CN110318167A - Cloth sewing system - Google PatentsCloth sewing system Download PDF
- Publication number
- CN110318167A CN110318167A CN201910250255.6A CN201910250255A CN110318167A CN 110318167 A CN110318167 A CN 110318167A CN 201910250255 A CN201910250255 A CN 201910250255A CN 110318167 A CN110318167 A CN 110318167A
- Prior art keywords
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- 239000004744 fabric Substances 0.000 title claims abstract description 214
- 238000009958 sewing Methods 0.000 title claims abstract description 137
- 238000003860 storage Methods 0.000 claims description 64
- 238000000034 methods Methods 0.000 claims description 43
- 230000000875 corresponding Effects 0.000 claims description 30
- 230000001276 controlling effects Effects 0.000 claims description 12
- 238000004364 calculation methods Methods 0.000 claims description 9
- 238000002224 dissection Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 description 13
- 230000005484 gravity Effects 0.000 description 11
- 238000010191 image analysis Methods 0.000 description 10
- 210000001699 lower leg Anatomy 0.000 description 7
- 230000004048 modification Effects 0.000 description 4
- 238000006011 modification reaction Methods 0.000 description 4
- 210000003284 Horns Anatomy 0.000 description 3
- 230000004913 activation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004642 transportation engineering Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003068 static Effects 0.000 description 2
- 235000004418 Durio kutejensis Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000006058 strengthened glass Substances 0.000 description 1
- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B21/00—Sewing machines with devices for automatically controlling movement of work-carrier relative to stitch-forming mechanism in order to obtain particular configuration of seam, e.g. programme-controlled for sewing collars, for attaching pockets
The present invention relates to a kind of cloth sewing system, be able to use can make change partial parameterization come should to multiple systems structure control program progress cloth conveying and sewing.The program file of program is controlled in the execution order of a part, the handled variable of order will be executed with parameter (parameter) Lai Dingyi.The CPU of computer is read into the operating area of RAM using program file as program data.Each parameter described in program data is rewritten as argument in operating area by CPU, and creation executes data.CPU execute line by line execute include in data respectively executes order, control sewing system.
The present invention relates to a kind of cloth sewing systems.
Transportation system described in Japanese Unexamined Patent Publication 2017 the 176388th is controlled according to system performed by computer Cloth is conveyed to sewing machine from conveying device, is sewed by sewing machine to cloth by processing.Become conveying device in change to protect When the sewing style that the base position of benchmark when holding cloth or sewing machine sew cloth, transportation system and changed content Cooperatively the program of system control processing is modified.In previous transportation system, operator is in each system structure When in the presence of change, the program of dubbing system control processing, the change position of revision program, and saved as new program.
But when creating new program every time, operator requires to see entire program again, is correspondingly repaired with change Just.Should cloth to a variety of sizes or shape and when being sewed with a variety of sewing styles, the type of the program re-created Become more.Therefore there are operators spends effort such problems on program creation.
Summary of the invention
The purpose of the present invention is to provide a kind of are able to use, and the partial parameterization of change can be made to cope with multiple systems The control program of structure carries out the cloth sewing system of conveying and the sewing of cloth.
The cloth sewing system of technical solution 1 includes sewing machine, is used to sew cloth；Conveying device, tool There are holding mechanism and mobile mechanism, which can keep the cloth, which can make the guarantor It is mobile to hold mechanism；Filming apparatus, can be opposite with part in the holding mechanism, remain the cloth, and with rule Fixed coverage is shot；And control device, with arithmetic processing section, main storage portion and auxiliary storage unit, the fortune It calculates processing unit and executes driving, the driving of the filming apparatus and the driving of the sewing machine for controlling the conveying device Control program, which is come as operating area using described in the storage of, the auxiliary storage unit by the arithmetic processing section Program is controlled, the control device is controlled according to the control program based on shooting image taken by the filming apparatus Make the conveying to the cloth carried out by the conveying device, and the sewing that control is carried out by the sewing machine, cloth seam System processed is characterized in that the control program includes using relevant to the movement of the conveying device and the sewing machine more A parameter stores the multiple respective setting value of parameter, the fortune multiple execution orders for describing, the auxiliary storage unit It calculates processing unit and includes reading portion, the control program is read into the main storage portion from the auxiliary storage unit；It rewrites The setting value corresponding with each parameter is read in and is written in the control program from the auxiliary storage unit and remembered by portion The respective description position of in the multiple execution order stated, the multiple parameter, to rewrite the control program；And it executes Portion reads in line by line and executes the control program after being rewritten by the rewriting portion.
Arithmetic processing section can read in set corresponding with argument section from auxiliary storage unit before executing control program Definite value, Rewrite controlling program.Therefore, operator is sewed to different clothes or using the cloth of different sewing styles When, the setting value of change parameter, it is not necessary to carry out the amendment of control program, it is not necessary to see entire control program again.
It is also possible in the cloth sewing system of technical solution 2, in the control program, at the operation The processing that reason portion executes, comprising: shooting processing, shooting processing are to convey the cloth to the sewing machine in the conveying device During material, the holding mechanism that remain the cloth is shot using the filming apparatus processing；It obtains Processing, acquisition processing are the processing for obtaining reference information, which includes as corresponding with benchmark image Information, based on the conveying device to the sewing machine join the cloth delivery position positional relationship in the bat Take the photograph the information of the base position set in range, which is to be used as the cloth to remain by the filming apparatus Image that the holding mechanism of base reference of reference cloth is shot is set with the first parameter；Dissection process, the solution Analysis processing is in the shooting image taken in shooting processing to the cloth kept by the holding mechanism Holding position and the base position for including in the reference information that obtains in acquisition processing positional relationship The processing parsed；Calculation process, which is the parsing result based on the dissection process, to the holding position The correction amount of opposite position deviation relative to the base position carries out the processing of operation；Correcting process, the correcting process It is the amount of movement of the holding mechanism when the cloth for being located at the base position is transported to the delivery position, adds On operation obtains in the calculation process the correction amount, come the processing being modified to the amount of movement；Conveying instruction Processing, conveying instruction processing are the movements exported to the conveying device to obtain after the amendment in the correcting process Amount conveys the processing of the instruction of the cloth；Sew instruction processing, the sewing instruction processing be to the sewing machine output according to With the processing for the instruction that the second parameter sews the cloth for being transported to the delivery position the stitch data that sets； And continue working process, which is to repeat before reaching with third parameter the processing number that sets by described The processing for conveying and the sewing to the cloth carried out by the sewing machine to the cloth that conveying device carries out.Control Program include three can be by the change of setting value come corresponding parameter.Therefore, operator is needing to benchmark image, sewing When the control program that any one of data and processing number are corrected, the setting value of corresponding parameter is changed, no Need to control the amendment of program, it is not necessary to see entire control program again.
It is also possible in the cloth sewing system of technical solution 3, the control device includes display unit, can show Show information；Configuration part shows first parameter, second parameter and the third parameter respectively in the display unit Setting screen, and the setting value is set separately；And storage unit, by first parameter set by the configuration part, Second parameter and the respective setting value of the third parameter are stored in the auxiliary storage unit.Display unit shows energy The setting screen of the setting value of setup parameter is reached, not display control program.Therefore, operator will not feel to see entire control journey again It is cumbersome as sequence, it can easily create and any one of benchmark image, stitch data and processing number are corrected Control program.
It is also possible in the cloth sewing system of technical solution 4, the storage unit can be in the auxiliary storage unit Save multiple first parameters, second parameter and the respective setting value of the third parameter, the configuration part Any one of multiple described setting values for being stored in the auxiliary storage unit can be selected to be set.Each parameter can be pre- Multiple setting values are first stored in auxiliary storage unit.Therefore, in Correction and Control program, operator is only multiple from what is pre-saved An appropriate setting value is selected in setting value, can save the effort of input when creating control program.
It is also possible in the cloth sewing system of technical solution 5, the auxiliary storage unit stores multiple control journeys Sequence, the control device include index display unit, are indexed display to multiple control programs in the display unit； And selector, any one of multiple control programs that the index display unit can be selected to show, the configuration part Show the setting screen of parameter corresponding with the control program that the selector is chosen.Operator can create more A control program, and it is stored in auxiliary storage unit.Therefore, operator is when system structure has altered, from index display Select the control program of suitable system structure.
Detailed description of the invention
Fig. 1 is the perspective view of sewing system 300.
Fig. 2 is the perspective view of sewing machine 1.
Fig. 3 is the perspective view of horicontal motion mechanism 6.
Fig. 4 is supplied with the perspective view of device 100.
Fig. 5 is the block diagram for indicating the electrical structure of computer 200.
Fig. 6 is the block diagram for indicating the electrical structure of sewing machine 1.
Fig. 7 is the block diagram for indicating the electrical structure of feedway 100.
Fig. 8 is the top view of cloth magazine 102, window portion 101 and vent board 192.
Fig. 9 is the figure for indicating benchmark image 210 and image analysis result.
Figure 10 is the figure for indicating shooting image 260 and image analysis result.
Figure 11 is the figure for indicating the program file 350 of control program.
Figure 12 is the flow chart of main process task.
Figure 13 is the flow chart for controlling program editing processing.
Figure 14 is the figure for indicating control program editing picture 400.
Figure 15 is the figure of expression parameter setting screen 500.
