CN101892563B - Sewing machine - Google Patents
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- CN101892563B CN101892563B CN201010177973.4A CN201010177973A CN101892563B CN 101892563 B CN101892563 B CN 101892563B CN 201010177973 A CN201010177973 A CN 201010177973A CN 101892563 B CN101892563 B CN 101892563B
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Abstract
The invention relates to a sewing machine, capable of reliably detecting the interference between movable parts, comprising a needle vertical movement mechanism; a first sewing actuating mechanism; a second sewing actuating mechanism and an action control unit, wherein a movable part of the first sewing actuating mechanism and a movable part of the second sewing actuating mechanism mutually move along the same direction; a position detector is arranged on the drive source of the second sewing actuating mechanism; the action control unit performs the interference monitoring control when the second sewing actuating mechanism stops and only the first sewing actuating mechanism actuates, and namely the action control unit detects whether interference occurs between the sewing actuating mechanisms based on the deviation obtained by the position detector; and the action control unit performs abnormal action judgment of the second sewing actuating mechanism according to whether the deviation detected by the position detector is larger or equal to a preset second threshold when the second sewing actuating mechanism actuates in the sewing process, and a first threshold is less than the second threshold.
Description
Technical field
The present invention relates to a kind of Sewing machines, it has a plurality of movable parts, and this movable part is made required action.
Background technology
In thering is the existing mechanism of movable part, in the moving process of movable part, according to position, speed, the acceleration of the detected motor of servo-driver of the servomotor of the drive source as this movable part, the predicted value of the moment of torsion that computing motor produces, compare with actual torque command value, in the situation that their deviation surpasses threshold value, be judged as and at movable part place, produce collision or interference etc. abnormal (for example,, with reference to patent documentation 1).
Patent documentation 1: the JP 2002-283276 of Japan communique
Summary of the invention
In order to improve abnormality detection sensitivity, the abnormal threshold value of judgement must be reduced, even if be also judged as abnormal under less deviation.
But, in the prior art, abnormal owing to utilizing the deviation of movable part to detect, so must set the threshold to the large value of comparing with the deviation of the normal range (NR) producing when mobile.In addition, as movable part, the increase and decrease of the driving load causing owing to working between long-term and make deviation when mobile produce fluctuation due to mechanical individual difference with as the weight difference of the transported substance of load etc., so must set the threshold to the higher value of having considered this fluctuation.Thus, from actual, bumping etc., till deviation arrives threshold value and installs mobile stopping, needing the time, having the problem at mechanical damage this period.
The object of the invention is to, the interference etc. that can detect movable part is abnormal.
The Sewing machines relating in the invention of recording in technical scheme 1, is characterized in that having: suture needle reciprocating mechanism, and it carries out moving up and down of suture needle, the first sewing actuating, it is carried out and makes the action being associated, the second sewing actuating, it is carried out and makes other action being associated, and action control unit, it is controlled, so that described each sewing actuating drive source separately with make operation carry out corresponding, carry out predefined action, the movable part of the movable part of described the first sewing actuating and described the second sewing actuating, along equidirectional, move each other, setting position detector on the drive source of described the second sewing actuating, described action control unit, in described the second sewing actuating, stop, in the situation that only described the first sewing actuating is moved, interfere and monitor control, according to the deviation obtaining from described position detector, whether be more than or equal to predefined first threshold, detect between described each sewing actuating and whether interfere, described action control unit, described make described in operation that the second sewing actuating is moved in the situation that, whether the deviation detecting according to described position detector is more than or equal to predefined Second Threshold, carry out the judgement of the remarkable action of described the second sewing actuating, described first threshold is the little value of comparing with described Second Threshold.
The invention that technical scheme 2 is recorded, there is the identical structure of invention of recording with technical scheme 1, and, the drive source of described the second sewing actuating can change confining force, described action control unit, in described interference, monitor while controlling, make the confining force of the drive source of described the second sewing actuating, compare reduction with confining force constantly in addition.
The effect of invention
The invention that technical scheme 1 is recorded, the position detector of the second sewing actuating stopping due to utilization, detect the interfering with each other of movable part of the first and second sewing actuating, so compare with judge the situation of interference such as contacting according to the deviation of the motor in action, can reduce the deviation threshold (first threshold) for judging interference.
For example, in the situation that the drive source of the second sewing actuating carries out FEEDBACK CONTROL, excessive if deviation becomes, because producing overload, the reasons such as interference carry out emergent stopping etc., but with for carrying out the deviation threshold of this judgement, compare, the present invention can utilize less threshold test to interfere.
In addition, can not be subject to the increase and decrease of the driving load that causes owing to working between long-term and due to mechanical individual difference with make the impact of deviation fluctuation when mobile as the weight difference of the transported substance of load etc., detect the generation of interfering.
Thus, can, by interfering the deviation threshold occurring to set littlely for judging, can detect in high sensitivity.Meanwhile, owing to can detecting rapidly the generation of interference, so can promptly take counter-measure, can effectively reduce destruction and the breakage of mechanism.
In addition, can utilize existing structure detection to interfere, the reduction of implement device production cost.
