CN107761273A - Sewing machine - Google Patents
Sewing machine Download PDFInfo
- Publication number
- CN107761273A CN107761273A CN201710729791.5A CN201710729791A CN107761273A CN 107761273 A CN107761273 A CN 107761273A CN 201710729791 A CN201710729791 A CN 201710729791A CN 107761273 A CN107761273 A CN 107761273A
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- China
- Prior art keywords
- feeding
- feeding adjusting
- adjusting motor
- sewing machine
- motor
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Classifications
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B55/00—Needle holders; Needle bars
- D05B55/14—Needle-bar drives
-
- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B69/00—Driving-gear; Control devices
- D05B69/10—Electrical or electromagnetic drives
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The present invention maintains the set amount of feeding.Sewing machine has：Sewing machine electromotor, it turns into the driving source moved up and down of needle bar；First detection unit, it detects the shaft angle degree of sewing machine electromotor；Feed mechanism, it utilizes the moment of torsion of sewing machine electromotor, and the reciprocating action along the direction of feed of sewn object is assigned to feeding tooth；And feeding adjusting mechanism, it corresponds to the position of feeding adjusting body or posture and adjusts the amount of feeding of feeding tooth, there is the position for making feeding adjusting body or posture to change and adjust the feeding adjusting motor of the amount of feeding for feeding adjusting mechanism, sewing machine has control device, the output shaft of feeding adjusting motor is driven to target location with as the amount of feeding set in advance, and in the case where the output shaft of feeding adjusting motor waits in target location, control feeding adjusting motor, the position for accordingly increasing and decreasing regulation feeding adjusting motor with the rotary speed with the sewing machine electromotor detected based on the first detection unit keeps moment of torsion.
Description
Technical field
The present invention relates to the sewing machine for carrying out feeding adjusting.
Background technology
Currently, in sewing machine, reciprocating action and horizontal direction (direction of feed) as the above-below direction of feeding tooth
The driving source of reciprocating action and the moment of torsion for utilizing sewing machine electromotor.
Moreover, control feeding adjusting motor, can arbitrarily carry out change regulation, the feeding adjusting is electronic to the amount of feeding
Machine from sewing machine electromotor to feeding tooth to transmitting the feeding adjusting set in the transmission mechanism of the reciprocating action of horizontal direction
The change of body imparting action transmission capacity is acted (for example, referring to patent document 1).
Patent document 1：Japanese Unexamined Patent Publication 2010-246839 publications
Above-mentioned feeding adjusting motor uses stepping motor, and the setting of classification, the amount of feeding with execution action is corresponding
Ground carries out the drive control to target location, so as to the target amount of feeding, is carried out during the variation of no amount of feeding
Stop control, to maintain the set amount of feeding.
But in above-mentioned existing sewing machine, from feeding adjusting motor to from sewing machine electromotor to feeding tooth
The feeding adjusting body imparting set in the transmission mechanism of the reciprocating action of horizontal direction is transmitted to act, therefore sewing machine electromotor
Vibration is also transferred to the output shaft of feeding adjusting motor by framework, feeding adjusting body, if sewing machine electromotor turns into height
Speed, the then vibration for being transferred to the output shaft of feeding adjusting motor also become big, although feeding adjusting motor maintains posture, but still
The variation of posture can occur in feeding adjusting body, it is possible to cause the amount of feeding to change.
The content of the invention
The present invention's aims at, and correctly maintains the target amount of feeding and is sewed.
(1) invention recorded is a kind of sewing machine,
It has：
Sewing machine electromotor, it turns into the driving source moved up and down of the needle bar kept to suture needle；
First detection unit, its shaft angle degree to the sewing machine electromotor detect；
Feed mechanism, it is assigned along the feeding side of sewn object using the moment of torsion of the sewing machine electromotor to feeding tooth
To reciprocating action；And
Feeding adjusting mechanism, it corresponds to the position of feeding adjusting body or posture and the amount of feeding of the feeding tooth is carried out
Regulation,
The feeding adjusting mechanism has the feeding adjusting motor of the position for making the feeding adjusting body or posture variation,
The sewing machine is characterised by thering is control device,
The control device drives the output shaft of the feeding adjusting motor to target location, with as set in advance
The amount of feeding, also,
In the case where the output shaft of the feeding adjusting motor waits in the target location, to the feeding adjusting
Motor is controlled, to cause the rotation with the sewing machine electromotor obtained from the detection based on first detection unit
Rotary speed accordingly keeps moment of torsion to carry out increase and decrease regulation the position of the feeding adjusting motor.
(2) invention recorded is characterised by, in the sewing machine that (1) is recorded,
The control device is controlled to the feeding adjusting motor, to cause the rotation of the sewing machine electromotor
Speed is faster, then the position of the feeding adjusting motor keeps moment of torsion bigger.
(3) invention recorded is characterised by, in the sewing machine that (1) or (2) is recorded,
The control device,
In the case where the output shaft of the feeding adjusting motor waits in the target location, to the feeding adjusting
Motor is controlled, to cause on the basis of the rotary speed of the sewing machine electromotor, the feeding also with the setting
Amount accordingly keeps moment of torsion to carry out increase and decrease regulation the position of the feeding adjusting motor.
(4) invention recorded is characterised by, in the sewing machine that (3) are recorded,
The control device is controlled to the feeding adjusting motor, to cause the amount of feeding of the setting bigger,
Then the position of the feeding adjusting motor keeps moment of torsion bigger.
(5) invention recorded is characterised by, in the sewing machine that any one of (1) to (4) is recorded,
The feeding adjusting motor is stepping motor.
(6) invention recorded is characterised by, in the sewing machine that (5) are recorded,
With the second detection unit, second detection unit detects to the shaft angle degree of the feeding adjusting motor,
The control device is controlled to the feeding adjusting motor, to enter in the feeding adjusting motor
In the case of row driving, towards the output shaft angle relative to the feeding adjusting motor detected by second detection unit
Degree and moment of torsion becomes maximum electrical angle and carries out excitation.
The effect of invention
The present invention becomes big even in the rotating speed of sewing machine electromotor, resists feeding adjusting motor and makes feeding adjusting body
In the case that target location produces the vibration change greatly changed, feeding adjusting motor can also maintain feeding to adjust corresponding thereto
Body is saved, the amount of feeding is able to maintain that setting value, can carry out the sewing of high-quality
Brief description of the drawings
Fig. 1 is the oblique view of the primary structure in the sewing machine base portion for represent sewing machine.
