Definitions

  • the invention relates to a sewing system for sewing seams that lie multidimensionally in space.
  • the EP 2 653 599 A1 shows a sewing machine with a hook drive to reduce mechanical stress.
  • the EP 2 192 220 A1 shows a buttonhole machine for bordering buttonholes.
  • the DE 10 2004 027 578 A1 shows a sewing or embroidery machine with a gripper mechanism that enables a gripper to be moved from a working position to a bobbin case removal position.
  • the DE 36 25 881 A1 shows an automatic sewing machine with a sewing head with a rotating housing.
  • the sewing machine is able to create seams two-dimensionally in one plane thanks to a rotatably mounted rotating housing and a rotatably mounted hook bearing.
  • the EP 0 520 076 A1 shows a robot for a sewing factory.
  • the sewing head can then be designed with a freely accessible stitch formation area, whereby other components of the sewing system that may be disruptive can be pivoted out of a seam area due to the pivotable or rotatable design of the upper part of the needle bar and the lower part of the gripper. Even topographically demanding sewing tasks can be solved in this way.
  • the sewing system can be used next to one
  • the sewing machine having the sewing head also has a robot for multi-dimensional positioning of the sewing machine in space.
  • a toothed belt drive can be used to pivot the upper part of the needle bar and/or the lower part of the hook in the sewing head.
  • the swivel drive for swiveling the upper part of the needle bar and the lower part of the hook in the sewing head can be designed independently of the sewing drive for driving the stitch forming tools.
  • the sewing machine can be a 2-needle sewing machine. It can be a chain stitch sewing machine, in particular a double chain stitch sewing machine.
  • a sewing machine in the sewing system can be a column sewing machine. The seams to be created cannot lie three-dimensionally in space.
  • Drive components for driving the up and down movement of the needle bar can be designed as components that do not rotate with the upper part of the needle bar.
  • These motor components can be arranged fixed to the housing relative to the upper part of the sewing head and/or the lower part of the sewing head.
  • the needle bar upper part is in operative connection with a motor component for driving the up and down movement of the needle bar via at least one tongue/groove connection with a ring member having a groove or a tongue.
  • a ring axis of symmetry of the ring link coincides with the needle bar longitudinal axis or is parallel to it.
  • Such at least one tongue and groove connection with a ring member enables a reliable coupling of the motor component that is not pivoted to the pivotable or rotatable components, i.e. to the needle bar upper part.
  • a rotatability of the needle bar upper part and the gripper lower part according to claim 2 enables particularly flexible use of the sewing system.
  • the upper part of the needle bar and the lower part of the hook can be freely mounted in the sewing head, i.e. rotatable by more than 360° in the sewing head.
  • Tongue and groove connections with a ring member according to one of claims 2 to 4 enable a reliable coupling of the motor components that are not pivoted to the pivotable or rotatable components, i.e. to the upper needle bar part and the lower gripper part.
  • At least one eccentric according to claim 5 enables the respective drive movement to be reliably generated.
  • the drive of the stroke displacement movement of the presser foot on the one hand and a transport movement of the needle bar on the other hand can be derived from one and the same drive shaft, in particular via respective eccentrics.
  • a sliding shaft according to claim 6 enables the gripper movement to be driven safely.
  • the sliding axis of the sliding shaft can coincide with the pivot axis of the gripper lower part.
  • a gripper drive according to claim 7 ensures that the at least one gripper follows in particular a needle transport movement of the associated needle. If one of the movement components is generated with the help of a sliding shaft according to claim 6, two sliding shafts can be used to drive the gripper along the two movement components are used. One of the sliding shafts can be designed as a hollow shaft in which the other of the two sliding shafts runs.
  • a sewing system 1 is used to sew multi-dimensional and in particular seams that are not exactly three-dimensional in space.
  • An example of an application for the sewing system 1 is the attachment of decorative seam applications in the interior of vehicles, for example on instrument panels, door side panels or armrests.
  • the sewing system 1 includes one in the Fig. 1 Sewing machine 2 shown in detail, which is carried by an arm 3 of a robot 4, which is only shown schematically, with which the sewing machine 2 can be oriented as desired in five or six degrees of freedom in space.
  • a Cartesian xyz coordinate system is indicated in the figures.
  • the y-direction is in the Fig. 1 to the right and the z direction is in the Fig. 1 up.
  • the sewing machine 2 has a housing 5 with a C-shaped basic structure with an upper housing part 6, a lower housing part 7 and a stand 8 connecting these two parts to form a C shape.
  • the upper housing part 6 and the lower housing part 7 run along the y-direction.
  • the stand 8 runs along the z-direction.
  • the sewing machine 2 has two sewing needles 9, 10 as stitch forming components (cf. Fig. 2 ), which is supported by a common needle bar 11 (cf. Fig. 3 ) can be worn.
  • the needle bar 11 is mounted in a needle bar upper part 12 along its longitudinal axis 13, driven up and down.
  • the needle bar upper part 12 is in turn mounted in a sewing head upper part 14 so that it can be driven and pivoted about the needle bar longitudinal axis 13, namely rotatable through 360 °.
  • the needle bar longitudinal axis 13 runs parallel to the z-axis.
  • the sewing head upper part 14 forms an end section of the upper housing part 6.
  • the lower gripper part 17 forms a column of the sewing machine 2.
  • the lower gripper part 17 is in turn pivotally mounted about the needle bar longitudinal axis 13 synchronously with the upper needle bar part 12 in a lower sewing head part 18.
  • the sewing head lower part 18 represents an end section of the lower housing part 7.
  • the two sewing needles 9, 10 are driven up and down along the needle bar longitudinal axis 13 and also oscillating in the +/-x direction for needle transport.
  • the grippers 15, 16 pivot approximately parallel to the xy plane lying oval movement path driven.
  • An x component of this oval of movement of the grippers 15, 16 is larger than a y component.
  • the sewing drive motor 19 drives a sewing drive lower shaft 22 via an angular gear 20 mounted underneath and a toothed belt 21, which runs parallel to the y-axis in the lower housing part 7 to the lower sewing head part 18.
  • Two eccentrics 23, 24 are driven via the lower shaft 22, which are accommodated in the sewing head lower part 18 and are in drive connection with one another via a toothed belt connection for synchronous drive.
  • the eccentric 23 On the output side, the eccentric 23 is connected to a sliding inner shaft 25, which runs parallel to the z-axis through the sewing head lower part 18 to an articulated connection 26 (cf. Fig. 4 to 7 ) runs, via which the grippers 15, 16 are connected to the rotatable gripper lower part 17.
  • An operative connection between the eccentric 23 and the sliding inner shaft 25 takes place via a ring driver 27.
  • a sliding lever 29 is fixed to the sliding inner shaft 25.
  • a pivoting lever assembly 30 which produces a z-oscillating movement (cf. Double arrow 31 in the Fig. 7 ) of the sliding lever 29 into a torsional oscillating movement (cf. double arrow 32 in the Fig. 7 ) about a main gripper pivot axis 33 parallel to the y-axis.
  • a gripper carrier 34 on which the two grippers 15, 16 are mounted, is connected in a rotationally fixed manner to the pivot lever assembly 30.
  • the second eccentric 24 in the sewing head lower part 18 is connected to a sliding outer shaft 35 via a corresponding ring driver 27 and a sliding eyelet 28.
  • the second eccentric 24 transmits the rotational movement of the lower shaft 22 into a z-oscillating movement of the sliding outer shaft 35.
  • the sliding outer shaft 35 surrounds the sliding inner shaft 25 and is rotatably mounted with it in the sewing head lower part 18.
  • a sliding lever 36 is fixed to the sliding outer shaft 35, to which a pivoting lever 37 is articulated.
  • the latter is articulated on a base body 38 of the joint connection 26 which is firmly connected to the gripper carrier 34.
  • the pivoting lever 37 transmits a z-oscillating movement (see double arrow 39 in the Fig. 7 ) of the sliding lever 36 in a rotary-oscillating movement (cf. double arrow 40 in the Fig. 7 ) of the base body 38 about a gripper secondary pivot axis 41.
  • a further toothed belt 42 transmits a rotational movement of the lower shaft 22 into a rotational movement of an upper shaft 43, which runs parallel to the y-direction in the upper housing part 6.
  • the harmonic shaft 43 drives a crank 44, which is connected via a ring driver 45 to the needle bar 11 to drive its up and down movement along the z-axis.
  • the ring driver 45 forms a tongue and groove connection with a ring member 46 that is non-rotatably connected to the needle bar 11 and a fork component that interacts with it and is firmly connected to the crank 44.
  • a ring axis of symmetry of the ring member 46 coincides with the needle bar longitudinal axis 13.
  • the rotational movement of the upper shaft 43 is transmitted via a clutch into a rotational movement of a needle transport/presser foot drive shaft 47, which is in the Fig. 1 and 2 is arranged in front of the harmonic 43 and covers it in sections.
  • the needle transport/presser foot drive shaft 47 drives a needle transport eccentric 48 and a presser foot eccentric 49.
  • swinging sliding lever 51 of the needle transport eccentric 48 is connected to a ring member 54 via a fork-shaped articulated lever 52 and a tongue and groove connection 53.
  • a ring axis of symmetry of the ring member 54 coincides with the needle bar longitudinal axis 13.
  • Two opposing springs of the fork of the articulated lever 52 engage in a circumferential groove of the ring member 54.
  • the ring member 54 is connected to the needle bar upper part 12 in a rotationally fixed manner.
  • the ring member 54 is axially corresponding the drive via the articulated lever 52 to a base body of the needle bar upper part 12 movable (see double arrow 55 in Fig. 3 ).
  • a needle transport lever 57 is attached to the ring member 54 via an articulated connection 56 (cf. Fig. 3 ) is articulated, which is connected to the base body of the needle bar upper part 12 via a further joint connection 58.
  • the needle transport lever 57 is connected via a bolt 59 to a guide 60 of the needle bar 11, which at the same time also represents a guide for a presser foot bar 61 of a presser foot 62.
  • the oscillating movement 55 of the ring member 54 thus results in a needle transport oscillating movement (cf. double arrow 63 in the Fig. 3 ) of the sewing needles 9, 10 together with the presser foot 62 in the xz plane.
  • the presser foot eccentric 49 acts via a further sliding lever 64, which swings in the z direction (see double arrow 65 in the Fig. 2 ) with a further fork-shaped articulated lever 66, which also interacts with a ring member 67 of the needle bar upper part 12 via a tongue and groove connection 53.
  • a ring axis of symmetry of the ring member 67 coincides with the needle bar longitudinal axis 13. This causes a z-oscillating movement of the ring member 67 (cf. double arrow 68 in Fig. 3 ).
  • the ring member 67 is in a shear connection with the presser foot bar 61. The oscillating movement 68 of the ring member 67 is thus transferred into a corresponding lifting movement of the presser foot 62.
  • a pivoting or rotary drive takes place on the one hand of the upper needle bar part 12 and on the other hand of the lower gripper part 17 about the needle bar longitudinal axis 13.
  • This drive is accomplished by a rotary motor 69, which drives a rotary drive shaft 71 via a toothed belt 70, which runs parallel to the z-axis in the stand 8 between the upper housing part 6 and the lower housing part 7.
  • a first, upper gear 72 is connected to the rotary drive shaft 71 in a rotationally fixed manner at the level of the upper housing part 6 and a second, lower gear 73 is connected at the level of the lower housing part 7.
  • the upper gear 72 drives a gear 75 which is non-rotatably connected to the base body of the needle bar upper part 12 via a toothed belt 74 running in the upper housing part 6.
  • the lower gear 73 drives a gear 77 which is non-rotatably connected to a base body of the gripper lower part 17 via a toothed belt 76 running in the lower housing part 7.
  • the sewing machine 2 is controlled via a central control 78, which is located in the Fig. 1 is shown schematically, and is in signal connection with the drive components of the sewing system 1 in a manner not shown, brought into position by appropriate control of the robot 4.
  • the stitch forming tools 9, 10, 15 and 16 then follow the specified seam path.
  • the upper needle bar part 12 and, synchronously, the lower gripper part 17 are pivoted synchronously with one another about the needle bar longitudinal axis 13 relative to the housing 5. In this way, even hard-to-reach seams can be reached.

