CN114302987A - Sewing method and sewing device - Google Patents
Sewing method and sewing device Download PDFInfo
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- CN114302987A CN114302987A CN202080060028.8A CN202080060028A CN114302987A CN 114302987 A CN114302987 A CN 114302987A CN 202080060028 A CN202080060028 A CN 202080060028A CN 114302987 A CN114302987 A CN 114302987A
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- looper
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- 238000009958 sewing Methods 0.000 title claims abstract description 267
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000004804 winding Methods 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 claims 2
- 210000000078 claw Anatomy 0.000 description 7
- 238000013459 approach Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005491 wire drawing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B47/00—Needle-thread tensioning devices; Applications of tensometers
- D05B47/04—Automatically-controlled tensioning devices
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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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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B35/00—Work-feeding or -handling elements not otherwise provided for
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B59/00—Applications of bobbin-winding or -changing devices; Indicating or control devices associated therewith
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- Sewing Machines And Sewing (AREA)
Abstract
The invention provides a sewing method and a sewing device. The sewing mechanism (14) is provided with a sewing platform (60) and sewing machine needles (72a, 72b), and the sewed object (100) is clamped between the sewing platform (60) and the sewing machine needles (72a, 72 b). When the sewing table (60) is closer to the sewing object (100) by a predetermined amount or more than the previous sewing, in other words, when the distance between the sewing object (100) and the sewing table (60) is smaller than the previous sewing by a predetermined amount or more, the thread guide mechanism (80) pulls the threads (74a, 74b) caught in the needle holes (73) of the sewing machine needles (72a, 72b) in the direction away from the sewing table (60). Accordingly, stitches having excellent aesthetic properties can be obtained.
Description
Technical Field
The present invention relates to a sewing method and a sewing device for forming a stitch (seam) on a sewed object by a machine needle and a looper.
Background
In order to create a high-grade feeling in the vehicle interior, a skin material cut or molded in accordance with the shape of an interior base material of an instrument panel is sometimes sewn (provided with stitches) with a stitch pattern. Recently, attempts have been made to perform such sewing by using a sewing robot having a sewing machine as a sewing mechanism provided on a distal arm.
Unevenness of sewing may occur when sewing. In order to solve such a problem, a sewing device (sewing machine) capable of changing the tension of a thread hanging on a needle has been proposed in Japanese patent laid-open publication No. 8-266765 and Japanese patent laid-open publication No. 2001-38084.
Disclosure of Invention
Most interior base materials have curved surfaces, corners (bent portions), and the like. In order to sew the interior base material and the skin material (sewn article) having such a complicated shape, for example, a needle can be moved from one flat portion to the other flat portion through a bent portion. In this process, each arm of the sewing robot is appropriately operated so that the needle and the sewing table (post bed) always face each other with the object to be sewn therebetween. In this process, the relative distance between the object to be sewn and the sewing table changes as the posture of the sewing table changes. Specifically, the flat portion and the bent portion are relatively close to each other, while the flat portion and the bent portion are relatively far from each other.
When sewing is performed on a flat portion where the sewing object and the sewing table are close to each other, the length of the thread between the needle or the sewing object and the sewing table is short. In contrast, when sewing is performed at a bent portion where the sewing object and the sewing table are far apart, the length of the thread interposed between the needle or the sewing object and the sewing table is long. Therefore, when the flat portion is sewn after the sewing of the bent portion is finished, the thread is loosened. In this case, a stitch may not be formed and a stitch defect such as a thread opening may occur. Further, if the sewing is continued in this state, for example, the thread may not be able to pass through the thread loop portion formed by the previous sewing.
On the other hand, when sewing the bent portion after finishing sewing the flat portion, the thread is tightened. In this case, the thread may bite into the material to be sewn, which may impair the appearance of the stitches.
