DE102018117925A1 - sewing machine - Google Patents

Abstract

A sewing machine includes a main transporting mechanism 20, an upper transverse transporting mechanism 30, a lower transverse transporting mechanism 40, a first camera 71, a second camera 72 and a controller 90. The main transporting mechanism 20 transports an upper first workpiece U and a lower second workpiece D in a forward direction. The upper cross transport mechanism 30 moves the first workpiece U along left and right directions. The lower cross transport mechanism 40 moves the second workpiece D along the left and right directions. The first camera 71 captures an image of the first workpiece U behind a stitch point position S. The second camera 72 captures an image of the second workpiece D behind the stitch point position S. The controller 90 executes a position adjustment control for adjusting positions of a side end of the first workpiece U and a side end of the second workpiece D. The controller 90 executes the position adjustment control on the first workpiece U by the upper cross transport mechanism 30 and the position adjustment control on the second workpiece D by the lower cross transport mechanism 40 based on captured images obtained from the first camera 71 and the second camera 72, at a cycle of one or more stitch points through a needle.

Description

TECHNICAL AREA

The present invention relates to a sewing machine for sewing an upper fabric and a lower fabric.

STATE OF THE ART

As in 12 shown comprises a sewing machine 100 according to the conventional art for performing a sewing operation such that seams of an upper fabric and a lower fabric are mated together, a feed dog, an upper and a lower cross transport mechanism, and work end detectors. The feed dog (not shown) transports the upper fabric and the lower fabric along a seaming direction. The upper and lower cross transport mechanisms (not shown) convey the upper cloth and the lower cloth respectively in a direction orthogonal to a cloth conveying direction on an upstream side of a needle 101 , The sewing material end detectors 110 and 120 Detect lateral end positions on the seam side of each of the Nähgutteile, which are the upper fabric and the lower fabric, between each of the components, which are the transverse transport mechanisms and the feed dog (see, for example, the publication of the Japanese Patent Application No. 9-248390 ).

13 is an enlarged front view of the Nähgutende detector 110 with respect to an upper fabric CU in the above-described sewing machine 100 , As shown in the drawing, the suture end detector comprises 110 a light source and a line sensor. The light source 111 emits a slit-like irradiation light along a direction (a left and right direction in the paper plane) which is orthogonal to a transporting direction through the transporter. The line sensor 112 , which receives the irradiation light, specifies a position at which the light intensity becomes low when the upper cloth CU is located between the light source 111 and the line sensor 112 and the irradiation light is covered with the upper cloth CU, and detects the position of the side end of the upper cloth CU based on the specification. Furthermore, the Nähgutende detector 120 of the bottom fabric has the same configuration as the fabric end detector 110 ,

Further, the sewing is performed such that the seam of the upper cloth and the seam of the lower cloth have the same width, by the upper cloth and the lower cloth being fed by the lateral transport mechanism based on the positions of the side ends of each of the cloth pieces, which are the upper fabric and the lower fabric, each of the above-described Nähgutende detectors 110 and 120 be detected, be set to a suitable position.

List of quotations

patent literature

Patent Document 1: Japanese Unexamined Patent Publication No. H9-248390

SUMMARY OF THE INVENTION

In the sewing machine of the conventional art, however, in that the position detection of the lateral ends of the upper cloth and the lower cloth is continuously performed and the position adjusting control is performed on the upper cloth and the lower cloth by the lateral transport mechanism, there is a case in which the setting operation can not keep up with this, whereby an excellent position adjustment is hardly performed.