Fig. 2 is the oblique view of feeding adjusting mechanism.
Fig. 3 is the oblique view of bottom and top feed mechanism.
The action specification figure of bottom and top feed mechanism when Fig. 4 is 0 ° of the shaft angle degree of bottom and top feed motor.
The action specification figure of bottom and top feed mechanism when Fig. 5 is -5 ° of the shaft angle degree of bottom and top feed motor.
The action specification figure of bottom and top feed mechanism when Fig. 6 is+5 ° of the shaft angle degree of bottom and top feed motor.
Fig. 7 is the block diagram for the control system for representing sewing machine.
Fig. 8 is the ratio and shaft angle degree of current value for representing to flow in the A phases and B phases of the winding of feeding adjusting motor
Relation line chart.
Fig. 9 is the line chart for representing electrical angle and the relation of moment of torsion.
Figure 10 is to represent that two parameters being formed with by the rotating speed of sewing machine electromotor and the setting value of the amount of feeding are corresponding
The line chart of the relation of the absolute value of maximum current value that ground is set out, being flowed in A phases and B phases.
Figure 11 be representing in sewing by control device in the action of sewing after it is performed for feeding adjusting electricity
The flow chart of the control of motivation.
Figure 12 is to represent control device to perform sewing action and controlled for the sewing performed by the entirety of sewing machine
Flow chart.
The explanation of label
16 sewing machine electromotors
30 feed arrangements
31 feeding teeth
40 horizontal feed mechanisms (feed mechanism)
50 feeding adjusting mechanisms
55 feeding adjusting bodies
57 feeding adjusting motor
60B bottom and top feeds mechanism
90 control devices
100 sewing machines
161 encoders (the first detection unit)
571 encoders (the second detection unit)
Embodiment
[schematic configuration of embodiment]
Below, the sewing machine as embodiments of the present invention is described in detail.
Fig. 1 is the oblique view of the primary structure in the sewing machine base portion for represent sewing machine 100.
As shown in figure 1, sewing machine 100 has：Suture needle reciprocating mechanism (not shown), it moves up and down suture needle；Seam
Thread electric motor 16 (reference picture 7), it turns into the driving source of suture needle reciprocating mechanism；Upper axle (not shown), it passes through sewing
Electric motor 16 carries out spinning movement；Kettle 12, it will reach the standard grade to offline winding；Feed arrangement 30, it is moved up and down with suture needle
Matchingly the dress material as sewn object on needle plate 11 is conveyed；Belt mechanism 20, it is filled from upper axial feed
The lower axle 33 for putting 30 transmits revolving force；Thread cutter 14 (reference picture 7), it will reach the standard grade and offline cut-out；Sewing machine stand (saves sketch map
Show), it is supported to above-mentioned each structure；And control device 90 (reference picture 7), it is controlled to above-mentioned each structure.
In addition, above-mentioned sewing machine 100 is so-called sewing machine for covering chain stitch, there is Libra possessed by common sewing machine for covering chain stitch
Each structures such as mechanism, line adjuster, cloth pressing, these are known structures, therefore are omitted the description.
Above-mentioned sewing machine stand has：Base portion, it is located at bottom in the entirety of sewing machine；Longitudinal body portion, it is being stitched
The one end of length direction in machine base portion of threading uprightly is set upward；And arm (not shown), it is from longitudinal body portion
Upper end edge is extended with base portion identical direction.
In addition, in the following description, the horizontal direction parallel with the length direction in sewing machine base portion is set to Y-axis side
To level and the direction orthogonal with Y direction are set into X-direction, the direction orthogonal with X-axis and Y direction is set into Z axis side
To.
[suture needle reciprocating mechanism and belt mechanism]
Suture needle reciprocating mechanism has：Upper axle, it is configured at the inner side of arm, is revolved by sewing machine electromotor 16
Turn driving, and configured along Y direction；Needle bar, it keeps suture needle in bottom；And crank mechanism (not shown), it will be upper
The revolving force of axle is transformed to the reciprocating driving force moved up and down and is transferred to needle bar.
Moreover, belt mechanism 20 has：Driving pulley, its fixed equipment is in upper axle；Driven pulley 21, its fixed equipment
In the lower axle 33 of feed arrangement 30；And timing belt 22, it is erected at driving pulley and driven pulley 21.Moreover, pass through transmission
Band mechanism 20, lower axle 33 with upper axle same speed to be rotated.
In addition it is also possible to substitute belt mechanism and the gear transmission mechanism by being made up of the longitudinal axis and bevel gear is from upper axle
Revolving force is transmitted to lower axle 33.
[feed arrangement]
As shown in figure 1, feed arrangement 30 has：Tooth 31 is fed, it passes in and out from the opening of needle plate 11 and provides dress material edge
Direction conveys；Feeding station 32, it keeps to feeding tooth 31；Lower axle 33, it obtains power from sewing machine electromotor 16 and entered
Row rotation driving；As the horizontal feed mechanism 40 of feed mechanism, it transmits the X-axis along the direction of feed of dress material to feeding station 32
The reciprocating action in direction (horizontal direction)；And bottom and top feed mechanism 60B, it assigns the past double action of above-below direction to feeding station 32
Make.
[horizontal feed mechanism]
Horizontal feed mechanism 40 has：Feeding adjusting mechanism 50, its past double action to the X-direction relative to feeding station 32
The stroke of work is that the amount of feeding is adjusted；Toggle-action lever 41, it takes out the reciprocating action along X-direction from lower axle 33；Horizontal feed
Axle 42, it is endowed reciprocating rotation via feeding adjusting mechanism 50 from toggle-action lever 41；And horizontal feed arm 43, it is by level
The reciprocating rotation driving force of feed shaft 42 is transformed to the reciprocating driving force of direction of feed and transmitted to feeding station 32.
The one end of toggle-action lever 41 rotatably keeps eccentric cam (omit illustrate) of the fixed equipment in lower axle 33, separately
One end links with feeding adjusting mechanism 50.The toggle-action lever 41 is configured to its length direction substantially along X-direction, if lower axle 33
Be driven integral cycle rotating, then the other end of toggle-action lever 41 by eccentric cam and with twice of its offset of stroke edge
Its length direction carries out reciprocating action.The reciprocating action of the toggle-action lever 41 is used as to horizontal feed via feeding adjusting mechanism 50
The reciprocating rotary power of axle 42 is transmitted.