The conventional techniques described in japanese patent laid-open publication No. 8-266765 and japanese patent laid-open publication No. 2001-38084 are techniques for adjusting the tension of a thread in a normal fixed sewing machine for performing sewing in a state where the thread and a looper are positioned and fixed, and do not remove the slack of the thread when the relative distance between a sewing object and a sewing table changes. That is, in the conventional art, there is an inconvenience that the slackness or the tension of the thread cannot be eliminated in the movable sewing device in which the thread and the looper move.
The invention provides a sewing method, which can eliminate the slack or tension of the thread, thereby obtaining the stitch with excellent aesthetic property.
Another object of the present invention is to provide a sewing apparatus configured to be capable of performing the sewing method.
According to an embodiment of the present invention, there is provided a sewing method for forming a stitch on a sewing object by a machine needle and a looper, wherein the machine needle is inserted into or separated from the sewing object as reciprocating movement is repeated; the curved needle is opposite to the needle through the sewed object and is contained in the sewing table,
when the sewing table is closer to the sewing object by a predetermined amount or more than the previous sewing, the thread hung on the needle is pulled in a direction away from the sewing table, or when the sewing table is farther from the sewing object by a predetermined amount or more than the previous sewing, the thread hung on the needle is pulled in a direction closer to the sewing table.
In addition, according to another embodiment of the present invention, there is provided a sewing apparatus for forming a stitch on a sewing object by a needle and a looper, wherein the needle is inserted into or separated from the sewing object as reciprocating movement is repeated; the curved needle is opposite to the needle through the sewed object and is contained in the sewing table,
the sewing device is provided with a thread guiding mechanism and a control part, wherein,
the thread leading mechanism draws the thread hung on the needle in a direction away from or close to the sewing table;
the control unit controls the thread guide mechanism to operate when a distance of the sewing table with respect to the object to be sewn differs from a previous sewing by a predetermined amount or more.
When the sewing table is closer to the material to be sewn by a predetermined amount or more than the previous sewing, in other words, when the distance between the material to be sewn and the sewing table is smaller by a predetermined amount or more than the previous sewing, the thread is loosened based on the difference in the distance. Therefore, in the present invention, the thread is pulled in a direction away from the sewing table by the thread guide mechanism. Accordingly, since the thread slackens, the needle can be passed through the loop portion formed by the previous sewing, for example, when the needle pierces the material to be sewn.
On the contrary, when the sewing table is separated from the material to be sewn by a predetermined amount or more (the distance between the material to be sewn and the sewing table is larger by a predetermined amount or more than the previous sewing) than the previous sewing, the thread is tightened. In this case, the thread is pulled in a direction approaching the sewing table by the thread guide mechanism. Accordingly, the tension of the thread disappears, and the thread is prevented from biting into the sewed object.
As described above, according to the present invention, when the distance between the sewing table and the object to be sewn differs from the previous sewing by a predetermined amount or more, the thread is pulled in a direction approaching or separating from the sewing table, and therefore, a stitch having excellent appearance can be formed.
Drawings
Fig. 1 is a schematic configuration diagram of a sewing apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view showing a sewing object sewn by the sewing apparatus of fig. 1 and a specific example of a landing part used for the sewing.
FIG. 3 is an enlarged perspective view of a main part of a seat part and a sewing mechanism of the sewing device of FIG. 1.
Fig. 4 is a perspective view showing a main part of two loopers housed in a sewing table.
Fig. 5 is a schematic front view of a housing constituting the sewing apparatus of fig. 1.
Fig. 6 is a main-part enlarged side view showing a state where the needle enters the sewing table and the thread is caught by a catching claw (catching claws) of the looper.
Fig. 7 is a perspective view of a main part showing a state in which loop portions formed by the needle and the looper of fig. 4 are connected.
Fig. 8 is a schematic flowchart showing a change in posture of the table moving from the flat portion to the bent portion.
Fig. 9 is a front view of a main part of the wire drawing mechanism.
Fig. 10 is a schematic front view of a case provided with a lead mechanism different from that of fig. 5.