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

Description

Die Erfindung betrifft eine Nähanlage zum Nähen von mehrdimensional im Raum liegenden Nähten.The invention relates to a sewing system for sewing seams that lie multidimensionally in space.

Eine derartige Nähanlage ist durch offenkundige Vorbenutzung der Nähanlage RS570 der Anmelderin bekannt.Such a sewing system is known from the applicant's obvious prior use of the RS570 sewing system.

Die EP 2 653 599 A1 zeigt eine Nähmaschine mit einem Greiferantrieb zur Reduktion mechanischer Beanspruchungen.The EP 2 653 599 A1 shows a sewing machine with a hook drive to reduce mechanical stress.

Die EP 2 192 220 A1 zeigt eine Knopflochmaschine zur Berandung von Knopflöchern.The EP 2 192 220 A1 shows a buttonhole machine for bordering buttonholes.

Die DE 10 2004 027 578 A1 zeigt eine Näh- oder Stickmaschine mit einem Greifermechanismus, der ein Verlagern eines Greifers aus einer Arbeitsstellung in eine Spulenkapsel-Entnahmestellung ermöglicht.The DE 10 2004 027 578 A1 shows a sewing or embroidery machine with a gripper mechanism that enables a gripper to be moved from a working position to a bobbin case removal position.

Die DE 36 25 881 A1 zeigt einen Nähautomat mit einem Nähkopf mit Drehgehäuse. Der Nähautomat ist durch ein drehbar gelagertes Drehgehäuse und ein drehbar gelagertes Greiferlager in der Lage zweidimensional in einer Ebene liegenden Nähte zu erzeugen.The DE 36 25 881 A1 shows an automatic sewing machine with a sewing head with a rotating housing. The sewing machine is able to create seams two-dimensionally in one plane thanks to a rotatably mounted rotating housing and a rotatably mounted hook bearing.

Die EP 0 520 076 A1 zeigt einen Roboter für ein Nähwerk.The EP 0 520 076 A1 shows a robot for a sewing factory.