Feeding adjusting mechanism 50 is as shown in Fig. 2 have：Swing arm 51, its fixed equipment in horizontal feed axle 42, and to
Stretched out on the outside of radial direction centered on horizontal feed axle 42；A pair of first connecting rod bodies 53, they are another by toggle-action lever 41
End and swing arm 51 link；A pair of second connecting rod bodies 54, they by the vibration-direction of the other end of toggle-action lever 41 to
Some direction induction；Feeding adjusting body 55, it determines the induction direction realized by second connecting rod body 54；Fulcrum 52, it is with entering
Integratedly rotated to regulation body 55；Input arm 56, its fixed equipment is in fulcrum 52, and to the radius side centered on fulcrum 52
Stretch out laterally；Feeding adjusting motor 57, it rotates feeding adjusting body 55, the X to being transferred to feeding station 32 from lower axle 33
The reciprocating action amount of direction of principal axis (horizontal direction) is adjusted；And two transmission connecting rods 58,59, they are by rotatory force from feeding
The output shaft of regulation motor 57 is transferred to input arm 56.
The other end of the one end of first connecting rod body 53 and toggle-action lever 41 links, the other end of first connecting rod body 53 with
The swing end of swing arm 51 links, and above-mentioned both ends can rotationally link around Y-axis.
The one end of second connecting rod body 54 connects together with the one end of first connecting rod body 53 with the other end of toggle-action lever 41
Knot, the other end of second connecting rod body 54 link with the pivoting end of feeding adjusting body 55, and above-mentioned both ends can turn around Y-axis
Link dynamicly.
Feeding adjusting body 55 has the fulcrum 52 along Y direction in its base end part fixed equipment, and the fulcrum 52 is in sewing machine stand
It is interior rotationally to be supported around Y-axis.
In addition, the pivoting end of feeding adjusting body 55 can connect around the other end of Y-axis rotationally with second connecting rod body 54
Knot.
In feeding adjusting mechanism 50, first connecting rod body 53 and second connecting rod are caused if rotating feeding adjusting body 55
The respective length direction of body 54 turns into consistent state, i.e., each gonnecting rod body 53,54 turns into when from Y direction just to be weighed
Folded state, the then state do not transmitted as the driving force of toggle-action lever 41 to swing arm 51.Now, due to not to horizontal feed axle
42 transmit reciprocating rotation action, therefore the reciprocal stroke of the X-direction of feeding station 32 is 0, i.e. the amount of feeding turns into 0.As above institute
State, the rotational angle that each gonnecting rod body 53,54 is turned into the feeding adjusting body 55 of overlapping state is set to " in feeding adjusting body 55
Vertical angle ".
It is if corresponding with its angle of rotation measurement moreover, make the feeding adjusting body 55 be rotated from neutral angle to a side
Ground assigns reciprocal wobbling action to the side of swing arm 51, thus, it is possible to which the amount of feeding of positive direction of feed is increased.
In addition, if making the feeding adjusting body 55 be rotated from neutral angle to reverse direction, then remain able to and its angle of rotation
Measurement accordingly assigns reciprocal wobbling action to the side of swing arm 51, but in this case, phasing back and transmit, thus, it is possible to
The enough amount of feeding by inverse direction of feed increases.
Y direction one end side of the feeding adjusting motor 57 in sewing machine base portion, by output shaft towards Y direction
Configuration.Its length direction is approximately towards X-direction and adjusts one end fixed equipment in feeding by foregoing transmission connecting rod 58
The output shaft for motivation 57 of economizing on electricity.Therefore, by the driving of feeding adjusting motor 57 and make the other end of transmission connecting rod 58 to
Rotated up and down.
Connecting rod 59 is transmitted in its length direction probably along in the state of Z-direction, its bottom can around Y-axis rotationally with
The other end for transmitting connecting rod 58 links.Therefore, transmission connecting rod 59 is made integrally by the driving of feeding adjusting motor 57
Move up and down.
The fixed equipment of input arm 56 probably stretches out in fulcrum 52, and from fulcrum 52 along X-direction, and its projecting end can
Rotationally link around Y-axis with transmitting the upper end of connecting rod 59.
, can be via transmission connecting rod 58,59 and input arm if feeding adjusting motor 57 drives according to these structures
56 and rotate feeding adjusting body 55.
Horizontal feed axle 42 can rotatably be supported in sewing machine base portion along Y direction, relative to lower axle 33
It is configured at the direction of feed downstream (left in Fig. 1) of dress material.In one end of longitudinal body portion side of the horizontal feed axle 42
Portion is endowed reciprocating rotary power via foregoing feeding adjusting mechanism 50 from lower axle 33, from the other end of horizontal feed axle 42
The reciprocating action along X-direction is assigned to feeding station 32 via horizontal feed arm 43.
The base end part of horizontal feed arm 43 is fixedly connected in the end of the side of needle plate 11 of horizontal feed axle 42, and it swings end
Link in the state of top is approximately towards with feeding station 32.
Therefore, horizontal feed arm 43 can make feeding station 32 past along X-direction by the driving of sewing machine electromotor 16
It is multiple mobile.In addition, the stroke of the reciprocating action along X-direction on feeding station 32, passes through entering to feeding adjusting mechanism 50
It is controlled to regulation motor 57, so as to arbitrarily adjust.
Feeding station 32 is configured at the lower section of needle plate 11, one end and bottom and top feed in cloth direction of feed (X-direction)
Mechanism 60B links, and the other end links with horizontal feed arm 43.In addition, on the length direction of feeding station 32, in centre position
Top fixed equipment have feeding tooth 31.
Thus, feeding station 32 is endowed reciprocating driving force along the vertical direction from one end, from the other end with identical
Cycle is endowed the reciprocating driving force of direction of feed.Moreover, by being synthesized to these reciprocating driving forces, so as to be put down along X-Z
Face carries out long circular motion.Accompany with the feeding station 32, feeding tooth 31 also carries out long circular motion, on the top of the oval movement locus
The leading section that tooth 31 is fed when region moves is protruded upward from the opening portion of needle plate 11, and dress material can be conveyed.