Figure 16 is the flow chart for controlling program processing.
It is described with reference to one embodiment of the present invention.Following explanation using the attached left and right being indicated by arrows in Fig., Front and back, up and down.
Referring to Fig.1, illustrate the outline structure of sewing system 300.Sewing system 300 has frame 301, sewing machine 1, supply Device 100, computer 200 and filming apparatus 117.Frame 301 is by the way that the bar of iron or aluminum is assembled rectangular be made into Tectosome.It is equipped with shelf 305 in the middle section of frame 301, is equipped with shelf 308 in the lower section of frame 301.Sewing machine 1, which is fixed on, to be put On plate 305.Feedway 100 is located at the right of sewing machine 1.Feedway 100 has cloth grasping device 150, conveying device 140 and suction device 190.Computer 200 configures on shelf 308, can control the movement of sewing machine 1 and feedway 100. Computer 200 is electric with the control unit 110 (referring to Fig. 7) of the control unit 50 of sewing machine 1 (referring to Fig. 6) and feedway 100 respectively Connection.Control unit 50 and control unit 110 are housed in the control cabinet 307 of the lower part of shelf 305.
The accessory plate 5 of sewing machine 1 has cloth magazine 102, window portion 101 and vent board 192.Cloth magazine 102 is located at sewing machine 1 Right front, the cloth 105 (referring to Fig. 8) of the sewing object as sewing machine 1 can be contained in a manner of being stacked up The cloth magazine 102.Window portion 101 is circular strengthened glass or transparent acrylic board, is located at the right back of cloth magazine 102. Vent board 192 is located at the rear of cloth magazine 102.Vent board 192 has multiple ventholes got through along the vertical direction.
Feedway 100 is taken out the cloth 105 accommodated in cloth magazine 102 using cloth grasping device 150 piecewise, and The cloth is moved to the specified position of the outside of cloth magazine 102.By the position where the cloth 105 accommodated in cloth magazine 102 Referred to as receiving location (referring to Fig. 8).The specified position that a piece of cloth 105 is moved to will be known as matching by cloth grasping device 150 Seated position (referring to Fig. 8).Allocation position is a piece of cloth in order to be taken out from cloth magazine 102 by cloth grasping device 150 105 are transferred to conveying device 140, and cloth 105 is placed in the position on accessory plate 5.Conveying device 140 utilizes adsorbing mechanism 130 (referring to Fig. 4) keeps the cloth 105 that allocation position is placed in by cloth grasping device 150, and keeps adsorbing mechanism 130 mobile Onto window portion 101.The position being moved in window portion is known as camera site (referring to Fig. 8), filming apparatus 117 is in shooting position Setting remains the adsorbing mechanism 130 of cloth 105 and is shot.After having shot, conveying device 140 continues adsorbing mechanism 130 It is mobile, cloth is positioned on the vent board 192 of suction device 190.The mounting position is known as delivery position (referring to Fig. 8), Sewing machine 1 receives the cloth 105 for being in delivery position, sews to the cloth.
Referring to Fig. 2 and Fig. 3, illustrate the mechanical structure of sewing machine 1.Sewing machine 1 has base portion 2, column sections 3, horn portion 4 With sewing mechanism 8.Base portion 2 was located on shelf 305 (referring to Fig.1), and was extended along the longitudinal direction.3 slave portions 2 of column sections Rear section extends upwards.Horn portion 4 from the upper end of column sections 3 in the mode opposite with the upper surface in base portion 2 forwards Extend, and there is front end 7 in front end.Sewing mechanism 8 has motor of sewing machine 31 (referring to Fig. 6), main shaft, shank driving machine Structure, shank 10 and vertical shuttle.Motor of sewing machine 31 is located at the inside of column sections 3.Main shaft and needle bar drive device are located at horn The inside in portion 4.Main shaft extends along the longitudinal direction.The rear end of main shaft is connected with motor of sewing machine 31, the front end of main shaft with Needle bar drive device is connected.Needle bar drive device is connected with shank 10.Shank 10 prolongs downwards from the lower end of front end 7 It stretches.Eedle 11 is assemblied in the lower end of shank 10.Vertical shuttle is located at the inside in base portion 2.Vertical shuttle is by set on base portion 2 It is connected with the link mechanism of the inside of column sections 3 with motor of sewing machine 31.
Sewing machine 1 has accessory plate 5 and horicontal motion mechanism 6 in the top in base portion 2.Accessory plate 5 is located at than shank 10 Position on the lower, and there is horizontally extending upper surface.Accessory plate 5 has needle plate 12.The upper surface of needle plate 12 with The upper surface of accessory plate 5 is in roughly the same height.Needle plate 12 is in the surface of vertical shuttle.Needle plate 12 has can be for The appearance pin hole 13 that eedle 11 passes through.
Horicontal motion mechanism 6 has X-axis mobile mechanism, X-axis motor 32 (referring to Fig. 6), X-axis moving plate, pressure arm 65, Y-axis Moving arm 66, Y-axis moving mechanism, Y-axis motor 34 (referring to Fig. 6) and keeping body 70.X-axis mobile mechanism is located at the interior of base portion 2 Portion.X-axis motor 32 is the impulse motor being connected with X-axis mobile mechanism.X-axis mobile mechanism can be in the effect of X-axis motor 32 Under keep X-axis moving plate mobile along the x axis (left and right directions, also referred to as X-direction).The upper surface of X-axis moving plate has along front and back The track that direction extends.Track supports the pressure arm 65 in such a way that pressure arm 65 can move along the longitudinal direction.Pressure arm 65 is in auxiliary Help the top of plate 5.Pressure arm 65 can move along the x axis together with X-axis moving plate.Pressure arm 65 has to be arranged in left-right direction A pair of of cylinder 69.
Y-axis moving arm 66 has supporting part 67 and arm 68.Supporting part 67 extends in left-right direction.Supporting part 67 is with pressure arm 65 modes that can be moved along the x axis support the rear portion of the pressure arm 65.Rear side and the supporting part of the arm 68 in supporting part 67 67 are connected, and extend along the longitudinal direction.Arm 68 is connected with the Y-axis moving mechanism being set in base portion 2.Y-axis motor 34 It is the impulse motor being connected with Y-axis moving mechanism.Y-axis moving mechanism can make arm 68 along Y under the action of Y-axis motor 34 Axis direction (front-rear direction, also referred to as Y-direction) is mobile.Supporting part 67 can move along the y axis along with the movement of arm 68. Pressure arm 65 can move along the y axis together with Y-axis moving arm 66.
Keeping body 70 is mounted on the front end of pressure arm 65.Keeping body 70 has lifter plate 71, cylinder 72, presser feet 73, track 75, sliding part 76 and pressing plate 74.Lifter plate 71 is connected with a pair of of respective bar of cylinder 69, and can be under the driving of cylinder 69 It moves up and down.Cylinder 72 extends in left-right direction, and is fixed on lifter plate 71.Presser feet 73 in side view be in letter L shape, and with gas The left part of the bar of cylinder 72 is connected.Presser feet 73 being capable of the side-to-side movement under the driving of cylinder 72.Track 75 prolongs in left-right direction It stretches, and is fixed on the rear surface of presser feet 73.Sliding part 76 fastens with track 75, and can be in a manner of side-to-side movement by presser feet 73 Support the presser feet 73.Pressing plate 74 is fixed on the lower end of presser feet 73.Pressing plate 74 is horizontally disposed board member, and is had The opening of rectangular shaped when vertical view.
Pressing plate 74 can move up and down together with lifter plate 71.When pressing plate 74 declines, pressing plate 74 and accessory plate 5 are from upper and lower The cloth 105 is kept to cloth 105 is pressed from both sides between them.When pressing plate 74 rises, accessory plate 5, releasing pair are left upwards The holding of cloth 105.Presser feet 73 can move in left-right direction under the driving of cylinder 72.In Fig. 3, is illustrated and be located at solid line Presser feet 73 when moving range right end, the presser feet 73 when being illustrated with double dot dash line positioned at moving range left end.Pressure arm 65 is to press The state that cloth 105 is clipped between plate 74 and accessory plate 5 is moved under the action of X-axis motor 32 and Y-axis motor 34, will be in The cloth 105 of delivery position is moved to the top of the appearance pin hole 13 on needle plate 12.In the following, cloth 105 is placed on needle plate 12 Appearance pin hole 13 top when where position be known as sewing position.
Referring to Fig. 4, illustrate the mechanical structure of feedway 100.Feedway 100 has cloth grasping device 150, conveying Device 140 and suction device 190.It is taken in the multi-panel 105 that cloth grasping device 150 is stacked up from cloth magazine 102 A piece of cloth 105 out, and the cloth 105 is moved to allocation position from receiving location (referring to Fig. 8).Cloth grasping device 150 With rotating mechanism 160, upper and lower air cylinders 170 and handle sturcture 180.Rotating mechanism 160 has base portion 161, cylinder 162, branch Column 163 and cursor 164.Base portion 161 is fixed on accessory plate 5, and supports the pillar in such a way that pillar 163 can rotate 163.Pillar 163 is vertically extended in rodlike, and lower end configures in base portion 161.Cylinder 162 is located at base portion 161 side.The bar 165 of cylinder 162 extends in base portion 161, and can stretch in left-right direction in the front of pillar 163 Contracting.The lower end of pillar 163 has pinion gear.The bar 165 of cylinder 162 has rack pinion.Rack pinion is mutually nibbled with pinion gear It closes.Pillar 163 being capable of being rotated by cylinder 162.The upper end of cursor 164 from pillar 163 is horizontally extending. Cursor 164 carries upper and lower air cylinders 170.
