JP2552105B2 - Assembly device for suture articles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Citation of Related Patent Application The subject matter of this patent application is "System and Method for Manufacturing Se" which was filed on February 4, 1983.
amed Articles "U.S. Pat. No. 4041044, U.S. patent application entitled" Automated Seamed Joining Apparatus "
The title of the invention filed on Ser. No. 345756 and on June 19, 1983 is "Automated Assembly System For Seamed Artic".
"les" US patent application Ser. No. 515126.

BACKGROUND OF THE INVENTION The present invention relates to the assembly of suture articles made from flexible materials such as cloth. In particular, the invention relates to an apparatus for assembling suture articles from flexible materials either automatically or with computer control.

Conventional assembly line manufacturing of sewn or sutured articles formed from soft cloth consists of a series of manually controlled assembly operations. Generally, the contact delivery and control of the fabric to be sewn is performed under manual control over the sewn or sewn head. One drawback of this technique is that it is very labor intensive. That is, most of the manufacturing costs are labor costs. In order to save costs, manufacturing methods that are more automated or have computer control have been proposed.

U.S. patent application for automated method for cloth feed and control
Ser. No. 345756. According to the disclosure, a pair of belt assemblies are arranged on both sides of the flat cloth position. Each belt assembly is moved to selectively perform relative movement along a reference axis with respect to the fabric layer lying at the fabric position. The suture or stitch head is adapted to move adjacent the fabric position along an axis perpendicular to the reference axis. Each belt provides flexible fabric control in the area traversed by the sewing head,
In that case, the belts are selectively withdrawn so that a sewing head advancing along their axis of motion can pass between them. In this approach, flexible fabric control is allowed in the area to be sutured.

The apparatus disclosed in U.S. Patent Application Ser. No. 515126 for making suture articles from flexible fabric strips provides more precise "near-site" flexible fabric control. That is, the control of the cloth is performed in the area close to the sewing head. These devices include a feeder for selectively feeding the flexible cloth strip in the direction of the first (Y) reference axis. The feeding control can also be performed in a second (X) axis line that intersects the Y axis line and is perpendicular to the Y axis line.

In one form, the folding device folds the strip of fabric along a folding axis displaced from the feed axis (Y-axis), thereby forming a folding portion having an upper layer overlying a lower layer. To control the position of the cloth. Supports are used to position the upper and lower layers of the folded portion on a substantially flat fabric surface.

In one embodiment of these devices, the support includes a frame member, a support assembly coupled to the feeder, a drive drive motor, and a selective positioning of the frame member relative to the support assembly in the direction of the X axis. And an associated link mechanism for doing so. A pair of lower belt assemblies are connected to the frame member.
Each lower belt assembly consists of a plurality of continuous loop lower belts located below the fabric position.
The lower belt is adapted such that its outer top surface frictionally joins with the lower layer of the folded portion. The lower belt assemblies are located adjacent to each other along the X-axis, and each assembly attaches the lower belt to the lower fabric layer bonded to the lower belt so that it can be aligned in the X-axis modulo. It has an associated driver for selectively exercising.

A pair of upper belt assemblies are also connected to the frame member. The upper belt assembly is adapted to overlie the lower belt assembly. Each of the upper belt assemblies has a plurality of upper belts (which may be located opposite respective lower belts). The upper belt has a flattened lowermost portion spaced from the upper surface of the lower belt. The upper belt is the outermost bottom surface,
It is adapted to frictionally bond with the upper layer of the folded portion. Each of the upper belt assemblies has an associated driver for selectively moving the upper belt so that the lower layer coupled to the belt can be positioned in the X-axis direction. There is. The area between the lowermost portion of the upper belt and the uppermost portion of the lower belt defines the location of the fabric, and thus the location of the fabric is defined by the intersecting X and Y axes. It is substantially parallel to the plane formed.

Generally, a computer controller is used to selectively control the driver for each belt so that the upper and lower layers can be placed substantially independently along the fabric location in the direction of the X-axis. ing. In another form of these devices, each belt assembly may also be controllable in the Y-axis direction so that the upper and lower layers are oriented along the fabric location in the X-axis and Y-axis directions. It can be positioned substantially independently, thus allowing control of the movement of each layer in these directions.

The sewn portion or sewn head of the cloth is composed of an upper assembly and a lower assembly. The upper and lower assemblies are adapted to perform tandem movement between the upper belt assembly and the lower belt assembly along a direction parallel to the Y-axis.
An associated driver controls the position of the suture upper and lower assemblies along the axis of motion. The stitching portion is selectively operable to form a seam in the fabric at the fabric location under the control of the computer controller.

In one embodiment of these devices, at least one pair of adjacent pairs of belt assemblies comprises:
A closed loop opposing pair of belts is provided with an associated controller, wherein the closed loop pair of belts are selectively retracted in the X direction, thereby, for example, in U.S. Patent Application Ser. No. 345756. The suture head can be passed between the belts in the Y direction in the manner disclosed in US Pat.

The suture head may include a needle assembly having an elongated needle carrying a thread extending along a needle reference axis perpendicular to the fabric location. In operation, the needle is moved in a reciprocating motion along the needle reference axis to penetrate the fabric location. The needle assembly includes an upper feed tooth assembly that is responsive to the upper feed drive signal to move the top layer of fabric to a region adjacent the needle in the direction of the upper axis perpendicular to the needle reference axis. And exercise selectively.

Generally, bobbin assemblies are used in such devices and are adapted to interact with needle assemblies to form stitch stitches. The bobbin assembly includes a lower feed dog assembly that is responsive to the lower feed dog drive signal to move the bottom layer of fabric to a lower position that is perpendicular to the needle reference axis. Movement into the area adjacent to the needle in the direction of the lateral axis.

