CN111549456B - Control method and control device for sewing machine - Google Patents
Control method and control device for sewing machine Download PDFInfo
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- CN111549456B CN111549456B CN202010086864.5A CN202010086864A CN111549456B CN 111549456 B CN111549456 B CN 111549456B CN 202010086864 A CN202010086864 A CN 202010086864A CN 111549456 B CN111549456 B CN 111549456B
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- 238000009958 sewing Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 84
- 230000002159 abnormal effect Effects 0.000 claims abstract description 16
- 230000005856 abnormality Effects 0.000 description 20
- 238000001514 detection method Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 11
- 230000007423 decrease Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001652065 Trigonopeltastes delta Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B69/00—Driving-gear; Control devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention aims to easily check a power transmission system of a motor. A control method of a sewing machine (100), the sewing machine (100) comprising: a motor (245) and a motor (255) for applying power to the objects (21) to (23) to be loaded; a transmission unit (242) to transmission unit (244), and a transmission unit (252) to transmission unit (254) for transmitting power from the motor to the object; and an encoder (246) and an encoder (256) provided between the motor and the object, and calculating an estimated value (T [ n ] of the reaction force generated by the object and the reaction force generated by the transmission system from the motor to the object based on the command value of the motor and the output of the encoder reac ) And determines whether or not the transmitting portion is abnormal based on the estimated value of the reaction force.
Description
Technical Field
The present invention relates to a control method of a sewing machine and a control device of the sewing machine.
Background
In the sewing machine, a motor is used as a driving source in the operation of each part including sewing, and if an abnormality occurs in a transmission system from the motor to a load, there is a concern that the sewing quality is lowered or an operation failure occurs.
For example, when the transmission system is a belt mechanism, if the belt is extended due to aged deterioration or the like, there is a concern that the predetermined accurate operation is hindered.
Accordingly, the conventional sewing machine has been designed as follows: the belt width direction of the belt is arranged parallel to the up-down direction of the sewing machine, whereby the tension is easily measured from the side of the sewing machine (for example, patent document 1).
[ Prior Art literature ]
[ patent literature ]
[ patent document 1] Japanese patent laid-open No. 09-192378
Disclosure of Invention
[ problem to be solved by the invention ]
In the case of sewing machines, the power transmission system is usually provided inside the sewing machine frame. Therefore, in the conventional sewing machine, when an object such as a belt is inspected, the operator needs to take the sewing machine off the cover or put down the sewing machine to enter the sewing machine from the opening, which results in a problem of a large work load.
The purpose of the present invention is to easily check a power transmission system of a motor.
[ means of solving the problems ]
The invention described in claim 1 is a control method of a sewing machine including:
a motor for applying power to an object to be loaded;
a transmission unit configured to transmit power from the motor to the object; and
an encoder provided between the motor and the object, the control method of the sewing machine
Calculating an estimated value of a reaction force generated by the target and a transmission system from the motor to the target based on the command value of the motor and the output of the encoder, and
and determining whether or not the transmission unit is abnormal based on the estimated value of the reaction force.
The invention described in claim 2 is the control method of a sewing machine according to claim 1, wherein
A frequency characteristic of the estimated value of the reaction force is obtained, and whether or not the transmission portion is abnormal is determined based on the frequency characteristic.
The invention described in claim 3 is the control method of a sewing machine according to claim 1, wherein
And determining whether or not the transmission portion is abnormal based on the magnitude of the estimated value of the reaction force.
The invention described in claim 4 is a control device for a sewing machine, comprising:
a motor for applying power to an object to be loaded;
a transmission unit configured to transmit power from the motor to the object; and
an encoder provided between the motor and the object, wherein the control device of the sewing machine includes:
a reaction force calculation unit that calculates an estimated value of a reaction force generated by the target and a transmission system from the motor to the target, based on a command value of the motor and an output of the encoder; and
and a determination unit configured to determine whether or not the transmission unit is abnormal based on the estimated value of the reaction force.
The invention described in claim 5 is the control device for a sewing machine according to claim 4, wherein
The determination unit obtains a frequency characteristic of the estimated value of the reaction force, and determines whether or not the transmission unit is abnormal based on the frequency characteristic.
The invention according to claim 6 provides the control device for a sewing machine according to claim 4, wherein
The determination unit determines whether or not the transmission unit is abnormal based on the magnitude of the estimated value of the reaction force.