Upper and lower air cylinders 170 are square, and have two bars extended downward.The lower end of handle sturcture 180 and two bars It is connected.Upper and lower air cylinders 170 can make handle sturcture 180 move up and down by two bars.Handle sturcture 180 can be in cylinder Under 162 driving, moved together with upper and lower air cylinders 170.It is indicated by the solid line mobile around counter clockwise direction when overlooking in Fig. 4 Handle sturcture 180 when to extreme position.At this point, handle sturcture 180 is located at the top of cloth magazine 102 in terms of depression angle.Figure In 4, clockwise direction when being illustrated with double dot dash line around vertical view is moved to the handle sturcture 180 when extreme position.At this point, from Depression angle sees that handle sturcture 180 is located at the top of window portion 101.
Conveying device 140, and will to keeping via the cloth 105 that cloth grasping device 150 is placed in allocation position The cloth is transported to delivery position through camera site (referring to Fig. 8).Conveying device 140 has mobile mechanism 120 and adsorbing mechanism 130.Mobile mechanism 120 has column sections 131, the first drive motor 121 (referring to Fig. 7), the first arm 132, the second arm 133, the second drive motor 122 (referring to Fig. 7), cover 134, third drive motor 123 (referring to Fig. 7) and the 4th drive motor 125 (referring to Fig. 7).Column sections 131 are cylindrical, vertically extend, and lower end is fixed on shelf 305.Column sections 131 Upper end and the one end of the first arm 132 be connected, and support in such a way that the first arm 132 can rotate horizontally this One arm 132.Column sections 131 have the first drive motor 121 in upper end.First drive motor 121 is impulse motor.The One arm 132 can rotate under the action of the first drive motor 121.
First arm 132 is horizontally extending.The one end of the other end of the first arm 132 and the second arm 133 It is connected, and supports second arm 133 in such a way that the second arm 133 can rotate horizontally.Second arm 133 is along level side To extension, and its other end vertically extends.Second arm 133 has the second drive motor 122 in portion at one end.The Two drive motors 122 are impulse motor.Second arm 133 can be under the action of the second drive motor 122 relative to the first arm Portion 132 rotates.
Cover 134 is cylindrical in shape, and is extended upwards from the other end of the second arm 133.Cover 134 has vertically in inside The screw rod 137 that direction extends.Second arm 133 supports the screw rod in such a way that screw rod 137 can rotate by its other end 137.Second arm 133 has third drive motor 123 in the other end.Third drive motor 123 is impulse motor, is borrowed Lower transmission mechanism is helped to be connected with screw rod 137.Screw rod 137 is so-called ball-screw spline.Upper lower transmission mechanism can Screw rod 137 is set to move up and down under the driving of third drive motor 123.Second arm 133 has the 4th drive motor in inside 125.4th drive motor 125 is impulse motor, is connected by rotating actuator and screw rod 137.Rotating actuator Screw rod 137 can be made to rotate under the driving of the 4th drive motor 125.
Adsorbing mechanism 130 and the lower end of screw rod 137 are connected.Adsorbing mechanism 130 keeps cloth 105 by adsorbing. Adsorbing mechanism 130 has mounting base 124 and Charging system 135.Mounting base 124 is the plate structure of shape in the form of a substantially rectangular when overlooking Part.Charging system 135 is the plate overlooked when in the form of a substantially rectangular, and is fixed on the lower part of mounting base 124.Charging system 135 exists Lower surface has adsorption plane 136.Adsorption plane 136 can under the action of Charging system 135 static electrification, so as to adsorb cloth 105。
Adsorbing mechanism 130 can be in the work of the first drive motor 121, the second drive motor 122 and the 4th drive motor 125 It under, is switched between following states: the state above allocation position, the shooting position positioned at the top of window portion 101 The state set and the state above the delivery position on vent board 192 (referring to Fig. 8).Adsorbing mechanism 130 can be It is moved along the vertical direction under the action of three drive motors 123.When adsorbing mechanism 130 is located at moving range upper end, adsorption plane 136 Accessory plate 5 is left upwards.It is located above allocation position in adsorption plane 136, and adsorbing mechanism 130 is located at moving range lower end When, adsorption plane 136 can adsorb the cloth 105 in allocation position.Filming apparatus 117 is fixed under window portion 101 Side, can the predetermined region (referred to as shooting area) to 101 side of window portion shoot.Camera site is in adsorbing mechanism 130 When, in adsorption plane 136, being partially in shooting area of at least remain cloth 105.
Suction device 190 is set to accessory plate 5 and is the rear for being located at cloth magazine 102.Suction device 190 has vent board 192 and aspirating valve 145 (referring to Fig. 7).Vent board 192 is fixed on accessory plate 5, with multiple ventilations got through along the vertical direction Hole.The upper surface of vent board 192 and the upper surface of accessory plate 5 are in roughly the same height.Aspirating valve 145 is fixed on vent board 192 lower section.Air can flow to aspirating valve 145 through venthole under the driving of aspirating valve 145.At this point, 190 energy of suction device It is enough that the cloth 105 is kept by being in the cloth 105 of delivery position to the attraction of 192 side of vent board.
Cylinder 69, the cylinder 72 of sewing machine 1, cylinder 162, upper and lower air cylinders 170 and the aspirating valve 145 of feedway 100 It is connected respectively by pipe with compressor.
Referring to Fig. 5, illustrate the electrical structure of computer 200.Computer 200 has CPU9.CPU9 is responsible for controlling computer 200.Display control section 98 is built-in in CPU9.Display control section 98 is electrically connected with display unit 99, and display control section 98 can be controlled Display of the image processed in display unit 99.CPU9 is electrically connected with RAM93.RAM93 is for storing various ephemeral datas.
CPU9 is electrically connected by chipset 95 with ROM92, storage device 96, input unit 97 and communication interface 91.Chipset 95 be the company for transmitting and receiving data between CPU management 9 and ROM92, storage device 96, input unit 97, communication interface 91 The circuit group of string.ROM92 is stored with BIOS etc..Storage device 96 is non-volatile memory device, is stored with OS, comprising control The various procedure, datas etc. of program (referring to Fig.1 1).It is also possible to storage device 96 and is assemblied in calculating in a manner of it can remove Machine 200.Input unit 97 is keyboard, mouse etc., and input unit 97 is able to detect that the various instructions from operator, and can be to The detected various instructions of CPU9 output.Communication interface 91 is the interface of serial communication, with filming apparatus 117, supply Device 100 is connected with sewing machine 1.Filming apparatus 117 can be from 136 side of adsorption plane to the adsorption plane comprising adsorbing mechanism 130 136 and the shooting area of the cloth 105 adsorbed on adsorption plane 136 shot.Filming apparatus 117 can generate shooting figure The data of picture, and the data are exported to CPU9.
Referring to Fig. 6, illustrate the electrical structure of sewing machine 1.The control unit 50 of sewing machine 1 have CPU51, ROM52, RAM53, Storage device 54, communication interface 55, input/output interface 56 and 57~driving circuit of driving circuit 59.CPU51,ROM52, RAM53, storage device 54 are electrically connected by bus with input/output interface 56.CPU51 be responsible for control sewing machine 1, CPU51 according to The various programs stored in ROM52 execute various operations relevant to sewing and processing.ROM52 is stored with various programs, each Initial setup parameter of kind etc..RAM53 is for temporarily storing operation result, pointer, the count value etc. of CPU51.Storage device 54 is It is non-volatile, for storing stitch data, various set informations etc..Stitch data is for keeping keeping body 70 mobile, to make Be used to form stitching multiple needle falling points be located in order eedle 11 underface data.
Communication interface 55 is electrically connected with input/output interface 56.Communication interface 55 is the interface of serial communication, and with meter The communication interface 91 of calculation machine 200 is connected.57~driving circuit of driving circuit 59 is electrically connected with input/output interface 56.Driving electricity Road 57 is electrically connected with motor of sewing machine 31.CPU51 controls the driving of motor of sewing machine 31 by control driving circuit 57.Driving Circuit 58 is electrically connected with X-axis motor 32.Driving circuit 59 is electrically connected with Y-axis motor 34.Input/output interface 56 and solenoid valve 38 It is electrically connected with solenoid valve 39.Solenoid valve 38 is located at the feed path that compressor supplies air to cylinder 69.CPU51 is by making electromagnetism Valve 38 is opened and closed to control the driving of cylinder 69, so that pressing plate 74 be made to move up and down.Solenoid valve 39 is located at compressor to keeping body 70 Cylinder 72 supply air feed path.CPU51 controls the driving of cylinder 72 by making the opening and closing of solenoid valve 39, to make to press Plate 74 moves left and right.