In one embodiment of these devices, the controller generates a subassembly signal representative of the desired location of the fabric layer suture relative to the fabric layer. The alignment sensor produces a signal representative of the current position of the upper and lower fabric layers. The controller provides comprehensive control of belt assembly and feed dog and needle and bobbin assembly rotation and feed control to achieve coordinated movement of each assembly. The feed dog provides near-field or local position control of the upper and lower layers of fabric in the region of the suture head near the needle.

While the above-described device effectively provides a solution to the automatic assembly of the sewn article, it does this as a step of movement, especially the formation of the seam, by positioning, orienting the flexible cloth. (Hereinafter, simply referred to as orientation) and the operation regarding folding is limited. Further, the automatic assembling apparatus requires a feed back controller for performing such a preparatory operation. In all such movements, it is important to achieve accurate and repetitive edge positioning of the fabric to ensure uniform quality of the garment.
In addition, such an aspect is particularly important in view of the requirements of conventional specialized assemblies that require a clamp or attachment that retains the desired high volume and pattern or size. Another factor of such automated assembly equipment is
It must be cost-effective compared to current equipment.

Accordingly, one object of the present invention is to provide an improved device for automated assembly of sutures or sewn articles.

Another object is for a suture or sewn article with a relatively low cost optical feed backing device to control the position and orientation of the fabric (orientation, hereinafter orientation). It is an object of the present invention to provide an improved automatic assembly device.

Yet another object is to provide an improved folding device for folding fabric in an automated suture article assembly device.

SUMMARY OF THE INVENTION In summary, the present invention is directed to a flexible material handling device comprising a device for selectively manipulating one or more pliable material layers. The handling device comprises a support assembly adapted to support the material on the reference surface. The operating device includes a selectively operable folding assembly that mechanically couples (or grasps the curving area) to at least the curved region of the uppermost material layer on the support surface. A gripping device is provided, and the operating device further has a device for controlling and positioning the contour of the gripped area of material and for releasing the gripped area. In an embodiment of the invention adapted to fold, the folding assembly comprises a device for selectively lifting or lowering a gripped area of material, thereby lowering the lifted area onto a reference surface. Or it can be lowered onto the next higher material layer located above the reference surface. Grasping and releasing device, contour control and positioning device and lifting and All descending device is selectively operable under the control of the control device, and the control device,
Generally, in the preferred embodiment of the present invention, it is controlled by a microcomputer.

Generally, a folding assembly grips a curved region of material, controls the curvature or bending of the gripped curved region, ensures that the region has a selected contour, and selectively grips the gripped region. It is operable to translate and rotate to release the material after positioning at a selected location located on the associated curved region of the reference surface. To fold the material, the lifting action on the gripped area alternates with the folding action. After that,
The translated / or rotated / or reshaped curvilinear region is lowered with the associated curvilinear region underlying the reference surface or is located above the curvilinear region associated with the reference surface Be dropped to the top.

In particular, in the article assembly apparatus according to the present invention, the apparatus further comprises a suturing device, such as a sewing machine, which is selectively positioned along the reference axis. The suturing device is adapted to selectively suture adjacent regions of one or more layers of flexible material elements passing through the reference axis. The assembly device includes a number of parallel endless belt assemblies that selectively impart flexible material to the suturing device at a point on the first datum axis. It is adapted to be transported and aligned.

The belt assembly also provides selective orientation of the flexible material elements to be sewn. Each belt of the belt assembly is selectively controllable to exert a desired tension on the material element in the region of the flexible material adjacent and including the first reference axis. Results Suture is performed under controlled tension. In addition, the belt repositions the upper and lower layers of multilayer material at the suture head to provide relative positioning of these layers for a further 3
It can be selectively exercised to give the ability to perform easing generated dimensional seams.

All of these operations are performed under the control of an assembly controller to achieve selected positioning, folding and stitching of flexible material to assemble a sewn article.

In some embodiments of the present invention, an optical sensing device forms an optical feed back to the controller to sense various characteristics and current position of the material being assembled into the article. The optical sensing device also provides information representative of such material edges so that the folding device controls the positioning of the material edges in such a way as to achieve the desired manipulation and / or folding. Can be operated to achieve the desired manipulation and / or folding.

In one embodiment of the present invention, a particularly cost effective optical sensing device is provided by providing a television camera that produces a video signal using a common axis lighting device. With this arrangement, a video signal is generated that represents an image of the reference surface in the field of view of the camera as well as an image of the flexible material on the surface along the reference optical axis of the camera. The reference surface provides a relatively high contrast optical reflection to the material disposed on the surface.

With this configuration, the article assembly apparatus can perform accurate and repetitive edge positioning to construct a suture article such as a garment, resulting in a garment of very uniform quality.
In particular, the folding device can be bonded to a flexible material, picked up the edge to reshape the edge as desired, and move the edge to drop it anywhere on the surface. The operation can be performed with considerably high accuracy. Edge reshaping allows for alignment of material already on the surface to other edges, suturing the overlying edge to form the desired seam, thereby allowing sewn edges of dissimilar shape become.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects of the present invention, various features of the present invention and the invention itself will be more fully understood from the following description with reference to the accompanying drawings. . In the drawings, FIG. 1 is a perspective view showing basic elements of an embodiment of the present invention, FIG. 2 is a partial cutaway view of a support table of the apparatus of FIG. 1, and FIG. 3 is an upper side of the apparatus of FIG. 4A and 4B are schematic views of the endless belt of FIG. 4, FIGS. 4A and 4B are views illustrating the operation of the retractable belt of the apparatus of FIG. 1, and FIG. 5 is a view of the cloth folding apparatus used in the apparatus of FIG. FIG. 6A to FIG. 6F are perspective views showing an embodiment, and FIGS. 7A to 6F are diagrams illustrating folding and sewing operations performed during automatic assembly of a sleeve by the device of FIG. 1, and FIG. FIG. 8 is a diagram showing a television camera and an on-axis light source for the device of FIG. 7, and FIG. 8 is a block diagram showing an example of a circuit device for generating a position signal used with the device shown in FIG. is there.