1. (1) Eine Nähmaschine umfasst einen Haupttransportmechanismus, einen oberen Quertransportmechanismus, einen unteren Quertransportmechanismus, eine erste Kamera, eine zweite Kamera und eine Steuereinrichtung. Der Haupttransportmechanismus transportiert ein oberes erstes Werkstück und ein unteres zweites Werkstück in einer Vorwärtsrichtung. Der obere Quertransportmechanismus bewegt das erste Werkstück entlang einer linken und rechten Richtung. Der untere Quertransportmechanismus bewegt das zweite Werkstück entlang der linken und rechten Richtung. Die erste Kamera erfasst ein Bild des ersten Werkstücks hinter einer Stichpunktposition. Die zweite Kamera erfasst ein Bild des zweiten Werkstücks hinter der Stichpunktposition. Die Steuereinrichtung führt eine Positionseinstellsteuerung aus zum Einstellen von Positionen eines seitlichen Endes des ersten Werkstücks und eines seitlichen Endes des zweiten Werkstücks. Die Steuereinrichtung führt die Positionseinstellsteuerung an dem ersten Werkstück durch den oberen Quertransportmechanismus und die Positionseinstellsteuerung an dem zweiten Werkstück durch den unteren Quertransportmechanismus aus, basierend auf erfassten Bildern, welche von der ersten Kamera und der zweiten Kamera erhalten werden, bei einem Zyklus von einem oder mehreren Stichpunkten durch eine Nadel.
2. (2) Die Nähmaschine nach (1), wobei die Steuereinrichtung die Anzahl von Stichpunkten, welche als ein Zyklus der Positionseinstellsteuerung an dem ersten Werkstück durch den oberen Quertransportmechanismus und der Positionseinstellsteuerung an dem zweiten Werkstück durch den unteren Quertransportmechanismus dient, gemäß einer Zustandsänderung der Form des seitlichen Endes des ersten Werkstücks, welche aus dem erfassten Bild der ersten Kamera erhalten wird, und der Form des seitlichen Endes des zweiten Werkstücks, welche aus dem erfassten Bild der zweiten Kamera erhalten wird, ändert.
3. (3) Eine Nähmaschine umfasst einen Haupttransportmechanismus, einen oberen Quertransportmechanismus, einen unteren Quertransportmechanismus, einen ersten Geschwindigkeitsversteller, einen zweiten Geschwindigkeitsversteller, eine erste Kamera, eine zweite Kamera und eine Steuereinrichtung. Der Haupttransportmechanismus transportiert ein oberes erstes Werkstück und ein unteres zweites Werkstück in einer Vorwärtsrichtung. Der obere Quertransportmechanismus bewegt das erste Werkstück entlang einer linken und rechten Richtung. Der untere Quertransportmechanismus bewegt das zweite Werkstück entlang der linken und rechten Richtung. Der erste Geschwindigkeitsversteller stellt eine Transportgeschwindigkeit des ersten Werkstücks in der Vorwärtsrichtung ein. Der zweite Geschwindigkeitsversteller stellt eine Transportgeschwindigkeit des zweiten Werkstücks in der Vorwärtsrichtung ein. Die erste Kamera erfasst ein Bild des ersten Werkstücks hinter einer Stichpunktposition. Die zweite Kamera erfasst ein Bild des zweiten Werkstücks hinter der Stichpunktposition. Die Steuereinrichtung führt eine Positionseinstellsteuerung aus zum Einstellen von Positionen eines seitlichen Endes des ersten Werkstücks und eines seitlichen Endes des zweiten Werkstücks. Die Steuereinrichtung führt eine Operationssteuerung aus zum Bereitstellen einer Differenz zwischen der Transportgeschwindigkeit des ersten Werkstücks und des zweiten Werkstücks durch den ersten Geschwindigkeitsversteller und den zweiten Geschwindigkeitsversteller, basierend auf einer Position einer Positionsanzeige des seitlichen Endes des ersten Werkstücks, welche aus dem erfassten Bild der ersten Kamera erhalten wird, und einer Position einer Positionsanzeige des seitlichen Endes des zweiten Werkstücks, welche aus dem erfassten Bild der zweiten Kamera erhalten wird, bei einem Zyklus von einem oder mehreren Stichpunkten durch eine Nadel.
