CN110512361A - Stitching check device - Google Patents
Stitching check device Download PDFInfo
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- CN110512361A CN110512361A CN201910424634.2A CN201910424634A CN110512361A CN 110512361 A CN110512361 A CN 110512361A CN 201910424634 A CN201910424634 A CN 201910424634A CN 110512361 A CN110512361 A CN 110512361A
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- stitching
- detected value
- tension
- tension sensor
- feature amount
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- 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
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- Textile Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The present invention provides stitching check device, efficiently implements the inspection of stitching.Stitching check device includes tension sensor, detects to the online tension for being hooked in needle；And processing unit, the detected value based on tension sensor detect the exception of the stitching formed by needle in object to be sewn.
Description
Technical field
The present invention relates to stitching check devices.
Background technique
In sewing factory, clothes is produced using sewing machine.Patent Document 1 discloses to the line formed by sewing machine
One example of the stitching check device that mark is checked.
Patent document 1: Japanese Unexamined Patent Publication 11-090077 bulletin
In the case where the inspection of stitching is cumbersome, the productivity of clothes is likely to decrease.For the productivity to clothes
Reduction is inhibited, it is desirable to be able to efficiently implement the technology of the inspection of stitching.
Summary of the invention
The purpose of mode of the invention is, efficiently implements the inspection of stitching.
Mode according to the invention provides a kind of stitching check device, includes tension sensor, stitches to being hooked in
The online tension of needle of sewing machine is detected；And processing unit, based on the detected value of the tension sensor, to passing through
The exception for stating the stitching that needle is formed in object to be sewn is detected.
The effect of invention
Mode according to the present invention can efficiently implement the inspection of stitching.
Detailed description of the invention
Fig. 1 is the oblique view for showing schematically sewing machine involved in embodiment.
Fig. 2 is the figure for indicating the motion diagram of needle bar and thread take-up tension lever involved in embodiment.
Fig. 3 is the functional block diagram for indicating stitching check device involved in embodiment.
Fig. 4 is the figure for showing schematically normal stitching.
Fig. 5 is the figure for showing schematically abnormal stitching.
Fig. 6 is the figure for showing schematically abnormal stitching.
Fig. 7 is the figure for indicating the detected value of tension sensor.
Fig. 8 is the figure for indicating the detected value of tension sensor.
Fig. 9 is the figure for indicating accumulation curve.
Figure 10 is the figure for indicating the frequency spectrum of tension.
Figure 11 is the flow chart for indicating method of sewing involved in embodiment.
Figure 12 is the flow chart for indicating method of sewing involved in embodiment.
The explanation of label
1 ... sewing machine, 2 ... sewing machine heads, 3 ... needles, 4 ... needle bars, 5 ... thread take-up tension levers, 6 ... line adjusters, 7 ... needles
Plate, 8 ... presser feet components, 9 ... kettles, 10 ... motor, 20 ... stitching check devices, 21 ... tension sensors, 22 ... angle sensors
Device, 23 ... output devices, 24 ... input units, 30 ... processing units, 30A ... arithmetic unit, 30B ... storage device, 30C ... are defeated
Enter output interface, 31 ... detected value acquisition units, 32 ... detection characteristic quantity analysis units, 33 ... determination units, 34 ... output sections, 35 ... ginsengs
According to characteristic quantity generating unit, 36 ... reference feature amount storage units, LT ... is offline, S ... object to be sewn, SE ... stitching, and UT ... is online.
Specific embodiment
In the following, be illustrated on one side to embodiment according to the present invention on one side referring to attached drawing, but the present invention and unlimited
Due to this.The structural element for the embodiment being illustrated below can be appropriately combined.In addition, sometimes without using the knot of a part
Structure element.
[the 1st embodiment]
< sewing machine >
Sewing machine 1 involved in present embodiment is illustrated.In the present embodiment, based in the regulation of sewing machine 1
Local coordinate system out is illustrated the positional relationship in each portion.Local coordinate system is provided by XYZ orthogonal coordinate system
's.The direction for the X-axis being parallel in predetermined surface is set as X-direction.By the Y-axis orthogonal to X-axis being parallel in predetermined surface
Direction is set as Y direction.The direction for being parallel to the Z axis orthogonal with predetermined surface is set as Z-direction.By the rotation centered on X-axis
Turn direction and is set as θ X-direction.
Fig. 1 is the oblique view for showing schematically sewing machine 1 involved in present embodiment.As shown in Figure 1, sewing machine 1 has
Have: sewing machine head 2, needle bar 4, thread take-up tension lever 5, line adjuster 6, needle plate 7, presser feet component 8, kettle 9, motor 10 and stitching inspection dress
Set 20.
Needle bar 4 keeps needle 3 and moves back and forth in Z-direction.Needle bar 4 becomes parallel with Z axis with needle 3
Mode keeps needle 3.Needle bar 4 is supported in sewing machine head 2.Needle bar 4 is configured at the top of needle plate 7, can be with seam
The surface of object S processed is opposite.Online UT is hooked in needle 3.Needle 3 has the threading hole passed through for online UT.
Needle 3 keeps online UT in the inner surface of threading hole.Needle bar 4 is moved back and forth in Z-direction, is thus sewed
Eedle 3 moves back and forth in the state of maintaining online UT in Z-direction.