In addition, action control unit can not be also to make in course of action a series of, in the second sewing actuating, stops, and in the situation that only the first sewing actuating is moved, execution monitoring is controlled.For example, can only in the situation that the movable part of the movable part of the first sewing actuating and the second sewing actuating approaches, easily interfere execution monitoring controls.
In addition, the deviation threshold that judgement is interfered can be also fixed value, but preferably can change by setting operation.
In addition, due in making operation, the deviation in the situation of moving for the second sewing actuating, sets Second Threshold, so can detect abnormal in action.
For carrying out the Second Threshold of the abnormality juding of this action, owing to considering the deviation certainly leading to because of action, so must there is scope to a certain degree.
On the other hand, interfere and monitor control, owing to being that timing except carry out the action of the second sewing actuating of deviation supervision based on Second Threshold as above in is carried out, thus irrelevant with Second Threshold, can the first threshold based on less value monitor the generation of interfering.That is, needn't add independently new detecting unit, and can in the action of the second sewing actuating, monitor this remarkable action, can when the non-action of the second sewing actuating, monitor sensitively the generation of interference.
The invention that technical scheme 2 is recorded, due to when interfering supervision to be controlled, make the second sewing actuating drive source confining force with constantly compare in addition reduction, even so trickle interference, the movable part of the second sewing actuating also produces change in location, can carry out the higher interference of sensitivity and detect.
Accompanying drawing explanation
Fig. 1 means the oblique view of the belt loop sewing machine integral body that present embodiment is related.
Fig. 2 means the block diagram of the control system of belt loop sewing machine.
Fig. 3 is the oblique view of suture needle periphery.
Fig. 4 means the key diagram in a plurality of parameters of carrying out setting the in the situation that Z-shaped shape being made.
Fig. 5 means the flow chart of action control when carrying out Z-shaped shape makes.
Fig. 6 means the action specification figure of action when carrying out Z-shaped shape makes, and according to the order of Fig. 6 (A)～Fig. 6 (C), moves.
Fig. 7 means the action specification figure of the action after the action shown in Fig. 6 when carrying out Z-shaped shape makes, and according to the order of Fig. 7 (A)～Fig. 7 (C), moves.
Fig. 8 means the action specification figure of the action after the action shown in Fig. 7 when carrying out Z-shaped shape makes, and according to the order of Fig. 8 (A)～Fig. 8 (C), moves.
Fig. 9 means the action specification figure of the action after the action shown in Fig. 8 when carrying out Z-shaped shape makes, and according to the order of Fig. 9 (A)～Fig. 9 (C), moves.
Figure 10 means the action specification figure of the action after the action shown in Fig. 6 when carrying out Z-shaped shape makes, and according to the order of Figure 10 (A)～Figure 10 (C), moves.
Figure 11 means to interfere and monitors the flow chart of controlling.
Figure 12 (A) represents the example of generally making of being turned back to the inside in the both ends of band, and Figure 12 (B) represents to guarantee the example of making of half sealing mode that the end of turning back is to the inside long.
The specific embodiment
(summary of apparatus for sewing)
Below, based on accompanying drawing, describe embodiments of the present invention in detail.Fig. 1 means the oblique view of the related belt loop sewing machine of present embodiment 10 integral body, and Fig. 2 means the block diagram of control system, and Fig. 3 is the oblique view of suture needle periphery.
Belt loop sewing machine 10 has: not shown suture needle reciprocating mechanism, and it moves up and down suture needle 11; As the clamping device 30 of the first sewing actuating, it has the band clamping part 31 as movable part, and these band clamping part 31 clampings are towards the band B of prescribed direction; Band feed mechanism 60, it supplies with band B to clamping device 30; Band presser foot device 50 as the second sewing actuating, it has mounting table 51 and band presser feet 52, and these mounting table 51 mountings are carried out the cloth C that band B makes, and this band presser feet 52 is as movable part, by the down maneuver to this mounting table 51, to band, B presses; Lax mechanism 65, it has lax parts 66, and these lax parts 66 make the ring of band B lax; Cloth pressing mechanism 70, it has cloth pressing 71, and this cloth pressing 71 keeps cloth C; Sewing machine stand 2; Not shown container mechanism; And control module 80, it is controlled above-mentioned each structure.
(sewing machine stand)
In the following description, level and the direction parallel with the length direction of Sewing machines base portion 2a and Sewing machines arm 2c are made as to Y direction, by level and with the direction of Y direction quadrature, be made as X-direction, direction is made as Z-direction vertically, for the needs that illustrate, the facing side that is Sewing machines arm 2c by an end side of Y direction is called " front side ", by the other end side of Y direction, is that the longitudinal body 2b of portion side is called " rear side ".
(suture needle reciprocating mechanism and container mechanism)
Suture needle reciprocating mechanism, identical with known structure, by following mechanism, formed: needle bar, the inside that it is supported on the anterior end of Sewing machines arm 2c, can move up and down, and keeps suture needle in bottom; Sewing machine electromotor 13, it becomes the drive source that needle bar moves up and down; Main shaft, it utilizes sewing machine electromotor 13 to be rotated driving; And crank mechanism, its rotary actuation by main shaft is transformed to and moves up and down, and to needle bar transmission.