Es ist eine Aufgabe der vorliegenden Erfindung, eine Nähanlage der eingangs genannten Art derart weiterzubilden, dass auch topografisch unregelmäßig zu vernähende Teile dem Vernähen zugänglich gemacht werden, ohne dass es hierzu aufwendiger Sonderkonstruktionen bedarf.It is an object of the present invention to develop a sewing system of the type mentioned in such a way that even topographically irregular parts to be sewn are made accessible for sewing without the need for complex special constructions.

Diese Aufgabe ist erfindungsgemäß gelöst durch eine Nähanlage mit den im Anspruch 1 angegebenen Merkmalen.This object is achieved according to the invention by a sewing system with the features specified in claim 1.

Die Auslagerung der Motorkomponenten außerhalb der zu drehenden Teile, also außerhalb des Nadelstangen-Oberteils und des Greifer-Unterteils des Nähkopfes, ermöglicht es, die zu drehenden Komponenten sehr kompakt zu gestalten. Der Nähkopf kann dann mit einem frei zugänglichen Stichbildungsbereich gestaltet werden, wobei aufgrund der schwenk- bzw. drehbaren Gestaltung des Nadelstangen-Oberteils und des Greifer-Unterteils ggf. störende andere Komponenten der Nähanlage aus einem Nahtbereich geschwenkt werden können. Auch topografisch anspruchsvolle Nähaufgaben können so gelöst werden. Die Nähanlage kann neben einer
den Nähkopf aufweisenden Nähmaschine noch einen Roboter zur mehrdimensionalen Positionierung der Nähmaschine im Raum aufweisen. Beim Schwenken des Nadelstangen-Oberteils und des Greifer-Unterteils im Nähkopf werden die Motoren nicht mitgeschwenkt. Zum Schwenken des Nadelstangen-Oberteils und/oder des Greifer-Unterteils im Nähkopf kann ein Zahnriemen-Antrieb zum Einsatz kommen. Der Schwenkantrieb zum Schwenken des Nadelstangen-Oberteils und des Greifer-Unterteils im Nähkopf kann vom Nähantrieb zum Antreiben der Stichbildungswerkzeuge unabhängig gestaltet sein. Bei der Nähmaschine kann es sich um eine 2-Nadel-Nähmaschine handeln. Es kann sich um eine Kettenstich-Nähmaschine, insbesondere um eine Doppel-Kettenstich-Nähmaschine handeln. Bei einer Nähmaschine der Nähanlage kann es sich um eine Säulen-Nähmaschine handeln. Die zu erzeugenden Nähte können nicht eben dreidimensional im Raum liegen. Antriebskomponenten zum Antreiben der Auf- und Abbewegung der Nadelstange, insbesondere die Motorkomponenten zum Antreiben der Auf- und Abbewegung der Nadelstange können als sich nicht mit dem Nadelstangen-Oberteil mitdrehende Komponenten ausgeführt sein. Diese Motorkomponenten können gehäusefest relativ zum Nähkopf-Oberteil und/oder zum Nähkopf-Unterteil angeordnet sein. Das Nadelstangen-Oberteil steht über mindestens eine Nut/Federverbindung mit einem eine Nut oder eine Feder aufweisenden Ringglied mit einer Motorkomponente zum Antreiben der Auf- und Abwegung der Nadelstange in Wirkverbindung. Eine Ringsymmetrieachse des Ringglieds fällt hierbei mit der Nadelstangen-Längsachse zusammen oder ist zu dieser parallel. Eine derartige mindestens eine Nut/Federverbindung mit einem Ringglied ermöglicht eine betriebssichere Ankopplung der nicht mit geschwenkten Motorkomponente an die verschwenk- bzw. verdrehbaren Komponenten, also an das Nadelstangen-Oberteil.The storage of the motor components outside the parts to be rotated, i.e. outside the upper part of the needle bar and the lower part of the hook of the sewing head, makes it possible to make the components to be rotated very compact. The sewing head can then be designed with a freely accessible stitch formation area, whereby other components of the sewing system that may be disruptive can be pivoted out of a seam area due to the pivotable or rotatable design of the upper part of the needle bar and the lower part of the gripper. Even topographically demanding sewing tasks can be solved in this way. The sewing system can be used next to one
The sewing machine having the sewing head also has a robot for multi-dimensional positioning of the sewing machine in space. When the upper part of the needle bar and the lower part of the hook are swiveled in the sewing head, the motors are not swiveled. A toothed belt drive can be used to pivot the upper part of the needle bar and/or the lower part of the hook in the sewing head. The swivel drive for swiveling the upper part of the needle bar and the lower part of the hook in the sewing head can be designed independently of the sewing drive for driving the stitch forming tools. The sewing machine can be a 2-needle sewing machine. It can be a chain stitch sewing machine, in particular a double chain stitch sewing machine. A sewing machine in the sewing system can be a column sewing machine. The seams to be created cannot lie three-dimensionally in space. Drive components for driving the up and down movement of the needle bar, in particular the motor components for driving the up and down movement of the needle bar, can be designed as components that do not rotate with the upper part of the needle bar. These motor components can be arranged fixed to the housing relative to the upper part of the sewing head and/or the lower part of the sewing head. The needle bar upper part is in operative connection with a motor component for driving the up and down movement of the needle bar via at least one tongue/groove connection with a ring member having a groove or a tongue. A ring axis of symmetry of the ring link coincides with the needle bar longitudinal axis or is parallel to it. Such at least one tongue and groove connection with a ring member enables a reliable coupling of the motor component that is not pivoted to the pivotable or rotatable components, i.e. to the needle bar upper part.

Eine Drehbarkeit des Nadelstangen-Oberteils und des Greifer-Unterteils nach Anspruch 2 ermöglicht eine besonders flexible Verwendung der Nähanlage. Grundsätzlich können das Nadelstangen-Oberteil und das Greifer-Unterteil frei im Nähkopf, also um mehr als 360° im Nähkopf drehbar gelagert sein.A rotatability of the needle bar upper part and the gripper lower part according to claim 2 enables particularly flexible use of the sewing system. In principle, the upper part of the needle bar and the lower part of the hook can be freely mounted in the sewing head, i.e. rotatable by more than 360° in the sewing head.

Nut/Federverbindungen mit einem Ringglied nach einem der Ansprüche 2 bis 4 ermöglichen eine betriebssichere Ankopplung der nicht mitgeschwenkten Motorkomponenten an die verschwenk- bzw. verdrehbaren Komponenten, also an das Nadelstangen-Oberteil und das Greifer-Unterteil.Tongue and groove connections with a ring member according to one of claims 2 to 4 enable a reliable coupling of the motor components that are not pivoted to the pivotable or rotatable components, i.e. to the upper needle bar part and the lower gripper part.

Mindestens ein Exzenter nach Anspruch 5 ermöglicht eine sichere Erzeugung der jeweiligen Antriebsbewegung.At least one eccentric according to claim 5 enables the respective drive movement to be reliably generated.

Der Antrieb der Hubverlagerungsbewegung des Drückerfußes einerseits sowie eine Transportbewegung der Nadelstange andererseits kann insbesondere über jeweilige Exzenter von ein und derselben Antriebswelle abgeleitet werden.The drive of the stroke displacement movement of the presser foot on the one hand and a transport movement of the needle bar on the other hand can be derived from one and the same drive shaft, in particular via respective eccentrics.