DESCRIPTION OF THE PREFERRED EMBODIMENT FIG. 1 is a perspective view showing the main elements of a preferred form of assembly apparatus 110, along with a set of intersecting reference coordinate axes X, Y and Z. The device 110 comprises two support tables 112.
And 114 and suture assembly 116.
The device 110 further comprises an optical sensor device located above the table 112 and having a television camera 117 and a common-axis illuminator 118. As another example, additional optical sensor devices could likewise be located above the table 114 and used, for example, to insert, remove, or orient limp material elements.

Each of the support tables 112 and 114 has a flat upper surface 112a and 114a, respectively. In another embodiment, the other or both of surfaces 112a and 114a may not be flat. For example, the surfaces can be cylindrical about an axis parallel to the Y axis.

Attached to each of the tables 112 and 114 is a set of parallel endless belts (120 and 122). Each belt
120 and 122 are the respective axes parallel to the Y-axis
Rotable about 120a and 122a from a position substantially parallel to one of the surfaces 112a and 114a (closed position) to an open position substantially perpendicular to one of these surfaces. . In FIG. 1, belts 120 are shown in a partially open position and belts 122 are shown in a closed position substantially parallel to the top surface 114a of table 114.

FIG. 2 is a partially cutaway view of the support table 112. The illustrated support table 112 has a perforated retro-reflective surface forming a surface 112a. In this example, the surface
112a is formed, for example, of a retroreflective material of the type manufactured by 3M Corporation, and the retroreflective material forming this surface 112a comprises a rectangular array of holes, each hole being It has a diameter equal to 1/32 inch (about 0.79 mm), and the hole array is 1/16 inch (about 1.6 mm).
Mm) center-to-center spacing. In another embodiment, the array can be of a shape other than rectangular, such as, for example, hexagonal or spiral or circular, and the holes have a sufficient diameter such that adjacent holes surface the limp material. There may be a suitable center-to-center spacing to allow a sufficient mass flow of air to create a suitable vacuum or vacuum to be pressed onto and held on. As an example, surface 112a
The array of holes could be formed using a commercially available laser.

In the described embodiment, the upper surface 112a
Are located on the aluminum plate having an array of holes that substantially matches the array of holes formed in surface 112a. The aluminum plate 130 is located on the top 132 of a composite beam honeycomb table that includes an array of honeycomb tubular structures extending in the direction of the Z axis. This honeycomb table top 132 is
It is supported on a dual plenum valve module that forms a selectively operable valve train. FIG. 2 shows seven rows of valves, five of which are in the open position and two of which are in the closed position. The valve module 134 is connected to a vacuum blower 136 operated by a motor 138. With this configuration, it is possible to selectively apply vacuum or reduced pressure to various regions of the surface 112a. Vacuum or vacuum is particularly useful to hold the various layers of material in desired locations on surface 112a. Positioning is accomplished by folding the material or by, for example, a material handling device. The surface 112a also has retroreflective optical properties, so that illumination from above will direct the reflected light in the Z direction to provide a high contrast to the fabric disposed on the surface 112a. Give a background. This feature is particularly useful in devices with optical sensors that can identify the position and orientation of material on surface 112a.

The suture assembly 116 captures a sewing machine 140 adapted for linear movement along the Y axis. The sewing machine is also actuable by the controller 124 via the motor 142 and the gear assembly 144 and is rotatable about the needle axis. The stitching assembly 116 further includes an interlocking belt assembly that includes a first set of parallel endless belts 150 and a second set of parallel endless belts 152. Belt groups 150 and 152 have their lower surfaces
It is adapted to allow frictional movement of material between the lower surface and the underlying support surface 162. Note that support surface 162 is under substantially continuous relationship with surfaces 112a and 114a under the control of controller 124.

FIG. 3 shows the belt assembly 120, 15 in a simplified form.
0, 152 and 122 are shown with sewing machine 140. In this figure, belt groups 150 and 152 comprise alternating groups of three roller endless belts and two point continuous belts. In operation, the controller 124 controls the belt adjacent the sewing head of the sewing machine 140 to retract from the needle position and positions the needle in the area between the belts. Except for this point, the opposite belt groups 150 and 152 are adjacent to each other. The belts can be moved by the controller 124 in such a way as to provide a controlled cloth tension to the cloth between the lower surface of the belt groups 150 and 152 and the upper surface 158. In various embodiments of the invention, surface 158 may also include a plurality of endless belt assemblies located below belt groups 150 and 152, respectively. This latter belt group also includes a controller 124 to achieve substantially independent control of the upper and lower fabric layers disposed between the belt groups 150 and 152 and between the belt groups located below them. Controlled by.

For example, the belt may be 0.03 to 0.03 reinforced with polyester fiber supported by a toothed roller assembly.
04 inch (about 1.0 mm) thick and 3/8 inch (about 9.
5mm) width neoprene toothed timing or timing belt. A polyurethane foam layer is adhered to the outer belt surface with an adhesive. With this arrangement, the foam makes a considerable amount of frictional contact with the material adjacent to the belt so that as the belt moves, the adjacent cloth is positioned in a corresponding manner. For the upper belt, the layer is 3/8 inch (about 9.5 mm) thick and the lower belt is 1/4 inch (about 6.4 mm) thick. The thicker layer provides greater flexibility for materials of different thickness.