Container mechanism is the container mechanism that utilizes so-called half cycle rotating kettle, with known structure in the same manner, have: half cycle rotating kettle, it is supported on the inner side of the anterior end of Sewing machines base portion 2a, and is positioned at needle downing position bottom, can rotate; Eccentric cam, it is arranged on main shaft; Toggle-action lever, its at one end portion's support eccentric cam; Still axle, the arm that it links by the other end with toggle-action lever, applies reciprocating rotation; And driver, it is supported on still axle.
(band feed mechanism)
In addition, clamping device 30, arranges not shown receiving port and the structure for moving to X, Y direction of band B in its front side, move, so that receiving port approaches the extraction mouth of band feed mechanism 60, carries out the reception of band B.
(clamping device)
Clamping device 30, with respect to sewing machine stand 2, observing to the state of rear side from front side (facing side), is configured in right side.In the following description, when being called " right side ", the front side (facing side) being illustrated in from the direction parallel with X-direction is observed under the state of rear side, for right direction, when being called separately " left side ", being illustrated in from the direction parallel with X-direction is that front side (facing side) is observed to the state of rear side, is left direction.
Clamping device 30 has: band clamping part 31, and it consists of the upper lateral holding portion 31a and the lower lateral holding portion 31b that clamp band B; Maintainance block 32, it keeps band clamping part 31; Clamping cylinder 33, its lateral holding portion that makes progress applies lifting action, switches the clamp position of band B and relieving state; Brace table 34, it supports maintainance block 32, and it can be moved to X-direction, Y direction and Z-direction; Clamping X-axis motor 35, it applies the shift action along X-direction to maintainance block 32; Clamping Y-axis motor 36, it applies the shift action of Y direction to maintainance block 32; And clamping Z axis cylinder 37, it applies the shift action along Z-direction to maintainance block 32.
As shown in Figure 3, band clamping part 31 is arranged on the left end of maintainance block 32, and lower lateral holding portion 31b is fixedly mounted on maintainance block 32, upper lateral holding portion 31a be supported on lower lateral holding portion 31b directly over, it can be moved up and down.In addition, upper lateral holding portion 31a, forms the maintaining part of concavity at its leading section lower surface, to keep band B with the chimeric mode of this maintaining part.Band B, remains in maintaining part by chimeric, and makes its length direction along being held under the state of Y direction.
Clamping cylinder 33 is arranged on maintainance block 32, by the advance and retreat of its plunger, moves, and the rising that can switch upper lateral holding portion 31a is decontroled action and declined maintenance action.In addition, utilize clamping cylinder 33 that the maintenance pressure of band B is adjusted to, if band B is subject to the tension force to a certain degree along Y direction, can be extracted out.
In addition, be set up in parallel forked parts 38 (omitting diagram in Fig. 3) at maintainance block 32 places, it is adjacent with band clamping part 31 along Y direction.
Forked parts 38, from the leading section along the extended base portion of X-direction (left part), further to left, extend two clavas, form two forked, by passing band B and base portion is rotated around X-axis between these two clavas, and can be turned back in the end of band B.These forked parts 38 are supported on maintainance block 32, can move along X-direction forward-reverse, utilize forked parts to apply forward-reverse action with cylinder 40, so that be positioned at the position arranged side by side with band clamping part 31 when advancing, when retreating, compare to right-hand and keep out of the way with band clamping part 31.In addition, utilize revolving actuator 41 to apply the spinning movement around Y-axis of forked parts 38.Above-mentioned forked parts 38, cylinder 40 for forked parts, revolving actuator 41 form " bending mechanism ".
(lax mechanism)
It is upper that lax mechanism 65 is arranged on Sewing machines base portion 2a, is positioned near mounting table 51, has: lax parts 66, and it is along the oval-shaped clava of the extended section of X-direction; Lax cylinder 67 for parts, it makes lax parts 66 move along X-direction forward-reverse; And lax motor 68, it makes lax parts 66 move to Y direction.
Lax parts 66 are configured to, by utilizing lax parts to move with the forward-reverse of cylinder 67, enter in the sewing position of band B, become the operation that locks to the lax operation of band with by the end of band and turn back and carry out auxiliary job position, by retreating movement, even if become, make operation, the retreating position also not interfering with other structure.
In addition, if apply the shift action to Y direction by lax motor 68, can control the slack of the length direction of band.
(band presser foot device)
The mounting table 51 of band presser foot device 50, is supported on the top of Sewing machines base portion 2a, can move to X-direction and Y direction.And the upper surface of mounting table 51 is horizontal planes parallel with X-Y plane, when making, load cloth C.In addition, mounting table 51 be positioned at needle bar 12 under, on needle downing position, form the pin hole that suture needle 11 is inserted.
And band presser foot device 50 has: X-axis motor 53 for cloth, it at random moves mounting table 51 in X-direction; And Y-axis motor 54 for cloth, it at random moves mounting table 51 in Y direction, and above-mentioned each motor 53,54 is pulse motor, is separately installed with encoder 55,56 on output shaft separately.X-axis motor 53 and Y-axis motor 54 for cloth, synchronize with the pin that falls of each pin, FEEDBACK CONTROL is carried out in output based on each encoder 55,56, thereby carries out the location of band B and cloth C, and pin falls on the needle downing position with the regulation being determined by tailoring pattern.