Thread take-up tension lever 5 supplies online UT to needle 3.Thread take-up tension lever 5 is supported in sewing machine head 2.Thread take-up tension lever 5 has for online
The take-up rod aperture that UT passes through.Thread take-up tension lever 5 keeps online UT in the inner surface of take-up rod aperture.Thread take-up tension lever 5 is on maintaining
It is moved back and forth in the state of line UT in Z-direction.Thread take-up tension lever 5 moves back and forth in linkage with needle bar 4.Thread take-up tension lever 5 is in Z
Axis direction moves back and forth, and thus online UT is extracted out or lifted.
Line adjuster 6 assigns tension to online UT.Online UT is supplied from line supply source to line adjuster 6.It is passed through in online UT
In the path crossed, thread take-up tension lever 5 is configured between needle 3 and line adjuster 6.Line adjuster 6 is supplied to via thread take-up tension lever 5
Tension to the online UT of needle 3 is adjusted.
Needle plate 7 is supported object to be sewn S.The needle 3 and needle plate 7 that needle bar 4 is kept are opposite.Needle plate 7 has
The pin hole for having needle 3 that can pass through.The needle 3 of the object to be sewn S perforation of needle plate 7 will be supported in through needle passing hole.
Presser feet component 8 presses object to be sewn S from top.Presser feet component 8 is supported in sewing machine head 2.Pressing part
Part 8 is configured at the top of needle plate 7, keeps between needle plate 7 to object to be sewn S.
Kettle 9 keeps the spool accommodated in bobbin casing.Kettle 9 is configured at the lower section of needle plate 7.Kettle 9 is in θ X-direction
It is rotated.Kettle 9 rotates in linkage with needle bar 4.9 supplying under thread LT of kettle.Kettle 9 is passed through from by the object to be sewn S for being supported in needle plate 7
Lead to, fish for online UT by the needle 3 of the pin hole of needle plate 7.
Motor 10 generates power.Motor 10 has the stator for being supported in sewing machine head 2 and can be rotatably supported at
The rotor of stator.Rotor is rotated, and thus motor 10 generates power.The power generated by motor 10, passes via power
It passs mechanism (not shown) and is transferred to needle bar 4, thread take-up tension lever 5 and kettle 9 respectively.Needle bar 4, thread take-up tension lever 5 and kettle 9 link.By motor
10 power generated are transferred to needle bar 4, and the needle 3 that thus needle bar 4 and needle bar 4 are kept back and forth is moved in Z-direction
It is dynamic.Thread take-up tension lever 5 is transferred to by the power that motor 10 generates, thus thread take-up tension lever 5 links with needle bar 4 and carries out in Z-direction past
It is multiple mobile.Kettle 9 is transferred to by the power that motor 10 generates, thus kettle 9 and needle bar 4 and the linkage of thread take-up tension lever 5 and θ X-direction into
Row rotation.Sewing machine 1 by the co-operating between the needle 3 kept of needle bar 4 and kettle 9 to object to be sewn S into
Row sewing.
In the following description, rotor referred to as motor 10 is rotated to rotate.In addition, by the rotation angle of rotor
Degree is known as the rotation angle of motor 10.Needle 3 is moved back and forth by the rotation of motor 10.Thread take-up tension lever 5 is logical
It crosses the rotation of motor 10 and is moved back and forth in linkage with needle 3.The rotation and sewing that kettle 9 passes through motor 10
Eedle 3 and thread take-up tension lever 5 are rotated in linkage.
Online UT from line supply source is hooked in needle via thread take-up tension lever 5 after being hooked in line adjuster 6
3.If the rotation of motor 10, needle bar 4 decline, the needle 3 that needle bar 4 is kept penetrates through object to be sewn S, by
The pin hole that needle plate 7 is arranged.If pin hole of the needle 3 by needle plate 7, be hooked in the online UT of needle 3 with from kettle 9
The offline LT of supply is wound.In the state that online UT is wound in offline LT, needle 3 rises, from object to be sewn S
It decorporates.When needle 3 penetrates through object to be sewn S, sewing machine 1 stops object to be sewn S.In needle 3 from seam
When object S processed decorporates, sewing machine 1 keeps object to be sewn S mobile to +Y direction.Sewing object is repeated in sewing machine 1 on one side
The movement and stopping of the +Y direction of object S make needle 3 move back and forth and form stitching SE in object to be sewn S on one side.It is stitching
The stitching SE that object S processed is formed extends along the y axis.
< motion diagram >
Fig. 2 is the figure for indicating the motion diagram of needle bar 4 and thread take-up tension lever 5 involved in present embodiment.In Fig. 2, horizontal axis table
The rotation angle [°] of motor 10 when showing using needle bar top dead centre as benchmark.The longitudinal axis indicates needle bar stroke and thread take up lever stroke.Figure
Movement shown in 2 illustrates needle bar curve movement and thread take-up tension lever line supply curve.
Needle bar top dead centre refers to the position of the needle bar 4 of the most side+Z in the movable range of needle bar 4 in the Z-axis direction.Needle bar
Lower dead center refers to the position of the needle bar 4 of the most side-Z in the movable range of needle bar 4 in the Z-axis direction.Thread take-up tension lever top dead centre refers to
The position of the thread take-up tension lever 5 of the most side+Z in the movable range of thread take-up tension lever 5 in the Z-axis direction.Thread take-up tension lever lower dead center refers in Z axis side
The position of the thread take-up tension lever 5 of the most side-Z in the movable range of upward thread take-up tension lever 5.
Needle bar stroke refers to the position of the needle bar 4 in Z-direction.Thread take up lever stroke refers to the thread take-up tension lever 5 in Z-direction
Position.Thread take-up tension lever line supply amount refers to the amount for the online UT that thread take-up tension lever 5 is supplied to needle 3.