[ Effect of the invention ]
The invention can easily check a power transmission system of a motor.
Drawings
Fig. 1 is a perspective view of a sewing machine with a control device mounted thereon.
Fig. 2 is a perspective view of a moving mechanism of the sewing machine.
Fig. 3 is a block diagram of a control system of a sewing machine including a control device.
Fig. 4 is a block diagram of a control system of a Y-axis motor of a sewing machine including a control device.
Fig. 5 is a diagram of a fourier transform of a monitored value of an estimated value of reaction torque when the reaction torque reciprocates in the Y-axis direction near the center of the movable range of the holding frame.
[ description of symbols ]
2: spindle motor
3: encoder with a plurality of sensors
20: moving mechanism
21: holding frame
22: lower plate
23: base station
24: a first movable part
25: a second movable part
100: electronic circulation sewing machine (Sewing machine)
120: control device
122: memory for program
123: data memory
124: sewing pattern data
242. 252: timing belt
243: pulley wheel
244: spline shaft
245: x-axis motor
246. 256: encoder with a plurality of sensors
253: pulley wheel
254: gear mechanism
255: y-axis motor
256: encoder with a plurality of sensors
300: operation panel
301: display unit
302: touch sensor
410: observer part
420: motor part
430: mechanical system
I ref : current command value
T＾ reac : inferred value of reaction force torque
T reac : reaction force torqueMoment (V)
Detailed Description
[ outline of embodiments of the invention ]
As an embodiment of the present invention, a sewing machine 100 having a control device 120 mounted thereon is illustrated.
Fig. 1 is a perspective view of a sewing machine 100, and fig. 2 is a perspective view of a moving mechanism of the sewing machine 100 described later.
The sewing machine 100 is a so-called electronic cycle sewing machine, and includes a holding frame 21 for holding a workpiece, and a seam based on predetermined sewing data is formed on the workpiece held by the holding frame 21 by relatively moving the holding frame 21 with respect to a needle.
Here, the direction in which the needle 108 to be described later moves up and down is referred to as a Z-axis direction (up-down direction), one direction orthogonal thereto is referred to as an X-axis direction (left-right direction), and a direction orthogonal to both the Z-axis direction and the X-axis direction is referred to as a Y-axis direction (front-back direction).
As shown in fig. 1, an electronic cycle sewing machine 100 (hereinafter, referred to as a sewing machine 100) includes: a sewing machine body 101 provided on an upper surface of a sewing machine platen T; a pedal R provided at a lower portion of the sewing machine table T for operating the sewing machine body 101; and an operation panel 300, etc., provided at an upper portion of the sewing machine bed T for a user to perform an input operation.
Sewing machine frame and spindle
As shown in fig. 1 and 2, the sewing machine body 101 includes a sewing machine frame 102 having a substantially コ -shaped outer shape in a side view. The sewing machine frame 102 has: a sewing machine arm 102a forming an upper portion of the sewing machine body 101 and extending in the Y-axis direction; a sewing machine base portion 102b forming a lower portion of the sewing machine body 101 and extending in the Y-axis direction; and a longitudinal body 102c connecting the sewing machine arm 102a and the sewing machine base 102 b.
The sewing machine body 101 is provided with a power transmission mechanism in a sewing machine frame 102, and has a main shaft and a lower shaft (both not shown) which are rotatably extended in the Y-axis direction. The main shaft is rotatably supported in the interior of the sewing machine arm 102a, and the lower shaft (not shown) is rotatably supported in the interior of the sewing machine base 102 b.
The spindle is connected to a spindle motor 2 (see fig. 3), and a rotational force is applied by the spindle motor 2. Further, a lower shaft (not shown) is coupled to the main shaft via a timing belt (timing belt) and a pulley (not shown), and when the main shaft rotates, power of the main shaft is transmitted to the lower shaft side via the timing belt and the pulley, and the lower shaft rotates at a double speed of the main shaft.
[ lower shaft and kettle mechanism ]
An outer pot of a pot mechanism (not shown) is provided at the front end of the lower shaft (not shown). When the lower shaft rotates together with the main shaft, the outer pot rotates, and the seam is formed by cooperation with the sewing needle 108.
The kettle mechanism comprises an outer kettle and an inner kettle which surrounds the winding reel at the inner side of the outer kettle. The construction of the kettle mechanism is the same as that of a well-known kettle mechanism, and therefore, the details thereof will not be described here.