Detailed Description
Next, a sewing method according to the present invention will be described in detail with reference to the drawings, which exemplify preferred embodiments of the relation between the sewing method and a sewing device for carrying out the sewing method. In the following description, "up", "down", "left" and "right" correspond to up, down, left and right in the drawings, respectively, but this is for easy understanding to indicate the direction, and does not define the direction when the sewing apparatus is actually used.
Fig. 1 is a schematic configuration diagram of a sewing apparatus 10 according to the present embodiment. The sewing device 10 includes a holding mechanism 12, a sewing mechanism 14, and a sewing robot 16, and the sewing robot 16 serves as a conveying mechanism for conveying the sewing mechanism 14. The sewing mechanism 14 is attached to a tip end arm 18 of a sewing robot 16 constituted by an articulated robot.
First, the holding mechanism 12 will be schematically described. The holding mechanism 12 has a frame 20, a plurality of retracting mechanisms 22, and a seating portion 24, wherein the plurality of retracting mechanisms 22 are supported by the frame 20; the seating portion 24 is provided to each of the retraction mechanisms 22. Wherein the frame 20 includes a base 28 in the general shape of a flat plate. A retracting cylinder 30 constituting the retracting mechanism 22 is provided upright on the base 28. Specifically, the retracting cylinder 30 is supported by the frame 20 in a posture in which the multiplex rod 32 faces upward in fig. 1.
The retraction mechanism 22 includes a guide bush 34 and a guide pin 36 in addition to the retraction cylinder 30. A guide bush 34 is fixed near the upper end of the frame 20, and the tip of the shuttle rod 32 is slidably inserted into the interior of the guide bush 34. The lower end of the guide pin 36 is connected to the upper end of the multiplexing rod 32 within the guide bushing 34.
The seating portion 24 is provided at an upper end of the guide pin 36. Therefore, the guide pins 36 and the seating portion 24 perform the advancing and retreating actions integrally with the reciprocating lever 32. That is, the seating portions 24 can individually advance or retreat (retract) by the retraction mechanism 22 provided with the seating portions. In fig. 1, forward movement corresponds to upward movement, and backward movement corresponds to downward movement.
The plurality of seats 24 are arranged along a sewing direction in which the sewing mechanism 14 performs sewing, that is, a sewing line L shown in fig. 2. The seating surface 37, which is the upper surface of the seating portion 24, is provided along the sewing line L and is curved with a radius of curvature substantially equal to the radius of curvature of the workpiece 100 along the sewing line L. In the case where the sewn article 100 is, for example, an interior base material 102 and a skin material 104 of an instrument panel, the seat portion 24 is disposed as indicated by a broken line in fig. 2. As described later, the seating portion 24 is sequentially retracted as the sewing mechanism 14 approaches.
As described above, the seating surface 37 is formed in substantially the same shape as the sewn article 100 (see fig. 2 or 3). Accordingly, the shape of the workpiece 100 placed on the seating surface 37 is maintained.
As shown in fig. 1 and 3, the seating portion 24 is formed with a plurality of intake holes 38. These intake holes 38 communicate with an intake pump, not shown, through a negative pressure flow passage inside the seating portion 24 and an exhaust pipe 40. The seat portion 24 sucks and holds the workpiece 100 placed on the seat portion 24 by sucking air through the air intake holes 38 by the air intake pump.
The sewing mechanism 14 has a U-shaped housing 50 lying in a lateral view. The distal end arm 18 of the sewing robot 16 is connected to the front surface of the column portion 52 constituting the housing 50. A sewing motor 54 is provided on one surface of the column portion 52.