Needle bar 4 and thread take-up tension lever 5 are respectively moved back and forth in Z-direction with the rotation of motor 10 in linkage.Electronic
When the rotation angle of machine 10 is 0 [°], needle bar 4 is configured at needle bar top dead centre.When the rotation angle of motor 10 is about 70 [°],
Thread take-up tension lever 5 is configured at thread take-up tension lever top dead centre.When the rotation angle of motor 10 is about 180 [°], needle bar 4 is configured under needle bar
Stop.When the rotation angle of motor 10 is about 320 [°], thread take-up tension lever 5 is configured at thread take-up tension lever lower dead center.Based in Z-direction
Needle bar 4 position and thread take-up tension lever 5 position difference, the tension variation of online UT.
< stitching check device >
Stitching check device 20 checks the stitching SE formed in object to be sewn S.Stitching check device 20 is being stitched
Object S processed is supported in the state of needle plate 7, is checked the stitching SE formed in object to be sewn S.Stitching check device
20 concurrently check stitching SE with the formation for passing through the stitching SE that sewing machine 1 is realized.Stitching check device 20 is to stitching
The stitching SE that object S processed is formed has without exception detected.In addition, abnormal mode of the stitching check device 20 to stitching SE
It is detected.
Fig. 3 is the functional block diagram for indicating stitching check device 20 involved in present embodiment.As shown in Figures 1 and 3, line
Mark check device 20 includes tension sensor 21, detects to the tension for the online UT for being hooked in needle 3；Angle
Sensor 22 detects the rotation angle of motor 10；Processing unit 30, the detection based on tension sensor 21
Value, detects the exception for the stitching SE that object to be sewn S is formed in by needle 3；Output device 23, output
The testing result of processing unit 30；And input unit 24, it is operated by operator.
Processing unit 30 includes computer system.Processing unit 30 includes arithmetic unit 30A, and it includes CPU (Central
Processing Unit) as processor；Storage device 30B, it includes ROM (Read Only Memory) or reservoirs
Volatile memory as such nonvolatile memory and RAM (Random Access Memory)；And input is defeated
Outgoing interface 30C, it includes the imput output circuits that signal and data can be carried out to input and output.
The tension for the online UT that the opposite needle 3 of tension sensor 21 supplies is detected.Tension sensor 21 is for example
Include strain gauge, piezoelectric element.As shown in Figure 1, tension sensor 21 is configured at thread take-up tension lever 5 in the path that online UT passes through
Between needle 3.Tension sensor 21 detects the tension of online UT between thread take-up tension lever 5 and needle 3.
Force snesor 21 is connect with input/output interface 30C.Tension sensor 21 exports the detected value of the tension of online UT to processing
Device 30.
Angular transducer 22 detects the rotation angle of motor 10.Angular transducer 22 is for example comprising encoder.
The rotation angle of motor 10 when needle bar 4 is configured at needle bar top dead centre by angular transducer 22 is set as 0 [°], to motor 10
Rotation angle detected.Angular transducer 22 is connect with input/output interface 30C.Angular transducer 22 is by motor 10
The detected value of rotation angle is exported to processing unit 30.
The testing result of 23 output processing apparatus 30 of output device.Output device 23 is connect with input/output interface 30C.Make
For output device 23, at least one of display device and printing equipment are exemplified.Display device include liquid crystal display (LCD:
Liquid Crystal Display) or organic el display (OELD:Organic Electroluminescence
Display flat-panel monitor as).
Input unit 24 is operated by operator, thus generates input data.Input unit 24 and input/output interface
30C connection.Input unit 24 exports the input data of generation to processing unit 30.As input unit 24, operation is exemplified
At least one of button, touch panel and computer keyboard.
Arithmetic unit 30A includes detected value acquisition unit 31, detection characteristic quantity analysis unit 32, determination unit 33,34 and of output section
Reference feature amount generating unit 35.Storage device 30B has reference feature amount storage unit 36.
The detected value of the acquirement tension sensor 21 of detected value acquisition unit 31.It is passed in addition, detected value acquisition unit 31 obtains angle
The detected value of sensor 22.
Detection characteristic quantity analysis unit 32 solves the detected value of the tension sensor 21 obtained by detected value acquisition unit 31
Analysis calculates the detected value characteristic quantity of the characteristic quantity for the detected value for indicating tension sensor 21.It detects in characteristic quantity expression
The actual characteristic quantity of the tension of line UT.
Parsing result of the determination unit 33 based on detection characteristic quantity analysis unit 32, has stitching SE and without exception determines.Separately
Outside, parsing result of the determination unit 33 based on detection characteristic quantity analysis unit 32 determines the abnormal mode of stitching SE.
Output section 34 by comprising obtained by detected value acquisition unit 31 detected value, detect characteristic quantity analysis unit 32 parsing knot
The output data of at least one of the judgement result of fruit and determination unit 33 is exported to output device 23.The output of output device 23 comes from
The output data of output section 34.
Detected value of the reference feature amount generating unit 35 based on the tension sensor 21 when being formed with normal stitching SE, to table
Show that the reference feature amount of the characteristic quantity of the tension of online UT when being formed with normal stitching SE is calculated.That is, in this implementation
In mode, reference feature amount includes normal characteristics amount, which indicates online UT when being formed with normal stitching SE
Tension characteristic quantity.