4. (4) Die Nähmaschine nach (3), wobei die Steuereinrichtung die Anzahl von Stichpunkten, welche als ein Zyklus einer Kräuselsteuerung dient, gemäß einer Zustandsänderung einer Form des seitlichen Endes des ersten Werkstücks, welche aus dem erfassten Bild der ersten Kamera erhalten wird, und einer Form des seitlichen Endes des zweiten Werkstücks, welche aus dem erfassten Bild der zweiten Kamera erhalten wird, ändert.
5. (5) Eine Nähmaschine umfasst einen Haupttransportmechanismus, einen oberen Quertransportmechanismus, einen unteren Quertransportmechanismus, einen oberen Drehtransportmechanismus, einen unteren Drehtransportmechanismus, eine erste Kamera, eine zweite Kamera und eine Steuereinrichtung. Der Haupttransportmechanismus transportiert ein oberes erstes Werkstück und ein unteres zweites Werkstück in einer Vorwärtsrichtung. Der obere Quertransportmechanismus bewegt das erste Werkstück entlang einer linken und rechten Richtung. Der untere Quertransportmechanismus bewegt das zweite Werkstück entlang der linken und rechten Richtung. Der obere Drehtransportmechanismus dreht und bewegt das erste Werkstück um eine Stichpunktposition herum. Der untere Drehtransportmechanismus dreht und bewegt das zweite Werkstück um eine Stichpunktposition herum. Die erste Kamera erfasst ein Bild des ersten Werkstücks hinter einer Stichpunktposition. Die zweite Kamera erfasst ein Bild des zweiten Werkstücks hinter der Stichpunktposition. Die Steuereinrichtung führt eine Positionseinstellsteuerung aus zum Einstellen von Positionen eines seitlichen Endes des ersten Werkstücks und eines seitlichen Endes des zweiten Werkstücks. Die Steuereinrichtung selektiert, welcher der Mechanismen, welche sind der obere Quertransportmechanismus und der obere Drehtransportmechanismus, die Positionseinstellsteuerung an dem ersten Werkstück ausführt, und sie selektiert, welcher der Mechanismen, welche sind der untere Quertransportmechanismus und der untere Drehtransportmechanismus, die Positionseinstellsteuerung an dem zweiten Werkstück ausführt, gemäß einem Biegegrad des seitlichen Endes des ersten Werkstücks, welcher aus dem erfassten Bild der ersten Kamera erhalten wird, und einem Biegegrad des seitlichen Endes des zweiten Werkstücks, welcher aus dem erfassten Bild der zweiten Kamera erhalten wird, bei einem Zyklus von einem oder mehreren Stichpunkten durch eine Nadel.
6. (6) Die Nähmaschine nach (5), wobei die Steuereinrichtung die Anzahl von Stichpunkten, welche als ein Zyklus der Selektion, welcher der Mechanismen, welche sind der obere Quertransportmechanismus und der obere Drehtransportmechanismus, die Positionseinstellsteuerung an dem ersten Werkstück ausführt, und der Selektion, welcher der Mechanismen, welche sind der untere Quertransportmechanismus und der untere Drehtransportmechanismus, die Positionseinstellsteuerung an dem zweiten Werkstück ausführt, dient, gemäß einer Zustandsänderung einer Form des seitlichen Endes des ersten Werkstücks, welche aus dem erfassten Bild der ersten Kamera erhalten wird, und einer Form des seitlichen Endes des zweiten Werkstücks, welche aus dem erfassten Bild der zweiten Kamera erhalten wird, ändert.