The housing 50 further includes a 1 st cross-column portion 56 and a 2 nd cross-column portion 58 that project in the same direction from the lower end and the upper end of the column portion 52 and face each other. A slot table 60 is provided on the 1 st cross-pillar portion 56 below, and the slot table 60 extends toward the 2 nd cross-pillar portion 58 above. As shown in detail in fig. 4, the 1 st looper 62a and the 2 nd looper 62b are housed in the sewing table 60. A driven gear 66 is interposed between the 1 st looper 62a and the 2 nd looper 62 b. The driven gear 66 constitutes a driving mechanism together with the rotating shaft of the sewing motor 54 through a timing belt, a gear train (gear train), and the like in the housing 50. Therefore, when the rotation shaft of the sewing motor 54 rotates, the driven gear 66 follows the rotation, and the 1 st looper 62a and the 2 nd looper 62b rotate integrally therewith. Since the above-described structure is well known, detailed illustration and description are omitted.
The 1 st and 2 nd loopers 62a and 62b each have a hook-shaped catching claw (locking claws) 70. Threads 74a and 74b passing through needle holes 73 (see fig. 6) of the 1 st and 2 nd sewing needles 72a and 72b are hooked on the respective hook claws 70. Further, the upper end surface of the sewing table 60 is opened, and therefore, the 1 st sewing needle 72a and the 2 nd sewing needle 72b can enter the inside of the sewing table 60 or exit the inside of the sewing table 60.
A reciprocating lever 78 is provided on the 2 nd cross member portion 58 (see fig. 1), and the reciprocating lever 78 reciprocates so as to approach or separate from the 1 st cross member portion 56. The reciprocating handle 78 is provided with two 1 st and 2 nd sewing needles 72a and 72b (both needles) by a needle holder 79. The 1 st and 2 nd sewing needles 72a and 72b reciprocate together with the reciprocating lever 78 as the rotary shaft of the sewing motor 54 rotates. Since this structure is also well known, detailed illustration and description are omitted. The 1 st and 2 nd sewing needles 72a and 72b are opposed to the 1 st and 2 nd loopers 62a and 62b in the sewing table 60, respectively (see fig. 4).
The reciprocating movements of the 1 st and 2 nd sewing needles 72a and 72b trace an elliptical trajectory when viewed from the front of the housing 50. Accordingly, the structure is as follows: even when the housing 50 is moved at a constant speed, the 1 st sewing needle 72a and the 2 nd sewing needle 72b are inserted into the workpiece 100 while maintaining a constant position.
A needle hole 73 is formed through the tip of each of the 1 st and 2 nd sewing needles 72a and 72 b. The threads 74a and 74b for forming the parallel stitches 112 (see fig. 2) as stitches are pulled out from a thread supply portion such as a bobbin (not shown), and the tips thereof are inserted through the needle holes 73.
As shown in fig. 5, a wire pressing cylinder 80 (pressing mechanism) as a wire drawing mechanism is provided in the 2 nd horizontal column portion 58. The thread pressing cylinder 80 has a thread pressing rod 84 having a thread passing groove 82 formed in a lower end surface thereof. The threads 74a and 74b drawn out from the thread supplying portion are hooked on the respective needle holes 73 of the 1 st sewing machine needle 72a and the 2 nd sewing machine needle 72b after passing through the threading groove 82. Therefore, when the thread pressing lever 84 advances (corresponding to lowering in fig. 1 and 5), the threads 74a and 74b are pressed and pulled toward the thread supplying portion side. In other words, at this time, the threads 74a, 74b are pulled in a direction away from the sewing table 60. The 2 nd horizontal column portion 58 is provided with a tab portion 86, and the threads 74a and 74b are inserted through a threading hole, not shown, formed in the tab portion 86.
In the above configuration, the holding mechanism 12, the sewing mechanism 14, and the sewing robot 16 are electrically connected to the control unit 90 as a control mechanism. The sewing robot 16 moves the sewing mechanism 14 at a constant speed along the sewing line L (see fig. 2) under the control of the control unit 90. At this time, the posture of the housing 50 is changed according to the shape of the sewing position of the workpiece 100, and the posture of the sewing mechanism 14 is adjusted so that the 1 st sewing needle 72a and the 2 nd sewing needle 72b are substantially perpendicular to the sewing position of the workpiece 100.
The control section 90 also operates or stops the sewing motor 54 and the thread pressing cylinder 80.