Eine Schiebewelle nach Anspruch 6 ermöglicht einen sicheren Antrieb der Greiferbewegung. Die Schiebeachse der Schiebewelle kann mit der Schwenkachse des Greifer-Unterteils zusammenfallen.A sliding shaft according to claim 6 enables the gripper movement to be driven safely. The sliding axis of the sliding shaft can coincide with the pivot axis of the gripper lower part.

Ein Greiferantrieb nach Anspruch 7 gewährleistet, dass der mindestens eine Greifer insbesondere einer Nadeltransportbewegung der zugeordneten Nadel folgt. Soweit jeweils eine der Bewegungskomponenten mit Hilfe einer Schiebewelle nach Anspruch 6 erzeugt wird, können zwei Schiebewellen zum Antreiben des Greifers längs der beiden Bewegungskomponenten zum Einsatz kommen. Eine der Schiebewellen kann als Hohlwelle ausgeführt sein, in welcher die andere der beiden Schiebewellen läuft.A gripper drive according to claim 7 ensures that the at least one gripper follows in particular a needle transport movement of the associated needle. If one of the movement components is generated with the help of a sliding shaft according to claim 6, two sliding shafts can be used to drive the gripper along the two movement components are used. One of the sliding shafts can be designed as a hollow shaft in which the other of the two sliding shafts runs.

Die Vorteile einer Nut/Federverbindung mit einem Ringglied nach Anspruch 8 und einer Exzenterübertragung nach Anspruch 9 in Bezug auf den Greifer entsprechen denen, die vorstehend im Zusammenhang mit dem Nadelstangenantrieb bereits erläutert wurden.The advantages of a tongue and groove connection with a ring member according to claim 8 and an eccentric transmission according to claim 9 in relation to the gripper correspond to those that have already been explained above in connection with the needle bar drive.

Ein Ausführungsbeispiel der Erfindung wird nachfolgend anhand der Zeichnung näher erläutert. In dieser zeigen:

Fig. 1
eine innere Details preisgebende Seitenansicht einer Nähmaschine einer Nähanlage zum Nähen von mehrdimensional im Raum liegenden Nähten;
Fig. 2
vergrößert eine nähkopfseitige Baugruppe der Nähmaschine, nämlich ein Nähkopf-Oberteil mit einem hierin drehbar gelagerten Nadelstangen-Oberteil;
Fig. 3
eine wiederum interne Details preisgebende, gebrochene Ansicht auf einen Nähkopf der Nähmaschine aus Blickrichtung III in Fig. 1;
Fig. 4
perspektivisch und vergrößert Stichbildungskomponenten der Nähmaschine, insbesondere Komponenten eines Nähkopf-Unterteils, in dem ein Greifer-Unterteil mit einem Greifer synchron mit dem Nadelstangen-Oberteil angetrieben schwenkbar gelagert ist;
Fig. 5
eine wiederum interne Details preisgebende Ansicht auf das Nähkopf-Unterteil aus Blickrichtung V in Fig. 1;
Fig. 6
in einer zu Fig. 4 ähnlichen Darstellung Komponenten einer Gelenkverbindung des Greifer-Unterteils, über die eine zweidimensionale Greiferbewegung angetrieben wird, aus einer in etwa entgegengesetzten Blickrichtung zu Fig. 4; und
Fig. 7
in einer zu den Fig. 4 und 6 ähnlichen Darstellung die Gelenkverbindung des Greifer-Unterteils, gesehen aus einer Blickrichtung, die zu denjenigen der Fig. 4 und 6 etwa um 90° verdreht ist.
An exemplary embodiment of the invention is explained in more detail below with reference to the drawing. In this show:
Fig. 1
a side view of a sewing machine of a sewing system for sewing multi-dimensional seams in space, revealing internal details;
Fig. 2
enlarges a sewing head-side assembly of the sewing machine, namely an upper sewing head part with an upper needle bar part rotatably mounted therein;
Fig. 3
a broken view of a sewing head of the sewing machine from viewing direction III in., again revealing internal details Fig. 1 ;
Fig. 4
perspective and enlarged stitch formation components of the sewing machine, in particular components of a lower part of the sewing head, in which a lower part of the gripper is pivotally mounted with a gripper driven synchronously with the upper part of the needle bar;
Fig. 5
a view of the lower part of the sewing head from the direction V in, again revealing internal details Fig. 1 ;
Fig. 6
in one too Fig. 4 Similar representation of components of an articulated connection of the lower part of the gripper, via which a two-dimensional gripper movement is driven, from an approximately opposite viewing direction Fig. 4 ; and
Fig. 7
in one to the Fig. 4 and 6 Similar representation of the joint connection of the gripper lower part, seen from a viewing direction that corresponds to that of Fig. 4 and 6 is rotated approximately 90°.

Eine Nähanlage 1 dient zum Nähen von mehrdimensional und insbesondere von nicht eben dreidimensional im Raum liegenden Nähten. Ein Anwendungsbeispiel für die Nähanlage 1 ist das Anbringen von Ziernahtapplikationen im Innenraum von Fahrzeugen, beispielsweise an Instrumententafeln, Türseitenverkleidungen oder Armauflagen. Zur Nähanlage 1 gehört eine in der Fig. 1 im Detail dargestellte Nähmaschine 2, die getragen wird von einem nur schematisch dargestellten Arm 3 eines Roboters 4, mit dem die Nähmaschine 2 beliebig gesteuert in fünf oder sechs Freiheitsgraden im Raum orientiert werden kann.A sewing system 1 is used to sew multi-dimensional and in particular seams that are not exactly three-dimensional in space. An example of an application for the sewing system 1 is the attachment of decorative seam applications in the interior of vehicles, for example on instrument panels, door side panels or armrests. The sewing system 1 includes one in the Fig. 1 Sewing machine 2 shown in detail, which is carried by an arm 3 of a robot 4, which is only shown schematically, with which the sewing machine 2 can be oriented as desired in five or six degrees of freedom in space.

Zur Erleichterung von Lagebeziehungen ist in den Figuren jeweils ein kartesisches xyz-Koordinatensystem angegeben. Die x-Achse, längs der in einer Ausgangsstellung von nachfolgend noch näher beschriebenen Stichbildungswerkzeugen die Naht erzeugt wird, steht senkrecht auf der Zeichenebene der Fig. 1 und läuft aus dieser heraus. Die y-Richtung verläuft in der Fig. 1 nach rechts und die z-Richtung verläuft in der Fig. 1 nach oben.To facilitate positional relationships, a Cartesian xyz coordinate system is indicated in the figures. The x-axis, along which the seam is created in a starting position of the stitch forming tools described in more detail below, is perpendicular to the drawing plane Fig. 1 and runs out of it. The y-direction is in the Fig. 1 to the right and the z direction is in the Fig. 1 up.