The object of the invention is to provide a sewing machine which can perform excellent sewing of an upper fabric and a lower fabric and which comprises at least one of the following features (1) to (6).

1. (1) A sewing machine includes a main transport mechanism, an upper cross transport mechanism, a lower cross transport mechanism, a first camera, a second camera, and a controller. The main transport mechanism transports an upper first workpiece and a lower second workpiece in a forward direction. The upper cross transport mechanism moves the first workpiece along left and right directions. The lower cross transport mechanism moves the second workpiece along the left and right directions. The first camera captures an image of the first workpiece behind a stitch point position. The second camera captures an image of the second workpiece behind the stitch point position. The controller executes a position adjusting control for adjusting positions of a side end of the first workpiece and a side end of the second workpiece. The controller executes the position adjusting control on the first workpiece by the upper cross transport mechanism and the position adjusting controller on the second workpiece by the lower cross transport mechanism based on captured images. which are obtained from the first camera and the second camera at a cycle of one or more stitch points by a needle.
2. (2) The sewing machine according to (1), wherein the control means serves the number of stitch points serving as one cycle of the position adjusting control on the first workpiece by the upper cross transport mechanism and the position adjusting control on the second workpiece by the lower cross transport mechanism according to a state change of the die the lateral end of the first workpiece, which is obtained from the detected image of the first camera, and the shape of the lateral end of the second workpiece, which is obtained from the detected image of the second camera changes.
3. (3) A sewing machine includes a main transport mechanism, an upper cross transport mechanism, a lower cross transport mechanism, a first speed adjuster, a second speed adjuster, a first camera, a second camera, and a controller. The main transport mechanism transports an upper first workpiece and a lower second workpiece in a forward direction. The upper cross transport mechanism moves the first workpiece along left and right directions. The lower cross transport mechanism moves the second workpiece along the left and right directions. The first speed adjuster adjusts a transport speed of the first workpiece in the forward direction. The second speed adjuster adjusts a transport speed of the second workpiece in the forward direction. The first camera captures an image of the first workpiece behind a stitch point position. The second camera captures an image of the second workpiece behind the stitch point position. The controller executes a position adjusting control for adjusting positions of a side end of the first workpiece and a side end of the second workpiece. The controller executes an operation control for providing a difference between the conveying speed of the first workpiece and the second workpiece by the first speed adjuster and the second speed adjuster based on a position of the lateral end position display of the first workpiece taken from the captured image of the first camera and a position of a position indication of the lateral end of the second workpiece obtained from the captured image of the second camera at a cycle of one or more stitch points by a needle.
4. (4) The sewing machine according to (3), wherein the control means determines the number of stitch points serving as one cycle of curling control in accordance with a state change of a shape of the lateral end of the first workpiece obtained from the detected image of the first camera, and a shape of the lateral end of the second workpiece, which is obtained from the captured image of the second camera changes.
5. (5) A sewing machine includes a main transport mechanism, an upper cross transport mechanism, a lower cross transport mechanism, an upper rotational transport mechanism, a lower rotational transport mechanism, a first camera, a second camera, and a controller. The main transport mechanism transports an upper first workpiece and a lower second workpiece in a forward direction. The upper cross transport mechanism moves the first workpiece along left and right directions. The lower cross transport mechanism moves the second workpiece along the left and right directions. The upper rotation transport mechanism rotates and moves the first workpiece about a stitch point position. The lower rotation transport mechanism rotates and moves the second workpiece about a stitch point position. The first camera captures an image of the first workpiece behind a stitch point position. The second camera captures an image of the second workpiece behind the stitch point position. The controller executes a position adjusting control for adjusting positions of a side end of the first workpiece and a side end of the second workpiece. The control means selects which of the mechanisms, which are the upper cross transport mechanism and the upper rotational transport mechanism, performs the position adjustment control on the first workpiece and selects which of the mechanisms, which are the lower cross transport mechanism and the lower rotational transport mechanism, the position adjustment control on the second workpiece performs, according to a bending degree of the lateral end of the first workpiece, which is obtained from the detected image of the first camera, and a bending degree of the lateral end of the second workpiece, which is obtained from the detected image of the second camera, at a cycle of one or several bullet points through a needle.
6. (6) The sewing machine according to (5), wherein the control means determines the number of stitch points, which as a cycle of the selection, which of the mechanisms, which are the upper cross transport mechanism and the upper rotational transport mechanism, the position adjusting control performs on the first workpiece, and the selection of which of the mechanisms, which are the lower cross transport mechanism and the lower rotational transport mechanism, the position setting control performs the second workpiece, according to a state change of a shape of the lateral end of the first workpiece, which is obtained from the detected image of the first camera, and a shape of the lateral end of the second workpiece, which is obtained from the detected image of the second camera , changes.

As described above, according to the invention, excellent sewing of the upper fabric and the lower fabric is enabled.

list of figures

• 1 Fig. 15 is a perspective view showing main parts of an upper and lower transport sewing machine according to an embodiment;
• 2 Fig. 12 is an explanatory view briefly showing a configuration in which the main parts of the upper and lower transport sewing machine are viewed from a front direction;
• 3 Fig. 10 is a block diagram showing a control system of the upper and lower transport sewing machine;
• 4A is a plan view of an upper fabric and 4B is a plan view of a lower fabric;
• 5 Fig. 10 is a sectional view showing a configuration common to an upper cross transport mechanism, a lower cross transport mechanism, an upper rotational transport mechanism, and a lower rotational transport mechanism;
• 6 Fig. 10 is a plan view showing an arrangement of a configuration around a stitch point position;
• 7 is a front view, wherein a guide and a first pressure-sensitive sensor and a second pressure-sensitive sensor, which are arranged inside the guide, viewed from the rear are shown;
• 8th Fig. 10 is an explanatory view showing a positional relationship between a notch of the upper cloth and a notch of the lower cloth;
• 9 Fig. 10 is a flowchart of a sewing control;
• 10 Fig. 10 is a block diagram showing a control system of another example of an upper and lower transport sewing machine;
• 11 FIG. 10 is a flowchart showing a sewing control of the sewing machine of FIG 10 shows;
• 12 Fig. 10 is a front view of a sewing machine according to the conventional art; and
• 13 Fig. 10 is an enlarged front view of a work end detector with respect to an upper cloth in the sewing machine of the conventional art.