Reference feature amount storage unit 36 deposits the reference feature amount of the tension generated by reference feature amount generating unit 35
Storage.
Determination unit 33 will detection characteristic quantity analysis unit 32 in calculated detection characteristic quantity and reference feature amount storage
The reference feature amount stored in portion 36 is compareed, and is determined the exception of stitching SE.The abnormal judgement of stitching SE includes
Stitching SE has the judgement of the abnormal mode of judgement and stitching SE without exception.
The abnormal > of < stitching
Fig. 4 is the figure for showing schematically normal stitching SE.Fig. 5 and Fig. 6 is the figure for showing schematically abnormal stitching SE.
In the present embodiment, sewing machine 1 is the sewing machine for covering chain stitch for implementing flush joint.As shown in figure 4, normal when flush joint
Stitching SE is formed as linear in Y direction.Normal 1 stitching SE is formed with normal length Pn.Multiple stitching SE respectively with
Normal length Pn is formed.
There are multiple for the abnormal mode of stitching SE.As the abnormal mode of stitching SE, stitching SE is exemplified at least
It the exception for the 2nd mode that the exception of 1st mode of one length, at least part of stitching SE disappear and is sewing
The exception for the 3rd mode that at least one of online UT and offline LT relax in object S.The exception of 1st mode, which is referred to as, " jumps
Needle ".The exception of 2nd mode referred to as " breaks ".The exception of 3rd mode is referred to as " lantern ".
Fig. 5 is the figure for indicating an example of abnormal " bouncing pilotage " as the 1st mode." bouncing pilotage " refers to following phenomenons,
That is, not forming stitching SE with constant normal length Pn, but stitching is formed with the odd length Pu longer than normal length Pn
SE.As the mode of " bouncing pilotage ", occurring with exemplifying the stitching SE single of the odd length Pu1 as shown in (A) of Fig. 5
" continuous bouncing pilotage " that the stitching SE of " single bouncing pilotage ", the odd length Pu1 as shown in (B) of Fig. 5 continuously occur and such as
" the long bouncing pilotage " that the stitching SE of such odd length Pu2 longer than odd length Pu1 occurs shown in (C) of Fig. 5.
Fig. 6 is the figure for indicating an example of abnormal " lantern " as the 3rd mode." lantern " refers to following phenomenons,
Although online UT relaxes in the surface of object to be sewn S, or object to be sewn S's that is, online UT and offline LT winding
Offline LT relaxation in the back side.Fig. 6 shows the example of the offline LT relaxation in the back side of object to be sewn S.
1st method > of the abnormality detection of < stitching
1st method of the abnormality detection of stitching SE is illustrated.In the 1st method, determination unit 33 is sensed based on tension
The detected value of device 21 and the detected value of angular transducer 22, determine the exception of stitching SE.
Tension sensor 21 exports online UT in the rotation of motor 10, with specified period (such as every 0.1 [ms])
Tension detected value.That is, tension sensor 21 is when motor 10 rotates to be multiple rotation angles respectively, in multiple rotation angles
Under degree, difference output detection value.
When reference feature amount includes such normal stitching SE formation shown in Fig. 4, rotated respectively in motor 10
When for multiple rotation angles, the detected value of the tension exported respectively from tension sensor 21 under multiple rotation angles.Referring to special
Sign amount is to be in advance based on experiment (comprising simulated experiment) etc. and derived, is pre-stored within reference feature amount storage unit 36.
Detecting characteristic quantity includes to rotate to be multiple rotation angles respectively in motor 10 when being actually formed stitching SE
When, the detected value of the actual tension exported respectively from tension sensor 21 under multiple rotation angles.
In the present embodiment, determination unit 33 is special by detection derived when the rotation angle of motor 10 is special angle
Sign amount and reference feature amount are compareed, and are determined the exception of stitching SE.
To " bouncing pilotage " whether having occurred determining, determination unit 33 will be according to the rotation angle in motor 10
The detection of acquired tension sensor 21 when degree is is less than or equal to the special angle of 360 [°] more than or equal to 270 [°]
Value and derived detection characteristic quantity and the reference feature amount that stores in reference feature amount storage unit 36 are compareed, to whether sending out
" bouncing pilotage " has been given birth to be determined.
Fig. 7 is the figure for indicating the detected value of tension sensor 21.In Fig. 7, horizontal axis indicates the rotation angle of motor 10,
The detected value of longitudinal axis expression tension sensor 21.In Fig. 7, range Sa and range Sn show the rotation angle of motor 10 as spy
Determine that angle is greater than or equal to 270 [°] and is less than or equal to the ranges of 360 [°].Determination unit 33 will be in the rotation angle of motor 10
More than or equal to 270 [°] and when being less than or equal to 360 [°], derived detection characteristic quantity and reference feature amount are compareed degree, right
" bouncing pilotage " whether has occurred to be determined.
In the case where being formed with normal stitching SE, such detected value shown in 21 output area Sn of tension sensor.
In the case where " bouncing pilotage " has occurred, such detected value shown in 21 output area Sa of tension sensor.As shown in fig. 7, range
The detected value of tension sensor 21 in the detected value and range Sa of tension sensor 21 in Sn is different.In motor 10
Rotation angle be greater than or equal to 270 [°] and be less than or equal in the range of 360 [°], online UT's when having occurred " bouncing pilotage "
Tension becomes smaller compared with the tension of online UT when forming normal stitching SE.