[bottom and top feed mechanism]
Fig. 3 is bottom and top feed mechanism 60B oblique view, and Fig. 4~Fig. 6 is bottom and top feed mechanism 60B action specification figure.
Bottom and top feed mechanism 60B has：Bottom and top feed motor 66, it turns into the above-below direction (Z for feeding station 32
Direction of principal axis) reciprocating action driving source；First connecting rod 61B, the output shaft of itself and the bottom and top feed motor 66 link and entered
Row rotational action；Second connecting rod 62B, one end and first connecting rod 61B pivoting end link；Third connecting rod 63B, its one end
Portion and second connecting rod 62B the other end link；Rotary shaft 67, itself and third connecting rod 63B the other end link, and position
It is fixed in sewing machine stand；Fourth link 64, link via its rotary shaft 67 with third connecting rod 63B；And the 5th connecting rod
65, one end and the pivoting end of the fourth link 64 link, and the other end and the one end of feeding station 32 link.
Substitute above-mentioned bottom and top feed mechanism 60B in addition, being also readily appreciated, and be changed to using motor, bias
The structure or use motor, the structure of rack-and-pinion of cam and connecting rod.
Bottom and top feed motor 66 is in sewing machine base portion, the end for the side of needle plate 11 being configured in Y direction, in Y
On direction of principal axis, separatedly configured with the feeding adjusting motor 57 of foregoing feeding adjusting mechanism 50.These motor 57,66 are equal
Need to expand installation space, but as described above, by separatedly being configured in its longitudinal direction in sewing machine base portion, so as to
Mutual space can be ensured to the installation space of the other structures of sewing machine, for example need to expand in the same manner as motor
The solenoidal installation space of the driving source as thread cutter 14 of installation space.
In addition, bottom and top feed motor 66 makes its output shaft be configured along Y direction.
Also, bottom and top feed motor 66 using with foregoing 57 same specification of feeding adjusting motor and same performance,
And type and classification identical stepping motor.
Thereby, it is possible to the generalization for the part for realizing motor and its periphery, can cost of implementation reduce and maintainability
Improve.
The first connecting rod 61B base end part as center of rotation is fixedly supported to the output shaft of bottom and top feed motor 66.
On the other hand, third connecting rod 63B the other end is fixedly supported to rotatably by the framework in sewing machine base portion
The rotary shaft 67 of support.
Moreover, first connecting rod 61B pivoting end and third connecting rod 63B pivoting end are able to around Y-axis rotationally
Link with second connecting rod 62B one end and the other end.
Moreover, these first~third connecting rods 61B~63B is as shown in figure 4, in first connecting rod 61B and Z-direction substantially simultaneously
Row and its pivoting end state upward and third connecting rod 63B is almost parallel with Z-direction and its pivoting end is under
In the case of the state of side, respective length is set, to cause second connecting rod 62B to turn into substantially parallel with X-direction
Horizontality.
Thus, if the output shaft of bottom and top feed motor 66 is set into the shaft angle degree (0 °) shown in Fig. 4, first connecting rod
61B and second connecting rod 62B turns into 90 degree (right angles).The state is that the connecting rod being made up of first~third connecting rod 61B~63B arranges
" origin ".
Under the shaft angle degree as above-mentioned " origin ", feed tooth 31 height and the upper surface of needle plate 11 it is highly consistent.
In addition, will turn into " origin " shaft angle degree as benchmark, if as shown in figure 5, in reverse direction (counter clockwise direction)
Make the rotation driving of bottom and top feed motor 66, then feed tooth 31 and rise compared with the upper surface of needle plate 11, if as shown in fig. 6,
Make the rotation driving of bottom and top feed motor 66 in positive direction (clockwise direction), then feed tooth 31 compared with the upper surface of needle plate 11
Decline.
In addition, in sewing machine 100, its control device 90 is on the feeding for each pin by feeding the realization of tooth 31
Action, for bottom and top feed motor 66, arranged on the same line in no arrival first connecting rod 61B and second connecting rod 62B
Maximum elongation state (stop) output shaft angle angular range in (such as origin ± 10 °), perform positive reverse direction
Reciprocating rotation carries out action control once.
As described above, the connecting rod being made up of first~third connecting rod 61B~63B arranges, by turning for bottom and top feed motor 66
Dynamic action and the imparting moved up and down to feeding station 32 are maintained with the frequency of equimultiple, so if with by the feeding of horizontal direction
Reciprocating action is by the way that compared with the situation of the independent motor imparting of sewing machine electromotor 16, then reciprocal stroke is small, at a high speed
The tracing ability of the sewing of rotation is excellent.Especially, bottom and top feed motor 66 avoid first connecting rod 61B and second connecting rod 62B into
It is driven for the shaft angle degree of stop, and exists in the shaft angle degree for turning into right angle comprising first connecting rod 61B and second connecting rod 62B
Interior scope is driven, and thus, it is possible to further reduce reciprocal stroke, can further improve the sewing to high speed rotation
Tracing ability.
In addition, the base end part in the state of direction substantially along the x-axis of fourth link 64 is fixed on rotary shaft 67, therefore with the 3rd
Connecting rod 63B is integratedly rotated.
Moreover, the 5th connecting rod 65 one end and pivoting end of fourth link 64 in the state of approximately along Z-direction connect
Knot, and the other end and the one end of feeding station 32 link, therefore can be by the rotation of fourth link 64 and via the 5th
Connecting rod 65 is transmitted to feeding station 32 and moved up and down.
[thread cutter]
Thread cutter 14 has：Fixed cutting tool and movable cutting knife, they are configured between feeding tooth 31 and kettle 12；Cam,
It is arranged at lower axle 33；Cam bawl, it engages with cam and assigns cutoff action to movable cutting knife；And solenoid, it makes
Cam bawl engages with cam.Solenoid is operated by the control of control device 90, and cam bawl passes through solenoidal
Work and engage with cam, reciprocal cutoff action is transmitted to movable cutting knife, is moved by the collaboration of movable cutting knife and fixed cutting tool
Work will reach the standard grade and offline cut-out.