Die Nähmaschine 2 hat ein Gehäuse 5 mit einem C-förmigen Grundaufbau mit einem Gehäuseoberteil 6, einem Gehäuseunterteil 7 und einem diese beiden Teile zur C-Form verbindenden Ständer 8. Das Gehäuseoberteil 6 und das Gehäuseunterteil 7 verlaufen längs der y-Richtung. Der Ständer 8 verläuft längs der z-Richtung.The sewing machine 2 has a housing 5 with a C-shaped basic structure with an upper housing part 6, a lower housing part 7 and a stand 8 connecting these two parts to form a C shape. The upper housing part 6 and the lower housing part 7 run along the y-direction. The stand 8 runs along the z-direction.

Als Stichbildungskomponenten hat die Nähmaschine 2 zwei Nähnadeln 9, 10 (vgl. Fig. 2), die von einer gemeinsamen Nadelstange 11 (vgl. Fig. 3) getragen werden. Die Nadelstange 11 ist in einem Nadelstangen-Oberteil 12 längs ihrer Längsachse 13 auf und abgehend angetrieben gelagert.The sewing machine 2 has two sewing needles 9, 10 as stitch forming components (cf. Fig. 2 ), which is supported by a common needle bar 11 (cf. Fig. 3 ) can be worn. The needle bar 11 is mounted in a needle bar upper part 12 along its longitudinal axis 13, driven up and down.

Das Nadelstangen-Oberteil 12 ist wiederum in einem Nähkopf-Oberteil 14 um die Nadelstangen-Längsachse 13 angetrieben schwenkbar, nämlich um 360° drehbar, gelagert. Die Nadelstangen-Längsachse 13 verläuft parallel zur z-Achse.The needle bar upper part 12 is in turn mounted in a sewing head upper part 14 so that it can be driven and pivoted about the needle bar longitudinal axis 13, namely rotatable through 360 °. The needle bar longitudinal axis 13 runs parallel to the z-axis.

Das Nähkopf-Oberteil 14 bildet einen endseitigen Abschnitt des Gehäuseoberteils 6.The sewing head upper part 14 forms an end section of the upper housing part 6.

Als weitere Stichbildungskomponente dienen zwei Greifer 15, 16, die an einem Greifer-Unterteil 17 synchron mit den Nähnadeln 9, 10 zur Stichbildung angetrieben gelagert sind. Das Greifer-Unterteil 17 bildet eine Säule der Nähmaschine 2. Das Greifer-Unterteil 17 ist wiederum um die Nadelstangen-Längsachse 13 synchron mit dem Nadelstangen-Oberteil 12 in einem Nähkopf-Unterteil 18 angetrieben schwenkbar gelagert. Das Nähkopf-Unterteil 18 stellt einen endseitigen Abschnitt des Gehäuseunterteils 7 dar.Two grippers 15, 16, which are mounted on a gripper lower part 17 synchronously with the sewing needles 9, 10 for stitch formation, serve as a further stitch formation component. The lower gripper part 17 forms a column of the sewing machine 2. The lower gripper part 17 is in turn pivotally mounted about the needle bar longitudinal axis 13 synchronously with the upper needle bar part 12 in a lower sewing head part 18. The sewing head lower part 18 represents an end section of the lower housing part 7.

Aufgrund der Säulengestaltung des Greifer-Unterteils 17 und des Nähkopf-Unterteils 18 ist ein Stichbildungsbereich, in dem die Naht mit der Nähmaschine 2 erzeugt wird, sehr frei von allen Seiten her zugänglich.Due to the columnar design of the lower part of the gripper 17 and the lower part of the sewing head 18, a stitch formation area in which the seam is created with the sewing machine 2 is very freely accessible from all sides.

Bei der Stichbildung werden die beiden Nähnadeln 9, 10 längs der Nadelstangen-Längsachse 13 auf und abgehend und zudem zum Nadeltransport in +/-x-Richtung schwingend angetrieben. Synchron hierzu wird eine Schwenkbewegung der Greifer 15, 16 mit in etwa parallel zur x-y-Ebene liegender ovaler Bewegungsbahn angetrieben. Eine x-Komponente dieses Bewegungsovals der Greifer 15, 16 ist dabei größer als eine y-Komponente.When forming the stitches, the two sewing needles 9, 10 are driven up and down along the needle bar longitudinal axis 13 and also oscillating in the +/-x direction for needle transport. Synchronously with this, the grippers 15, 16 pivot approximately parallel to the xy plane lying oval movement path driven. An x component of this oval of movement of the grippers 15, 16 is larger than a y component.

Der Antrieb dieser Stichbildungsbewegungen der Nähnadeln 9, 10 und der Greifer 15, 16 erfolgt angetrieben von einem Näh-Antriebsmotor 19, der in dem Ständer 8 des Gehäuses 5 untergebracht ist. Der Näh-Antriebsmotor 19 treibt über ein darunter montiertes Winkelgetriebe 20 und einen Zahnriemen 21 eine Nähantriebs-Unterwelle 22 an, die parallel zur y-Achse im Gehäuseunterteil 7 bis zum Nähkopf-Unterteil 18 verläuft. Über die Unterwelle 22 werden zwei Exzenter 23, 24 angetrieben, die im Nähkopf-Unterteil 18 untergebracht sind und über eine Zahnriemenverbindung zum synchronen Antrieb miteinander in Antriebsverbindung stehen.These stitch formation movements of the sewing needles 9, 10 and the grippers 15, 16 are driven by a sewing drive motor 19, which is housed in the stand 8 of the housing 5. The sewing drive motor 19 drives a sewing drive lower shaft 22 via an angular gear 20 mounted underneath and a toothed belt 21, which runs parallel to the y-axis in the lower housing part 7 to the lower sewing head part 18. Two eccentrics 23, 24 are driven via the lower shaft 22, which are accommodated in the sewing head lower part 18 and are in drive connection with one another via a toothed belt connection for synchronous drive.

Abtriebsseitig steht der Exzenter 23 mit einer Schiebe-Innenwelle 25 in Verbindung, die parallel zur z-Achse durch das Nähkopf-Unterteil 18 bis zu einer Gelenkverbindung 26 (vgl. Fig. 4 bis 7) verläuft, über die die Greifer 15, 16 mit dem drehbaren Greifer-Unterteil 17 verbunden sind. Eine Wirkverbindung zwischen dem Exzenter 23 und der Schiebe-Innenwelle 25 erfolgt über einen Ring-Mitnehmer 27. Beim Verdrehen des Greifer-Unterteils 17 zum Nähkopf-Unterteil 18 um die Nadelstangen-Längsachse 13, die mit der Schiebewellen-Längsachse zusammenfällt, wird die Schiebe-Innenwelle 25 in einer Schiebeöse 28 des Exzenters 23 verdreht. Eine Ring-Symmetrieachse der Schiebeöse 28 fällt mit der Nadelstangen-Längsachse 13 zusammen.On the output side, the eccentric 23 is connected to a sliding inner shaft 25, which runs parallel to the z-axis through the sewing head lower part 18 to an articulated connection 26 (cf. Fig. 4 to 7 ) runs, via which the grippers 15, 16 are connected to the rotatable gripper lower part 17. An operative connection between the eccentric 23 and the sliding inner shaft 25 takes place via a ring driver 27. When the gripper lower part 17 is rotated relative to the sewing head lower part 18 about the needle bar longitudinal axis 13, which coincides with the sliding shaft longitudinal axis, the sliding -Inner shaft 25 twisted in a sliding eyelet 28 of the eccentric 23. A ring axis of symmetry of the sliding eyelet 28 coincides with the needle bar longitudinal axis 13.