The sewing device 10 according to the present embodiment is basically configured as described above, and the operational effects thereof will be described based on the relationship between the sewing device 10 and the sewing method according to the present embodiment.
When sewing the workpiece 100, first, as shown in fig. 2 and 3, the workpiece 100 is placed on the seat portion 24 of the holding mechanism 12, and the suction pump is operated. Accordingly, the sewing material 100 placed on the seating portion 24 is sucked and held in a state of being seated on the seating surface 37 by sucking air through the air intake holes 38.
Next, the sewing robot 16 is appropriately operated under the control of the control section 90, and the distal end arm 18 approaches the workpiece 100, so that the workpiece 100 is positioned between the sewing table 60 (the 1 st looper 62a, the 2 nd looper 62b) and the 1 st sewing needle 72a, the 2 nd sewing needle 72b, as shown in fig. 3. That is, the 1 st looper 62a and the 2 nd looper 62b face the 1 st sewing needle 72a and the 2 nd sewing needle 72b with the workpiece 100 interposed therebetween. In this way, by providing the sewing robot 16 for conveying the sewing mechanism 14, the sewing mechanism 14 can be easily conveyed to the vicinity of the workpiece 100. The threads 74a and 74b are drawn out from the thread supplying section, passed through a threading groove 82 formed in a thread pressing rod 84 constituting the thread pressing cylinder 80, and then passed through the needle holes 73 of the 1 st and 2 nd sewing needles 72a and 72b individually.
In fig. 3 (and the enlarged portion of fig. 2) it is shown that the sewing is in the middle of the way from left to right. As can be seen from fig. 3, when the retracting cylinder 30 constituting the retracting mechanism 22 reaches the position where the sewing table 60 and the 1 st and 2 nd sewing needles 72a and 72b are sewn, the reciprocating lever 32 and the guide pin 36 are retracted to separate the seating portion 24 from the workpiece 100. In addition, at the time of this retreat, the guide bush 34 guides the reciprocating lever 32 and the guide pin 36.
As the seat portion 24 is separated from the workpiece 100, a gap is generated between the seat portion 24 and the workpiece 100. The table 60 enters the gap. In this manner, the sewing device 10 is configured to: the seat portion 24 is sequentially retracted according to the position of the sewing mechanism 14, and the sewing table 60 is arranged on the back side of the workpiece 100 for sewing. Before the retraction, the suction from the suction holes 38 of the seating portion 24 that performs the retraction is stopped.
When the sewn article 100 is an instrument panel, the interior base material 102 constituting the instrument panel exhibits relatively high rigidity. Therefore, even when the seating portion 24 is separated from a portion of the instrument panel, deformation such as bending of the instrument panel at the portion can be avoided.
Subsequently, the control unit 90 operates the sewing motor 54. Accordingly, the reciprocating lever 78 reciprocates up and down. Of course, the 1 st and 2 nd sewing needles 72a and 72b held by the needle holder 79 also reciprocate up and down integrally with the reciprocating lever 78. On the other hand, the driven gear 66 (see fig. 4) is driven to rotate, and the 1 st looper 62a and the 2 nd looper 62b rotate integrally and synchronously with the driven gear 66. The 1 st looper 62a and the 2 nd looper 62b rotate one rotation during 1 reciprocating of the 1 st sewing needle 72a and the 2 nd sewing needle 72 b.
As shown in fig. 6, the 1 st and 2 nd sewing needles 72a and 72b are inserted from the upper end surface side of the workpiece 100 while traveling on a downward path from the retreated end (top dead center), and when reaching the advanced end (bottom dead center), the tips thereof protrude from the lower end surface of the workpiece 100 and enter the hollow interior of the table 60. Accordingly, the threads 74a and 74b penetrate the material to be sewn 100. Then, the 1 st sewing needle 72a and the 2 nd sewing needle 72b travel on the loop from the bottom dead center to the top dead center, and are separated from the sewing table 60 and the workpiece 100 in the process.