FIG. 4A shows two interlocking belt groups 150 and 152. In this figure, the head 140a of the sewing machine is arranged at a position other than between the two belts. FIG. 4B shows a similar interlocking belt with a sewing head 140a positioned between these two belts 150a and 152a. In this embodiment, the limp cloth to be sewn is attached to belts 150 and 152 and surface 15
If it is adjustable between 2 and, set by selectively controlling the sewing machine 140 and selectively controlling the sewing machine 140 to pull back the belt along an axis parallel to the Y axis of the sewing machine 140. It would be possible to traverse the gears to be cut, thereby forming selective stitches or stitches in the fabric under the control of the controller 124.

The device 110 further comprises a material handling system for the fabric on the support table 112. The operating device includes a controller 124 and a folding assembly 160. Folding assembly 160 includes a controllable arm portion 162 that is selectively moveable in the Z direction and selectively rotatable about axis 170. Folding assembly 160 comprises a hinged segment or segment assembly. The assembly includes three elongated segments 180, 182 and 184. Segments 182 and 184
Each is segmented around one of axes 190 and 192
It is selectively rotatable with respect to 180, so that the orientation states of these segments 182 and 184 are controlled by the controller.
Under the control of 124, the angular orientation of segment 180 is selectively controlled. Segment 180 is controller 124
Can be rotated about axis 186 under the control of. Each of the segments 180, 182 and 184 comprises a plurality of gripping elements distributed along the main axis of the segment.

The gripping elements are represented in FIG. 1 by the reference symbols 180a, 182a and 184a. Each of the gripping elements is adapted to selectively grip an area of the fabric underlying the elements. The arm portion 162 is selectively controllable in the Z direction. As a result, if the gripping element is secured to a portion of the material, that portion will be attached to the surface 112a (in the Z direction).
It can be selectively lifted and then lowered. Elements 180a, 182a and 184a, respectively, in this embodiment are also selectively movable parallel to the XY plane and in a direction perpendicular to the major axes of their respective segments 180, 182 and 184. The three elements 180a, 182a and 184a are also selectively rotatable about axis 186.

According to this configuration, the folding assembly 160 has the surface 1
It can be used as a material handling device for the material on 12a, whereby a selective curvilinear part of the material is gripped with successive gripping elements and then moved and / or rotated and / or reshaped and then released. be able to. Folding assembly 160 also provides for the removal of material by selectively performing the described motions on the manipulating device via a lifting and lowering motion, particularly as described in connection with the configurations of FIGS. 6A-6F. It can also be used as a folding device.

In one embodiment of the invention, each of the gripping elements may consist of a substantially tubular member for coupling a vacuum or vacuum that can be selectively applied. Alternatively, each of the gripping elements may consist of a grip with elongated members having whiskers extending along an axis perpendicular to the Z-axis and extending from a tip closest to surface 112a. In the latter embodiment, the elongate member or barb can be selectively reciprocated in the Z direction under the control of controller 124.

FIG. 5 shows an alternative embodiment 16 of the assembly 160 of FIG.
Indicates 0 '. Corresponding elements are designated by the same reference symbols in FIG. In FIG. 5, the assembly 160
The ° comprises an elongated carrier assembly 210 having a curvilinear central axis 212 extending along its length. Axis 212 is substantially parallel to surface 112a. In other embodiments, for example where the surface 112a is not flat,
The axis 212 does not have to be parallel to the surface 112a. In this embodiment, the carrier assembly 210 includes (part 21
A hinged housing (including 4, 216 and 217) and a flexible member 218 coaxial with axis 212. One end of flexible member 218 is secured to housing portion 214 at point 220 and the other end is slidably coupled to housing portion 214 at point 222. Force applying members 230 and 232 are adapted to apply lateral force to member 218 at a point between the end points to control the curvature of axis 212. By controlling the orientation of the axis 212 by the force application members 230 and 232, each of the gripping elements can be selectively displaced to achieve the desired orientation of the gripping elements. This embodiment is effectively a solid spline. Different numbers of force application members could be used as an example of this. Flexible assemblies or three-dimensional (or higher order) splines may be used in assembly 160 to position the gripping elements on all or any of segments 180, 182 and 184.

With either structure 160 or 160 ', the gripping element is
It can be selectively moved to form the desired curvilinear contour on the portion of material on the table 112a. The gripping elements 180a, 180a and 184a are selectively lowered towards the material on the table 112a, thereby activating these gripping elements and on the corresponding curve of at least the top layer of fabric on the front surface 112a. Can be bound (or "grabbed") to the material in the region of. To partially achieve the fold, assembly 160 (or 160 ') can then be raised in the Z direction to lift the uppermost material layer.

The gripping element is then translated and / or rotated to reposition (changing the bend of axis 212), thereby causing the gripped area of the uppermost material layer to lie above a predetermined location on surface 112a. It can be relocated to the selected location where it is located. (The assembly 160 (or 160 ') can then be lowered to place the lifted material adjacent to or on the surface 112a. All of these operations are under the control of the controller 124. The material is held in place on the surface 112a by the reduced pressure applied to the surface 112a.

By selectively performing this action on the desired curved region of the material, the desired folding action of the material is achieved. First
6A through 6F show an exemplary folding sequence for assembling the sleeve. In the figure, the multi-layer fabric assembly is initially (easily) sewn along the dotted line indicated at 240 in Figure 6A. The assembly has an inner sleeve portion 242 and an outer sleeve portion 244. At first,
The gripping elements 180a, 182a and 184a are located along the solid line portion of the inner sleeve 242 indicated by X in FIG. 6A. This contour is then picked up, translated, reshaped and machined (held in vacuum on surface 112), thereby changing the shape of contour X and placing it in the position shown in Figure 6B. According to this process, the inner sleeve portion 242 is folded about the axis AA. Elements 180a, 182a and 184a then release the material and the gripping elements can be repositioned to fit the contour shown as Y in FIG. 6B. This piece of material is then picked up with a gripping element to reshape the contour and then repositioned as shown in FIG. 6C so that contour X overlaps contour Y. As a result, the material assembly is then folded along line BB. Thereafter, contour Y is released and elements 180a, 182a and 184a are controlled to grip contour Z at section 244 shown in FIG. 6C. This contoured portion is then lifted and as shown in FIG.
Fold around. The contour Z is released and the gripping elements are arranged to grip the contour W as shown in FIG. 6D. The grasped contour is then folded about line DD as shown in Figure 6E. Then, attach the sleeve assembly to the sewing machine head.
Send to 140a.