In the present embodiment, such detected value shown in range Sn is stored in reference feature amount as reference feature amount
Storage unit 36.Characteristic quantity analysis unit 32 is detected from the detected value of the tension sensor 21 obtained by detected value acquisition unit 31 to electronic
The detected value that the rotation angle of machine 10 is greater than or equal to 270 [°] and is less than or equal in the range of 360 [°] extracts, and exports
Detection characteristic quantity for being determined " bouncing pilotage ".Determination unit 33 will be special by the calculated detection of detection characteristic quantity analysis unit 32
Sign amount and the reference feature amount stored in reference feature amount storage unit 36 are compareed, and are sentenced to " bouncing pilotage " whether has occurred
It is fixed.In the case where detecting such detected value shown in characteristic quantity scope Sa, determination unit 33 can be based on detection characteristic quantity
With the results of comparison of reference feature amount, it is judged to having occurred " bouncing pilotage ".Such inspection shown in detection characteristic quantity scope Sn
In the case where measured value, determination unit 33 can based on detection characteristic quantity and reference feature amount results of comparison, be determined as there is no
" bouncing pilotage ".
To " broken string " whether having occurred determining, determination unit 33 will be according to the rotation angle in motor 10
It spends the detected value for the tension sensor 21 obtained when being less than or equal to the special angle of 90 [°] more than or equal to 0 [°] and leads
Whether detection characteristic quantity out and the reference feature amount stored in reference feature amount storage unit 36 are compareed, to having occurred
" broken string " is determined.
Fig. 8 is the figure for indicating the detected value of tension sensor 21.In fig. 8, horizontal axis indicates the rotation angle of motor 10,
The detected value of longitudinal axis expression tension sensor 21.In fig. 8, range Sa and range Sn indicates that the rotation angle of motor 10 is spy
Determine that angle is greater than or equal to 0 [°] and is less than or equal to the ranges of 90 [°].Determination unit 33 will be in the rotation angle of motor 10
Derived detection characteristic quantity and reference feature amount are compareed when to be less than or equal to 90 [°] more than or equal to 0 [°], to being
No have occurred " broken string " is determined.
In the case where being formed with normal stitching SE, such detected value shown in 21 output area Sn of tension sensor.
In the case where " broken string " has occurred, such detected value shown in 21 output area Sa of tension sensor.As shown in figure 8, range
The detected value of tension sensor 21 in the detected value and range Sa of tension sensor 21 in Sn is different.In motor 10
Rotation angle be greater than or equal to 0 [°] and be less than or equal in the range of 90 [°], online UT's when having occurred " broken string " opens
Power becomes smaller compared with the tension of online UT when forming normal stitching SE.
In the present embodiment, such detected value shown in range Sn is stored in reference feature amount as reference feature amount
Storage unit 36.Characteristic quantity analysis unit 32 is detected from the detected value of the tension sensor 21 obtained by detected value acquisition unit 31 to electronic
The detected value that the rotation angle of machine 10 is greater than or equal to 0 [°] and is less than or equal in the range of 90 [°] extracts, and export is used
In the detection characteristic quantity determined " broken string ".Determination unit 33 will be by the calculated detection feature of detection characteristic quantity analysis unit 32
Amount and the reference feature amount stored in reference feature amount storage unit 36 are compareed, and are sentenced to " broken string " whether has occurred
It is fixed.In the case where detecting such detected value shown in characteristic quantity scope Sa, determination unit 33 can be based on detection characteristic quantity
With the results of comparison of reference feature amount, it is judged to having occurred " broken string ".Such inspection shown in detection characteristic quantity scope Sn
In the case where measured value, determination unit 33 can based on detection characteristic quantity and reference feature amount results of comparison, be determined as there is no
" broken string ".
2nd method > of the abnormality detection of < stitching
2nd method of the abnormality detection of stitching SE is illustrated.In the 2nd method, determination unit 33 is passed also based on tension
The detected value of sensor 21 and the detected value of angular transducer 22, determine the exception of stitching SE.
In the 2nd method, detection characteristic quantity includes detection accumulation curve, which indicates the rotation of motor 10
The accumulated value of the detected value of tension sensor 21 in turning.Reference feature amount includes referring to accumulation curve, the reference accumulation curve
Indicate the accumulated value of tension when stitching SE is normal.
Determination unit 33 tires out the detection of the accumulated value of the detected value of the tension sensor 21 in the rotation for indicating motor 10
Product value curve is compareed with the accumulated value of the tension of online UT when indicating that stitching SE is normal referring to accumulation curve, to stitching
The exception of SE is determined.In the present embodiment, determination unit 33 will test accumulation curve and be compareed referring to accumulation curve,
Determine " lantern " whether has occurred.
As described above, tension sensor 21 exports the tension of online UT in the rotation of motor 10, with specified period
Detected value.That is, tension sensor 21 when motor 10 rotates to be multiple rotation angles respectively, under multiple rotation angles, divides
Other output detection value.
Accumulated value refers to the tension detected under multiple rotation angles of motor 10 by tension sensor 21 respectively
The accumulated value of detected value.The detection time of tension sensor 21 is longer, and accumulated value becomes bigger.Accumulation curve refers to motor 10
Multiple rotation angles and it is multiple rotation angle respectively under tension accumulated value relationship curve.
It is the accumulation curve for indicating the accumulated value of tension when being formed with normal stitching SE referring to accumulation curve, deposits in advance
It is stored in reference feature amount storage unit 36.
Detecting accumulation curve is the accumulation curve for indicating the accumulated value of actual detected value, by detection characteristic quantity analysis unit 32
It is calculated.