In addition, in the end of the rear side of mounting table 51, crane 58 is uprightly set, it supports band presser feet 52, and it can be moved up and down, and mounting table 51 and band presser feet 52 move integratedly in X-axis and Y direction.In addition, by band presser feet, with cylinder 57, carry out the lifting of band presser feet 52, by declining, from top, press downwards and keep band B and cloth C, by rising, band B and cloth C are decontroled.
Band presser foot device 50 utilizes said structure, band B and the cloth C that band presser feet 52 can be kept, running fix in mounting table 51 along on the position arbitrarily of X-Y plane.
(cloth pressing mechanism)
The cloth pressing 71 of cloth pressing mechanism 70, is to overlook the framework that is roughly C word shape, is set as comparing with mounting table 51 little, compares greatly with the framework 52a of band presser feet 52.This cloth pressing 71 is configured to, and at the upper surface of mounting table 51, by surrounding's encirclement of the framework 52a of band presser feet 52, but utilizes the supporter 72 outside mounting table 51, is supported on Sewing machines base portion 2a upper, and it can be moved and can lifting along Y direction.By cloth pressing, use cylinder 73 to carry out the lifting action of cloth pressing 71, by declining, from top, press downwards and keep cloth C, by rising, cloth C is decontroled.
In addition, the movement of the Y direction of cloth pressing 71, second cloth of take carries out as drive source with Y-axis motor 74.This second cloth is pulse motors with Y-axis motor 74, can at random control the Y direction amount of movement of the cloth C being kept by cloth pressing 71.
(control system of belt loop sewing machine)
Control module 80 has: CPU81, and it carries out various processing and control; ROM82, it is written into operation control program and the set information of the action control of carrying out belt loop sewing machine 10; As the RAM83 of working region, it stores various data in the processing procedure of CPU81; And EEPROM84, it records various setting datas.
In addition, control module 80 has I/O interface 85, and it is for being connected various control objects and encoder 55,56 with CPU81.That is, CPU81 is via these I/O interface 85 connection sewing machine electromotors 13, clamping cylinder 33, clamping X-axis motor 35, clamping Y-axis motor 36, clamping Z axis cylinder 37, revolving actuator 41, cylinder 40, the cylinder 67 for parts that relaxes, the motor 68 that relaxes, cylinder 73, the second cloth Y-axis motor 74, cut-out cylinder 64, extraction motor 62, X-axis motor 53, cloth Y-axis motor 54, cylinder 57, encoder 55 and 56 for band presser feet for cloth for cloth pressing for forked parts.In addition, each cylinder 33,37,40,42,57,64,73, all, via each cylinder being carried out to the not shown electromagnetic valve of air inlet/exhaust, controls their action.
In addition, as mentioned above, operating unit 86 is connected with control module 80 via I/O interface 85 with beginning key 89, and this operating unit 86 has for inputting the touch panel 87 of various settings and the display floater 88 that carries out set information demonstration, and this starts key 89 for inputting the beginning of making.
In belt loop sewing machine 10, as the stitching shape of band, the stitching shape that there is the basic configuration turned back each other to the inside in both ends and an end of band is converted into Z-shaped shape roughly and makes.
In the situation that carry out making of this stitching shape (hereinafter referred to as Z-shaped shape), as shown in Figure 4, must set a plurality of parameters, the touch panel 87 by operating unit 86 carries out its input.Here parameter is described.
Making of Z-shaped shape, forms according to the order of seam mark L1, L2, L3, L4.Corresponding, as parameter, utilize operating unit 86 to set the value of the distance m2 of the distance m1 of seam mark L1-L2, seam mark L2-L3 and the distance m3 of seam mark L3-L4.
In addition, in addition, as the parameter of making for carrying out Z-shaped shape, utilize operating unit 86, for each seam mark L1～L4, carry out with which tailoring pattern (kind of making, for example, for each seam mark, select and set be utilize fasteningly make, flat-seam etc. which kind of make) setting of the setting of making, the length of band B, width etc.
The setting content of these parameters is recorded in EEPROM84, when making control, is referenced.In addition, in order to form the tailoring pattern that respectively stitches mark selected and required control parameter (each required pin actuating quantity and sequence of movement in order to carry out fastening making with flat-seam), that the parameter of regulation is set in advance in ROM82 or EEPROM84, and with reference to this value.
In addition, above-mentioned various parameters are only examples.For various parameters, for example, also can preset fixed value and with reference to this value.
(remarkable action monitors and controls)
The remarkable action that CPU81 by control module 80 is carried out monitors to control and describes.
CPU81, the cloth of the band presser foot device 50 of conduct the second sewing actuating when making is used in the spinning movement process of Y-axis motor 54 with X-axis motor 53 and cloth, the deviation detecting from each encoder 55,56 (detection actuating quantity is poor with respect to command value) is monitored, judge whether each deviation is more than or equal to predefined Second Threshold respectively, in the situation that being more than or equal to Second Threshold, be judged as generation remarkable action, carry out and to inform with emergent stopping etc. and safeguard and process.Thus, by monitoring deviation, at band presser feet 52 with mounting table 51 is obstructed because certain transient cause moves or each motor 53,54 does not move produce remarkable action in the situation that according to command value, can effectively to above-mentioned situation, detect.