When the thread 74a, 74b penetrates the sewing material 100, the hook claws 70 of the 1 st looper 62a and the 2 nd looper 62b reach the top dead center. The threads 74a and 74b penetrating the workpiece 100 are caught by the catching claws 70, and pulled downward in fig. 2 and 3 as the 1 st looper 62a and the 2 nd looper 62b rotate, so that a loop portion 110 shown in fig. 7 is formed on the lower end surface side of the workpiece 100. The thread 74a, 74b is inserted into the thread loop 110 at a position where it is pulled when the 1 st sewing needle 72a and the 2 nd sewing needle 72b are inserted next time (when the 1 st looper 62a and the 2 nd looper 62b are rotated).
The sewing mechanism 14 is moved in parallel relative to the workpiece 100 by appropriate operation of the sewing robot 16. At the same time as the parallel movement, the reciprocating motion of the 1 st sewing needle 72a and the 2 nd sewing needle 72b and the rotation of the 1 st looper 62a and the 2 nd looper 62b are repeated, and thereby the loop portions 110 are connected to each other to perform sewing. In fig. 7, only the wire 74a is illustrated, but the wire loop portions 110 are connected to each other in the same manner in the remaining wires 74 b. On the other hand, as shown in fig. 2, parallel stitches 112 are formed linearly connected to each other on the upper end surface side of the material to be sewn 100.
The sewing mechanism 14 is moved at a constant speed to the right in fig. 2 and 3 by the sewing robot 16, for example. Accordingly, the seating portion 24 located at the position interfering with the sewing mechanism 14 is retracted from the workpiece 100 by the retraction mechanism 22. That is, after the suction from the suction hole 38 is stopped, the reciprocating rod 32 is lowered to retract the seating portion 24 to a position where it does not interfere with the sewing mechanism 14. Further, at the position where the sewing mechanism 14 is separated after the sewing is completed, the air is sucked again from the air suction hole 38, and the reciprocating lever 32 and the guide pin 36 are raised while being guided by the guide bush 34 by the retracting mechanism 22. As a result, the seat portion 24 mounts the sewing object 100.
Here, when the material to be sewn 100 is an instrument panel having a shape shown in fig. 2, generally, a flat portion such as a high flat portion 120 and a low flat portion 122, a bent portion such as a bent portion and a bent portion 124 are formed in the material to be sewn 100. As shown in fig. 8, when the flatbed 60 moves from the flat portion (the high flat portion 120, the low flat portion 122, or the like) to the bent portion 124, the posture changes. This is because the sewing robot 16 (see fig. 1) changes the posture of the sewing mechanism 14 so that the sewing table 60, the 1 st sewing needle 72a, and the 2 nd sewing needle 72b are substantially perpendicular to the surface of the sewing portion according to the teaching carried out in advance.
As shown in the enlarged portion of fig. 2, the platform 60 is in contact with the back surface of the workpiece 100 or is spaced apart from the back surface by a small distance in the high flat portion 120 and the low flat portion 122, in other words, in the flat portions having almost no height difference. In contrast, as is clear from fig. 8, the distance between the workpiece 100 and the sewing table 60 increases as it approaches the folded portion 124.
The distance between the workpiece 100 and the table 60 is substantially equal to the length of the portion of the thread 74a, 74b that extends from the 1 st sewing needle 72a, the 2 nd sewing needle 72b to the 1 st looper 62a, the 2 nd looper 62b (hereinafter also referred to as "needle-looper gap portion"). That is, the length of the needle-looper gap is smallest when sewing a flat portion, and gradually increases as the 1 st sewing needle 72a, the 2 nd sewing needle 72b, and the table 60 get closer to the bent portion 124 from the flat portion. In addition, the length of the needle-looper gap is maximized when the bent portion 124 is sewn.
In this way, when sewing is shifted from the flat portion to the folded portion 124, a difference occurs in the distance between the workpiece 100 and the sewing table 60. Specifically, the distance between the workpiece 100 and the sewing table 60 is longer than when a flat portion is sewn. As a result, the length of the needle-looper gap between the threads 74a, 74b becomes large.