Determination unit 33 will test accumulation curve and be compareed referring to accumulation curve, determine the exception of stitching SE.
Fig. 9 is the figure for indicating accumulation curve.In Fig. 9, horizontal axis indicates the rotation angle of motor 10, and the longitudinal axis indicates tension
Accumulated value.Fig. 9 indicates accumulation curve when motor 10 is, for example, 1000 revs/min.Such as obtain the rotation of motor 10
Angle be 180 [°] when tension detected value, next obtain 181 [°] when tension detected value, with 180 [°]
Detected value is added.Similarly, with 182 [°], 183 [°] ..., 0 [°] ..., 359 [°] be successively added, thus to accumulated value carry out
It calculates.
In the case where being formed with normal stitching SE, such accumulation curve as shown in curve Ln is generated.It is having occurred
In the case where " lantern ", such accumulation curve as shown in curve La is generated.As shown in figure 9, the gradient and curve of curve Ln
The gradient of La is different.The gradient of accumulation curve (curve La) when having occurred " lantern ", and is formed with normal line
The gradient of accumulation curve (curve Ln) when mark SE, which is compared, to become larger.
In the present embodiment, such accumulation curve as shown in curve Ln is stored in reference as referring to accumulation curve
Characteristic quantity storage unit 36.Detect detection of the characteristic quantity analysis unit 32 based on the tension sensor 21 obtained by detected value acquisition unit 31
Value, to for determining that the detection accumulation curve of " lantern " calculates.Determination unit 33 will be calculated by detection characteristic quantity analysis unit 32
Detection accumulation curve out and what is stored in reference feature amount storage unit 36 compareed referring to accumulation curve, to whether occurring
" lantern " is determined.In the case where detecting accumulation curve is such accumulation curve as shown in curve La, determination unit 33
" lantern " can be judged to having occurred based on detection accumulation curve and referring to the results of comparison of accumulation curve.It is bent in detection accumulation
In the case that line is such accumulation curve as shown in curve Ln, determination unit 33 can be based on detection accumulation curve and referring to accumulation
The results of comparison of curve is determined as that there is no " lanterns ".
3rd method > of the abnormality detection of < stitching
3rd method of the abnormality detection of stitching SE is illustrated.In the 3rd method, detection characteristic quantity include by pair
The detected value of tension sensor 21 in the rotation of motor 10 carries out Fourier transform and calculated detection frequency spectrum.Referring to special
Sign amount includes that the tension when normal to stitching SE is calculated referring to frequency spectrum and carrying out Fourier transform.
Determination unit 33 will carry out Fourier transform by the detected value of the tension sensor 21 in the rotation to motor 10
And the tension of calculated detection frequency spectrum and the online UT when normal to stitching SE are calculated and carry out Fourier transform
It is compareed referring to frequency spectrum, the exception of stitching SE is determined.Determination unit 33 will test frequency spectrum and be compareed referring to frequency spectrum,
Such as it can determine " lantern " whether has occurred.
Figure 10 is the figure for indicating the frequency spectrum of tension.In Figure 10, horizontal axis indicates the frequency of the detected value of tension, and the longitudinal axis indicates
The amplitude of the detected value of tension.Figure 10 indicates the inspection in motor 10 being, for example, the tension detected when 1000 rotation rev/min
Measured value carries out the result that high speed Fourier transform (FFT:Fast Fourier Transform) is obtained.
In the case where being formed with normal stitching SE, such frequency spectrum shown in (A) of Figure 10 is generated." lamp is having occurred
In the case where cage ", such frequency spectrum shown in (B) of Figure 10 is generated.As shown in Figure 10, in case of " lantern ", then specific
Frequency under formed peak value PK.In the case where " lantern " has occurred, the tension of online UT carries out micro-vibration, therefore forms peak value
PK。
In the present embodiment, such frequency spectrum shown in (A) of Figure 10 is as being stored in reference feature amount referring to frequency spectrum
Storage unit 36.Detected value of the characteristic quantity analysis unit 32 based on the tension sensor 21 obtained by detected value acquisition unit 31 is detected, it is right
For determining that the detection frequency spectrum of " lantern " is calculated.Determination unit 33 will be by the calculated detection frequency of detection characteristic quantity analysis unit 32
It composes and what is stored in reference feature amount storage unit 36 is compareed referring to frequency spectrum, determine " lantern " whether has occurred.
In the case where detecting such frequency spectrum shown in (B) that frequency spectrum is Figure 10, determination unit 33 can be based on detection frequency spectrum and referring to frequency
The results of comparison of spectrum is judged to having occurred " lantern ".In the case where detecting such frequency spectrum shown in (A) that frequency spectrum is Figure 10,
Determination unit 33 can be determined as that there is no " lanterns " based on detection frequency spectrum and referring to the results of comparison of frequency spectrum.
< method of sewing >
Next, being illustrated to method of sewing involved in present embodiment.Figure 11 is indicated involved by present embodiment
And method of sewing flow chart.As shown in figure 11, method of sewing involved in present embodiment is calculated comprising reference feature amount
Processing and stitching inspection processing.
Reference feature amount calculation processing is illustrated.Object to be sewn S is set to the needle plate 7 of sewing machine 1.Sewing machine 1
Start the sewing of object to be sewn S.The sewing of tension sensor 21 and object to be sewn S concurrently carry out the tension of online UT
Detection.Tension sensor 21 exports the detected value of the tension of online UT to processing unit 30.Reference feature amount generating unit 35 passes through
The detected value (step SA1) of tension sensor 21 is obtained by detected value acquisition unit 31.