Referring to Fig. 7, illustrate the electrical structure of feedway 100.The control unit 110 of feedway 100 have CPU111, ROM112, RAM113, storage device 119,166~driving circuit of communication interface 114, input/output interface 115 and driving circuit 169.CPU111, ROM112, RAM113, storage device 119, communication interface 114 are electrically connected by bus and input/output interface 115 It connects.CPU111 is responsible for controlling feedway 100, and CPU111 executes processing according to the various programs stored in ROM112.ROM112 It is stored with various programs, various initial setup parameters etc..RAM113 is for the temporarily operation result of storage CPU111, various data Deng.Storage device 119 is non-volatile.Communication interface 114 is the interface of serial communication, and is connect with the communication of computer 200 Mouth 91 is connected.
166~driving circuit of driving circuit 169 is electrically connected with input/output interface 115.Driving circuit 166 and conveying device 140 the first drive motor 121 is connected, and driving circuit 167 is connected with the second drive motor 122 of conveying device 140, drives Dynamic circuit 168 is connected with the third drive motor 123 of conveying device 140, and the 4th of driving circuit 169 and conveying device 140 the Drive motor 125 is connected.The electromagnetism of input/output interface 115 and the Charging system 135 of conveying device 140, suction device 190 Valve 118, the solenoid valve 151 of cloth grasping device 150 and solenoid valve 152 are electrically connected.CPU111 can make Charging system 135, electricity Magnet valve 118, solenoid valve 151 and solenoid valve 152 drive.Solenoid valve 118 is located at the supply that compressor supplies air to aspirating valve 145 Path.CPU111 controls the driving of aspirating valve 145 by making the opening and closing of solenoid valve 118.Solenoid valve 151 is located at compressor to cylinder The feed path of 162 supply air.CPU111 controls the driving of cylinder 162 by making the opening and closing of solenoid valve 151.Solenoid valve 152 It is located at the feed path that compressor supplies air to upper and lower air cylinders 170.CPU111 is controlled up and down by making the opening and closing of solenoid valve 152 The driving of cylinder 170.
Illustrate the movement of sewing system 300.The CPU9 of computer 200 executes control program processing (referring to Fig.1 6), to confession Various instructions are exported to device 100 and sewing machine 1.In control program processing, CPU9 reads in line by line and executes control program The execution order of (referring to Fig.1 1).The CPU111 of feedway 100 is instructed according to from the received supply of computer 200, controls cloth Expect grasping device 150, cloth 105 is moved to allocation position from receiving location.When CPU111 from computer 200 receive with it is defeated When sending 140 corresponding various instructions of device, CPU111 controls conveying device 140 and suction device 190, by cloth 105 from matching Seated position is moved to delivery position through camera site.The CPU51 of sewing machine 1 is instructed according to from the received sewing of computer 200, is connect The cloth 105 for being in delivery position is received, which is sewed.
Referring to Fig. 4 and Fig. 8, cloth 105 is moved to the movement of allocation position to cloth grasping device 150 from receiving location It is illustrated.Handle sturcture 180 is located above receiving location.When the CPU111 of feedway 100 connects from the CPU9 of computer 200 When receiving supply instruction, CPU111 drives upper and lower air cylinders 170, and handle sturcture 180 is made to be moved to lower end from moving range upper end. At this point, handle sturcture 180 holds a part of cloth 105.CPU111 drives upper and lower air cylinders 170, makes handle sturcture 180 are moved to upper end from moving range lower end.Cloth grasping device 150 takes out cloth 105 from cloth magazine 102.
CPU111 drives cylinder 162, when making pillar 163 around vertical view rotationally clockwise.Handle sturcture 180 is located at Above allocation position.CPU111 drives upper and lower air cylinders 170, and handle sturcture 180 is made to be moved to lower end from moving range upper end.This When, handle sturcture 180 releases the holding to cloth 105.CPU111 drives upper and lower air cylinders 170, makes handle sturcture 180 from movement Range lower end is moved to upper end.Cloth 105 is placed in allocation position by handle sturcture 180.It is placed at the cloth 105 of allocation position The position shown in dotted line in Fig. 8.Mobile completion of the cloth 105 from receiving location to allocation position.
Referring to Fig. 4 and Fig. 8, to mobile mechanism 120 and adsorbing mechanism 130 by cloth 105 from allocation position through camera site Delivery position is moved to be illustrated the movement that the cloth 105 is transferred to sewing machine 1.The CPU111 energy of feedway 100 It is enough to receive various instructions corresponding with conveying device 140 from the CPU9 of computer 200.Finger corresponding with conveying device 140 Enable includes that first movement instruction, holding instruction, the second move, third move and releasing keep instruction.According to first Move is moved to adsorbing mechanism 130 above allocation position.According to keeping instructing, make adsorbing mechanism 130 to cloth 105 It is kept.According to the second move, adsorbing mechanism 130 is made to be moved to camera site.According to third move, make to adsorb Mechanism 130 is moved to above delivery position.Instruction is kept according to releasing, adsorbing mechanism 130 is made to release the holding to cloth 105.
First movement instruction, the second move, third move include that mobile mechanism 120 moves adsorbing mechanism 130 Dynamic amount of movement.Amount of movement includes position coordinate data and pivoting angle data, and position coordinate data is to make to adsorb for specified The data of the distance [mm] that (X-direction, Y-direction) moves in the horizontal direction of mechanism 130, pivoting angle data are to make to inhale for specified Random structure 130 is with the data for the angle [degree] that up and down direction (Z-direction) is axis rotation.The reference axis unit of position coordinates is not It is limited to mm.Rotational angle unit degree of being not limited to.Amount of movement be relative to adsorbing mechanism 130 position coordinates and rotation angle carry out table Show the position coordinates of the mobile destination of adsorbing mechanism 130 and rotates angle, relative coordinate and relative angle data.It can also To be, amount of movement is to indicate to adsorb on the basis of the position coordinates of (origin) and rotation angle when standby by adsorbing mechanism 130 The position coordinates of the mobile destination of mechanism 130 and rotation angle, absolute coordinate and absolute angle data.At the beginning of amount of movement Initial value be it is pre- first pass through the teaching operation for conveying device 140 to set, and the initial value is stored in depositing for computer 200 In storage device 96.The CPU9 of computer 200 specifies initial value as movement in first movement instruction and the second move Amount.CPU9 is specified to add in the initial value of amount of movement and be repaired by what execution control program processing calculated in third move The amount of movement that positive quantity obtains.
The CPU111 of feedway 100 drives the first drive motor 121, second when receiving first movement instruction Motor 122 and the 4th drive motor 125 are driven with drive volume corresponding with amount of movement.At this point, the first arm 132 and second Arm 133 is moved to adsorbing mechanism 130 above allocation position.It is used at this point, the adsorption plane 136 of adsorbing mechanism 130 is in Fig. 8 Position shown in dotted line.CPU111 drives third drive motor 123 when receiving holding instruction, moves adsorbing mechanism 130 Move moving range lower end.CPU111 drives Charging system 135.136 static electrification of adsorption plane, to the cloth for being in allocation position 105 are adsorbed.CPU111 drives third drive motor 123, makes to adsorb the state of cloth 105 in adsorption plane 136 Adsorbing mechanism 130 is moved to moving range upper end.
CPU111 makes the first drive motor 121, the second drive motor 122 and the 4th when receiving the second move Drive motor 125 is driven with drive volume corresponding with amount of movement.At this point, the first arm 132 and the second arm 133 make to adsorb Mechanism 130 is moved to camera site.At this point, adsorption plane 136 and cloth 105 are in Fig. 8 the position shown in chain-dotted line.It calculates The CPU9 of machine 200 shoots shooting area using filming apparatus 117, and obtains the data of shooting image.It shoots in image The adsorption plane 136 for adsorbing cloth 105 was photographed.CPU9 parses shooting image, and to the cloth adsorbed on adsorption plane 136 It is detected the position of material 105.The position of CPU9 and detected cloth 105 correspondingly, in order to cloth 105 is placed in First drive motor 121, the second drive motor 122 needed for delivery position, the correction amount of the 4th drive motor 125 are counted It calculates, and the correction amount is added in the initial value of amount of movement, calculate the amount of movement for including in third move.
The CPU111 of feedway 100 drives the first drive motor 121, second when receiving third move Motor 122 and the 4th drive motor 125 are driven with the corresponding drive volume of the amount of movement calculated with computer 200.First arm Portion 132 and the second arm 133 are moved to adsorbing mechanism 130 above delivery position.At this point, adsorption plane 136 is in Fig. 8 with double Position shown in chain-dotted line.Adsorbing mechanism 130 by based on the drive condition that is calculated by computer 200 carry out to shift position Amendment, be precisely located at delivery position.CPU111 drives third drive motor 123 when receiving releasing holding instruction, Make to be moved to moving range lower end in the adsorbing mechanism 130 for the state for adsorbing cloth 105.CPU111 makes Charging system 135 Driving stops.CPU111 drives suction device 190, attracts air using aspirating valve 145.Cloth 105 leaves adsorption plane 136. Cloth 105 positioned at delivery position is in Fig. 8 the position shown in double dot dash line.Suction device 190 will be located at delivery position Cloth 105 be maintained on vent board 192.CPU111 drives third drive motor 123, is moved to adsorbing mechanism 130 Dynamic range upper end.CPU111 makes the first drive motor 121, the second drive motor 122 and the 4th drive motor 125 to preset Drive volume driven, position when adsorbing mechanism 130 being made to be moved to standby.Cloth 105 is from allocation position to delivery position Mobile completion.