Am dem Ring-Mitnehmer 27 abgewandten greiferseitigen Ende ist an der Schiebe-Innenwelle 25 ein Schiebehebel 29 fixiert. An diesem montiert ist eine Schwenkhebel-Baugruppe 30, die eine z-Schwingbewegung (vgl. Doppelpfeil 31 in der Fig. 7) des Schiebehebels 29 in eine Drehschwingbewegung (vgl. Doppelpfeil 32 in der Fig. 7) um eine zur y-Achse parallele Greifer-Hauptschwenkachse 33 überträgt.At the gripper-side end facing away from the ring driver 27, a sliding lever 29 is fixed to the sliding inner shaft 25. Mounted on this is a pivoting lever assembly 30, which produces a z-oscillating movement (cf. Double arrow 31 in the Fig. 7 ) of the sliding lever 29 into a torsional oscillating movement (cf. double arrow 32 in the Fig. 7 ) about a main gripper pivot axis 33 parallel to the y-axis.

Drehfest mit der Schwenkhebel-Baugruppe 30 verbunden ist ein Greiferträger 34, an dem die beiden Greifer 15, 16 montiert sind.A gripper carrier 34, on which the two grippers 15, 16 are mounted, is connected in a rotationally fixed manner to the pivot lever assembly 30.

Der zweite Exzenter 24 im Nähkopf-Unterteil 18 ist über einen entsprechenden Ring-Mitnehmer 27 und eine Schiebeöse 28 mit einer Schiebe-Außenwelle 35 verbunden. Der zweite Exzenter 24 überträgt die Drehbewegung der Unterwelle 22 in eine z-Schwingbewegung der Schiebe-Außenwelle 35. Die Schiebe-Außenwelle 35 umgibt die Schiebe-Innenwelle 25 und ist mit dieser drehbar im Nähkopf-Unterteil 18 gelagert.The second eccentric 24 in the sewing head lower part 18 is connected to a sliding outer shaft 35 via a corresponding ring driver 27 and a sliding eyelet 28. The second eccentric 24 transmits the rotational movement of the lower shaft 22 into a z-oscillating movement of the sliding outer shaft 35. The sliding outer shaft 35 surrounds the sliding inner shaft 25 and is rotatably mounted with it in the sewing head lower part 18.

Am dem Ring-Mitnehmer 27 abgewandten, greiferseitigen Ende ist an der Schiebe-Außenwelle 35 wiederum ein Schiebehebel 36 fixiert, an dem ein Schwenkhebel 37 angelenkt ist. Letzterer ist an einem fest mit dem Greiferträger 34 verbundenen Grundkörper 38 der Gelenkverbindung 26 angelenkt. Der Schwenkhebel 37 überträgt eine z-Schwingbewegung (vgl. Doppelpfeil 39 in der Fig. 7) des Schiebehebels 36 in eine Dreh-Schwingbewegung (vgl. Doppelpfeil 40 in der Fig. 7) des Grundkörpers 38 um eine Greifer-Nebenschwenkachse 41.At the gripper-side end facing away from the ring driver 27, a sliding lever 36 is fixed to the sliding outer shaft 35, to which a pivoting lever 37 is articulated. The latter is articulated on a base body 38 of the joint connection 26 which is firmly connected to the gripper carrier 34. The pivoting lever 37 transmits a z-oscillating movement (see double arrow 39 in the Fig. 7 ) of the sliding lever 36 in a rotary-oscillating movement (cf. double arrow 40 in the Fig. 7 ) of the base body 38 about a gripper secondary pivot axis 41.

Ein Zusammenspiel eines Verschwenkens des Greiferträgers 34 mit dem Grundkörper 38 einerseits um die Greifer-Hauptschwenkachse 33 und andererseits um die Greifer-Nebenschwenkachse 41 sorgt für die oben bereits erwähnte ovale Bewegungsbahn der Greifer 15, 16 in der xy-Ebene. Diese Bewegungsbahn erfolgt synchronisiert zur Bewegung der Nadelstange 11, deren Antrieb nachfolgend erläutert wird.An interaction of pivoting of the gripper carrier 34 with the base body 38 on the one hand about the gripper main pivot axis 33 and on the other hand about the gripper secondary pivot axis 41 ensures the above-mentioned oval movement path of the grippers 15, 16 in the xy plane. This movement path is synchronized with the movement of the needle bar 11, the drive of which is explained below.

Über einen weiteren Zahnriemen 42 wird eine Drehbewegung der Unterwelle 22 übertragen in eine Drehbewegung einer Oberwelle 43, die parallel zur y-Richtung im Gehäuseoberteil 6 verläuft. Die Oberwelle 43 treibt eine Kurbel 44 an, die über einen Ring-Mitnehmer 45 mit der Nadelstange 11 zum Antrieb von deren Auf- und Abbewegung längs der z-Achse verbunden ist. Beim Verdrehen des Nadelstangen-Oberteils 12 im Nähkopf-Oberteil 14 bildet der Ring-Mitnehmer 45 eine Nut/Federverbindung mit einem drehfest mit der Nadelstange 11 verbundenen Ringglied 46 und einer hiermit zusammenwirkenden und fest mit der Kurbel 44 verbundenen Gabel-Komponente. Eine Ring-Symmetrieachse des Ringglieds 46 fällt mit der Nadelstangen-Längsachse 13 zusammen.A further toothed belt 42 transmits a rotational movement of the lower shaft 22 into a rotational movement of an upper shaft 43, which runs parallel to the y-direction in the upper housing part 6. The harmonic shaft 43 drives a crank 44, which is connected via a ring driver 45 to the needle bar 11 to drive its up and down movement along the z-axis. When the needle bar upper part 12 is rotated in the sewing head upper part 14, the ring driver 45 forms a tongue and groove connection with a ring member 46 that is non-rotatably connected to the needle bar 11 and a fork component that interacts with it and is firmly connected to the crank 44. A ring axis of symmetry of the ring member 46 coincides with the needle bar longitudinal axis 13.

Über eine Kupplung wird die Drehbewegung der Oberwelle 43 übertragen in eine Drehbewegung einer Nadeltransport/Drückerfuß-Antriebswelle 47, die in den Fig. 1 und 2 vor der Oberwelle 43 angeordnet ist und diese abschnittsweise verdeckt.The rotational movement of the upper shaft 43 is transmitted via a clutch into a rotational movement of a needle transport/presser foot drive shaft 47, which is in the Fig. 1 and 2 is arranged in front of the harmonic 43 and covers it in sections.

Die Nadeltransport/Drückerfuß-Antriebswelle 47 treibt einen Nadeltransport-Exzenter 48 und einen Drückerfuß-Exzenter 49 an.The needle transport/presser foot drive shaft 47 drives a needle transport eccentric 48 and a presser foot eccentric 49.