LONG DESCRIPTION

Embodiment of the Invention

An embodiment of the present invention will now be described. 1 is a perspective view of which main parts of a top and bottom feed sewing machine 10 which serves as a sewing machine according to the present embodiment, 2 FIG. 10 is an explanatory view briefly showing a configuration when the main parts are viewed from a front direction and FIG 3 Fig. 10 is a block diagram showing a control system of the upper and lower transport sewing machine 10 represents.

Further, in the following description, it is assumed that a horizontal direction is one Y -Axis direction is that orthogonal to the Y -Achsenrichtung extending horizontal direction a X -Axis direction is that a vertical up and down a Z -Axis direction is and that one of the X -Achsenrichtungen a "forward direction" is that the other one X -Achsenrichtung a "backward direction" is that one of Y -Achsenrichtungen a "left direction" that the other one Y -Achsenrichtung a "legal direction" is that one of Z -Axis directions is an "upward direction" and that the other one Z -Axis direction is a "down direction".

Further, in a state where the upper and lower transport sewing machine is running 10 is placed in a horizontal plane, a transport direction of an upper fabric U (a first workpiece) and a bottom fabric D (a second workpiece), as later by means of a main transport mechanism 20 explained, parallel to the X -Axis direction and a return direction of transportation is a "forward direction".

Furthermore, transverse transport mechanisms 30 and 40 , which will be described later, the upper fabric U and the lower fabric D in both directions the Y -Axis direction, ie move to the left side as well as to the right side.

While the upper fabric U and the lower fabric D , which at the top or at the bottom of a placement plate 13 are arranged, transported forward, leads the upper and lower transport sewing machine 10 a sewing operation, such that a lateral end on the right side of the upper fabric U and a side end on the right side of the lower fabric D match to prevent the occurrence of a deviation, and a seam is set to a predetermined target value.

[To the workpiece]

4A is a plan view of the upper fabric U and 4B is a plan view of the lower fabric D , Both the upper fabric U as well as the lower fabric D are elongated, and the upper fabric U and the lower fabric D are sewn together at a lateral end along a longitudinal direction of the Nähgutteile. Furthermore, the upper fabric is U sewn in a state in which a in 4A shown surface facing upward, and the lower fabric D is sewn in a state in which a in 4B shown surface facing down.

Furthermore, both have the upper fabric U as well as the lower fabric D a plurality of notches N which serve as a position indicator along the lateral end where the sewing operation is performed. The majority of notches N of the upper material U and the majority of notches N of the bottom fabric D are indicators of the execution of sewing, such that the positions of the notches N sequentially fit together from the end.

Further, the notches N the respective Nähgutteile, which are the upper fabric U and the lower fabric D , not formed at regular intervals, and there is also a case in which the educational gaps of the notches N which are in the upper fabric U and in the lower fabric D correspond to each other, do not match. For example, there is a case where the distance between a particular notch N of the upper material U and the next notch N is wider than the distance between the corresponding notch N of the bottom fabric D and the next notch N , In such a case, when sewing is performed, the next notch results N the upper and lower transport sewing machine 10 Sewing while transporting the upper material U and the bottom fabric D such that the transport of the upper fabric U greater than the transport of the lower material D , ie it performs a so-called curling stitching. Hereinafter, the control of crimping is referred to as "crimping".

Furthermore, that is on the upper fabric U and the lower fabric D formed position indicator not on notches, such as the notch N , and any display may be used which is visually recognizable, such as a projected shape or line or other markings on the workpiece.

[Schematic configuration of the sewing machine]

As in the 1 to 3 shown, includes the sewing machine 10 a needle up and down mechanism, not shown, which moves a needle bar holding an up and down needle; a main transport mechanism 20 , which the upper fabric U and the lower fabric D transported during sewing in the (positive) X-axis direction; the upper transverse transport mechanism 30 , which is positioned behind the Stichpunktposition and the upper fabric U moved in a left and right direction; the lower transverse transport mechanism 40 , which is positioned behind the Stichpunktposition and the lower fabric D moved in the left and right direction; an upper rotary transport mechanism 50 , which the upper fabric U turns and moves around the stitch point position; a lower rotation transport mechanism 60 , which the lower fabric D turns and moves around the stitch point position; One Base 12 which the upper rotary transport mechanism 50 and the lower rotation transport mechanism 60 supporting; the placement plate 13 which the lower fabric D placed and through the base 12 is held; a partition plate 11 which the upper fabric U and the lower fabric D separates from each other, such that the upper fabric U and the lower fabric D do not interfere with each other during a cross transport operation or a rotation transport operation; a first camera 71 , which is a picture of the upper material U recorded behind the stitch point position; a second camera 72 , which is an image of the bottom fabric D recorded behind the stitch point position; a first pressure-sensitive sensor 74 , which at the lateral end of the upper fabric U is behind the stitch point position; a second pressure-sensitive sensor 75 which abuts on the lateral end of the second workpiece behind the Stichpunktposition; a shuttle mechanism, not shown, which is obtained by capturing the upper thread from the needle below the placing plate 13 attached to the bobbin thread; a thread cutter 14 and a controller 90 which carries out the control of each of the configurations described above.