[control system of sewing machine]
Fig. 7 block diagram shows the control system of above-mentioned sewing machine 100.As shown in Figure 7, sewing machine 100, which has, is carried out respectively
The control device 90 of the action control of structure.Moreover, the control device 90 via each motor drive circuit 16a, 57a,
66a and be connected with sewing machine electromotor 16, feeding adjusting motor 57 and bottom and top feed motor 66.
In addition, it is attached to what its shaft angle degree was detected respectively in sewing machine electromotor 16 and feeding adjusting motor 57
As the encoder 161,571 of first and second detection unit, these encoders 161,571 are via motor angle detection circuitry
161a, 571a and be connected with control device 90.
In addition, being connected with thread cutter 14 in control device 90, the solenoid being driven when tangent line performs is by controlling
Device 90 controls.
Control device 90 has CPU 91, ROM 92, RAM 93, EEPROM 94 (EEPROM is registration mark), after execution
The various action controls that face describes.
In addition, being connected with operation inputting part 96 via interface 96a in control device 90, the operation inputting part 96 is used for defeated
Enter selection, execution, the setting of the various action controls for feed arrangement 30 described below, seam is inputted by brake pedal operation
The pedal 95 of the beginning of system and the sewing speed corresponding with entering amount is attached via interface 95a.
[SERVO CONTROL for being directed to feeding adjusting motor]
Herein, the SERVO CONTROL performed to above-mentioned control device 90 for feeding adjusting motor 57 illustrates.Should
SERVO CONTROL is the control carried out in the output shaft progress rotation driving, the regulation of amount of feeding action of feeding adjusting motor 57
System.
Herein, the situation for the stepping motor that feeding adjusting motor 57 is two-phase is exemplified.Fig. 8 is to represent feeding
Adjust the ratio (longitudinal axis) and shaft angle degree (electrical angle of the current value flowed in the A phases and B phases of the winding of motor 57：Transverse axis)
The line chart of relation.
Transverse axis in Fig. 81 segment (between A-B, between B-AN, between AN-BN ...) electrical angle correspond to 1.8 °
Mechanical angle (actual output shaft angle).
The current value flowed in the A phases and B phases of the winding of feeding adjusting motor 57 is relative with the change of shaft angle degree
Ground is answered periodically to change according to cos curves (or sin curves), for example, turning into a week between A-A ' in the case of A phases
Phase.The a cycle is equivalent to 360 ° in electrical angle.In addition, the current value flowed in B phases has and A phases identical week
Phase and the periodic quantity of phase delay 1/4.
Moreover, by with according to the ratio in these cycles in A phases and B phases streaming current, so as to make feeding adjusting
The output shaft of motor 57 carries out rotation driving, in addition, arbitrary shaft angle degree can be positioned at.
If for example, A phase currents are set into 100%, B phase currents are set to 0%, then output shaft turns into A ' position.Separately
Outside, if A phase currents are set into 0% from the state, B phase currents are set to 100%, then shaft angle degree is with pair of 1.8 ° of mechanical angle
It should measure and be rotated and be moved to B ' position.
In addition, from the state of the position positioned at A ', A phase currents are set to 70%, B phase currents are set to -70%
In the case of, it can be reversely rotated and output shaft is positioned to A ' and BN centre position.
As described above, feeding adjusting motor 57 makes its ratio periodically change, while making in A phases and B phases
Electric current flowing, by suitably being selected A phases and the ratio of the current value of B phases, so as to which output shaft is positioned at arbitrarily
Shaft position.
As illustrated as the former, feeding adjusting motor 57 corresponds to its shaft angle degree and arbitrarily adjusts the amount of feeding of sewn object
Section, therefore the ratio of the current value of A phases and B phases can be corresponded to and arbitrarily the amount of feeding of sewn object is controlled.
Next, the relation of electrical angle and moment of torsion is illustrated by Fig. 9.
Electrical angle is staggered if be located in the mechanical angle of the output shaft of feeding adjusting motor 57 in the state of A ', it is right
In offset moment of torsion should be being produced according to the direction of electrical angle.Moreover, caused moment of torsion is in CW directions (clockwise direction) and CCW
Direction (counter clockwise direction) it is any in the case of, be all electrical angle turn into 1/4 phase (90 ° in electrical angle) offset
In the case of turn into maximum, be gradually reduced before and after it.
Thus, for example in order to rotate feeding adjusting motor 57 in CW directions with peak torque, prestissimo, with relative
Make the ratio that electrical angle shifts to an earlier date 90 ° in A phases and B phases in the angular direction for wishing to rotate of machinery detected by encoder 571
Make electric current flowing.That is, the electrical angle degree of the output shaft of current feeding adjusting motor 57 is being set to θ, by 100%
In the case that current value is set to I, if making electric current flowing according to the following formula, it can adjust feeding with peak torque, prestissimo
Economize on electricity motivation 57 is driven.In following formula ,+90 ° are CW directions, and -90 ° are CCW directions.
A phase currents=cos (θ ± 90 °) × I, B phase current=sin (θ ± 90 °) × I ... (1)
Control device 90 is based on above-mentioned characteristic, in SERVO CONTROL, by encoder 571 to feeding adjusting motor 57
Actual mechanical angle is detected, and obtains corresponding electrical angle according to the mechanical angle, the direction for controlling desirably to rotate
The electric current of the ratio corresponding with formula (1) is flowed in A phases and B phases, be driven control so that maintained most with peak torque
Fast speed.
[the stationary phase excitation con-trol for being directed to feeding adjusting motor]
Next, to being carried out by above-mentioned control device 90 for the stationary phase excitation con-trol that feeding adjusting motor 57 performs
Explanation.The stationary phase excitation con-trol be feeding adjusting motor 57 output shaft stop at target location and in the wait state
The control of progress.
Feeding adjusting motor 57 is it is desirable that so that the output shaft angle of target stops and maintains the situation of certain amount of feeding
Under, electric current constant flow in A phases and B phases is made with the ratio as the electrical angle corresponding with the output shaft angle.In the feelings
Under condition, in order to keep moment of torsion to become big the position for maintaining the output shaft angle of target, maximum current value I is set to become big and constant flow
, A phases and B phases are windings, so if making high current constant flow, then can be generated heat, it is possible to cause to burn.
In the case where the output shaft of feeding adjusting motor 57 is maintained into certain position, hindered as to it
Key element, enumerate via feeding adjusting body 55 and the rotating speed of sewing machine electromotor 16 to the horizontal wobbling action of feeding tooth imparting
The size of the amount of feeding of (rotary speed) and feeding adjusting motor 57 setting.Above-mentioned key element is by feeding adjusting mechanism 50
Caused by mechanical realization.