Referring to Fig. 2 and Fig. 3, illustrate the summary of the sewing movement of sewing machine 1.The CPU51 of sewing machine 1 is from computer 200 CPU9 receive sewing instruction when, sewing movement is carried out to cloth 105.Sewing instruction is comprising specifying stitch data. CPU51 utilizes X-axis motor 32 and Y-axis motor 34, and the keeping body 70 of pressure arm 65 is made to be moved to the cloth 105 in delivery position Top.CPU51 drives cylinder 69, and pressing plate 74 is made to be moved to moving range lower end.Pressing plate 74 will be in the cloth of delivery position 105 are clipped in it between vent board 192 to keep the cloth 105.At this point, CPU51 is sent to computer 200 for notifying to have used Keeping body 70 keeps the signal of the meaning of cloth 105.Computer 200 is exported to feedway 100 makes the stopping of suction device 190 Instruction.Feedway 100 stops suction device 190, stops attracting air with aspirating valve 145.It is placed in delivery position Cloth 105 can be moved.
CPU51 drives X-axis motor 32 and Y-axis motor 34, keeps pressure arm 65 mobile, and cloth 105 is mobile from delivery position To the sewing position held on pin hole 13.CPU51 makes motor of sewing machine 31, X-axis horse according to the stitch data specified by sewing instruction It is driven up to 32 and Y-axis motor 34.Horicontal motion mechanism 6 keeps cloth 105 mobile with left and right directions along the longitudinal direction, shank 10 and hangs down Straight shuttle, which synchronizes, to be driven.Sewing mechanism 8 sews cloth 105 using eedle 11.The shape on cloth 105 of sewing machine 1 At defined stitching.After stitching as defined in being formed on cloth 105, CPU51 drives cylinder 72, is moved to pressing plate 74 The left end of dynamic range.CPU51 drives cylinder 69, and pressing plate 74 is made to be moved to moving range upper end to leave cloth 105. CPU51 is sent to computer 200 for notifying to the completed signal of the sewing of cloth 105.The sewing of sewing machine 1 acts knot Beam.
Referring to Fig. 9, Figure 10, illustrate CPU9 by executing the processing of control program to correct the place of the position deviation of cloth 105 The summary of reason.In present embodiment, although by the cloth 105 before conveying by the heap in cloth magazine 102, sometimes simultaneously It is irregular.Therefore, when cloth 105 is moved to allocation position from receiving location by cloth grasping device 150, cloth 105 is being matched Seated position is not at identical position sometimes.Conveying device 140 makes adsorbing mechanism 130 to be set as the shifting of the amount of movement of initial value It moves above allocation position.Therefore, adsorbing mechanism 130 to maintain the shape of identical positional relationship relative to allocation position always Cloth 105 is held in adsorption plane 136 by state.Conveying device 140 makes adsorbing mechanism 130 to be set as the amount of movement of initial value from matching Camera site is moved to above seated position.Absorption of the filming apparatus 117 to camera site is in the state that remain cloth 105 Mechanism 130 is shot.In this case, image taken by filming apparatus 117 is shooting image 260 (referring to Fig.1 0). Therefore, shooting adsorbing mechanism 130 in image 260 and keeping the holding position of cloth 105 is in cloth grasping device 150 by cloth 105 produce the state of position deviation when being placed in allocation position.In order to make conveying device 140 convey cloth 105 to delivery position When cloth 105 accurately can be placed in delivery position, the CPU9 of computer 200 executes control program processing, Lai Xiuzheng cloth 105 position deviation.
Conveying device 140 make adsorbing mechanism 130 from camera site to delivery position above move when, CPU9 be based on shooting The image analysis result of image 260 calculates correction amount.For correction amount, according to the parsing result of shooting image 260, base is calculated Level sets the positional relationship with the holding position in shooting image 260, wherein the base position is based on the position with delivery position Set the base position that relationship is set in the coverage of filming apparatus 117 in advance.Base position is first passed through in advance for conveying dress 140 teaching operation is set to set as follows.
Benchmark cloth 205 is accurately placed in by delivery position by operator, wherein the benchmark cloth 205 is as utilization Conveying device 140 conveys cloth used in the benchmark of cloth 105.Conveying device 140 makes adsorbing mechanism 130 be moved to handover position It sets, benchmark cloth 205 is kept.Conveying device 140 makes adsorbing mechanism 130 above delivery position, according to amount of movement Initial value is to reverse movement, so that adsorbing mechanism 130 be made to be moved to camera site.Filming apparatus 117 is kept in camera site The adsorbing mechanism 130 of benchmark cloth 205 shot, obtain benchmark image 210 (referring to Fig. 9).CPU9 is by benchmark image 210 Storage device 96 is stored in BMP format etc..CPU9 carries out image analysis to benchmark image 210, obtains parsing image 290, and The parsing image 290 is stored in storage device 96 with transparent PNG format etc., wherein the parsing image 290 is indicated by benchmark The profile 220 that the edge of benchmark cloth 205 in image 210 is made into.
CPU9 is based on image analysis result, creates image processing data 250 and basic parameter information 255, and they are made It is benchmark information preservation in storage device 96.Image processing data 250 is carried out in image analysis to cloth 105 for specifying The information etc. of the condition of detection.Image processing data 250 is, for example, that will clap around benchmark cloth 205 in benchmark image 210 To any position of adsorption plane 136 of adsorbing mechanism 130 be set as the information of designated position 240.CPU9 is using image procossing When 250 pairs of shooting images 260 of information carry out image analysis, it can will be indicated with the color for being different from designated position 240 And the inside region part that surrounding fences up is detected as cloth 105 by the color of designated position 240.
Basic parameter information 255 is the outer shape information of the benchmark cloth 205 obtained by image analysis, base position Information etc..Reference position information is for example including the position of centre of gravity 230 calculated based on profile 220 and the information of axis of torque 235.Center of gravity Position 230 is the coordinate data as benchmark of the position for clear benchmark cloth 205 in benchmark image 210.Axis of torque 235 run through position of centre of gravity 230, are the gradients for clear benchmark cloth 205 in benchmark image 210 as benchmark The data of axis.Known method is suitably used in the calculation method of position of centre of gravity 230 and axis of torque 235.
CPU9 uses shooting image 260, image processing data 250 and benchmark when by main process task come computed correction Parameter information 255.CPU9 carries out image analysis to shooting image 260, uses the designated position for including in image processing data 250 240 information in the same manner as above examines the profile 270 (referring to Fig.1 0) of the cloth 105 in shooting image 260 It surveys.CPU9 is based on profile 270, calculates the position of centre of gravity 280 and axis of torque 285 of cloth 105, and they are determined as holding position Information.Known method is suitably used in the calculation method of position of centre of gravity 280 and axis of torque 285.CPU9 believes from basic parameter Reference position information (information of position of centre of gravity 230 and axis of torque 235) is obtained in breath 255.CPU9 finds out the seat of position of centre of gravity 280 The difference for marking the coordinate relative to position of centre of gravity 230, obtains the coordinate modification for correcting the position coordinates for including in amount of movement Data.CPU9 finds out the difference of the gradient of axis of torque 285 relative to the gradient of axis of torque 235, obtains for correcting movement The angle modification data for the rotation angle for including in amount.Correction amount includes coordinate modification data and angle modification data.CPU9 exists In third move, the amount of movement obtained after being modified in the initial value of amount of movement plus correction amount is specified.Therefore, defeated Send device 140 that can correct deviation of the holding position relative to base position, so as to which cloth 105 is accurately transported to friendship Connect position.
1 illustrates to control program referring to Fig.1.Control program is controlled to describe by CPU9 by the execution order executed by CPU9 The step of a series of sewing movement that feedway 100 and sewing machine 1 are carried out.CPU9, which is read in line by line in control program, to be remembered The multiple execution orders stated successively execute processing corresponding with each execution order, carry out control program processing (referring to Fig.1 6).Figure 11 show each exectorial row serial number of description control program in left side, show control corresponding with each execution order on right side Each step number of processing procedure sequence processing.Program file 350, which is described, executes life for controlling feedway 100 and each of sewing machine 1 It enables.The storage device 96 of computer 200 is stored in different multiple of the exectorial combination being capable of handling in sewing system 300 The program file 350 of mode.
Program file 350 will execute the handled variable of order and come with parameter (parameter) in the execution order of a part Definition.The SET_COUNTER order of 2nd row is that argument corresponding with this parameter of PARAM0 is set as to the value of GOAL to hold Line command.PARAM0 sets numerical value to argument.The GET_OFFSET order of 7th row is using corresponding with this parameter of PARAM1 Amendment of the argument to determine amount of movement needed for reference information, and carry out using reference information the execution order of computed correction. Filename of the PARAM1 to argument setting benchmark image 210.The MSEW order of 10th row is to utilize and this parameter phase of PARAM2 Corresponding argument determines stitch data that the CPU51 of sewing machine 1 is used when sewing to cloth 105, and to sewing machine 1 Indicate the execution order that sewing starts.Filename of the PARAM2 to argument setting stitch data.