In addition, remarkable action monitors that being controlled at cloth does not carry out in the rotation stopped process with Y-axis motor 54 with X-axis motor 53 and cloth.In addition, the Second Threshold of the deviation of judgement remarkable action, can utilize the input setting operation of operating unit 60 at random to set.
(interfere and monitor control)
Here, what the above-mentioned Z-shaped shape of take was sewed up makes as example, and to the CPU81 of control module 80, performed interference monitors to control and describes.
As the band clamping part 31 of the clamping device 30 of described the first sewing actuating with as the band presser feet 52 of the band presser foot device 50 of the second sewing actuating, all in the region between suture needle 11 and mounting table 51, on above-below direction, approach configuration, in addition, they all can at random move to X-direction and Y direction.In addition, when making, thereby band clamping part 31 is for by repeatedly the free end side of band B being carried and realized making of expectation along Y direction, and repeatedly through under the band presser feet 52 kept out of the way upward.
Its result, band clamping part 31, owing to being from clamping up and down and keep the structure of band B, so if clamp the band B of thick quality or in the process of clamping the state with double-layer folding clamp, exist and produce the possibility that contact or collision etc. are interfered.
Thus, control module 80 interferes supervision to be controlled when making,, when band clamping part 31 passes through below band presser feet 52 along Y direction, the cloth that utilization is arranged in action halted state detects the generation of interfering, the driving that this cloth carries out to this Y direction with Y-axis motor 54 with the encoder 56 on Y-axis motor 54.
At this, interfere and monitor in control, cloth is controlled as with Y-axis motor 54, stop driving and keeping current location, but make maintenance moment of torsion now compare reduction with the maintenance moment of torsion in the moment of (halted state except interfering supervision control in making) before and after interference supervision control.In addition, band B under the state of the cloth C that an end is sewn to be arranged in mounting table 51 due to band clamping part 31 moves, so MIN maintenance moment of torsion be preferably formed into, when mounting table 51 does not interfere, can not pull the band clamping part 31 moving.
And, from band clamping part 31, by band presser feet 52 belows mobile, start, to till stopping, monitoring the output of encoder 56.That is, judgement detection position is the deviation by the location of instruction (stop position) of Y-axis motor 54 with respect to cloth, and whether the change in location being detected by encoder 56 surpasses defined threshold.Now, due to cloth with Y-axis motor 54 in stopping, do not produce the deviation causing due to driving, so judgement band clamping part 31 and band presser feet 52 can be produced to the deviation threshold (first threshold) of interfering, be set as than the little value of deviation threshold (Second Threshold), this deviation threshold (Second Threshold) is for producing abnormal threshold value at cloth with the spinning movement judgement of Y-axis motor 54 in the action of band presser foot device 50.
For example, if band clamping part 31 and band presser feet 52 produces, the interference such as contact, comprise band presser feet 52 to be pressed and move to Y direction in the integral body of interior mounting table 51, in encoder 56, produce change in location, and over first threshold.
And in the situation that detect the deviation over first threshold, control module 80 makes clamping Y-axis motor 36 emergent stoppings, prevent breakage of interfering at position etc.
In addition, the first threshold of the deviation that judgement is interfered, can set operation by the input from operating unit 60 and at random set.
(belt loop sewing machine make action)
Take that to carry out the situation that described Z-shaped shape makes be example, the flow chart based on shown in Fig. 5 and Figure 11 and Fig. 6, to the action specification figure of Figure 10, describe the action of making of belt loop sewing machine 10 in detail.Following action control is all carried out by the control of the CPU81 of control module 80.
First, as the prerequisite of making, in clamping feed mechanism 60, extract motor 62 out and rectangular band is extracted out to the length of a band B, and make to cut off with cylinder 64 actions, carry out the cut-out of a band B, the clamping device 30 of standby on receiving position receives band, by the action of clamping cylinder 33, at band clamping part 31 place's clamping band B.
And, clamping X-axis motor 35 is driven and positions, so that the first sewing position of band B stitches the below (step S1: Fig. 6 (A)) that the formation position of mark L1 is positioned at needle downing position.
And, by band presser feet, with the action of cylinder 57, band presser feet 52 is declined, press an end that keeps band B, by the driving of clamping Y-axis motor 36, band clamping part 31 is side shifting (step S2: Fig. 6 (B)) forward.Thus, band B is drawn out specific length with respect to band clamping part 31 to rear side.
And, drive sewing machine electromotor 13 and carry out and make, form seam mark L1 (step S3).Now, control X-axis motor 53 and Y-axis motor 54 for cloth, with the seam mark pattern to select in advance, form seam mark L1, mounting table 51 and band presser feet 52 are positioned, so that each pin is positioned at the needle downing position corresponding with tailoring pattern.In addition, in this action case, seam mark L1, L3, L3 are formed by fastening making, and seam mark L2 is formed by flat-seam.
If form seam mark L1, by band presser feet, with the action of cylinder 57, make 52 risings (Fig. 6 (C)) of band presser feet, then the driving by clamping Y-axis motor 36 makes band clamping part 31 side shifting backward, thus the below of process band presser feet 52.
Now, control module 80, starts to carry out to interfere to stopping period to monitor control in the driving from clamping Y-axis motor 36.For interfere to monitor controlling, narrate after the flow chart based on Figure 11.Here, be assumed to be and utilize interference to monitor that control is judged to be the situation of interfering that do not produce, and describes action afterwards.