Further, the needle up and down mechanism, the shuttle mechanism and the thread cutter are similar 14 those well known in the conventional art; a detailed description is therefore omitted. Furthermore, the upper and lower transport sewing machine 10 a customary for the sewing machine equipment, such as a thread take-up lever or a thread tensioner; however, these are also well known in the conventional art, so that their description is omitted.

[Base]

The base 12 is a horizontally provided flat plate on the upper surface of a bed area and supports the lower cross transport mechanism 40 and the lower rotation transport mechanism 60 as described above.

The placement plate 13 is a horizontally provided flat plate above the base 12 and the lower fabric D is placed while sewing.

The lower cross transport mechanism 40 and the lower rotation transport mechanism 60 which will be described later are below the placing plate 13 arranged, and with respect to the placement plate 13 placed lower sewing material D becomes the bottom fabric D via an opening portion or a notch (not shown) which rests on the placement plate 13 is formed, transported.

Further, the second camera detects 72 , which is an image of the bottom fabric D captured from below, a picture of the bottom fabric D also over the opening area or notch (not shown), which (r) on the placement plate 13 is formed. Furthermore, the placement plate 13 be designed as a transparent plate so as not to disturb the image acquisition.

The partition plate 11 is a horizontally provided flat plate above the placement plate 13 , and the upper fabric U is placed while sewing.

The upper transverse transport mechanism 30 and the upper rotation transport mechanism 50 which will be described later are above the partition plate 11 arranged and transported on the partition plate 11 placed upper material U in contact with the upper material U from above.

Further, the first camera detects 71 a picture of the on the partition plate 11 placed upper material U from above.

[Main transport mechanism]

As in 2 shown, includes the main transport mechanism 20 : a presser foot 23 , which is attached to the placement plate 13 moved up and down and the upper fabric U and the lower fabric D pressed; a transporter 21 which is below the placement plate 13 is provided, an elliptical movement along the Y -Axis direction and out of the opening area of the placement plate 13 emerges; a transport foot 22 which is above the placement plate 13 is provided and the elliptical movement along the Y -Axis direction executes; and an operation transmission mechanism, not shown, showing the up-and-down movement or the elliptical movement on the conveyor 21 and the transport foot 22 applies.

The transporter 21 performs an orbital motion such that an upper portion is oriented forward in the elliptical motion, and the transport foot 22 performs the orbital motion such that a lower portion is oriented forward in the oval motion. Accordingly, further, the upper fabric U and the lower fabric D which is the separating plate 11 have gone through and on the placement plate 13 overlap, sandwiched between the feed dog 21 and the transport foot 22 arranged and transported intermittently forward at a constant transport pitch.

Furthermore, the presser foot moves 23 synchronous with the orbital operation of the transporter 21 and the transport foot 22 up and down, the transporter 21 goes down at the timing at which the transporter 21 retracts down and the transport foot 22 pulls back up and the upper fabric U and the lower fabric D presses, and the transporter 21 and the transport foot 22 go up at the timing at which the transporter 21 and the transport foot 22 engaged with each other and a Nähguttransport is performed.

Each of the components, which are the transporter 21 , the transport foot 22 and the presser foot 23 , is via a sewing machine motor 15 driven (see 3 ), which is a drive source for the needle up and down mechanism and the shuttle mechanism.

In other words, by the synchronous application of the reciprocating up and down and back and forth operations by a transmission mechanism which controls the rotation operation of the sewing machine motor 15 in the reciprocating up and down operation, and a transmission mechanism that converts the rotation operation into the reciprocating back and forth operation, the transporter 21 allow the implementation of the elliptical movement.

The same applies to the transport foot 22 the transport foot 22 to perform a reciprocating forward and backward movement by converting the rotation operation of the sewing machine motor 15 in the forward and backward movement and by applying the forward and backward movement to a rod which supports the transport foot 22 holds, and it is moved up and down by converting the rotary operation of the sewing machine motor 15 in the up and down movement and by applying the up and down movement to the rod, which the transport foot 22 supports. Accordingly, it is possible to the transport foot 22 for causing the elliptical movement.