[ needle Up-and-Down movement mechanism ]
A needle bar 108a holding the needle 108 at a lower end portion thereof is supported to be vertically movable at a front end portion of the arm 102a of the sewing machine. A needle bar crank fixedly provided at the front end of the main shaft, a needle bar yoke fixedly provided at the needle bar 108a, and a crank lever for connecting the needle bar crank and the needle bar yoke are provided inside the front end portion of the sewing machine arm 102 a.
The needle bar crank rotates together with the spindle. One end of the crank rod is rotatably connected to the rotation circumference of the needle bar crank around the Y axis, and the other end is connected to the needle bar around the Y axis. Therefore, when the spindle is rotated by the spindle motor 2, one end portion of the crank rod rotates, and the other end portion is transferred only to the up-and-down movement of the Z-axis component that is the rotation, and the up-and-down movement can be imparted to the needle bar 108 a.
That is, the spindle motor 2, spindle, needle bar crank, needle bar yoke, crank lever, and needle bar 108a constitute a needle up-and-down movement mechanism for moving the needle 108 up and down.
The needle up-and-down movement mechanism is the same as the well-known one, and therefore each of the structures is not shown.
In addition, an intermediate pressing portion 29 for inserting the needle 108 in a floating manner is provided in the vicinity of the needle 108. The intermediate pressing portion 29 is configured to move up and down with a minute amplitude in synchronization with the sewing needle 108, and press the rocking of the sewing object so that the sewing needle 108 is easily separated from the sewing object.
[ moving mechanism ]
As shown in fig. 1 and 2, a needle plate 110 is disposed on the sewing machine base portion 102b, and the moving mechanism 20 is provided on the needle plate 110.
The moving mechanism 20 includes: a holding frame 21 and a lower plate 22, which are arranged above the needle plate 110; a base 23 for supporting the holding frame 21 in a vertically movable manner; a first movable portion 24 that slidably supports the base 23 and the lower plate 22 along the X-axis direction; and a second movable portion 25 that slidably supports the base 23 and the lower plate 22 in the Y-axis direction via the first movable portion 24.
The holding frame 21 is a rectangular frame body in a plan view, and is widely opened inside.
The lower plate 22 has substantially the same size as the holding frame 21 in plan view, and is rectangular and widely opened as the holding frame 21.
The holding frame 21 is lifted up and down relative to the lower plate 22 by the base 23, and the lower plate 22 and the holding frame 21 can hold the sewn article in a sandwiched state in a lowered state. The sewing work is performed on the object to be sewn inside the opening portions of the holding frame 21 and the lower plate 22.
The base 23 is integrally connected to the lower plate 22, and supports the holding frame 21 so as to be movable up and down relative to the lower plate 22. The base 23 is provided with a cylinder 231 serving as a driving source for lifting and lowering the holding frame 21.
The first movable portion 24 includes: a pair of guide rails 241 slidably supporting the base 23 and the lower plate 22 along the X-axis direction; timing belt 242 juxtaposed in parallel with guide rail 241; pulley 243 for conveying timing belt 242; and an X-axis motor 245 that rotates the driving pulley 243 via the spline shaft 244.
The X-axis motor 245 can rotate the driving pulley 243 via the spline shaft 244, and can arbitrarily move and position the base 23 and the lower plate 22 in the X-axis direction via the timing belt 242.
When the second movable portion 25 imparts a movement motion in the Y-axis direction to the base 23 and the lower plate 22, the spline shaft 244 can slide the pulley 243 along the spline shaft 244, and allows movement of the base 23 and the lower plate 22 in the Y-axis direction.
The second movable portion 25 includes: a pair of guide rails 251 slidably supporting the guide rails 241 of the first movable portion 24 in the Y-axis direction; a pair of timing belts 252 juxtaposed in parallel with the guide rail 251; a pulley 253 for conveying the timing belt 252; and a Y-axis motor 255 for rotationally driving the pulley 253 via the gear mechanism 254.
The Y-axis motor 255 can rotate the driving pulley 253 via the gear mechanism 254, and can arbitrarily move and position the base 23 and the lower plate 22 in the Y-axis direction together with the guide rail 241 of the first movable portion 24 via the timing belt 252.