If band clamping part 31 driving by clamping Y-axis motor 36 is side shifting backward, to become to stitch mark L1 be folding line to band B, the state of turning back to upside (step S4: Fig. 7 (A)).In addition, in the driving of clamping Y-axis motor 36, the second cloth also drives with Y-axis motor 74, with respect to mounting table 51, make cloth C and cloth pressing 71 forward described in side shifting setting value apart from m1.Thus, band B is positioned as, and makes the formation position of stitching mark L2 be positioned at needle downing position.
And, by band presser feet, with the action of cylinder 57, make 52 declines of band presser feet press maintenance band B (step S5), drive sewing machine electromotor 13, execution is made, and forms seam mark L2 (step S6: Fig. 7 (B)).Now, control X-axis motor 53 and Y-axis motor 54 for cloth, for seam mark L2, with selected flat-seam, form seam mark.
If form seam mark L2, by band presser feet, with the action of cylinder 57, make 52 risings (Fig. 7 (C)) of band presser feet, then by the driving of clamping Y-axis motor 36, make band clamping part 31 side shifting forward, thus the below of process band presser feet 52.
Now, control module 80 also starts to carry out interference supervision control during stopping in the driving from clamping Y-axis motor 36.In this case, be also assumed to be and be judged to be the situation of interfering that do not produce, action is afterwards described.
And by the driving of clamping Y-axis motor 36, it is folding line that band B becomes to stitch mark L2, the state of turning back to upside (step S7: Fig. 8 (A)).
And the band clamping part 31 of side shifting forward, by the driving of clamping Y-axis motor 36, carry out the movement of slightly returning to rear side, thus, band B becomes lax a little state from the state being pulled to front side, prevents owing to the pulling of band being made to stitch the skew of mark position.In addition, can when this return action, not interfere yet and monitor control.
Then, after clamping Y-axis motor 36 stops, driving Y-axis motor 74 for the second cloth, with respect to mounting table 51, make cloth C and cloth pressing 71 set correcting value apart from m2 described in side shifting backward.Thus, band B is positioned as, and makes the formation position of stitching mark L3 be positioned at needle downing position (step S8: Fig. 8 (B)).
And, by the action of cylinder 57 for band presser feet, band presser feet 52 is declined, press and keep band B (step S9), drive sewing machine electromotor 13 and carry out and make, form the seam mark L3 (step S10: Fig. 8 (C)) as overlapping suture mark.Now, by setting, cloth is controlled with X-axis motor 53 and Y-axis motor 54, to utilize fastening making to form seam mark L3.
If form seam mark L3, the action with cylinder 57 by band presser feet, band presser feet 52 rises (Fig. 9 (A)), and the second cloth drives with Y-axis motor 74, with respect to mounting table 51, make cloth C and cloth pressing 71 distance m3 described in side shifting backward.Now, by the driving of clamping Y-axis motor 36, band clamping part 31 is also followed cloth C and side shifting backward simultaneously.But the amount of movement of band clamping part 31 is compared less with the amount of movement of cloth C, its result, band B is extracted from band clamping part 31 to rear side, and the end of front side becomes the state being slightly held.And the action by forked parts with cylinder 40, advances forked parts 38, at the rear side of band clamping part 31, forked parts 38 insert standby (step S11: Fig. 9 (B)) under the state of band B in two forks of its front end.
And, by the driving of revolving actuator 41, forked parts 38 carry out rotational action, to be extracted by the end of the band B of band clamping part 31 clampings, and to be wound on the mode on forked parts 38, make the end of band B carry out turn back (step S12: Fig. 9 (C)) of prescribed direction.
And, action by band presser feet with cylinder 57, band presser feet 52 is declined, band B is pressed to maintenance (step S13: Figure 10 (A)), action by forked parts with cylinder 40, forked parts 38 retreat, and by the driving of clamping X-axis motor 35, band clamping part 31 also retreats (step S14: Figure 10 (B)) to retreating position.
Under this state, sewing machine electromotor 13 is driven and carry out and to make, and forms seam mark L4.And, if form seam mark L4, the action with cylinder 57 by band presser feet, band presser feet 52 rises, and finishes the Z-shaped shape of band B and sews up (step S15: Figure 10 (C)).
Below, the flow chart based on Figure 11, monitors to control to the interference of carrying out in above-mentioned steps S4 and S7 to describe.
As previously mentioned, for make band clamping part 31 through band presser feets 52 below and carry out clamping Y-axis motor 36 while driving, continue this to drive, cloth stops driving with Y-axis motor 54.Now, CPU81 is set as by first threshold the little value of comparing with Second Threshold, this first threshold is that judgement produces abnormal threshold value based on cloth by the deviation of the output of the encoder 56 of Y-axis motor 54, and this Second Threshold is the mobile threshold value that produces abnormal deviation that judges band presser feet 52 and mounting table 51 in making operation.In addition, to cloth, with the current value that Y-axis motor 54 is supplied with, decline by making, make to keep the maintenance moment of torsion of current location (angle), (in making, carry out and interfere while monitoring the stopping of situation about controlling) when conventionally stopping and comparing reduction (step S32).