That is, the rotating speed of sewing machine electromotor 16 is bigger, it is intended to makes the external force of the output shaft rotation of feeding adjusting motor 57
It is bigger, in addition, the amount of feeding is set to bigger, it is intended to make the external force of the output shaft rotation of feeding adjusting motor 57 bigger.
Therefore, as shown in Figure 10, in control device 90, the setting with rotating speed and the amount of feeding by sewing machine electromotor 16
It is corresponding to be worth two parameters formed, by the maximum current value I flowed in A phases and B phases absolute value periodically with 5 areas
Between set.That is, the rotating speed of sewing machine electromotor 16 is bigger (rotary speed is faster), is set as belonging to maximum current value I's
The bigger section of absolute value, and the setting value of the amount of feeding is bigger, is set as the bigger area of the absolute value for belonging to maximum current value I
Between.Moreover, control device 90 has the list data for representing the corresponding relation shown in Figure 10 in EEPROM 94.
In addition, in Fig. 10, maximum current value I absolute value is set as 5 stages as an example, but section
Can more, can also less (but being greater than or equal to two stages).Furthermore it is possible to the rotating speed according to sewing machine electromotor 16
Calculated with the setting value of the amount of feeding by certain formula.
[control for feeding adjusting motor realized by control device]
Figure 11 be representing in sewing by control device 90 in the action of sewing after performed be directed to feeding adjusting
The flow chart of the control of motor.
As illustrated, control device 90 determines feeding adjusting electricity by the instruction corresponding with the amount of feeding set in advance
The output shaft angle (target location) (step S1) of the target of motivation 57.In addition, control device 90 has table in EEPROM 94
Show the list data of the amount of feeding and the corresponding relation of output shaft angle, output shaft angle is determined with reference to it.
Next, control device 90 is entered by the encoder 571 of feeding adjusting motor 57 to current output shaft angle
Row detection (step S3), is calculated (step S5) the deviation of target location and current output shaft angle.
Moreover, the size that predetermined threshold value whether is greater than or equal to the deviation calculated is judged (step S7).
On threshold value in this case, in order to be fully small to whether needing the rotation driving of feeding adjusting motor 57 to judge
Value.That is, in the case where deviation is unsatisfactory for the threshold value, feeding adjusting motor 57 maintains halted state.
(the step S7 in the case where deviation is more than or equal to threshold value：YES), control device 90 performs foregoing servo control
System.
That is, according to the output shaft angle of the feeding adjusting motor 57 detected by encoder 571, to corresponding electricity
Angle, θ is calculated (step S9).
Moreover, obtain target location is which side in CW directions and CCW directions relative to the electrical angle θ calculated
To, corresponding thereto to the ratio of the current value as electrical angle θ ± 90 ° (A phases are cos (θ ± 90 °), B phases be sin (θ ±
90 °)) calculated (step S11).
Also, and deviation accordingly determines maximum current value I.For example, defined coefficient is multiplied by deviation and is calculated most
High current value I (step S13).
Moreover, being calculated by foregoing formula (1) the current value flowed in A phases and B phases, it is powered to each phase
(step S15).
Then, step S7~S15 processing is performed repeatedly with the short cycle.
In addition, (the step S7 in the case where deviation is unsatisfactory for threshold value：NO), control device 90 performs foregoing stationary phase and encouraged
Magnetic control.
That is, the rotating speed of sewing machine electromotor 16 is detected (step S17) by encoder 161.
Also, the output shaft angle corresponding with the set amount of feeding is obtained, and obtains electric angle corresponding thereto
Degree, is decided to become the A phases of the electrical angle and the ratio (step S19) of the current value of B phases.
Moreover, by the rotating speed of the current set amount of feeding and the sewing machine electromotor 16 detected in step S17,
List data according to Figure 10, determine the absolute value (step S21) for the maximum current value I that A phases and B phases flow.
A phase currents=cos θ × I, B phase current=sin θ × I
Moreover, by A phase currents=cos θ × I, B phase current=sin θ × I, to the current value flowed in A phases and B phases
Calculated, be powered (step S15) to each phase.
Then, step S7~S15 processing is performed repeatedly with the short cycle.
[control for the globality that the sewing realized by control device acts]
Figure 12 is to represent control device 90 to perform sewing action and be directed to the sewing performed by the entirety of sewing machine 100
The flow chart of control.
Control device 90 is monitored (step S41) to entering into for pedal 95, if pedal 95 is entered into, in order to carry out
Start sewing of turning back, performed for feeding adjusting motor 57 in order to be set as the action of the amount of feeding for sewing of turning back
(step S43).So-called sewing of turning back, it is to be entered when sewing beginning with defined pin number to the opposite side of common direction of feed
The sewing that row is handled the needle, the amount of feeding of inverse direction of feed is set with the amount of feeding different from the sewing of common direction of feed.
Therefore, control device 90 is driven feeding adjusting motor 57, so as to entering for sewing of turning back
To amount.
During this period, control device 90 is directed to feeding adjusting motor 57, via the step S1 in Figure 11 flow chart~
S7 processing, step S9~S15 SERVO CONTROL is performed repeatedly.
Moreover, if the output shaft of feeding adjusting motor 57 is driven to target location, stop and be set to wait state
(step S45), the driving of sewing machine electromotor 16 start (step S47).The rotating speed of sewing machine electromotor 16 in sewing of turning back
Also eigenvalue is set with, also the driving to sewing machine electromotor 16 is controlled, so as to setting speed.
Moreover, untill the completion of handling the needle of the setting pin number for sewing of turning back, control device 90 via Figure 11 flow chart
In step S7 processing, in order to which the output shaft of feeding adjusting motor 57 is maintained into target location, perform step S17 repeatedly
~S15 stationary phase excitation con-trol.
If initially starting the completion of handling the needle of the setting pin quantity of sewing, control device 90 starts common sewing.Cause
This, is driven feeding adjusting motor 57, in positive direction of feed to turn into relative to feeding adjusting motor 57
The set amount of feeding (step S49).
During this period, control device 90 is directed to feeding adjusting motor 57, via the step S7's in Figure 11 flow chart
Processing, step S9~S15 SERVO CONTROL is performed repeatedly.