The holding frame 21 and the lower plate 22 can be positioned at any position on the X-Y plane by cooperation of the first movable portion 24 and the second movable portion 25. Therefore, the object to be sewn, which has been held by the holding frame 21 and the lower plate 22, can be sewn in an arbitrary pattern on the X-Y plane.
[ Pedal ]
The pedal R is an operation pedal for performing start of the sewing machine 100, start of sewing, lifting and lowering operations of the holding frame 21, and the like.
A sensor for detecting a stepping operation position is incorporated in the pedal R, and an output signal from the sensor is input to a control device 120 described later as an operation signal of the pedal R.
The control device 120 performs control to start the sewing machine 100 and perform other operations by an operation signal corresponding to the operation position of the pedal R.
[ control device ]
Fig. 3 is a block diagram of a control system of the sewing machine 100 including the control device 120.
The sewing machine 100 includes a control device 120 for controlling the overall construction thereof.
The control device 120 includes: a central processing unit (Central Processing Unit, CPU) 121 for controlling the whole of the sewing machine 100; a program memory 122 storing a program for performing various processes and controls; a data memory 123 for storing various data, sewing pattern data 124, and the like; a spindle motor driving circuit 125 for controlling the spindle motor 2; an X-axis motor driving circuit 126 for driving the X-axis motor 245; and a Y-axis motor drive circuit 127 for driving the Y-axis motor 255.
The spindle motor driving circuit 125 is connected to the spindle motor 2 and the encoder 3 for detecting the shaft angle thereof. The spindle motor driving circuit 125 has a CPU, and the spindle motor driving circuit 125 controls the spindle motor 2.
The X-axis motor driving circuit 126 drives the X-axis motor 245 according to an instruction of the CPU 121.
In order to apply a moving force to the holding frame 21, the lower plate 22, and the base 23, which are objects to be loaded, a timing belt 242, a pulley 243, a spline shaft 244, and the like are interposed as transmission portions between the X-axis motor 245 and the objects.
An encoder 246 is provided between the X-axis motor 245 and the object. Here, an encoder 246 is provided on the output shaft of the X-axis motor 245, and the shaft angle thereof is detected. The encoder 246 inputs the detection signal to the CPU 121.
The Y-axis motor drive circuit 127 drives the Y-axis motor 255 according to instructions of the CPU 121.
In order to apply a moving force to the holding frame 21, the lower plate 22, and the base 23, which are objects to be loaded, the timing belt 252, the pulley 253, the gear mechanism 254, the guide rail 241 of the first movable portion 24, and the like are interposed between the Y-axis motor 255 and the objects as transmission portions.
An encoder 256 is provided between the Y-axis motor 255 and the object. Here, an encoder 256 is provided on the output shaft of the Y-axis motor 255, and the shaft angle thereof is detected. The encoder 256 inputs the detection signal to the CPU 121.
Further, an operation panel 300 is connected to the CPU 121.
The operation panel 300 is operated by a user, and various data or operation signals input from the operation panel 300 are input to the control device 120.
The operation panel 300 includes a display unit 301 including a liquid crystal display panel, and a touch sensor 302 provided on a display screen of the display unit 301, and is configured to detect a position where the touch panel has been touched and instructed by performing a touch operation on various operation keys or the like displayed on the liquid crystal display panel, and to output an operation signal corresponding to the detected position to the control device 120.
Fig. 4 is a block diagram of a control system of the Y-axis motor 255 of the sewing machine 100 including the control device 120. In fig. 4, the control system of the Y-axis motor 255 is illustrated, but the specific values of the various torque constants, gains, and inertia values are different for the X-axis motor 245, but the configuration is the same, and therefore, the description of the control system of the X-axis motor 245 is omitted.
The control system of the Y-axis motor 255 mainly includes a motor section 420, a mechanical system 430, and an observer section 410.
The motor unit 420 represents a system of the Y-axis motor 255, and the mechanical system 430 represents a system from the Y-axis motor 255 to an object such as the holding frame 21 including the transmission unit.
Symbol I of FIG. 4 ref Indicating the current command value. The current command value I ref Generated via a position loop and a velocity loop, not shown.
In the transmitting element 404, the current command value I ref The value of the output torque of the Y-axis motor 255 is output by multiplying the torque constant Kt of the Y-axis motor 255.