As shown in FIG. 6E, the sleeve is partially assembled by performing the sewing operation with the sewing head 140a. The material is then returned to the surface 112a and the contour T of the outer sleeve 244 is lifted by the assembly 160 (or 160 ') including the elements 180a, 182a and 184a and moved to change its shape to line C-C. Fold to the center and align with contours X and Y as shown in Figure 6F. The outer sleeve is then released from the elements 180a, 182a and 184a and the folded assembly is fed by belts 120 and 150 to the sewn head 140a, where the elbow joint is sewn. In this way, they are automatically assembled under the control of the sleeve controller 124 shown in FIG. 6F.

7 and 8 show the elements of the optical sensor device of the present embodiment. In FIG. 7, an optical sensor 117 and a lighting device 118 are shown. In this embodiment, the sensor 1
The 17 is in the form of a conventional television camera, but it is also possible to use other image signal generators.
The television axis 117 has a table 112 with its optical axis 117.
Supported so as to be substantially perpendicular to the surface 112a. The illuminator 118 comprises a light source 260 and an associated beam splitter 262. The beam splitter is located on the axis 117a in the curve between the camera 117 and the surface 112a. The beam splitter 262 may be, for example, a mirror type beam splitter, and the optical path 260a
Along the optical axis 117a, a portion of the incident light is reflected by the surface 112a, and then the surface 112a.
A portion of the light reflected from (or from the material disposed on the surface) is directed along the axis 117a to the television camera 117.
Sent back to.

This illumination structure achieves illumination along a common axis for devices used with retroreflective structures on surface 112a. The surface 112a may alternatively be formed of a transparent material that is illuminated from the back side, or also (camera).
In the present example, the retroreflective common axis illumination method described above is the preferred embodiment, although it could also be formed by a fluorescent surface (with a suitable filter for 117).

In operation, the camera 117 produces a video signal representing an image along the optical axis 117a of the table 112 and any material on its surface. Effectively, retroreflective surface 112a provides a contrasting background for any material on table 112.

These video signals are processed in controller 124 to generate position signals for use in the automatic stitch forming and folding controls of controller 124. 8th
The figure shows a controller 124 that performs this function in conjunction with surface 112a, camera 117, illuminator 118 and video monitor 266.
A part of is shown in a block diagram. In the present embodiment, the controller 124 is Maynard, Masac.
It is composed of the LSI-11 / 23 type microcomputer manufactured by Digital Equipment Corporation. Figure 8 shows the camera and lighting system and LSI-1.
It also shows the interface to the 1/23 computer.

In operation, the functional block of controller 124 shown in FIG. 8 provides edge detection of material against the background provided by surface 112a. This edge detection is a camera scanning beam that differentiates or thresholds the video signal produced by the camera 117 as it sweeps across the image.
This is done by marking the time when a predetermined change in the strength of the video signal occurs. Different "edge" times are supplied to the computer as needed for each scan line. For example, if the camera 117 is a RCA TC1005 / C49 type camera, the table image can be scanned in 2 seconds,
The edge information is supplied to the microcomputer after performing some data check processing and filtering processing on raw data. Also within this time frame, the microcomputer calculates the area of the material element in the field of view, the center of the area and the angle of the material's major axis relative to the reference axis on surface 112a. Appendixes A and B provide exemplary techniques for performing these data processing operations.

In this configuration, television camera 117 utilizes a separate vertical sweep signal generated by a digital-to-analog converter that produces an output signal from a video amplifier circuit and is controlled by the microcontroller's 124 computer. With this configuration, the scan line is increased by D / A control vertical sweep,
And also the ability to correct for non-linearities in relatively inexpensive camera yokes. The timing and control of controller 124 controls the output of the event detector by
Convert to a series of digital words containing the time of the event and the scanline number at which the event occurred. With this type of device, a relatively high edge resolution can be achieved without the need for conventional pixel-image processing methods and the associated considerable computational expense and time. As another embodiment of the present invention, a conventional optical detecting device may be provided in the entire sewing article assembling apparatus, and FIGS.
It is relatively expensive compared to the particularly cost-effective device shown.

The present invention can be embodied in other specific forms without departing from its spirit and essential characteristics. Therefore, the embodiments described herein are to be considered in all respects as illustrative and not restrictive, and the scope of the present invention is not the above description but patents. It is to be understood that all changes which are shown in the claims and fall within the concept of the claims and the scope of equivalents are encompassed by the present invention. The workpiece Appendix A workpiece recognition A. sensor information, respectively upper and lower limits are located between X _L and X _H is X- coordinate 0 and X _N, is scanned by the camera relates X-Y coordinates. The scan lines run parallel to the Y-axis, separated by Δx. Scanning information, the background in the y dimension - consists y values for cloth transition, where y ₁ represents the left edge transition in the one scan line, y ₂ denote the right edge transition . The distance Δy _i- th between the left edge transition and the right edge transition for the I th scan line is equal to y _2i −y _1i . The differential area dA _i for the y-th scanning line is Δx _i Δ
It is equal to y _i , or (y _2i −y _1i ) dx, or dydx.

B. Calculation C. Principal Axis for Centroid Coordinate Frame The next step is to transform the moments obtained from the identification into a centroid frame displaced by the calculated centroid coordinates parallel to the original frame. The converted moments are:

^{_{I 'xx = I xx -y 2}} c A I' yy = I XX -y 2 c A I 'xy = I xy -x c y c A In the above equation, θ'corresponds to the offset angle of the workpiece centroid with respect to the principal axis.

