SEWING SYSTEM, CONTROL DEVICE, CONTROL METHOD, CONTROL PROGRAM, NON-TEMPORARY STORAGE MEDIUM, AND SEWN PRODUCT MANUFACTURING METHOD

• Main Authors: KOGA TATSUYA, GOTO HIDETAKA
• Format: Patent
• Language: English; Japanese
• Published: 16.04.2024
• Subjects: EMBROIDERING; SEWING; TEXTILES; TUFTING

To prevent a sewn material from warping when sewing the sewn material with a sewing device while making a robot move the sewn material.SOLUTION: A sewing system 100 has a sewing device 30, a robot 20, and a control device 10. The sewing device 30 has a feed part 35 to feed a sewn material M to a sewing point for sewing the sewn material M. The robot 20 holds the sewn material M. The control device 10 has a control part, which increases a feed speed of the feed part 35 so as to be relatively higher than a movement speed that is a speed component in the same direction as the feed direction among speeds at which the robot 20 moves the sewn material M when a holding position at which the robot 20 holds the sewn material M exists in front of the feed part 35 with respect to the feed direction in which the feed part 35 feeds the sewn material M, and increases the movement speed so as to be relatively higher than the feed speed when the feed part 35 exists in front of the holding position with respect to the feed direction.SELECTED DRAWING: Figure 1 【課題】ロボットが被縫製材を移動させながら縫製装置で縫製する場合に当該被縫製材がたわむことを抑制する。【解決手段】縫製装置３０と、ロボット２０と、制御装置１０と、を備えた縫製システム１００において、縫製装置３０は被縫製材Ｍを縫製する縫製点へ被縫製材Ｍを送る送り部３５を備え、ロボット２０は被縫製材Ｍを保持し、制御装置１０は、送り部３５が被縫製材Ｍを送る送り方向に対して、ロボット２０が被縫製材Ｍを保持している保持位置が、送り部３５より手前にある場合は、ロボット２０が被縫製材Ｍを移動させる速度のうち、送り方向と同一の方向の速度成分である移動速度より送り部３５の送り速度を相対的に速くし、送り方向に対して送り部３５が保持位置より手前にある場合は、送り速度より移動速度を相対的に速くする制御部を備える。【選択図】図１