In a summing point (summing point) 405, a reaction force torque T of a combined load based on the Y-axis motor 255, an object to be a load, and a transmission unit is subtracted from an output torque of the Y-axis motor 255 reac 。
In the transmission element 421 of the motor unit 420, the torque value output from the summing point 405 is divided by the motor inertia Jm and the load inertia Jl of the transmission unit and the object, and the motor speed θ·m is output by integrating.
The transmission element 423 further integrates the motor speed θm, and outputs the motor shaft position θm. The motor speed θ·m is also detected by the encoder 246 and input to the observer 410 from the extraction point 422 between the transmission element 421 and the transmission element 423.
In the mechanical system 430, the motor shaft position θm is subtracted by the load position θl at the summing point 431, and the torque constant Kf of the transmission unit and the object is multiplied by the transmission element 432 to output the reaction force torque T reac 。
In the transmission element 434, the reaction force torque T reac Multiplying the load inertia Jl of the transmission unit and the object, the object to be output acceleration θ··l.
In addition, reaction force torque T reac The summing point 405 is also input from an exit point 433 between the transfer elements 432 and 434.
In the transmitting element 436, the acceleration θ··l of the object is integrated in the second order, and the load position θl is input to the summing point 431.
Each configuration of the observer section 410 is actually realized by the processing of the CPU 121 of the control device 120.
The transfer element 412 of the observer section 410 receives the current command value I input from the extraction point 403 ref The torque constant estimated value Ktn of the Y-axis motor 255 is multiplied by the torque constant estimated value Ktn of the Y-axis motor 255, and the output torque value of the Y-axis motor 255 is output.
The transmission element 413 of the observer unit 410 multiplies the motor speed θ·m obtained by the detection of the encoder 246, which is input from the extraction point 422, by the estimated value Jmn (nominal value) of the motor inertia of the Y-axis motor 255, and differentiates the result.
Then, at the summing point 414, a difference value of the output of the transmission element 413 is obtained with respect to the output of the transmission element 412, and is input to the low-speed filter 415.
The low-speed filter 415 is a so-called low-pass filter, and removes a mechanical frequency, a wobble frequency, and other noise components from the differential value output from the summing point 414, and outputs an estimated value tΛ of the reaction torque reac
The transmission element 416 transmits an inferred value T-A of the reaction torque reac Multiplied by the reaction force feedback gain Kn and input to summing junction 402. In the summing point 402, relative to the current command value I ref Feedback and subtracting the inferred value T-A of the reaction force torque reac And a multiplied value of the reaction force feedback gain Kn.
In this way, the control device 120 causes the observer unit 410 to control the current command value I ref The reaction torque T received by the Y-axis motor 255, which is difficult to be actually measured, is calculated by comparing the motor speed θ·m detected by the encoder 246 reac Inferred value T.DELTA. reac And feed back to the current command value I ref In the meantime, the vibration is suppressed by reducing the toppling and the like.
[ abnormality detection processing ]
Here, the abnormality detection processing of the moving mechanism 20 performed by the CPU 121 of the control device 120 will be described.
In the moving mechanism 20, as described above, power is transmitted from the X-axis motor 245 of the first movable portion 24 to the object to be loaded (the holding frame 21, the lower plate 22, the base 23, and the like) via the timing belt 242, and the like, which are transmission portions.
In the same manner, in the moving mechanism 20, power is transmitted from the Y-axis motor 255 of the second movable portion 25 to the object to be loaded (the holding frame 21, the lower plate 22, the base 23, and the like) via the timing belt 252 or the like as a transmission portion.
When the user steps on the panel R to input a sewing start instruction, the CPU 121 reads out, from the data memory 123, the sewing pattern data 124 corresponding to the sewing pattern data number selected by the user from the operation panel 300 in advance, and drives the holding frame 21 and the lower plate 22 along the X-Y plane, so that the object to be sewn (not shown) sandwiched by the holding frame 21 and the lower plate 22 moves along the X-Y plane.
At this time, the driving timings of the X-axis motor 245 and the Y-axis motor 255 for driving the holding frame 21 and the lower plate 22 conform to the driving pattern calculated by the predetermined mathematical expression.
The driving mode is calculated from the pitch (sewing length) and the speed of the spindle motor 2.
The driving mode is set as follows: after the needle is pulled out from the object to be sewn, the holding frame 21 and the lower plate 22 are operated, and before the needle is dropped onto the object to be sewn, the operation of the holding frame 21 and the lower plate 22 is completed.