CPU9 can not execute the execution order for carrying out defined variable with parameter.Therefore, CPU9 regard program file 350 as program Data are read into the operating area of RAM93, and program data is rewritten as to the execution data 360 being able to carry out.CPU9 is based on executing Data 360 execute line by line it is each execute order, carry out each processing and handled as control program.Executing data 360 is by program text The parameter (PARAM0, PARAM1, PARAM2) described in part 350 respectively with argument (300, MASTER_A, 100) come describe gained The data arrived.
2~Figure 16 illustrates main process task referring to Fig.1.When operator connects the power supply of computer 200, CPU9 makes to be stored in The BIOS of ROM92 starts, and reads in and executes the OS for being stored in storage device 96.When operator operates computer 200, instruction is executed When main process task, CPU9 reads in from storage device 96 and executes the program of main process task.As shown in figure 12, CPU9 executes control program and compiles Collect processing (S1).As shown in figure 13, CPU9 is in 99 display control program editing pictures 400 (referring to Fig.1 4) (S21) of display unit.
As shown in figure 14, control program editing picture 400 has program editing portion 420 in the middle and lower sections of picture, in picture Upper section has program listing selector 410, has conclusion button 490 in upper right corner.Program editing portion 420 have 5 groups by with In the program name display unit 421 and the setting button 422 of the argument for setting control program of the program name of display control program The group of composition.Program editing portion 420 to each group program name display unit 421 with setting button 422 set No. 1~No. 5 processing it is suitable Sequence.CPU9 can at most be read in five control programs by processing sequence, and successively be executed.Operator can be in advance by multiple controls Program is stored in storage device 96, and is selected using drop-down menu 423.421 display operation person of program name display unit choosing The program name for the control program selected.For example, the program name for the control program for being used to sew cuff is set as PROGRAM00.It is stitching When making the cuff of 300 groups of S sizes, sewing the cuff of 200 groups of M sizes, program name of the operator at processing sequence No. 1 and No. 2 Display unit 421 sets PROGRAM00.Operator sets the sleeve of 300 groups of S sizes of sewing in processing sequence 1 parameter setting Argument needed for mouthful, the argument needed for the cuff of 200 groups of M sizes of setting sewing in processing sequence 2 parameter settings.? As processing sequence No. 3~No. 5, when operator does not set control program or operator sets not described and use When the exectorial control program of argument, setting button 422 is in unactivated state.
Program listing selector 410 is shown in program editing portion 420, and the group for controlling program and parameter setting is suitable by handling Sequence sets the filename of obtained program listing.Program listing selector 410 has save button 411.When operator presses When save button 411, CPU9 is input to the filename of input field with operator and will be set by operator in program editing portion 420 Control program and the group of parameter setting and the processing sequence of each group are stored in storage device 96.Input field presses preservation in operator When button 411, dialog box is shown.Can the control program and parameter setting that program listing is set group as one group or more Five groups or less.Multiple program listings can be saved.Program listing selector 410 shows drop-down menu, receives to existing program The selection of list.
As shown in figure 13, CPU9 waits the input of the instruction of operator after display control program editing pictures 400 (S22: no, S27: no, S32: no, S22).Before setting controls program (S32: no), do not shown in program editing portion 420 Program name, therefore operator can not carry out the setting etc. of parameter.
When drop-down menu of the operator to program listing selector 410 has carried out operation (S22: yes), CPU9 will be saved Drop-down menu (S23) is shown in the index of the existing program listing of storage device 96.When operator selects from drop-down menu When one program listing (S25), CPU9 reads in the place of the control program of program listing setting and the group of parameter setting and each group Make sequence in order.The program name that CPU9 shows each group in program editing portion 420, setting for the group for capableing of setup parameter is shown with state of activation Determine button 422 (S26).CPU9 wait operator instruction input (S27: no, S32: being, S36: no, S45: no, S47: it is no, S22: no, S27).Since the control program setting that will include in program listing is edit object (S32: yes), operator's energy Enough carry out the setting etc. of parameter.
In program listing to be re-created, or the control program for including in the program listing chosen is being become When more, operator is operated (S27: yes) to the drop-down menu 423 of program name display unit 421.At this moment, CPU9 will be stored in and deposit The index of the existing control program of storage device 96 is shown in drop-down menu 423 (S28).When operator selects from drop-down menu 423 When selecting a control program (S30), CPU9 reads in parameter setting corresponding with control program, shows in program editing portion 420 The program name for the control program that operator chooses shows setting button 422 (S31) if there is parameter setting with state of activation. CPU9 makes processing be transferred to S32, waits the input of the instruction of operator.
Setting button under the state of activation in program editing portion 420 is pressed in operator in order to set the parameter of control program When 422 (S36: yes), mode display parameter setting picture 500 (reference figure of the CPU9 to be stacked on control program editing picture 400 15)(S37).After display parameter setting picture 500, CPU9 sets the argument of each parameter according to the operation of operator (S38).As shown in figure 15, parameter setting picture 500 is for operator couple and the control program for being shown in program name display unit 421 The picture that the argument of corresponding parameter is set.Parameter setting picture 500 has the first label screen 510, the second label Picture 520 and third label screen 530.Operator selects the first label screen 510, the second label screen 520, third label Any one of picture 530.Parameter setting picture 500 has application button 540 and cancel button 550 in lower part.
First label screen 510 is set for argument of the operator to the parameter (PARAM0) for setting processing number Picture, with numerical value input unit 511.Process the quantity that number is sewing object to be sewed.CPU9 will be input to by operator The numerical value of input unit 511 is correspondingly saved as the argument of PARAM0 with the program name of the control program with group.Second Label screen 520 is the picture set for argument of the operator to the parameter (PARAM1) for specifying benchmark image 210, Its selector 521 with filename.Operator is selected by drop-down menu 522 and is shown in the base of selector 521 by CPU9 The filename of quasi- image 210 is correspondingly saved as the argument of PARAM1 with the program name of the control program with group.The Three label screens 530 are the pictures set for argument of the operator to the parameter (PARAM2) for specifying stitch data, Selector 531 with filename.Operator is selected by drop-down menu and is shown in the stitch data of selector 531 by CPU9 Filename correspondingly saved as the argument of PARAM2 with the program name of control program with group.
As shown in figure 13, when operator presses the application button 540 of parameter setting picture 500 (S40: yes), CPU9 will The argument for being inputted by operator or being selected is applied to parameter setting and sets (S41) come undated parameter, and closes parameter setting picture 500.When operator presses cancel button 550 (S40: no), CPU9 reverts to the argument for being inputted by operator or being selected is defeated State (S42) before entering or selecting, and close parameter setting picture 500.CPU9 makes processing be transferred to S45, waits operator Instruction input.
When operator presses save button 411 (S45: yes), CPU9 shows the input field of filename.CPU9 is by operator In program editing portion 420, the control program and the group of parameter setting and the processing sequence of each group of setting are input to input with operator The filename on column is stored in storage device 96 (S46).
When operator presses conclusion button 490 (S47: yes), CPU9 by program listing selector 410 display in control The processing sequence of the group and each group of processing procedure sequence and parameter setting is set as controlling the system that feedway 100 and sewing machine 1 carry out The execution object (S48) of the sewing movement of column.CPU9 closes control program editing picture 400, and returns to main process task.Such as Figure 12 institute Show, CPU9 waits the input (S2: no, S8: no, S10: no, S2) of the instruction of operator.In standby, operator is again Input carries out when the instruction of the editor of control program (S8: yes), and CPU9 makes processing be transferred to S1, executes the Editorial Services of control program Reason.
Before sewing, operator in advance receives the cloth 105 of the piece number corresponding with processing number in a manner of being stacked up In Rong Bu magazine 102.When operator has input the instruction of sewing beginning (S2: yes), CPU9 will be set as executing object The program file 350 of control program is read into the operating area (S3) of RAM93.CPU9, will be in program file according to parameter setting The parameter described in 350 is written over argument, is generated and is executed data 360 (S5).CPU9 executes control program, carries out control journey Sequence handles (S6).Hereinafter, illustrating to control program processing in case where in this way, that is, use will be with this text of MASTER_A The reference information created based on the benchmark image 210 that part name saves, and use the sewing number saved with 100 this filename According to being sewed using sewing machine 1 to 300 groups of sewing object.
As shown in Figure 11, Figure 16, CPU9 executes the execution order of the 1st row of data 360, by process number (COUNTER) it is set as 0 (S51).Process number is the number of repetition for a series of processing that sewing system 300 carries out.CPU9 is held Processing number (GOAL) is set as 300 (S52) by the execution order of the 2nd row of row.CPU9 executes the execution order of the 3rd row, will be Transfer destination when judging in processing to be of S76 is set as S53.
CPU9 executes the execution order of the 4th row, right in order to be moved to adsorbing mechanism 130 above allocation position (POS_A) The output supply instruction of feedway 100 (S53).Feedway 100 drives cloth grasping device 150, will take out from cloth magazine 102 A piece of cloth 105 be moved to allocation position.Feedway 100 is after mobile completion of the cloth 105 to allocation position, to meter The output of calculation machine 200 is for notifying the mobile signal completed.CPU9 exports first movement instruction (S55) to feedway 100.Supply The corresponding drive volume of the amount of movement that device 100 makes conveying device 140 to include in instructing with first movement is driven, and makes to adsorb Mechanism 130 from it is standby when position be moved to above allocation position.Feedway 100 is in adsorbing mechanism 130 on allocation position After the mobile completion of side, to the output of computer 200 for notifying the mobile signal completed.