Moreover, if the output shaft of feeding adjusting motor 57 is driven to target location, stop and be set to wait state
(step S51).In addition, in common sewing, rotating speed is controlled, so as to sewing machine electromotor 16 in order to logical
Rotating speed (step S53) set by normal sewing.Feeding adjusting motor 57 turn into wait state after, control device 90 via
The processing of step S7 in Figure 11 flow chart, it is anti-in order to which the output shaft of feeding adjusting motor 57 is maintained into target location
Step S17~S15 stationary phase excitation con-trol is performed again.
Next, if entering into for pedal 95 is released from, turned back sewing to carry out end, it is electronic for feeding adjusting
Machine 57 and perform to be set as the action (step S55) for the amount of feeding for sewing of turning back.
Therefore, control device 90 is driven feeding adjusting motor 57, so as to entering for sewing of turning back
To amount.
During this period, control device 90 is directed to feeding adjusting motor 57, via the step S7's in Figure 11 flow chart
Processing, step S9~S15 SERVO CONTROL is performed repeatedly.
Moreover, if the output shaft of feeding adjusting motor 57 is driven to target location, stop and be set to wait state
(step S57).During this period, sewing machine electromotor 16 is controlled again, so as to the setting speed (step for sewing of turning back
Rapid S59).
Moreover, untill the completion of handling the needle of the setting pin number for sewing of turning back, control device 90 via Figure 11 flow chart
In step S7 processing, in order to which the output shaft of feeding adjusting motor 57 is maintained into target location, perform step S17 repeatedly
~S15 stationary phase excitation con-trol.
If moreover, the completion of handling the needle of the setting pin number for sewing of turning back, the driving of sewing machine electromotor 16 stops, therefore
Reduce speed now, thread cutter 14 is controlled and performs tangent line (step S61).
In addition, during little by little slowing down in sewing machine electromotor 16 and being changed to halted state, the pin of control device 90
To feeding adjusting motor 57, via the processing of the step S7 in Figure 11 flow chart, in order to by feeding adjusting motor 57
Output shaft maintains target location, performs step S17~S15 stationary phase excitation con-trol (step S63) repeatedly.
Moreover, if sewing machine electromotor 16 fully stops, control device 90 rises cloth pressing (not shown)
And dress material is decontroled, sewing finishing.
[technique effect of embodiment]
Above-mentioned sewing machine 100 has：Sewing machine electromotor 16, it is moved up and down as the needle bar kept to suture needle
Driving source；As the encoder 161 of the first detection unit, its shaft angle degree to sewing machine electromotor 16 detects；As
The horizontal feed mechanism 40 of feed mechanism, it is assigned along sewn object using the moment of torsion of sewing machine electromotor 16 to feeding tooth 31
Direction of feed reciprocating action；And feeding adjusting mechanism 50, its with the position of feeding adjusting body 55 or posture accordingly
Feed the amount of feeding regulation of tooth 31, feeding adjusting mechanism 50 is right with the position for making feeding adjusting body 55 or posture variation
The feeding adjusting motor 57 that the amount of feeding is adjusted, control device 90 stop at target location in feeding adjusting motor 57 and
In the case of as wait state, perform the stationary phase excitation con-trol being controlled to feeding adjusting motor 57, with cause with
The rotary speed of sewing machine electromotor 16 accordingly makes feeding adjusting motor 57 obtained from detection based on encoder 161
Position keep moment of torsion carry out increase and decrease regulation.
Especially, in this case, the control of control device 90 is that the rotary speed of sewing machine electromotor is faster, and feeding is adjusted
The position for motivation 57 of economizing on electricity keeps moment of torsion bigger.
Therefore, become big even in the rotating speed of sewing machine electromotor 16, resist feeding adjusting motor 57 and make feeding adjusting
In the case that the target location of body 55 produces the vibration change greatly changed, feeding adjusting motor 57 can also be tieed up corresponding thereto
Feeding adjusting body 55 is held, the amount of feeding is able to maintain that setting value, can carry out the sewing of high-quality.
In addition, control device 90 in stationary phase excitation con-trol, is controlled to feeding adjusting motor 57, to cause
On the basis of the rotary speed of sewing machine electromotor 16, also with the set amount of feeding accordingly to feeding adjusting motor 57
Position keep moment of torsion carry out increase and decrease regulation.
Especially, in this case, the control of control device 90 is that the set amount of feeding is bigger, then feeding adjusting is electronic
The position of machine 57 keeps moment of torsion bigger.
Therefore, the amount of movement increase of feeding station 32, feeding adjusting motor 57 is transferred to by feeding adjusting body 55
Vibration also becomes big, the target location of feeding adjusting body 55 is produced the moment of torsion changed even in confrontation feeding adjusting motor 57
In the case of becoming big, feeding adjusting motor 57 also can be corresponding and maintain feeding adjusting body 55.Therefore, in the amount of feeding
In the case of big, setting value is also able to maintain that, the sewing of further high-quality can be carried out.
In addition, in sewing machine 100, stepping motor is used as feeding adjusting motor 57, but it is electromechanical in sewing
The increase of the rotary speed of motivation 16, by the amount of feeding be set to it is larger in the case of, also can effectively suppress imbalance etc., can
Carry out good sewing.
In addition, sewing machine 100 has the encoder 571 as the second detection unit, the encoder 571 is to feeding adjusting electricity
The shaft angle degree of motivation 57 is detected, and control device 90 is controlled the SERVO CONTROL of feeding adjusting motor 57, to cause
In the case that feeding adjusting motor 57 is driven, towards relative to the feeding adjusting motor 57 detected by encoder 571
Shaft angle degree and moment of torsion becomes maximum electrical angle and carries out excitation.
Therefore, when being changed to the amount of feeding, the work of feeding adjusting motor 57 can be promptly carried out, even in
Also change regulation arbitrarily can be carried out to the amount of feeding during sewing.
[other]
In the above-described embodiment, the situation for the stepping motor that feeding adjusting motor 57 is two-phase is exemplified, but simultaneously
This is not limited to, three-phase, the stepping motor without phase can also be used.In this case, also can be same with the situation of two-phase
Ground, carry out SERVO CONTROL and stationary phase excitation con-trol.