However, there are cases where tension in the transmission portions such as the timing belt 242 and the timing belt 252 is reduced due to relaxation or the like caused by aged deterioration, and the operation cannot be transmitted with high accuracy. In this case, the elasticity of the system changes, and the operation accuracy of the holding frame 21 decreases. Further, if the actual tension significantly decreases with respect to the predetermined tension of the timing belt 242, 252, etc., there is a concern that the jump teeth or the starting torque increases, resulting in a further decrease in accuracy.
For example, when the actual tension is lowered by 100N to 300N with respect to the predetermined tension 400N in the Y-axis according to the design conditions of the sewing machine, the needle drop position is shifted by 0.4mm at the maximum. An offset of 0.2mm or more is a level that can be easily visually confirmed, and a significant decrease in sewing quality occurs.
Accordingly, the CPU 121 of the control device 120 performs abnormality detection processing for detecting a decrease in the tension of the timing belt 242 and the timing belt 252 in the process of controlling the X-axis motor 245 and the Y-axis motor 255.
That is, the CPU 121 monitors the estimated value tβ of the reaction torque obtained by the observer section 410 in the abnormality detection process reac And detects the tension drop of the timing belt 242, 252 based on the result.
FIG. 5 shows the estimated value Tb of the reaction torque obtained by the observer section 410 when the reaction torque is to be reciprocated in the Y-axis direction in the vicinity of the center of the movable range of the holding frame 21 reac A chart formed by fourier transforming the monitored values of (c) into a graph.
In FIG. 5, the horizontal axis represents frequency [ Hz ]]The vertical axis represents the extrapolated value T [ alpha ] multiplied by the reaction torque reac The current amplitude (unit [ a ]])。
In fig. 5, line l1 is a monitor value when the tension of the timing belt 252 of the Y-axis motor 255 is an appropriate tension (300N), and line l2 is a monitor value when the tension of the timing belt 252 of the Y-axis motor 255 is a low tension (200N).
When comparing the lines l1 and l2, there is a case where the value of the current amplitude [ a ] deviates from the frequency [ Hz ].
For example, arrow K1 represents the resonance frequency 236[ Hz ] of the appropriate tension 300N, and arrow K2 represents the resonance frequency 194[ Hz ] of the low tension 200N.
In the frequency band of the resonance frequency 236[ hz ] of the proper tension 300N, the current amplitude (line l 1) of the proper tension 300N becomes larger than the low tension 200N.
In addition, in the frequency band of the resonance frequency 194[ Hz ] of the low tension 200N, the current amplitude (line l 2) of the low tension 200N exceeds the proper tension 300N instead.
The resonance frequency varies according to the linear density, tension, and vibration length of the timing belt 252, and the vibration length is calculated as the length from the mounting portion of the base 23 to the pulley 253.
Accordingly, the CPU 121 of the control device 120 may set a threshold value of the current amplitude [ a ] in, for example, the resonance frequency 236[ hz ] of the proper tension 300N or a frequency band around the resonance frequency, and determine that the tension of the timing belt 252 is reduced when the current amplitude [ a ] is reduced compared with the threshold value.
The threshold value may be set for another frequency at which the value of the current amplitude [ a ] fluctuates due to a decrease in tension. Further, the case where the threshold value determines the lower limit value is exemplified, but the upper limit value may be defined as the threshold value.
Specifically, as the abnormality detection processing, the CPU 121 of the control device 120 performs the movement operation of the holding frame 21 and the lower plate 22 at a predetermined timing, and monitors the estimated value tj of the reaction torque obtained by the observer 410 for the X-axis motor 245 and the Y-axis motor 255, respectively reac 。
Further, the estimated value t_n of the obtained reaction force torque is calculated for the X-axis motor 245 and the Y-axis motor 255, respectively reac (or a value obtained by multiplying the feedback gains Kn of the respective reaction forces) is fourier-transformed, and the reaction force torque value or the current value (as a current amplitude or the like) of the frequency determined for the X-axis motor 245 and the Y-axis motor 255 (for example, the resonance frequency at the proper tension of the timing belt 242 and the timing belt 252) is compared with a predetermined threshold value, and when a value lower than the threshold value is displayed, it is determined thatThe timing belt 242 or 252 produces a decrease in tension.