Then, the 1 st sewing needle 72a, the 2 nd sewing needle 72b and the sewing table 60 pass through the bent portion 124 and reach the flat portion which is lowered. At this time, the length of the needle-looper intermediate portion gradually decreases as it goes away from the bent portion 124. Accordingly, the length of the needle-looper gap portion of the threads 74a, 74b is also reduced. Based on this, the wires 74a, 74b are relaxed. This slack is likely to occur particularly when the material to be sewn 100 is not pressed with a presser foot or the like. Further, if the slack is generated, a stitch defect such as a thread opening may occur. In some cases, the 1 st and 2 nd sewing needles 72a and 72b may not pass through the thread ring part 110.
To avoid this, the control unit 90 temporarily stops the sewing robot 16 when the length of the needle-looper gap is different from the previous needle-looper gap by a predetermined amount or more (in this case, closer to the flat portion than before) such as when the 1 st sewing needle 72a, the 2 nd sewing needle 72b, and the table 60 approach the flat portion through the bent portion 124. The control section 90 also operates the thread pressing cylinder 80 in a state where the sewing motor 54 is stopped. That is, the wire pressing rod 84 is advanced.
As described above, the threads 74a, 74b pass through the threading grooves 82 formed in the thread-pressing cylinder 80. Therefore, when the wire pushing lever 84 advances, the portions of the wires 74a and 74b on the tip end side of the wire pushing lever 84 are pulled by the wire pushing lever 84 as shown in fig. 9. As a result, the tip ends of the threads 74a and 74b are pulled in a direction away from the sewing table 60, in other words, toward the thread supplying portion.
By this pulling, the slack of the wires 74a, 74b disappears. I.e. the wires 74a, 74b are tensioned. In this state, the control section 90 operates the sewing robot 16 and the sewing motor 54 again. That is, sewing is resumed, and the threads 74a and 74b are conveyed to the flat portion of the workpiece 100.
The wires 74a, 74b are already under tension as described above. Therefore, the occurrence of disconnection can be effectively avoided. In addition, the 1 st and 2 nd sewing needles 72a and 72b are easily passed through the loop part 110. As a result, even in the flat portion on the sewing downstream side of the bending portion 124, the parallel stitches 112 having excellent appearance can be formed.
When the control unit 90 detects that the parallel stitches 112 having a predetermined length are formed, the operation of the sewing robot 16 is stopped and the operation of the sewing motor 54 is stopped under the control of the control unit 90. Therefore, the reciprocating motion of the 1 st sewing needle 72a and the 2 nd sewing needle 72b and the rotation of the 1 st looper 62a and the 2 nd looper 62b are stopped. After the threads 74a, 74b are cut at the positions between the material to be sewn 100 and the 1 st and 2 nd sewing needles 72a, 72b, the sewing robot 16 appropriately operates to separate the sewing mechanism 14 from the material to be sewn 100. Thereby finishing the sewing.
Further, as described above, when sewing is shifted from the flat portion to the folded portion 124, the distance between the workpiece 100 and the sewing table 60, and further the length of the needle-looper gap portion of the thread 74a, 74b, become large. If the folded portion 124 is sewn in this state, the threads 74a and 74b may be tightened and bite into the material 100.
Therefore, a 2 nd thread drawing mechanism for drawing the threads 74a and 74b in a direction approaching the sewing table 60 may be provided. In this case, when the workpiece 100 and the table 60 are separated by a predetermined amount or more from each other in the previous sewing, the threads 74a and 74b can be pulled in a direction approaching the table 60 by the 2 nd thread guide mechanism. Accordingly, the threads 74a and 74b are pulled out from the thread supplying portion by a small amount, and therefore, the tension of the threads 74a and 74b is lost. Accordingly, the threads 74a and 74b are prevented from biting into the sewing object 100.