In addition, this keeps moment of torsion less, in the situation that interfering, self more easily rock, so the sensitivity detecting is higher, but due to by the movement of band clamping part 31, via band B, mounting table 51 is also born tension force a little, thus be preferably formed into, resisting this tension value in the scope of holding position, less torque value.
And in the driving process of clamping Y-axis motor 36, control module 80 monitors the output of the encoder 56 of Y-axis motor 54 for clothes, the deviation (change in location) that is more than or equal to first threshold to whether producing monitors (step S33).
Its result, in the situation that detect the deviation over threshold value, is judged as band clamping part 31 and band presser feet 52 has produced collision, interference etc., and control module 80 promptly makes clamping Y-axis motor 36 stop (step S34).In addition simultaneously, in display floater 88, notify and interfere the demonstration occurring.
On the other hand, in the situation that do not detect the deviation over threshold value, judge whether the driving of clamping Y-axis motor 36 finishes (step S35), in the situation that not finishing, return to step S33 and process.In addition, in the situation that the driving of clamping Y-axis motor 36 finishes, think and successfully carried out the movement of band clamping part 31, thereby carrying out makes cloth with the maintenance moment of torsion of Y-axis motor 54, be back to the control (step S36) of common torque value, carry out based on cloth, by the deviation threshold of the output of the encoder 56 of Y-axis motor 54, being back to the setting of deviation threshold (Second Threshold), this Second Threshold is making in operation of moving in band presser feet 52 and mounting table 51, and judgement produces the threshold value (step S37) of remarkable action.
And, in interfering supervision control, be in the driving of clamping Y-axis motor 36, determine whether because interference makes mounting table 51 and produce mobile (step S38), if not, under this state, finish to interfere to monitor control, jump to the operation of making afterwards, in the situation that producing deviation, drive and control Y-axis motor 54 for cloth, make shaft position return to this departure (step S39), end interference monitors to be controlled.
In addition, existence second cloth in interfering supervision control drives with Y-axis motor 74, via cloth pressing 71, make situation that cloth moves (for example, described step S4, Fig. 7 (A)), but because the second cloth all carries in mounting table 51 with Y-axis motor 74 and cloth pressing 71, so this driving can not exert an influence with the detection of the encoder 56 of Y-axis motor 54 to cloth.
(effect of embodiment)
As mentioned above, in belt loop sewing machine 10, the encoder 56 of Y-axis motor 54 for the cloth of the band presser foot device 50 stopping due to utilization, detect interfering with each other of band presser feet 52 and band clamping part 31, so with according to the situation of the interference such as the deviation judgement of the motor in action contacts, compare, can not be subject to, due to the increase and decrease of the driving load working long hours with by the impact ground of mechanical individual difference and the deviation fluctuation that causes as the weight differential of the transported substance of load etc., to detect the generation of interfering.
Thus, can, by interfering the deviation threshold occurring to set littlely for judging, can detect with high sensitivity.Accompany with it, owing to can promptly detecting the generation of interference, so can promptly take counter-measure, can effectively reduce destruction and the breakage of mechanism.
In addition, needn't to interfere and special-purpose detecting unit etc. is set in order to detect, can utilize existing structure detection to interfere, the reduction of production cost that can implement device.
And, owing to controlling when interfering supervision to be controlled, so that the cloth of band presser foot device 50 for example, is compared reduction with the confining force of Y-axis motor 54 confining force of (when other in making stops) with in addition time, even so interference a little just makes the band presser feet 52 of band presser foot device 50 produce change in location, can carry out the higher interference of sensitivity and detect.
In addition, due to confining force is reduced, when interfering, band presser feet carries out change in location at once, thus the impact of collision reduce, breakage that can anti-locking apparatus.
In addition, due to after interfering supervision to be controlled, in the situation that generation is less than the deviation of threshold value, carry out location restore control, make the cloth of band presser foot device 50 according to departure, recover position with Y-axis motor 54, so the supervision that can eliminate because interfering makes the drawback that keeps moment of torsion to reduce, and realizes correct making, and can realize the raising of quality of sewing.
In addition, for interfering the deviation threshold of the interference judgement that monitors control can be set as the little value of comparing with the deviation producing in the FEEDBACK CONTROL with Y-axis motor 54 at common cloth.This threshold value is less, and the sensitivity of detection is higher, although simultaneously the possibility of error detection increases, the judgement of interfering during with the stopping of Y-axis motor 54 due to the cloth at band presser foot device 50, so can reduce fully the possibility of error detection.
(other)
In addition, control module 80 can not be also to make in action a series of, at the cloth of band presser foot device 50, with Y-axis motor 54, stops, and under all situations that only the clamping Y-axis motor 36 of clamping device 30 moves, carries out to interfere monitoring and control.For example, also can only approaching, easily produce the in the situation that of interference if the band clamping part 31 of clamping device 30 is by the situation of band presser feet 52 belows of band presser foot device 50, carry out to interfere monitoring and control.
In addition, in above-mentioned belt loop sewing machine 10, only show the stitching of the band B of Z-shaped shape, but also can be as shown in Figure 12 (A), the stitching of the common band of being turned back to the inside in both ends, with as shown in Figure 12 (B), one end latasuture of band B is closed, on this basis, to guarantee to grow the mode of the end of turning back, along seam mark, turn back in its vicinity, face forms overlapping suture mark, the namely stitching of half sealing mode from it.Above-mentioned kind of making by made the selection of kind by operating unit 86, is carried out and is made in the operation corresponding with respectively making kind.