When determining that the tension of the timing belt 242 or the timing belt 252 has decreased, the CPU 121 of the control device 120 performs a reporting process such that, for example, the display 301 of the operation panel 300 identifies either the timing belt 242 or the timing belt 252 and displays a report screen indicating that the tension has decreased.
The timing of the abnormality detection process may be performed during sewing, but is desirably performed when the holding frame 21 does not hold the object to be sewn. It is desirable to detect the tension of the timing belt 242 or the timing belt 252 before starting sewing on one day, and therefore, it is desirable to perform the sewing immediately after the main power supply of the sewing machine 100 is turned on and before starting sewing, for example, immediately after the origin searching operation of the X-axis motor 245 and the Y-axis motor 255.
The CPU 121 of the control device 120 may prepare values such as current amplitudes for the respective stepwise tensions at frequencies for which the threshold value is determined in the data memory 123 or the like by measurement or the like in advance, and estimate the tension of the timing belt 242 or the timing belt 252 from the values such as the current amplitudes obtained at the frequencies for which the threshold value is determined.
The control device 120 may be configured as follows: in advance, control parameters for properly performing the movement operation of the holding frame 21 and the lower plate 22 for each stepwise tension are prepared in the data memory 123, and when an estimated value of the tension of the timing belt 242 or the timing belt 252 is obtained, the CPU 121 changes the estimated value to a control parameter suitable for the estimated value of the tension to control the X-axis motor 245 and the Y-axis motor 255.
Accordingly, even when the tension of the timing belt 242 or the timing belt 252 is reduced, the accuracy of the movement operation of the holding frame 21 is suppressed from being reduced, and the sewing quality can be improved.
In this case, when the tension drop is out of the range that can be compensated for by changing the control parameter, the tension drop can be controlled so as to be reported on the display unit 301. Here, the compensable range refers to a range within a predetermined accuracy standard of the holding frame 21.
[ technical Effect of embodiments of the invention ]
In the sewing machine 100, the control device 120 calculates an estimated value T #, of a reaction force generated by an object and a reaction force generated by a transmission system from the motor to the object, based on a command value of the X-axis motor or the Y-axis motor 255 and an output of the encoder 246 or the encoder 256 reac And according to the inferred value T-A of the reaction force reac Whether or not there is an abnormal tension drop in the timing belt 242, 252 as the transmission section is determined.
This makes it possible to easily detect occurrence of an abnormality in the power transmission system without performing an inspection operation with a large load.
Further, since occurrence of abnormality in the power transmission system is detected, the holding frame 21 and the like can be operated with high accuracy, and the sewing quality can be maintained high.
Further, the control device 120 obtains an estimated value tΛ of the reaction force against occurrence of an abnormality in the power transmission system such as a decrease in the tension of the timing belt 242 or 252 reac Since the presence or absence of an abnormality in the transmission section is determined based on the frequency characteristics, when the observer section 410 for suppressing the vibration of the holding frame 21 or the like is provided, the output of the observer section 410 can be used, and the present invention can be easily implemented based on the original configuration.
[ others ]
The X-axis motor 245 and the Y-axis motor 255 are exemplified as the object of the abnormality detection process, but the present invention is not limited to these motors, and a sewing machine motor or a motor for other purposes may be used as the object of the abnormality detection process as long as an encoder is provided between the motor and the object.
In addition, the sewing machine that performs the abnormality detection process can be applied to all sewing machines other than the electronic cycle sewing machine that does not include the X-axis motor 245 and the Y-axis motor 255.
In the abnormality detection process, the reaction torque value or the current value becomes lower than the threshold value mainly due to a decrease in tension of the timing belt 242 or the timing belt 252, but there is a possibility that an abnormality such as breakage of the object or the transmission portion or falling of the component may be caused occasionally. The anomaly detection process may detect such anomalies as well. In this case, when reporting, it is also possible to report the occurrence of an abnormality in the object or the transmission part without specifying the decrease in the tension of the timing belt 242 or the timing belt 252.
In the abnormality detection processing, the case where whether or not there is an abnormality in the transmission portion such as the timing belt is determined by the frequency characteristic of the estimated value of the reaction force is exemplified, but the present invention is not limited to this, and whether or not there is an abnormality in the transmission portion such as the timing belt may be determined based on the magnitude of the estimated value of the reaction force when the motor is driven under a predetermined specific condition.