Ein in z-Richtung (vgl. Doppelpfeil 50 in der Fig. 2) schwingender Schiebehebel 51 des Nadeltransport-Exzenters 48 steht über einen gabelförmigen Gelenkhebel 52 und eine Nut/Federverbindung 53 mit einem Ringglied 54 in Verbindung. Eine Ring-Symmetrieachse des Ringglieds 54 fällt mit der Nadelstangen-Längsachse 13 zusammen. Zwei einander gegenüberliegende Federn der Gabel des Gelenkhebels 52 greifen dabei in eine umlaufende Nut des Ringglieds 54 ein. Das Ringglied 54 ist drehfest mit dem Nadelstangen-Oberteil 12 verbunden. Axial ist das Ringglied 54 entsprechend dem Antrieb über den Gelenkhebel 52 zu einem Grundkörper des Nadelstangen-Oberteils 12 beweglich (vgl. Doppelpfeil 55 in Fig. 3). Am Ringglied 54 ist über eine Gelenkverbindung 56 ein Nadeltransporthebel 57 (vgl. Fig. 3) angelenkt, der über eine weitere Gelenkverbindung 58 mit dem Grundkörper des Nadelstangen-Oberteils 12 verbunden ist. Über einen Bolzen 59 ist der Nadeltransporthebel 57 mit einer Führung 60 der Nadelstange 11 verbunden, die gleichzeitig auch eine Führung für eine Drückerfußstange 61 eines Drückerfußes 62 darstellt.On in the z direction (cf. double arrow 50 in the Fig. 2 ) swinging sliding lever 51 of the needle transport eccentric 48 is connected to a ring member 54 via a fork-shaped articulated lever 52 and a tongue and groove connection 53. A ring axis of symmetry of the ring member 54 coincides with the needle bar longitudinal axis 13. Two opposing springs of the fork of the articulated lever 52 engage in a circumferential groove of the ring member 54. The ring member 54 is connected to the needle bar upper part 12 in a rotationally fixed manner. The ring member 54 is axially corresponding the drive via the articulated lever 52 to a base body of the needle bar upper part 12 movable (see double arrow 55 in Fig. 3 ). A needle transport lever 57 is attached to the ring member 54 via an articulated connection 56 (cf. Fig. 3 ) is articulated, which is connected to the base body of the needle bar upper part 12 via a further joint connection 58. The needle transport lever 57 is connected via a bolt 59 to a guide 60 of the needle bar 11, which at the same time also represents a guide for a presser foot bar 61 of a presser foot 62.

Die Schwingbewegung 55 des Ringgliedes 54 sorgt somit zu einer Nadeltransport-Schwingbewegung (vgl. Doppelpfeil 63 in der Fig. 3) der Nähnadeln 9, 10 gemeinsam mit dem Drückerfuß 62 in der xz-Ebene.The oscillating movement 55 of the ring member 54 thus results in a needle transport oscillating movement (cf. double arrow 63 in the Fig. 3 ) of the sewing needles 9, 10 together with the presser foot 62 in the xz plane.

Der Drückerfuß-Exzenter 49 wirkt über einen weiteren Schiebehebel 64, der in z-Richtung angetrieben schwingt (vgl. Doppelpfeil 65 in der Fig. 2) mit einem weiteren gabelförmigen Gelenkhebel 66 zusammen, der ebenfalls über eine Nut-Federverbindung 53 mit einem Ringglied 67 des Nadelstangen-Oberteils 12 zusammenwirkt. Eine Ring-Symmetrieachse des Ringglieds 67 fällt mit der Nadelstangen-Längsachse 13 zusammen. Hierdurch wird eine z-Schwingbewegung des Ringglieds 67 bewirkt (vgl. Doppelpfeil 68 in Fig. 3). Das Ringglied 67 steht mit der Drückerfußstange 61 in Schubverbindung. Die Schwingbewegung 68 des Ringglieds 67 überträgt sich somit in eine entsprechende Hubbewegung des Drückerfußes 62.The presser foot eccentric 49 acts via a further sliding lever 64, which swings in the z direction (see double arrow 65 in the Fig. 2 ) with a further fork-shaped articulated lever 66, which also interacts with a ring member 67 of the needle bar upper part 12 via a tongue and groove connection 53. A ring axis of symmetry of the ring member 67 coincides with the needle bar longitudinal axis 13. This causes a z-oscillating movement of the ring member 67 (cf. double arrow 68 in Fig. 3 ). The ring member 67 is in a shear connection with the presser foot bar 61. The oscillating movement 68 of the ring member 67 is thus transferred into a corresponding lifting movement of the presser foot 62.

Unabhängig vom Antrieb der Stichbildungskomponenten über den Näh-Antriebsmotor 19 erfolgt ein Schwenk- bzw. Drehantrieb einerseits des Nadelstangen-Oberteils 12 und andererseits des Greifer-Unterteils 17 um die Nadelstangen-Längsachse 13.Regardless of the drive of the stitch formation components via the sewing drive motor 19, a pivoting or rotary drive takes place on the one hand of the upper needle bar part 12 and on the other hand of the lower gripper part 17 about the needle bar longitudinal axis 13.

Diesen Antrieb bewerkstelligt ein Drehmotor 69, der über einen Zahnriemen 70 eine Drehantriebswelle 71 antreibt, die parallel zur z-Achse im Ständer 8 zwischen dem Gehäuseoberteil 6 und dem Gehäuseunterteil 7 verläuft. Drehfest mit der Drehantriebswelle 71 sind auf Höhe des Gehäuseoberteils 6 ein erstes, oberes Zahnrad 72 und auf Höhe des Gehäuseunterteils 7 ein zweites, unteres Zahnrad 73 verbunden.This drive is accomplished by a rotary motor 69, which drives a rotary drive shaft 71 via a toothed belt 70, which runs parallel to the z-axis in the stand 8 between the upper housing part 6 and the lower housing part 7. A first, upper gear 72 is connected to the rotary drive shaft 71 in a rotationally fixed manner at the level of the upper housing part 6 and a second, lower gear 73 is connected at the level of the lower housing part 7.

Das obere Zahnrad 72 treibt über einen im Gehäuseoberteil 6 verlaufenden Zahnriemen 74 ein drehfest mit dem Grundkörper des Nadelstangen-Oberteils 12 verbundenes Zahnrad 75 an. Parallel hierzu treibt das untere Zahnrad 73 über einen im Gehäuseunterteil 7 verlaufenden Zahnriemen 76 ein drehfest mit einem Grundkörper des Greifer-Unterteils 17 verbundenes Zahnrad 77 an. Über die Drehantriebswelle 71 sind die Verschwenkungen bzw. Verdrehungen einerseits des Nadelstangen-Oberteils 12 im Nähkopf-Oberteil 14 und andererseits des Greifer-Unterteils 17 im Nähkopf-Unterteil 18 miteinander synchronisiert.The upper gear 72 drives a gear 75 which is non-rotatably connected to the base body of the needle bar upper part 12 via a toothed belt 74 running in the upper housing part 6. At the same time, the lower gear 73 drives a gear 77 which is non-rotatably connected to a base body of the gripper lower part 17 via a toothed belt 76 running in the lower housing part 7. The pivoting or twisting of the upper part of the needle bar 12 in the upper part of the sewing head 14 and of the lower part of the gripper 17 in the lower part of the sewing head 18 are synchronized with one another via the rotary drive shaft 71.