D. BASIC algorithm Below is a declaration statement in BASIC (basic) language required to realize "moment calculation". Only 8 multiplications and 9 divisions or subtractions are required for the high frequency loop. YL and YR represent the values for the right and left profiles, respectively, of the workpiece for each scan line.

100 FOR X = 0 TO XMAX STEP DX 110 200 READ YL, YR 210 DY = YR-YL 220 YRSQ = YR ^* YR 230 YLSQ = YL ^* YL 240 DYSQ = YRSQ-YLSQ 250 YRCUB = YRSQ ^* YR 260 YLCUB = YLSQ ^* YL 270 300 SUM1 = SUM1 + DY 310 SUM2 = SUM2 + X ^* DY 320 SUM3 = SUM3 + DYSQ 330 SUM4 = SUM4 + YRCUB-YLCUB 340 SUM5 = SUM5 + X ^* X ^* DY 350 SUM6 = SUM6 + X ^* DYSQ 360 370 NEXT X 380 390 400 SUM 410 XDX ^* DX = DX ^* SUM2 / A 420 YC = DX ^* SUM3 / (2 ^* A) 430 440 IXX = DX ^* SUM4 / 3 450 IYY = DX ^* SUM5 460 IXY = DX ^* SUM6 / 2 470 480 IXX = IXX-YC ^* YC ^* A 490 IYY = IYY-XC ^* XC ^* A 500 IXY = IXY-XC ^* YC ^* A 510 Theta = 0.5 ^* ATAN ((-2 ^* IXY) / (IXX-IY
Y)) Appendix B Sleeve database The following information forms a “database” for the sewing machine for each sleeve size and style before each suturing or folding operation (only left or right sleeve) ): 1. Nominal visible area of the workpiece (A) 2. Reasonable intersection with calculated area (± εA) 3. Centroid complement as a function of area variable (∂ x _c / ∂ε)
A, ∂y _c / ∂εA) 4. “Sleeve” coordinates (ie origin in centroid, x-axis along the major longitudinal axis) A. Checkpoint (eg left-to-right workpiece identification, measurement verification) ) -Centroid axis (± _c , _c ) and the predicted coordinates of the section of the workpiece-reasonable intersection with the detected edge (± εx ± εy) B. Suture'track '-(eg from the leading edge) Coordinates of the first stitch-Number of individual stitches-Individual stitch line segment-Δx, △ y from the previous stitch-Maximum sewing speed on the line segment-Easing rate on the line segment (standard material) -Line Expansion / contraction rate on minute (standard material) -Feeder raising / lowering flag-Presser raising / lowering flag C. Folding "Trail""Plot" coordinates to "Centroid" coordinates can be converted to (x _c , y _c ). Offset required, followed by rotation by angle 0 That.

The conversion formula for the stitch line segment (s _i −s _j ) is slightly different and is as follows.

The following scanning algorithm is used to perform the measurements and the first rationality test when the workpiece and table coordinate frames are within the field of view of the camera.

1. Read −y ₁ , y ₂ , ..., Y _n (n varies depending on the shape) for each scanning line i − (y ₁ −y ₁ )> ε or (y _n −y _n-1 ). > Ε or (y ₃ −y ₂ ) <ε or (y _n-1 −y _n-2 ) <ε-increment the counter and use the preceding Δy _i .

As a second step for -j = 3 to n-2, -Δy _i = Δy _i + (y _{j + 1} -y _j ) -accumulate y for area calculation.

2. Calculate the area as.

3. Compare A _DB + ε A _DB with A _meas (measurement).

If it is not an intervening period, the measurement is repeated and the counter is incremented.

If the counter exceeds the threshold, alert the operator.

Partial sums for each scan line can be accumulated for centroids and principal angles.

For i = 1 to N, For j = 3 to n-2, in step 2, accumulate (y ² _{j + 1} −y ² _j ) (for y _c ) accumulate (y ³ _{j + 1} −y ³ _j ). Accumulate (iΔx) (y ² _{j + 1} −y ² _j ) (for I _xx ) (for I _xy ) Using these partial sums, using the algorithm described in Appendix A, The Lloyd and principal angles can be easily calculated. That is, Even if the detected area, centroid and principal angle seem reasonable, whether the "right hand" or "left hand" workpiece was loaded and scanned Since there is some ambiguity, a second rationality test and right-to-left discrimination are performed.

If the workpiece is not exactly symmetrical about its two principal axes, check the four predicted x, y intercepts with the workpiece to (1) insert either the right-handed or left-handed workpiece. Confirm that it has been done, and (2) perform the final rationality test.

In this embodiment, only "mirror image" charging of the workpiece about its longitudinal axis is allowed. Therefore,
Only the y ₊ and y ₋ intercepts str can be used to determine whether a right-handed or left-handed workpiece has been loaded. If x ₊ , x _- is not confirmed, reject the workpiece (or correct the centroid). Therefore,
Work pieces cannot be loaded in the opposite direction.

Also, if the predicted x _c , y _c intercepts are "approximate" and there is a slight difference in the areas, and they are substantially the same, the centroid and the main angle are adjusted slightly and an error occurs in cutting. Allow for some fabric or unpredictable manual fold variability.

 An exemplary algorithm is as follows.

1. Using the actual camera data, predictable sections y _+, y _-
It is determined whether or not can be confirmed.

ay ₊ and y _- in (in the table coordinate) x component a specific scanning line number (i.e. i _+, i _-) is converted to.

by ₊ and y _- in the y-component (in the table coordinate) the particular camera y _- displacement (i.e. △ y _+, △ y _-) is converted to.

c. Reference the original camera data for y ₊ values along scan line i ₊ (ie, table-strip transition) and y ₋ values along scan line i ₋ (or repeat scan) d. Match occurs. If yes, go to step 2. If not, swap y ₊ and y ₋ and repeat steps 1a to 1c (search for coincidence of mirror images about the x-axis).