Further, with respect to the rod, which is the presser foot 23 holds, the rotary operation of the sewing machine motor is converted into the up and down movement and transmitted, and the up and down movement is realized.

Furthermore, there is the sewing machine motor 15 power to the needle up and down mechanism and the main transport mechanism by a main shaft (not shown) 20 The needle up and down movement mechanism performs an operation for a needle during one revolution of the main shaft and the main transport mechanism 20 performs a transport operation for a split.

Further, the needle up and down movement mechanism includes a well-known needle swinging mechanism, and in synchronism with the up and down movement of the needle, the needle bar holding the needle oscillates along the Y-axis direction. Further, the needle swinging mechanism swings the needle bar forward in a portion where the lower end of the needle is deeper than the upper surface of the placing plate 13 ,

Thus, when a main shaft angle is 0 ° at the time when the needle bar is at the top dead center, the needle swings forward in a range of the main shaft angle from 90 to 270 ° in a state of being in the upper cloth U and the lower fabric D is stabbed. Further, the above-described conveyor move 21 and the transport foot 22 in an angle range of the main shaft angle of 90 to 270 ° forward and perform the transport operation.

That's why in the transport foot 22 an eye is formed into which the needle is inserted, and in a state in which the needle is in the upper fabric U and in the lower fabric D punctures, move the needle bar, the transport foot 22 and the transporter 21 forward and carry out the transport.

[Joint configuration to the cross transport mechanism and the rotary transport mechanism]

5 FIG. 12 is a sectional view showing a configuration that is the upper cross transport mechanism. FIG 30 , the lower transverse transport mechanism 40 , the upper rotary transport mechanism 50 and the lower rotation transport mechanism 60 is common. Further, the configurations that govern the mechanisms 30 to 60 are common to each other, denoted by the same reference numerals, and the redundant description thereof is omitted.

Each of the mechanisms 30 to 60 includes: a roll 31 for transporting the upper material U or the bottom fabric D in a tangential direction of an outer periphery thereof; a plurality of wheels 32 , which at regular intervals along the outer circumference of the roll 31 are arranged; a rotary shaft 33 at which the role 31 is fixed; a support frame 34 , which is the rotary shaft 33 rotatably supports; a pair of pulleys 35 and 36 and a timing belt 37 for transmitting the torque from the drive source to the rotary shaft 33 and a motor serving as a drive source.

The upper transverse transport mechanism 30 uses a transverse transport motor 38 as a motor serving as a drive source, the lower cross transport mechanism 40 uses a transverse transport motor 48 as a motor serving as a drive source, the upper rotation transport mechanism 50 uses a rotary motor 58 as a motor serving as a drive source and the lower rotation transporting mechanism 60 uses a rotary motor 68 as a motor serving as a drive source.

The wheels 32 are each at even intervals on the outer circumference of the roll 31 provided and rotatable about a shaft along the tangential direction in each attachment position, and the upper fabric U or the lower fabric D , which is in contact with the outer circumference of the roll 31 in the tangential direction can move in one direction along the rotation shaft 33 or in a direction in which it faces the rotary shaft 33 something is inclined to be moved.

Strictly speaking, the roles are 31 furthermore, over each of the wheels 32 with the upper fabric U or the lower fabric D in contact; however, in the specification, for the sake of simplicity, the description will be described that the upper sewing cloth U or that lower fabric D "With the outer circumference of the roll 31 in contact is "or" with the role 31 is in contact ".

[Upper Cross Transport Mechanism]

As in 1 shown is the support frame 34 the upper transverse transport mechanism 30 with respect to a sewing machine frame, swingably supported, and the upper cross-transport mechanism 30 includes a lifting and lowering air cylinder 391 , which performs a swinging operation on the holding frame 34 applies, and an input lever 392 , which on the holding frame 34 fixed and with a piston of the lifting and lowering air cylinder 391 connected is.

6 FIG. 10 is a plan view showing the arrangement of the configuration around a stitch point position. FIG S shows around. Further, the needle performs swinging forward and backward, but the stitch point position S in 6 indicates a stitch point position of the needle at bottom dead center.

The support frame 34 the upper transverse transport mechanism 30 extends to an upper part of the partition plate 11 substantially along the Y-axis direction and supports the rotary shaft 33 and the role 31 at a left end thereof; a right end is swingably supported by the sewing machine frame.