Zum Nähen der mehrdimensional im Raum liegenden Naht wird die Nähmaschine 2 über eine zentrale Steuerung 78, die in der Fig. 1 schematisch dargestellt ist, und mit den Antriebskomponenten der Nähanlage 1 in nicht dargestellter Weise in Signalverbindung steht, durch entsprechende Ansteuerung des Roboters 4 in Position gebracht. Anschließend folgen die Stichbildungswerkzeuge 9, 10, 15 und 16 dem vorgegebenen Nahtverlauf. Je nach der Topografie der zu vernähenden Bauteile und je nach dem Nahtverlauf werden das Nadelstangen-Oberteil 12 und synchron hierzu das Greifer-Unterteil 17 synchron zueinander um die Nadelstangen-Längsachse 13 relativ zum Gehäuse 5 verschwenkt. Auf diese Weise sind auch schwer zugängliche Nahtorte erreichbar.To sew the multi-dimensional seam in space, the sewing machine 2 is controlled via a central control 78, which is located in the Fig. 1 is shown schematically, and is in signal connection with the drive components of the sewing system 1 in a manner not shown, brought into position by appropriate control of the robot 4. The stitch forming tools 9, 10, 15 and 16 then follow the specified seam path. Depending on the topography of the components to be sewn and depending on the course of the seam, the upper needle bar part 12 and, synchronously, the lower gripper part 17 are pivoted synchronously with one another about the needle bar longitudinal axis 13 relative to the housing 5. In this way, even hard-to-reach seams can be reached.

Claims (9)

  1. A sewing system (1) for sewing seams which lie multi-dimensionally in space
    - having a sewing head
    -- having a needle-bar upper part (12) in which a needle bar (11) is mounted so as to be driven in an upward and downward manner along the longitudinal axis (13) of the latter, at least one sewing needle (9, 10) being held as a stitch-formation tool on said needle bar (11);
    -- having a sewing-head upper part (14) in which the needle-bar upper part (12) is mounted so as to be pivotable in a driven manner about the longitudinal axis (13) of the needle bar (11);
    -- having a gripper lower part (17) on which at least one gripper (15, 16) is mounted as a stitch-formation tool that is driven in a manner synchronous with the sewing needle (9, 10);
    -- having a sewing-head lower part (18) in which the gripper lower part (17) is mounted so as to be pivotable in a driven manner, and in a manner synchronous with the needle-bar upper part (12), about the longitudinal axis (13) of the needle bar (11);
    - wherein motor components (19, 69)
    -- for driving the upward and downward movement of the needle bar (11),
    -- for pivoting the needle-bar upper part (12),
    -- for driving the gripper (15, 16) in a manner synchronous with the needle bar (11),
    -- for pivoting the gripper lower part (17)
    - are disposed outside the needle-bar upper part (12) and outside the gripper lower part (17) and thus are not pivoted when the needle-bar upper part (12) and the gripper lower part (17) are pivoted.
    characterized in that the needle-bar upper part (12) by way of at least one tongue-and-groove connection (45), having an annular member (46) having a groove or a tongue, is operatively connected to a motor component (19) for driving the upward and downward movement of the needle bar (11), wherein an axis of annular symmetry of the annular member (46) coincides with the needle-bar longitudinal axis (13) or is parallel with the latter.
  2. The sewing system as claimed in claim 1, characterized in that the needle-bar upper part (12) and the gripper lower part (17) are mounted in the sewing-head upper part (14), on the one hand, and in the sewing-head lower part (18), on the other hand, so as to be rotatable by 360°.
  3. The sewing system as claimed in one of claims 1 and 2, characterized by a presser foot (62) which in the needle-bar upper part (12) in a driven manner is capable of reciprocating along the longitudinal axis of said presser foot (62), wherein the needle-bar upper part (12) by way of at least one tongue-and-groove connection (53), having an annular member (67) having a groove or a tongue, is operatively connected to a motor component (19) for driving a reciprocating movement of the presser foot (62), wherein an axis of annular symmetry of the annular member (67) coincides with the needle-bar longitudinal axis (13) or is parallel with the latter.
  4. The sewing system as claimed in one of claims 1 to 3, characterized in that the needle-bar upper part (12) by way of at least one tongue-and-groove connection (53), having an annular member (54) having a groove or a tongue, is operatively connected to a motor component (19) for driving a sewn goods transport movement (16) of the needle bar (11), wherein an axis of annular symmetry of the annular member (54) coincides with the needle-bar longitudinal axis (11), or is parallel with the latter.
  5. The sewing system as claimed in one of claims 1 to 4, characterized by at least one tappet (48, 49) for converting a rotation of a drive shaft (47) to a transport movement of the needle bar (11) and/or to a reciprocating movement of the presser foot (62), wherein the tappet (48, 49) interacts with the annular member (54, 67) by way of the at least one tongue-and-groove connection (53).
  6. The sewing system as claimed in one of claims 1 to 5, characterized in that at least one sliding shaft (25, 35) is disposed in the gripper lower part (17) so as to be parallel with the pivot axis (13) of the gripper lower part (17), said sliding shaft (25, 35) for driving a gripper movement interacting with the gripper (15, 16) by way of an articulated connection (26).
  7. The sewing system as claimed in one of claims 1 to 6, characterized in that a gripper drive (25, 29, 35) drives the gripper (15, 16) along two mutually perpendicular movement components (32, 40).
  8. The sewing system as claimed in one of claims 1 to 7, characterized in that the gripper lower part (17) by way of at least one tongue-and-groove connection (27) having an annular member (28) having a groove or a tongue, is operatively connected to a motor component (19) for driving the gripper (15, 16).
  9. The sewing system as claimed in one of claims 6 to 8, characterized by at least one tappet (23, 24) for converting a rotation of a drive shaft (22) to an upward and downward movement of the at least one sliding shaft (25, 35) for driving the gripper (15, 16), wherein the tappet (23, 24) interacts with the annular member (28) by way of the at least one tongue-and-groove connection (27).
EP16782234.5A 2015-10-19 2016-10-18 Sewing unit Active EP3365485B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015220332.8A DE102015220332A1 (en) 2015-10-19 2015-10-19 sewing
PCT/EP2016/074922 WO2017067900A1 (en) 2015-10-19 2016-10-18 Sewing unit

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EP3365485A1 EP3365485A1 (en) 2018-08-29
EP3365485B1 true EP3365485B1 (en) 2024-01-10
EP3365485C0 EP3365485C0 (en) 2024-01-10

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DE102022203472A1 (en) * 2022-04-07 2023-10-12 Dürkopp Adler GmbH sewing machine

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EP3365485C0 (en) 2024-01-10
JP6905980B2 (en) 2021-07-21
CA3002269C (en) 2023-09-05
WO2017067900A1 (en) 2017-04-27
DE102015220332A1 (en) 2017-04-20
US10851483B2 (en) 2020-12-01
US20180313012A1 (en) 2018-11-01
MX2018004758A (en) 2019-05-16
CA3002269A1 (en) 2017-04-27
JP2018531119A (en) 2018-10-25
EP3365485A1 (en) 2018-08-29
ES2971047T3 (en) 2024-06-03

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