In addition, interfere and monitor that control is not limited to belt loop sewing machine 10, goes for multiple Sewing machines.For example, also go for button sewing machine for sewing.Button sewing machine for sewing has: button maintaining body, and it carries out button maintenance and running fix as the first sewing actuating when button is made; And cloth maintaining body, it carries out cloth maintenance and running fix as the second sewing actuating when button is sewed up.And, when button moves during cloth non-moving, utilization is as the encoder of position detector, monitor deviation, can be by whether over threshold value, judge to keep the structure of cloth whether to produce interference with keeping the structure of button, this position detector is arranged on the motor that carries out the drive source that moves as cloth.Now, carry out the motor that cloth moves, the control that performs an action, makes to keep moment of torsion to compare reduction when common.
As mentioned above, for having, to be more than or equal to the Sewing machines of two following sewing actuating all, can use to interfere to monitor and control, above-mentioned sewing actuating with handle the needle in linkage, in producing the region of interfering, carry out and make relevant action.
Claims (2)
1. a Sewing machines, is characterized in that, has:
Suture needle reciprocating mechanism, it carries out moving up and down of suture needle;
The first sewing actuating, it is carried out and makes the action being associated;
The second sewing actuating, it is carried out and makes other action being associated; And
Action control unit, it is controlled so that described each sewing actuating drive source separately with make operation carry out correspondingly, carry out predefined action,
The movable part of the movable part of described the first sewing actuating and described the second sewing actuating, moves along equidirectional each other,
Setting position detector on the drive source of described the second sewing actuating,
Described action control unit, in described the second sewing actuating, stop, in the situation that only described the first sewing actuating is moved, interfere and monitor control, according to the deviation obtaining from described position detector, whether be more than or equal to predefined first threshold, detect between described each sewing actuating and whether interfere
Described action control unit, described make described in operation that the second sewing actuating is moved in the situation that, whether the deviation detecting according to described position detector is more than or equal to predefined Second Threshold, carries out the judgement of the remarkable action of described the second sewing actuating
Described first threshold is the little value of comparing with described Second Threshold.
2. Sewing machines according to claim 1, is characterized in that,
The drive source of described the second sewing actuating can change confining force,
Described action control unit, monitors while controlling in described interference, makes the confining force of the drive source of described the second sewing actuating, compares reduction with confining force constantly in addition.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009-119858 | 2009-05-18 | ||
| JP2009119858A JP5689590B2 (en) | 2009-05-18 | 2009-05-18 | sewing machine |
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| CN101892563A CN101892563A (en) | 2010-11-24 |
| CN101892563B true CN101892563B (en) | 2014-03-12 |
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| CN (1) | CN101892563B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5759158B2 (en) * | 2010-12-09 | 2015-08-05 | Juki株式会社 | Belt loop sewing machine and belt loop folding method |
| JP5808969B2 (en) * | 2011-07-15 | 2015-11-10 | Juki株式会社 | Sewing machine with belt loop |
| CN105887363A (en) * | 2016-04-14 | 2016-08-24 | 苏州锦超服饰有限公司 | Automatic auxiliary traveling mechanism used in process of sewing front fly |
| CN107099951B (en) * | 2017-05-25 | 2020-05-05 | 杰克缝纫机股份有限公司 | Sewing machine and skip stitch detection device and detection method thereof |
| CN114561752B (en) * | 2022-03-22 | 2023-03-10 | 浙江众邦机电科技有限公司 | Control method for lifting presser foot of sewing machine and related device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1818185A (en) * | 2005-02-09 | 2006-08-16 | 重机公司 | Button-sewing machine |
| CN200943142Y (en) * | 2006-09-01 | 2007-09-05 | 深圳市深奥电脑机械有限公司 | Paillette-embroidered sewing apparatus |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0638596A (en) * | 1992-07-20 | 1994-02-10 | Tokai Ind Sewing Mach Co Ltd | Pulse motor driving and controlling device and method in sewing machine |
| JP4756618B2 (en) * | 2001-03-21 | 2011-08-24 | 株式会社ダイヘン | Collision detection / stop control method for articulated robots |
| JP2008104865A (en) * | 2006-09-26 | 2008-05-08 | Brother Ind Ltd | Control device for sewing machine, and sewing machine |
| JP4946684B2 (en) * | 2007-07-13 | 2012-06-06 | トヨタ自動車株式会社 | Moving body |
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2009
- 2009-05-18 JP JP2009119858A patent/JP5689590B2/en not_active Expired - Fee Related
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1818185A (en) * | 2005-02-09 | 2006-08-16 | 重机公司 | Button-sewing machine |
| CN200943142Y (en) * | 2006-09-01 | 2007-09-05 | 深圳市深奥电脑机械有限公司 | Paillette-embroidered sewing apparatus |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2002-283276A 2002.10.03 |
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|---|---|
| CN101892563A (en) | 2010-11-24 |
| JP2010264179A (en) | 2010-11-25 |
| JP5689590B2 (en) | 2015-03-25 |
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