If a match results from ey's swapping, change the sign of all trajectories (ie, the start and end points of the stitch and y for each stitch).

f. If no match occurs, stop and report to operator.

2.x ₊ and x _- to not step 1a repeated 1c against. If a match occurs, proceed to step 3. If not, stop and report to the operator.

3. If there is a small difference between the predicted and measured intercept values,
Correct the trajectory using one of the rules described below.

ax _c = x _c + ∂x _c / ∂εA y _c = y _c + ∂y _c / ∂εA θ = θ + ∂θ / ∂εA ∂x / ∂εA etc. are empirical values from the database. The new x _c , y _c and θ values are then used to retransform the sewing / folding trajectories from centroids to table coordinates.

b. (x ₊ (measured value) -x ₊ (predicted value) is used to determine all positive x-coordinates of the track (that is, the start and end points of seams and folds, except the stitches Δx and Δy). In this case, if the detected x ₊ point is farther away from the centroid than the predicted x ₊ point, the start or end point of the track is moved in the + x direction further away from the centroid. "Expand.

Repeat for the -x, + y and -y directions.

The final step before stitching is to convert the stitch trajectories from table coordinates to sewing module (control) coordinates.

Since the main motor speed and the telescopic motor speed are different, it is desirable to define the x-sewing axis to be at the origin of the stitching gear so that the speed of the workpiece can change as the workpiece traverses the stitching gear. preferable.

To simplify the sewing “control” equation, (x _TS , −y
_TS ) to each non-stitch segment of the trajectory (ie non-x,
y) Subtract from coordinates. As a result, the centroid and seam start and end points are converted to stitch coordinates.

 Set the sewing conversion device to the y coordinate of the start end of the stitch.

Simultaneously, move the belt (and the work piece) and continuously track the x coordinate of the centroid (or the first stitch) at the sewing coordinates while the sewing coordinates decrease towards zero (approaching the needle). To do.

When (x _c ) sewing reaches the value of (S _{1 (x)} −x _c ) table or (S _{1 (x)} sewing) reaches zero, that is, the starting end of the first stitch is the needle. (When it passes under the needle) and / or when it is detected that the cloth is under the needle, sewing is performed by issuing △ x, △ y commands from the sewing track to the belt and the transducer. To start.

The x-position of the centroid (or of the first stitch) is continuously updated so that when the sewing is complete, the piece of cloth is returned to its original position on the loading table (or on the folding table). Be set to the proper position).

As the centroid (or first stitch) traverses the sewing gear, its speed is adjusted by the main motor and telescoping motor.

Front Page Continuation (72) Inventor Failer, Donald Sea USA 02139 Asachi Youths, Cambridge, Hasting Square 6 (72) Inventor Grick, F. Keith United States 80906 Colorado Springs, Colorado Bear Bear Rain 645 (72) Inventor Lawson, Jiyoung Earl United States 01773 Masachi Youths, Lincoln, South Great Road (72) Inventor Sampson, JAE USA 02178 Masachi Youths, Belmont, Chyars Street 24 (72) Inventor Shirako, Frank J.A. United States 02148 Masachi Youths, Malden, Kennedy Drive 180 (72) Inventor Whittony, Daniel E. United States 02174 Masachi Youths, Arlington, Roncliff Streat 141 ( 72) Inventor Whiteside, Robert Deay United States 02172 Masachi Youths, Watertown, Marion Road 96 (72) Inventor Utd, Giozie A USA United States Country 01773 Massachusetts, Lincoln, RF Daily Number 1, Giles Road 9 (56) Reference JP 58-157485 (JP, A) JP 56-96904 (JP, A) JP 59-155284 (JP JP, A) JP 58-500152 (JP, A) Actually opened 52-40259 (JP, U) Actually opened 60-81944 (JP, U) Actually opened 61-61974 (JP, U) US Patent 4457243 (US, A)

Claims (21)