The present invention is not particularly limited to the above embodiments, and various modifications can be made without departing from the scope of the present invention.
For example, instead of the wire pressing cylinder 80, a rotary actuator (rotation actuator)130 (winding mechanism) shown in fig. 10 may be provided to serve as both the wire supplying section and the wire feeding mechanism. In this case, after the wires 74a, 74b are loosened, the rotary cylinder 132 constituting the rotary actuator 130 is rotated at a predetermined rotation angle. By this rotation, the wires 74a and 74b are wound and tensioned by the rotary cylinder 132, and therefore the wires 74a and 74b can pass through the wire loop portion 110 as described above. That is, the parallel stitches 112 having excellent aesthetic property can be obtained also in this structure.
In addition, the number of the sewing machine needle and the looper may be 1.
The material to be sewn 100 is not limited to the interior material 102 and the skin material 104 of the automobile instrument panel, and may be a material that can be penetrated by a sewing machine needle.
The seating portion 24 may be formed of an adsorption pad.
Claims (7)
1. A sewing method for forming a stitch (112) on a sewing object by a machine needle (72a, 72b) and a looper (62a, 62b), wherein the machine needle (72a, 72b) is inserted into or separated from the sewing object (100) with repeated reciprocating movements; the loopers (62a, 62b) are housed in a sewing table (60) so as to face the needle with the object to be sewn therebetween,
it is characterized in that the preparation method is characterized in that,
when the sewing table is closer to the sewing object by a predetermined amount or more than the previous sewing, the thread (74a, 74b) hung on the needle is pulled in a direction away from the sewing table, or when the sewing table is farther from the sewing object by a predetermined amount or more than the previous sewing, the thread hung on the needle is pulled in a direction closer to the sewing table.
2. A sewing device (10) forms a stitch (112) on a sewing object through a machine needle (72a, 72b) and a curved needle (62a, 62b), wherein the machine needle (72a, 72b) penetrates into or separates from the sewing object (100) along with repeated reciprocating movement; the curved needles (62a, 62b) are opposite to the machine needle through the sewed object and are contained in a sewing table (60),
it is characterized in that the preparation method is characterized in that,
has a lead mechanism and a control section (90), wherein,
the thread guiding mechanism draws the thread (74a, 74b) hung on the needle to a direction away from or close to the sewing platform;
the control part (90) controls the lead mechanism to operate when the distance of the sewing platform relative to the sewed object is different from the previous sewing by more than a specified amount.
3. The sewing apparatus of claim 2,
the thread leading mechanism is a pressing device that presses the thread.
4. The sewing apparatus of claim 3,
the pressing means is constituted by a cylinder device (80) having a rod (84), and presses the wire with the rod.
5. The sewing apparatus of claim 2,
the thread guiding mechanism is a winding device that winds the thread.
6. The sewing apparatus of claim 5,
the winding device also serves as a thread supplying portion that supplies the thread.
7. Sewing device as claimed in claim 5 or 6,
the winding device is constituted by a rotary actuator (130) having a rotary cylinder (132) on which the wire is wound.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019189171 | 2019-10-16 | ||
| JP2019-189171 | 2019-10-16 | ||
| PCT/JP2020/028829 WO2021075122A1 (en) | 2019-10-16 | 2020-07-28 | Sewing method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114302987A true CN114302987A (en) | 2022-04-08 |
Family
ID=75537361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080060028.8A Pending CN114302987A (en) | 2019-10-16 | 2020-07-28 | Sewing method and sewing device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20220275552A1 (en) |
| JP (1) | JPWO2021075122A1 (en) |
| CN (1) | CN114302987A (en) |
| WO (1) | WO2021075122A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11697899B1 (en) * | 2021-04-20 | 2023-07-11 | John D. Martelli | Thread tension apparatus and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2021075122A1 (en) | 2021-04-22 |
| JPWO2021075122A1 (en) | 2021-04-22 |
| US20220275552A1 (en) | 2022-09-01 |
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