The stitching SE formed in object to be sewn S is confirmed.In the case where being formed with normal stitching SE, operation
Person's operation input device 24, so that generating the input data for indicating to be formed with normal stitching SE.Reference feature amount generating unit
35 obtain the input data (step SA2) for indicating to be formed with normal stitching SE.
Detected value and input data of the reference feature amount generating unit 35 based on tension sensor 21 are formed with expression normal
Stitching SE when the reference feature amount of characteristic quantity of tension of online UT calculated (step SA3).
Reference feature amount generating unit 35 makes calculated reference feature amount be stored in 36 (step of reference feature amount storage unit
SA4)。
Next, being illustrated to stitching inspection processing.Object to be sewn S is set to the needle plate 7 of sewing machine 1.Sewing machine 1
Start the sewing of object to be sewn S.The sewing of tension sensor 21 and object to be sewn S concurrently carry out the tension of online UT
Detection.Tension sensor 21 exports the detected value of the tension of online UT to processing unit 30.Characteristic quantity analysis unit 32 is detected to pass through
By detected value acquisition unit 31, the detected value (step SB1) of tension sensor 21 is obtained.
Detection characteristic quantity analysis unit 32 parses the detected value of tension sensor 21, to the detection characteristic quantity of detected value
Calculated (step SB2).
Determination unit 33 will be by the calculated detection characteristic quantity of detection characteristic quantity analysis unit 32 and in reference feature amount storage unit
The reference feature amount stored in 36 is compareed, and is determined (step SB3) to the exception of stitching SE.
At least one of 1st method of abnormality detection of the determination unit 33 based on stitching SE, the 2nd method and the 3rd method, to line
The exception of mark SE is determined.Output section 34 exports the judgement result of determination unit 33 to output device 23 (step SB4).
< effect >
As described above, according to the present embodiment, the tension of online UT is detected by tension sensor 21.It can
The detected value of tension based on online UT simply detects the exception of stitching SE.Therefore, the inspection of stitching SE can efficiently be implemented
It looks into.
In the present embodiment, the detected value based on tension when being formed with normal stitching SE, reference feature amount is pre-
First export.As a result, only by compareing reference feature amount and detection characteristic quantity, it will be able to efficiently determine that stitching SE's is different
Often.
If the 1st method and the 2nd method of the abnormality detection of stitching SE are in this way, not only obtain the detection of tension sensor 21
Value also obtains the detected value of angular transducer 22, and thus, it is possible to detected values and angular transducer 22 based on tension sensor 21
Detected value, accurately determine stitching SE exception.
In addition, as stitching SE abnormality detection the 2nd method in this way, the accumulated value based on tension and generate accumulation curve,
Even if thus including noise in the detected value of tension sensor 21, the influence of noise is also mitigated.It therefore, can be high-precision
Degree ground determines the exception of stitching SE.
In addition, if the 3rd method of the abnormality detection of stitching SE is in this way, generate the frequency spectrum of the detected value of tension, even if thus
Without using the detected value of angular transducer 22, the exception of stitching SE also can be accurately determined.
< variation >
In addition, in the above-described embodiment, it is set as being that will test characteristic quantity and reference feature amount is compareed, to stitching
The exception of SE is detected.Also threshold value related with the detected value of tension can be set, the comparison knot based on detected value and threshold value
Fruit detects the exception of stitching SE.
[the 2nd embodiment]
The 2nd embodiment is illustrated.In the following description, about identical as above-mentioned embodiment or same
Structural element and mark same label, simplify or the description thereof will be omitted.
Figure 12 is the flow chart for indicating method of sewing involved in present embodiment.As shown in figure 12, present embodiment institute
The method of sewing being related to includes study processing and identifying processing.
Study processing is illustrated.Object to be sewn S is set to the needle plate 7 of sewing machine 1.Sewing machine 1 starts sewing pair
As the sewing of object S.The sewing of tension sensor 21 and object to be sewn S concurrently detects the tension of online UT.Tension
Sensor 21 exports the detected value of the tension of online UT to processing unit 30.Reference feature amount generating unit 35 takes via detected value
Portion 31 is obtained, the detected value (step SC1) of tension sensor 21 is obtained.
Reference feature amount generating unit 35 assigns label (step SC2) to the detected value of tension sensor 21.Label includes: table
Show and is formed with the correct label of normal stitching SE, indicates that the 1st abnormal mark of " bouncing pilotage " of the exception as the 1st mode has occurred
Label indicate that the 2nd abnormal label of " broken string " of the exception as the 2nd mode has occurred and indicate to have occurred as the 3rd mode
The abnormal label in the 3rd of abnormal " lantern ".Reference feature amount generating unit 35 is to obtained when being formed with normal stitching SE
The detected value of force snesor 21 assigns correct label.Reference feature amount generating unit 35 takes to when the exception of the 1st mode has occurred
The detected value of the tension sensor 21 obtained assigns the 1st abnormal label.Reference feature amount generating unit 35 is to having occurred the 2nd mode
The detected value of the tension sensor 21 obtained when abnormal assigns the 2nd abnormal label.Reference feature amount generating unit 35 is to having occurred
The detected value of the tension sensor 21 obtained when the exception of the 3rd mode assigns the 3rd abnormal label.
Reference feature amount generating unit 35 carries out the detected value for imparting label by defined Machine Learning algorithms mechanical
Learn (step SC3).As Machine Learning algorithms, decision tree (Decision Tree), random forest (Random are exemplified
Forest) and neural network (Neural Network) at least one.