(57) [Claims] 1. A flexible material manipulating device for selectively manipulating one or more flexible materials, the manipulating device adapted to: A. support the material on a reference surface. A support assembly, and B. the following selectively operable means: i. Means for gripping a curvilinear region of at least the uppermost layer of the material; and ii. (A) the gripped curvilinear region. Controlling the curvature of the grasped curvilinear region to have a selected annulus, and (b) selecting the grasped curvilinear region to be located above an associated curvilinear region of the reference surface. Means for selectively translating and selectively rotating to a defined location, iii. The grasped curvilinear region to the related curvilinear region of the reference surface or the related curve of the reference surface. With means for releasing the next highest layer of material overlying the striped region A flexible material handling device, comprising: a folding assembly, and C. a controller with means for selectively controlling said folding assembly. 2. A suturing means selectively positionable along a first reference axis for selectively joining adjacent regions of one or more layers of the flexible material element; A parallel endless belt assembly, comprising: A. selectively conveying the flexible material element via a point on the first reference axis and selectively selecting the flexible material element with respect to the first reference axis. B. material conveying and aligning means with a means for orienting to, B. selectively tensioning the flexible material element in a region of the material adjacent to and including the first reference axis. A multiple side-by-side endless belt assembly including pulling means for controlling and selectively controlling the flexible material element to selectively position, fold and bond the element to form an assembled sewn article. Assembly control including means for Flexible material handling apparatus of Claim 1 wherein the claims and a chromatography la. 3. The support assembly comprises a substantially flat upper surface, the upper flat surface comprising an array of through holes, and means for applying a reduced pressure to the array of holes. The flexible material handling device according to item 1 or 2. 4. The gripping means and the curvature changing means,
At least one elongated carrier assembly having a curved central axis extending along its length, the carrier assembly being coupled to the carrier and fixedly arranged with respect to the central axis; Have
The gripping element is adapted to selectively grip an underlying region of the material, and the curvature modifying means further comprises a selectively operable curvature control for controlling a curvature of the central axis. 3. A flexible material handling device as claimed in claim 1 or claim 2 comprising means. 5. The carrier assembly includes an elongated housing and an elongated flexible member coaxial with the central axis, one end of the flexible member secured to the housing and the other end of the housing. Slidably connected to said flexible member, said flexible member comprising means for supporting said gripping element, said carrier assembly further at two or more points between the ends of said flexible member. 5. The flexible material handling device of claim 4 including selectively operable means for exerting a force on the flexible member transversely to the central axis. 6. The gripping means and the curvature changing means,
A linear segment assembly that is hingedly connected, the segment being elongate and having a plurality of gripping elements disposed along a major axis of the segment, the gripping elements being of an underlying material of the material. Adapted to selectively grab an area, the curvature modifying means further comprises selectively operable means for orienting the segments to establish a predetermined segment-to-segment angular orientation. The flexible material handling device according to claim 1 or 2. 7. At least one of the segments selectively positions the gripping element of the segment in a direction perpendicular to the length of the segment and perpendicular to a normal to the reference surface. 7. A flexible material handling device according to claim 6 comprising means for displacing. 8. A flexible material handling apparatus according to claim 4, wherein each of said gripping elements comprises means for selectively creating a reduced pressure in said material region located beneath said element. 9. A flexible material handling apparatus according to claim 4, wherein each of said gripping elements comprises gripping means for selectively securing said material region located below the gripping means. 10. The gripping means comprises an elongate member extending along an axis perpendicular to a portion underlying the reference surface, the member extending from a tip of the elongate member below the surface. A barb extending transversely proximate the laterally located portion, further comprising means for selectively reciprocating the elongate member in a direction perpendicular to the reference surface. 10. The flexible material handling device according to claim 9. 11. The flexible material handling of claim 6 wherein each of said gripping elements comprises means for selectively coupling a vacuum to said material region located beneath said element. apparatus. 12. The flexible material handling apparatus of claim 6 wherein each of said gripping elements comprises gripping means for selectively securing said material region underlying said element. 13. The gripping means comprises an elongated member extending along an axis perpendicular to a portion underlying the reference surface, the member extending from a tip of the elongated member to a portion below the surface. A barb extending transversely proximate the laterally located portion, further comprising means for selectively reciprocating the elongate member in a direction perpendicular to the reference surface. 13. The flexible material handling device according to claim 12. 14. An optical sensing device comprising: means for generating a position signal representative of the shape and orientation of the material on the reference surface; and means for transferring the signal to the controller. A flexible material handling device as claimed in claim 1 or claim 2 which controls the folding assembly in response to the position signal. 15. The optical sensing device comprises: A. Optical sensor means for generating a video signal and associated means for supporting the sensor and directing the optical axis of the sensor from above the surface to the reference surface. B. comprising a plurality of retroreflective elements on the reference surface, the video signal representing an image along the optical axis on the reference surface and the material on the reference surface; The directional element is adapted to reflect incident light along the optical axis and substantially divergently about the optical axis, and C. a common axis with a directional light source and associated beam splitter. An illuminating device, wherein the beam splitter is disposed along the optical axis between the camera means and the reference surface, whereby at least a portion of light from the optical axis is along the optical axis. Is directed toward the reference surface,
15. The flexible material handling apparatus of claim 14, wherein at least a portion of the reflected light is passed through the beam splitter to the camera means and the controller generates the position signal in response to the video signal. 16. The support assembly comprises a substantially flat upper surface, the upper surface having an array of holes therethrough, and means for coupling a vacuum to the array of holes. Item 14. The flexible material handling device described in paragraph 14. 17. The optical sensing device comprises: A. Optical sensor means for generating a video signal and associated means for supporting the sensor and directing the optical axis of the sensor from above the surface to the reference surface. B. comprising a plurality of retroreflective elements on the reference surface, the video signal representing an image along the optical axis on the reference surface and the material on the reference surface; The directional element is adapted to reflect incident light along the optical axis and substantially divergently about the optical axis, and C. a common axis with a directional light source and associated beam splitter. An illuminating device, wherein the beam splitter is disposed along the optical axis between the camera means and the reference surface, whereby at least a portion of light from the optical axis is along the optical axis. Is directed toward the reference surface,
17. The flexible material handling device of claim 16, wherein at least a portion of the reflected light is passed through the beam splitter to the camera means and the controller generates the position signal in response to the video signal. 18. A first set of parallel endless belts wherein said belt assembly is located above a flexible material support surface.
A second set of parallel endless belts located above the support surface of the flexible material, the first set of endless belts being disposed opposite the second set of endless belts; At least some of the belts of the first and second sets are two-state belts, which are located on said first reference axis in a first state and in said second state said first reference axis; Is fully controllable to one side of the axis, and the assembly controller operates selectively
The flexible material according to claim 2, wherein the two-state belt is selectively controllable to be in the second state when the suturing means are adjacent to each other and to be in the first state otherwise. Handling equipment. 19. Each of said two-state belts is supported on at least one fixed roller assembly and two position controllable roller assemblies, said roller assemblies having teeth formed on the inner surface of said belt. 19. The flexible material handling device according to claim 18, wherein the teeth are also formed. 20. The flexible material handling apparatus of claim 18, wherein each of the two-state belts is supported on a fixed roller assembly and two position controllable roller assemblies. 21. A fold according to claim 1, wherein said folding assembly further comprises means selectively operable to selectively lift or selectively lower said grasped curvilinear region of said material. Item, the second item, the fourth item, the fifth item, the sixth item, or the seventh item.