CPU9 executes the execution order of the 5th row, exports to feedway 100 and keeps instruction (S56).Feedway 100 makes Conveying device 140 drives, and declines adsorbing mechanism 130.Feedway 100 drives Charging system 135, and cloth 105 is kept In adsorption plane 136.When feedway 100 make conveying device 140 drive, make adsorbing mechanism 130 rise when, feedway 100 to Signal of the output of computer 200 for notifying to keep completing.CPU9 executes the execution order of the 6th row, in order to make adsorbing mechanism 130 It is moved to camera site (POS_C), exports the second move (S57) to feedway 100.Feedway 100 fills conveying It sets 140 to be driven with drive volume corresponding with the amount of movement for including in the second move, makes adsorbing mechanism 130 from configuration bit It sets top and is moved to camera site.Feedway 100 is after mobile completion of the adsorbing mechanism 130 to camera site, to calculating The output of machine 200 is for notifying the mobile signal completed.
CPU9 execute the 7th row execution order, in order to correct amount of movement, using with benchmark image 210 (MASTER_A) phase Corresponding reference information carrys out computed correction.CPU9 exports shooting instruction to filming apparatus 117, and obtains 117 institute of filming apparatus The shooting image 260 (S61) taken.CPU9 reads in from storage device 96 and obtains image processing data 250 and basic parameter Information 255, and using them as reference information (S62).CPU9 carries out image analysis to shooting image 260, clear in shooting figure As the holding position (S63) of the cloth 105 photographed in 260.CPU9 calculates deviation conduct of the holding position relative to base position Correction amount (S65).Shifting of the CPU9 when conveying device 140 is moved to adsorbing mechanism 130 above delivery position from camera site The initial value of momentum adds correction amount, to be modified (S66) to amount of movement.
CPU9 executes the execution order of eighth row, in order to be moved to adsorbing mechanism 130 above delivery position (POS_D), to Feedway 100 exports third move (S71).Feedway 100 make conveying device 140 with wrapped in third move The corresponding drive volume of amount of movement containing, having added after correction amount is driven, and moves adsorbing mechanism 130 from camera site It moves above delivery position.Feedway 100 in adsorbing mechanism 130 to after the mobile completion above delivery position, to calculating The output of machine 200 is for notifying the mobile signal completed.
CPU9 executes the execution order of the 9th row, exports to feedway 100 and releases holding instruction (S72).Feedway 100 drive conveying device 140, decline adsorbing mechanism 130.Feedway 100 stops the driving of Charging system 135, solution Except the holding from adsorption plane 136 to cloth 105.Feedway 100 drives suction device 190, attracts cloth using air 105, so that cloth 105 is maintained on vent board 192.Cloth 105 is precisely located at delivery position.Feedway 100 makes defeated It send device 140 to drive, increase adsorbing mechanism 130, position when adsorbing mechanism 130 further being made to be moved to standby.Supply dress It sets 100 and releases the signal for keeping completing for notifying to the output of computer 200.
CPU9 executes the execution order of the 10th row, in order to sew according to stitch data (100) to cloth 105, to seam Machine 1 of threading output sewing instruction (S73).Sewing machine 1 is moved to keeping body 70 above delivery position, using pressing plate 74 to cloth 105 are kept.Suction device 190 stops driving, releases the holding to cloth 105, and cloth 105 is moved to seam by sewing machine 1 Position processed.Sewing machine 1 reads in the stitch data specified by sewing instruction from storage device 54, and according to stitch data to cloth 105 are sewed.After sewing is completed, signal of the sewing machine 1 to the output of computer 200 for notifying sewing to complete.
CPU9 executes the execution order of the 11st row, and 1 (S75) is added on process number (COUNTER).CPU9 executes the 12nd row Execution order, judgment step number (COUNTER) whether be less than processing number (GOAL) (S76).CPU9 executes the execution of the 13rd row Order makes processing be transferred to S5 when process number (COUNTER) is less than processing number (GOAL) i.e. 300 (S76: yes).CPU9 is in work Before ordinal number (COUNTER) reaches 300, it is recycled and reused for a series of processing (S53~S75) sewed to cloth 105. CPU9 executes the execution order of the 14th row, when process number (COUNTER) is equal to processing number (GOAL) (S76: no), is used in pair Cloth 105 sewed a series of processing terminate.The processing of CPU9 finishing control program, returns to main process task.
As shown in figure 12, in program listing, if the control program (S7: no) that oriented next processing sequence is specified, CPU9 makes processing be transferred to S3, rewrites the parameter of next control program, and executes control program processing.If not to next processing The specified control program of sequence, all processing terminate (S7: yes), then CPU9 waits the input of the instruction of operator.In standby mistake Cheng Zhong, when operator has input the instruction for terminating main process task (S10: yes), CPU9 terminates main process task.
As explained above, the CPU9 of computer 200 can be read before executing control program from storage device 96 Enter setting value (argument) corresponding with parameter (parameter), Rewrite controlling program.Therefore, operator is to different clothes 105 Or when being sewed using the cloth 105 of different sewing styles, change setting does not need the amendment of control program, Entire control program need not be seen again.
Control program include three can be by the change of setting value come corresponding parameter (benchmark image 210, stitch data And processing number).Therefore, operator is needing to carry out any one of benchmark image 210, stitch data and processing number When modified control program, the setting value of corresponding parameter is changed, does not need the amendment of control program, it is not necessary to be seen again entire Control program.
CPU9 shows the parameter setting picture 500 for capableing of the setting value of setup parameter, but not display control in display unit 99 Program.Therefore, operator will not feel cumbersome as seeing entire control program again, can easily create to benchmark image 210, the control program that any one of stitch data and processing number are corrected.
Multiple setting values can be stored in storage device 96 in advance by each parameter.Therefore, in Correction and Control program, operation Person only selects an appropriate setting value from the multiple setting values pre-saved, can save when creating control program The effort of input.
Operator can create multiple control programs, and be stored in storage device 96.Therefore, operator is in system knot When structure has altered, the control program of suitable system structure is selected from index display.
In the above description, adsorbing mechanism 130 is equivalent to holding mechanism of the invention.CPU9 is equivalent to operation of the invention Processing unit.RAM93 is equivalent to main storage portion of the invention.Storage device 96 is equivalent to auxiliary storage unit of the invention.Computer 200 are equivalent to control device of the invention.Sewing system 300 is equivalent to cloth sewing system of the invention.Execute the processing of S3 When CPU9 be equivalent to reading portion of the invention.CPU9 when executing the processing of S5 is equivalent to rewriting portion of the invention.Execute S6 Processing when CPU9 be equivalent to enforcement division of the invention.
The processing of S61 is equivalent to shooting processing of the invention.The processing of S62 is equivalent to acquisition processing of the invention.S63's Processing is equivalent to dissection process of the invention.The processing of S65 is equivalent to calculation process of the invention.The processing of S66 is equivalent to this The correcting process of invention.The processing of S71 is equivalent to conveying instruction processing of the invention.The processing of S73 is equivalent to seam of the invention Instruction processing processed.The processing of S75, S76 are equivalent to continuation working process of the invention.Parameter setting picture 500 is equivalent to this hair Bright setting screen.CPU9 when executing the processing of S38 is equivalent to configuration part of the invention.Execute the CPU9 when processing of S46 It is equivalent to storage unit of the invention.CPU9 when executing the processing of S28 is equivalent to index display unit of the invention.Execute S30's CPU9 when processing is equivalent to selector of the invention.
The present invention can also make various changes other than above embodiment.Being also possible to sewing system 300 has The shared CPU of whole system can be controlled, to replace the CPU51 of sewing machine 1, the CPU111 and computer 200 of feedway 100 CPU9.It is also possible to the processing unit (plant) that setting can process cloth 105 to replace sewing machine 1, utilizes processing unit (plant) To be processed to the cloth 105 for being placed in delivery position.In this case, processing unit (plant) is also possible to for gluing cloth The engagement device sticked together, disconnecting device for cutting off cloth etc..It is also possible to holding meanss using the power other than electrostatic Cloth 105 is adsorbed in adsorption plane 136.It is also possible to for example, adsorbing mechanism 130 has air suction device, by from being set to The hole of adsorption plane 136 attracts air to adsorb cloth 105.It is also possible to conveying device 140 with filming apparatus 117.It can also be with Without cloth grasping device 150.In this case, it is also possible to sewing system 300 with following device, which is not required to It to be controlled by computer 200, cloth 105 mechanically can be supplied to piecewise conveying device 140 in allocation position.Cloth 105, benchmark cloth 205 is also possible to flaky film, paper etc..The position of centre of gravity 230 for including in reference position information is not It is limited to the position of centre of gravity of the shape based on benchmark cloth 205, as long as the profile 220 according to benchmark cloth 205 uniquely determines Position.Base position is for example also possible to the circumcircle of the profile 220 of benchmark cloth 205 or the center of circle of inscribed circle, also It can be the cornerwise intersection point for linking up the vertex at the angle on profile 220.