Claims (4)
1. A control method of a sewing machine is provided, which comprises the following steps:
a motor for imparting motive power to a target to be loaded and for arbitrarily moving and positioning the target;
a transmission unit configured to transmit power from the motor to the object; and
an encoder provided between the motor and the object,
the control method of the sewing machine is characterized in that,
the motor current command value is multiplied by the motor torque constant estimated value by a first transmission element and outputted,
multiplying the motor speed detected by the encoder by an estimated value of the motor inertia of the motor through a second transmission element, differentiating the multiplied value to output the multiplied value,
receiving the difference value of the output of the second transmission element with respect to the output of the first transmission element by a low-pass filter to output an estimated value of the reaction force generated by the object and the transmission system from the motor to the object,
determining whether the transmission part is abnormal or not according to the estimated value of the reaction force, and
and a fourier transform unit configured to perform fourier transform on the estimated value of the reaction force, thereby obtaining frequency characteristics of the estimated value of the reaction force, and determining whether or not the transmission unit is abnormal based on the frequency characteristics.
2. A control method of a sewing machine is provided, which comprises the following steps:
a motor for imparting motive power to a target to be loaded and for arbitrarily moving and positioning the target;
a transmission unit configured to transmit power from the motor to the object; and
an encoder provided between the motor and the object,
the control method of the sewing machine is characterized in that,
the motor current command value is multiplied by the motor torque constant estimated value by a first transmission element and outputted,
multiplying the motor speed detected by the encoder by an estimated value of the motor inertia of the motor through a second transmission element, differentiating the multiplied value to output the multiplied value,
receiving the difference value of the output of the second transmission element with respect to the output of the first transmission element by a low-pass filter to output an estimated value of the reaction force generated by the object and the transmission system from the motor to the object,
determining whether the transmission part is abnormal or not according to the estimated value of the reaction force, and
and determining whether or not the transmission portion is abnormal based on the magnitude of the estimated value of the reaction force.
3. A control device for a sewing machine is provided with:
a motor for imparting motive power to a target to be loaded and for arbitrarily moving and positioning the target;
a transmission unit configured to transmit power from the motor to the object; and
an encoder provided between the motor and the object,
the control device of the sewing machine is characterized in that,
the control device includes:
a reaction force calculation unit including a first transmission element that multiplies a current command value of the motor by a torque constant estimated value of the motor, a second transmission element that multiplies a motor speed detected by the encoder by an estimated value of motor inertia of the motor, and differentiates the multiplied motor speed and the estimated value of motor inertia, and a low-pass filter that receives an output of the first transmission element, calculates a differential value of an output of the second transmission element, and outputs an estimated value of a reaction force generated by a transmission system from the motor to the object; and
a determination unit configured to determine whether or not the transmission unit is abnormal based on the estimated value of the reaction force,
the determination unit performs fourier transform on the estimated value of the reaction force, thereby obtaining frequency characteristics of the estimated value of the reaction force, and determines whether or not the transmission unit is abnormal based on the frequency characteristics.
4. A control device for a sewing machine is provided with:
a motor for imparting motive power to a target to be loaded and for arbitrarily moving and positioning the target;
a transmission unit configured to transmit power from the motor to the object; and
an encoder provided between the motor and the object,
the control device of the sewing machine is characterized in that,
the control device includes:
a reaction force calculation unit including a first transmission element that multiplies a current command value of the motor by a torque constant estimated value of the motor, a second transmission element that multiplies a motor speed detected by the encoder by an estimated value of motor inertia of the motor, and differentiates the multiplied motor speed and the estimated value of motor inertia, and a low-pass filter that receives an output of the first transmission element, calculates a differential value of an output of the second transmission element, and outputs an estimated value of a reaction force generated by a transmission system from the motor to the object; and
a determination unit configured to determine whether or not the transmission unit is abnormal based on the estimated value of the reaction force,
the determination unit determines whether or not the transmission unit is abnormal based on the magnitude of the estimated value of the reaction force.
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| JP2019-022364 | 2019-02-12 | ||
| JP2019022364A JP7224199B2 (en) | 2019-02-12 | 2019-02-12 | SEWING MACHINE CONTROL METHOD AND SEWING MACHINE CONTROL DEVICE |
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| JP2020127677A (en) | 2020-08-27 |
| JP7224199B2 (en) | 2023-02-17 |
| CN111549456A (en) | 2020-08-18 |
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