In addition, in above-mentioned sewing machine 100, the sewing action of the situation for the sewing that turn back is exemplified, even in seam
Thread and carried out with the change action of the amount of feeding in the case of arbitrarily sewing during the driving of electric motor 16, can also be entered
Row SERVO CONTROL and stationary phase excitation con-trol.
Claims (10)
1. a kind of sewing machine, it has：
Sewing machine electromotor, it turns into the driving source moved up and down of the needle bar kept to suture needle；
First detection unit, its shaft angle degree to the sewing machine electromotor detect；
Feed mechanism, it is assigned along the direction of feed of sewn object using the moment of torsion of the sewing machine electromotor to feeding tooth
Reciprocating action；And
Feeding adjusting mechanism, it corresponds to the position of feeding adjusting body or posture and the amount of feeding of the feeding tooth is adjusted
Section,
The feeding adjusting mechanism has the feeding adjusting motor of the position for making the feeding adjusting body or posture variation,
The sewing machine is characterised by,
With control device,
The control device drives the output shaft of the feeding adjusting motor to target location, with as feeding set in advance
Amount, also,
It is electronic to the feeding adjusting in the case where the output shaft of the feeding adjusting motor waits in the target location
Machine is controlled, to cause and the rotation of the sewing machine electromotor obtained from the detection based on first detection unit speed
Degree accordingly keeps moment of torsion to carry out increase and decrease regulation the position of the feeding adjusting motor.
2. sewing machine according to claim 1, it is characterised in that
The control device is controlled to the feeding adjusting motor, to cause the rotary speed of the sewing machine electromotor
Faster, then the position of the feeding adjusting motor keeps moment of torsion bigger.
3. sewing machine according to claim 1 or 2, it is characterised in that
The control device, in the case where the output shaft of the feeding adjusting motor waits in the target location, to institute
Feeding adjusting motor is stated to be controlled, to cause on the basis of the rotary speed of the sewing machine electromotor, also with it is described
The amount of feeding of setting accordingly keeps moment of torsion to carry out increase and decrease regulation the position of the feeding adjusting motor.
4. sewing machine according to claim 3, it is characterised in that
The control device is controlled to the feeding adjusting motor, to cause the amount of feeding of the setting bigger, then institute
The position for stating feeding adjusting motor keeps moment of torsion bigger.
5. sewing machine according to claim 1 or 2, it is characterised in that
The feeding adjusting motor is stepping motor.
6. sewing machine according to claim 3, it is characterised in that
The feeding adjusting motor is stepping motor.
7. sewing machine according to claim 4, it is characterised in that
The feeding adjusting motor is stepping motor.
8. sewing machine according to claim 5, it is characterised in that
With the second detection unit, second detection unit detects to the shaft angle degree of the feeding adjusting motor,
The control device is controlled to the feeding adjusting motor, to be driven in the feeding adjusting motor
In the case of dynamic, towards the output shaft angle relative to the feeding adjusting motor detected by second detection unit
The electrical angle that moment of torsion becomes maximum carries out excitation.
9. sewing machine according to claim 6, it is characterised in that
With the second detection unit, second detection unit detects to the shaft angle degree of the feeding adjusting motor,
The control device is controlled to the feeding adjusting motor, to be driven in the feeding adjusting motor
In the case of dynamic, towards the output shaft angle relative to the feeding adjusting motor detected by second detection unit
The electrical angle that moment of torsion becomes maximum carries out excitation.
10. sewing machine according to claim 7, it is characterised in that
With the second detection unit, second detection unit detects to the shaft angle degree of the feeding adjusting motor,
The control device is controlled to the feeding adjusting motor, to be driven in the feeding adjusting motor
In the case of dynamic, towards the output shaft angle relative to the feeding adjusting motor detected by second detection unit
The electrical angle that moment of torsion becomes maximum carries out excitation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-162318 | 2016-08-23 | ||
| JP2016162318A JP2018029681A (en) | 2016-08-23 | 2016-08-23 | sewing machine |
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| Publication Number | Publication Date |
|---|---|
| CN107761273A true CN107761273A (en) | 2018-03-06 |
Family
ID=61265289
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710729791.5A Pending CN107761273A (en) | 2016-08-23 | 2017-08-23 | Sewing machine |
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| CN (1) | CN107761273A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109487456A (en) * | 2018-11-15 | 2019-03-19 | 浙江众邦机电科技有限公司 | A kind of sewing needle is away from recognition methods, system, device and sewing machine |
| CN109972308A (en) * | 2019-04-11 | 2019-07-05 | 杰克缝纫机股份有限公司 | A kind of needle bar stroke adjustment structure and its sewing machine and stroke adjustment method |
| CN111501213A (en) * | 2019-01-31 | 2020-08-07 | 杰克缝纫机股份有限公司 | Method for adjusting needle distance by lifting and pressing thread of sewing machine |
| CN111945310A (en) * | 2019-05-17 | 2020-11-17 | Juki株式会社 | Needle feed sewing machine |
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| 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 |
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| CN1847504A (en) * | 2005-04-04 | 2006-10-18 | 爱信精机株式会社 | Motor control circuit for sewing machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109487456A (en) * | 2018-11-15 | 2019-03-19 | 浙江众邦机电科技有限公司 | A kind of sewing needle is away from recognition methods, system, device and sewing machine |
| CN111501213A (en) * | 2019-01-31 | 2020-08-07 | 杰克缝纫机股份有限公司 | Method for adjusting needle distance by lifting and pressing thread of sewing machine |
| CN111501213B (en) * | 2019-01-31 | 2021-06-04 | 杰克缝纫机股份有限公司 | Method for adjusting needle distance by lifting and pressing thread of sewing machine |
| CN109972308A (en) * | 2019-04-11 | 2019-07-05 | 杰克缝纫机股份有限公司 | A kind of needle bar stroke adjustment structure and its sewing machine and stroke adjustment method |
| CN109972308B (en) * | 2019-04-11 | 2021-11-02 | 杰克缝纫机股份有限公司 | Needle bar stroke adjusting structure, sewing machine with needle bar stroke adjusting structure and stroke adjusting method |
| CN111945310A (en) * | 2019-05-17 | 2020-11-17 | Juki株式会社 | Needle feed sewing machine |
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| JP2018029681A (en) | 2018-03-01 |
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Application publication date: 20180306 |