By carrying out rote learning to the detected value for imparting label, to generate learning model (step SC4).It generates
Learning model is stored in reference feature amount storage unit 36.
Next, being illustrated to identifying processing.Object to be sewn S is set to the needle plate 7 of sewing machine 1.Sewing machine 1 starts
The sewing of object to be sewn S.The sewing of tension sensor 21 and object to be sewn S concurrently examines the tension of online UT
It surveys.Tension sensor 21 exports the detected value of the tension of online UT to processing unit 30.Detect characteristic quantity analysis unit 32 via
Detected value acquisition unit 31 obtains the detected value (step SD1) of tension sensor 21.
Detection characteristic quantity analysis unit 32 parses the detected value of tension sensor 21, to the detection characteristic quantity of detected value
It is calculated.Determination unit 33 is based on storing by the calculated detection characteristic quantity of detection characteristic quantity analysis unit 32 and in reference feature amount
The learning model stored in portion 36 is identified (step SD2) to the abnormal mode of stitching SE.
Output section 34 exports the recognition result of determination unit 33 to output device 23 (step SD3).For example, stitching SE's
When abnormal mode is identified as 1 mode, output section 34 makes the output of output device 23 indicate to have occurred as the different of the 1st mode
The output data of normal " bouncing pilotage ".When the abnormal mode of stitching SE is identified as 2 mode, output section 34 makes output device
23 outputs indicate that the output data of abnormal " broken string " as the 2nd mode has occurred.Known in the abnormal mode of stitching SE
Not Wei 3 mode when, output section 34 makes the output of output device 23 indicate to have occurred the defeated of abnormal " lantern " as the 3rd mode
Data out.When being identified as normal stitching SE, output section 34 makes the output of output device 23 indicate that stitching SE is normally exported
Data.
As described above, can the detected value based on tension sensor 21 and implementing rote learning (has teacher
Practise), the model based on generation detects the exception of stitching SE.
Claims (7)
1. a kind of stitching check device, includes
Tension sensor detects the online tension for being hooked in needle；And
Processing unit is formed to by the needle in object to be sewn based on the detected value of the tension sensor
The exception of stitching detected.
2. stitching check device according to claim 1, wherein
The processing unit includes
Characteristic quantity analysis unit is detected, the detected value of the tension sensor is parsed, to the spy for indicating the detected value
The detection characteristic quantity of sign amount is calculated；
Reference feature amount storage unit stores the reference feature amount of the tension；And
Determination unit compares the detection characteristic quantity and the reference feature amount, determines the exception.
3. stitching check device according to claim 2, wherein
The needle is moved back and forth by the rotation of motor,
The tension sensor exports the detected value in the rotation of the motor with specified period,
The stitching check device has the angular transducer detected to the rotation angle of the motor,
The detected value of detected value and the angular transducer of the determination unit based on the tension sensor, to the exception into
Row determines.
4. stitching check device according to claim 3, wherein
The determination unit is by the derived detection characteristic quantity when the rotation angle of the motor is special angle and described
Reference feature amount is compareed, and is determined the exception.
5. stitching check device according to claim 3, wherein
The detection characteristic quantity includes detection accumulation curve, which indicates described in the rotation of the motor
The accumulated value of the detected value of tension sensor,
The reference feature amount includes tension when this indicates that the stitching is normal referring to accumulation curve referring to accumulation curve
Accumulated value.
6. stitching check device according to claim 2, wherein
The needle is moved back and forth by the rotation of motor,
The tension sensor exports the detected value, the detection characteristic quantity in the rotation of the motor with specified period
Comprising detection frequency spectrum calculated and carrying out Fourier transform by the detected value in the rotation to the motor,
The reference feature amount includes that the tension when normal to the stitching is calculated and carrying out Fourier transform
Referring to frequency spectrum.
7. stitching check device according to claim 1, wherein
The processing unit includes
Reference feature amount generating unit carries out rote learning to the detected value for the tension sensor for imparting label and generates
Learning model；And
Determination unit, the detection characteristic quantity and the learning model of the detected value based on the tension sensor, to the stitching
Abnormal mode identified.
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| JP2018-097460 | 2018-05-21 | ||
| JP2018097460A JP7093225B2 (en) | 2018-05-21 | 2018-05-21 | Seam inspection device |
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| CN113463290A (en) * | 2020-03-30 | 2021-10-01 | 兄弟工业株式会社 | Failure determination device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7454921B2 (en) * | 2019-07-11 | 2024-03-25 | Juki株式会社 | Seam inspection device, seam inspection method, and computer program |
| CN115943386A (en) * | 2020-06-19 | 2023-04-07 | 胜家采购有限公司 | Sewing machine and method of using the same |
| WO2022038800A1 (en) * | 2020-08-19 | 2022-02-24 | 三菱電機株式会社 | Sewing machine, data processing device for sewing machine, data display device for sewing machine, learning device for sewing machine, inference device for sewing machine, and storage device for sewing machine |
| JP6987325B1 (en) * | 2020-08-19 | 2021-12-22 | 三菱電機株式会社 | Sewing machine, sewing machine data processing device, sewing machine data display device, sewing machine learning device, sewing machine inference device and sewing machine storage device |
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| Publication number | Publication date |
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| JP2019201741A (en) | 2019-11-28 |
| CN110512361B (en) | 2023-03-10 |
| JP7093225B2 (en) | 2022-06-29 |
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