It is also possible to replace CPU9, a part of each step of main process task is executed by other electronic equipments (such as ASIC) Processing or all processing.As an example of controlling program, as long as parameter relevant to the movement of conveying device 140 and sewing machine 1 is It can.Parameter is not limited to three, both can be also possible to four or more less than three.It is also possible to no program listing, stitches System 300 processed is the system that the CPU9 of computer 200 executes a control program.CPU9 will control the program file 350 of program It is read into RAM93, after parameter is rewritten as the execution data 360 that argument obtains by creation in the operating area of RAM93, line by line Execute order.It is not limited to this, is also possible to CPU9 creation and is written over the parameter of program file 350 with argument To execution file and be stored in storage device 96, from execute file line by line read and execute execution order simultaneously.
1. a kind of cloth sewing system, which is included
Sewing machine (1), is used to sew cloth；
Conveying device (140), with holding mechanism (130) and mobile mechanism (120), which can be to the cloth It is kept, which can make the holding mechanism mobile；
Filming apparatus (117), can be opposite with part in the holding mechanism, remain the cloth, and with regulation Coverage shot；And
Control device (200) with arithmetic processing section (9), main storage portion (93) and assists storage unit (96), at the operation Reason portion executes the control of the driving for controlling the driving of the conveying device, the filming apparatus and the driving of the sewing machine Processing procedure sequence, the main storage portion are come as operating area using the auxiliary storage unit stores the control by the arithmetic processing section Program,
The control device is controlled based on shooting image taken by the filming apparatus by institute according to the control program The conveying to the cloth of conveying device progress, and the sewing that control is carried out by the sewing machine are stated,
The cloth sewing system is characterized in that,
The control program includes being described using multiple parameters relevant to the movement of the conveying device and the sewing machine Multiple execution orders,
The auxiliary storage unit stores the multiple respective setting value of parameter,
The arithmetic processing section includes
The control program is read into the main storage portion from the auxiliary storage unit by reading portion (9)；
The setting value corresponding with each parameter is read in from the auxiliary storage unit and is written to the control by rewriting portion The respective description position of in the multiple execution order described in program, the multiple parameter, to rewrite the control journey Sequence；And
Enforcement division reads in line by line and executes the control program after being rewritten by the rewriting portion.
2. cloth sewing system according to claim 1, which is characterized in that
Processing in the control program, as arithmetic processing section execution, comprising:
Shooting processing, shooting processing are utilized during the conveying device conveys the cloth to the sewing machine The processing that the filming apparatus shoots the holding mechanism that remain the cloth；
Acquisition processing, acquisition processing are processing for obtaining reference information, the reference information include as with benchmark image Corresponding information, positional relationship based on the delivery position for joining the cloth to the sewing machine with the conveying device The information of the base position set in the coverage, the benchmark image be by the filming apparatus to remain be used as institute It states the image that the holding mechanism of the base reference of reference cloth of cloth is shot, is set with the first parameter；
Dissection process, the dissection process are taken in shooting processing to the cloth kept by the holding mechanism The shooting image in holding position and the base that includes in the reference information that obtains in acquisition processing The processing that the positional relationship that level is set is parsed；
Calculation process, which is the parsing result based on the dissection process, to the holding position relative to described The correction amount of the opposite position deviation of base position carries out the processing of operation；
Correcting process, the correcting process are when the cloth for being located at the base position is transported to the delivery position The amount of movement of the holding mechanism, in addition the correction amount that operation obtains in the calculation process, to the amount of movement The processing being modified；
Conveying instruction processing, conveying instruction processing are exported to the conveying device to obtain after the amendment in the correcting process To the amount of movement convey the cloth instruction processing；
Sew instruction processing, sewing instruction processing be to sewing machine output according to the second parameter come the sewing number that sets According to the processing of the instruction sewed to the cloth for being transported to the delivery position；And
Continue working process, which is to repeat before reaching with third parameter the processing number that sets by institute State the processing of conveying and the sewing to the cloth carried out by the sewing machine to the cloth of conveying device progress.
3. cloth sewing system according to claim 2, which is characterized in that
The control device includes
Display unit (99), can show information；
Configuration part shows that first parameter, second parameter and the third parameter are respective in the display unit Setting screen, and the setting value is set separately；And
Storage unit, first parameter, second parameter and the third parameter that are set by the configuration part is each From the setting value be stored in the auxiliary storage unit.
4. cloth sewing system according to claim 3, which is characterized in that
The storage unit can save multiple first parameters, second parameter and described in the auxiliary storage unit The respective setting value of third parameter,
The configuration part can select any one of multiple described setting values for being stored in the auxiliary storage unit to be set It is fixed.
5. cloth sewing system according to claim 3 or 4, which is characterized in that
The auxiliary storage unit stores multiple control programs,
The control device includes
Display unit is indexed, display is indexed to multiple control programs in the display unit；And
Selector, any one of multiple control programs that the index display unit can be selected to show,
The setting screen for parameter corresponding with the control program that the selector is chosen that the configuration part is shown.
Priority Applications (2)
|Application Number||Priority Date||Filing Date||Title|
|JP2018069907A JP2019177100A (en)||2018-03-30||2018-03-30||Cloth sewing system and cloth sewing method|
|Publication Number||Publication Date|
|CN110318167A true CN110318167A (en)||2019-10-11|
Family Applications (1)
|Application Number||Title||Priority Date||Filing Date|
|CN201910250255.6A Pending CN110318167A (en)||2018-03-30||2019-03-29||Cloth sewing system|
Country Status (2)
|JP (1)||JP2019177100A (en)|
|CN (1)||CN110318167A (en)|
|Publication number||Priority date||Publication date||Assignee||Title|
|FR2608180A1 (en) *||1986-12-11||1988-06-17||Necchi Spa||Electronic sewing machine|
|CN1619040A (en) *||2003-09-12||2005-05-25||兄弟工业株式会社||Controller of driving mechanism and controlling method of driving mechanism in sewing machine|
|CN101302687A (en) *||2007-05-07||2008-11-12||兄弟工业株式会社||Sewing machine control device and sewing machine therewith|
|CN203360783U (en) *||2013-06-25||2013-12-25||南京工业职业技术学院||Automatic sewing machine|
|CN103993431A (en) *||2014-06-12||2014-08-20||新杰克缝纫机股份有限公司||Vision correction method and system used for sewing|
|CN107227564A (en) *||2016-03-23||2017-10-03||兄弟工业株式会社||Conveying device and induction system|
|CN107829221A (en) *||2016-09-16||2018-03-23||Juki株式会社||Sewing system|
Patent Citations (7)
|Publication number||Priority date||Publication date||Assignee||Title|
|FR2608180A1 (en) *||1986-12-11||1988-06-17||Necchi Spa||Electronic sewing machine|
|CN1619040A (en) *||2003-09-12||2005-05-25||兄弟工业株式会社||Controller of driving mechanism and controlling method of driving mechanism in sewing machine|
|CN101302687A (en) *||2007-05-07||2008-11-12||兄弟工业株式会社||Sewing machine control device and sewing machine therewith|
|CN203360783U (en) *||2013-06-25||2013-12-25||南京工业职业技术学院||Automatic sewing machine|
|CN103993431A (en) *||2014-06-12||2014-08-20||新杰克缝纫机股份有限公司||Vision correction method and system used for sewing|
|CN107227564A (en) *||2016-03-23||2017-10-03||兄弟工业株式会社||Conveying device and induction system|
|CN107829221A (en) *||2016-09-16||2018-03-23||Juki株式会社||Sewing system|
Also Published As
|Publication number||Publication date|
|US8355813B2 (en)||Machining status monitoring method and machining status monitoring apparatus|
|US6012402A (en)||Embroidery data display unit and embroidery sewing machine|
|US7392755B2 (en)||Sewing machine capable of embroidery sewing|
|US7002585B1 (en)||Graphic display apparatus for robot system|
|JP3932625B2 (en)||Embroidery sewing machine and pattern data editing device|
|US4860678A (en)||Sewing machine with graphic instructions|
|CN100591490C (en)||Robot programming device|
|US5553559A (en)||Sewing machine and a recording medium for use in combination with the same|
|US9360861B2 (en)||Device and method for simulating a sequence for machining a workpiece on a machine tool|
|EP1391795B1 (en)||Machining system|
|WO2015068018A1 (en)||Virtual reality and real welding training system and method|
|US4860675A (en)||Automatic quilting machine for specialized quilting of patterns which can be controlled by a remote joy stick and monitored on a video screen|
|US7079917B2 (en)||Embroidery data producing device and embroidery data producing control program|
|US9840796B2 (en)||Method and apparatus for visualizing the position of an operating head relative to a workpiece|
|US8596210B2 (en)||Sewing machine and computer-readable medium storing control program executable on sewing machine|
|JP2013188264A (en)||Sewing machine|
|JP5141264B2 (en)||Sewing machine|
|US4498404A (en)||Automatic sewing apparatus|
|CN102172115B (en)||Electronic component mounting apparatus and operation instruction method used for electronic component mounting apparatus|
|KR20050041939A (en)||A sewing machine|
|JP4364115B2 (en)||sewing machine|
|CN102787452B (en)||Sewing machine and driving control method|
|WO2004085120A1 (en)||Robot simulation device, and robot simulation program|
|US6161491A (en)||Embroidery pattern positioning apparatus and embroidering apparatus|
|US20020022895A1 (en)||System configuration editor with an iconic function sequencer|
|SE01||Entry into force of request for substantive examination|
|SE01||Entry into force of request for substantive examination|