Further, the rotary shaft 33 the upper transverse transport mechanism 30 oriented in a direction in which the front end with respect to the X -Axis direction is slightly inclined downwards, and has at its front end a role 31 on. Further, the right end of the holding frame 34 around a shaft along the same direction as the rotating shaft 33 rotatably supported.

Accordingly, by operating the lift and lower air cylinder 391 the upper transverse transport mechanism 30 the role 31 by the swinging of the holding frame 34 raise and lower.

Further, when the roll is down 31 the upper transverse transport mechanism 30 the outer circumference of the roll 31 on the upper fabric U on the partition plate 11 abut, and at high gear may be the role 31 from the upper fabric U be withdrawn.

Further, the role 31 the upper transverse transport mechanism 30 arranged so that they are behind the stitch point position S on the upper fabric U is applied.

There - as in 6 shown - the rotary shaft 33 the role 31 the upper transverse transport mechanism 30 in a plan view along the X -Axis direction, runs in the decline, the tangential direction of the outer circumference of the roller 31 with respect to the upper fabric U parallel to the Y Axis direction. Therefore, the upper fabric can U by the rotary drive of the roller 31 the upper transverse transport mechanism 30 be moved in the left and right direction.

Furthermore, as in 3 shown, a solenoid valve 393 and an electro-pneumatic regulator 394 together with the lifting and lowering air cylinder 391 the upper transverse transport mechanism 30 provided.

The solenoid valve 393 Serves the air pressure supply of the lifting and lowering operation by the lifting and lowering air cylinder 391 ,

Further, the electropneumatic regulator 394 a pneumatic means for raising the pressure of the air pressure to a value above a normal pressure when the roller 31 through the lifting and lowering air cylinder 391 in the direction of the upper material U descends. In a case where the role 31 at a normal pressure on the upper fabric U is present, does not affect the forward transport of the upper material U through the main transport mechanism 20 exercised; in a case, however, in which the pressure through the electro-pneumatic regulator 394 is increased, the transport speed of the forward transport of the upper material is U through the main transport mechanism 20 by the pressure of the roller 31 delayed.

In other words, the electro-pneumatic regulator works 394 as "first speed adjuster setting the forward transport speed of the first workpiece".

[Lower Cross Transport Mechanism]

As in 1 shown is the support frame 34 the lower transverse transport mechanism 40 concerning the base 12 swingably supported and the piston of a lifting and lowering air cylinder 491 , which the swinging operation on the holding frame 34 applies is with a swing end of the support frame 34 connected.

The support frame 34 the lower transverse transport mechanism 40 extends to a lower part of the placement plate 13 substantially along the Y-axis direction and supports the rotary shaft 33 and the role 31 at a left end thereof; a right end is swingably supported by the sewing machine frame.

Further, the rotary shaft 33 the lower transverse transport mechanism 40 oriented in a direction in which the front end with respect to the X - Axis is inclined slightly downwards, and has at its front end the role 31 on. Further, the right end of the holding frame 34 around a shaft along the same direction as the rotating shaft 33 rotatably supported.

Accordingly, by operating the lift and lower air cylinder 491 the lower transverse transport mechanism 40 the role 31 by the swinging of the holding frame 34 raise and lower.

Furthermore, during the high gear of the role 31 the lower transverse transport mechanism 40 the outer circumference of the roll 31 on the lower fabric D on the placement plate 13 abut, and at the decline may be the role 31 from the bottom fabric D be withdrawn. Further, the role 31 the lower transverse transport mechanism 40 arranged so that they are behind the stitch point position S on the lower fabric D is applied.

Because the rotary shaft 33 the role 31 the lower transverse transport mechanism 40 - similar to the rotary shaft 33 the role 31 the upper transverse transport mechanism 30 in a plan view along the X-axis direction, at the high gear becomes the tangential direction of the outer circumference of the roller 31 with respect to the bottom fabric D parallel to the Y-axis direction. Therefore, the bottom fabric can D by the rotary drive of the roller 31 the lower transverse transport mechanism 40 be moved in the left and right direction.

Furthermore, as in 3 shown, a solenoid valve 493 and an electro-pneumatic regulator 494 together with the lifting and lowering air cylinder 491 the lower transverse transport mechanism 40 provided.

The solenoid valve 493 Serves the air pressure supply of the lifting and lowering operation by the lifting and lowering air cylinder 491 ,

Further, the electropneumatic regulator 494 a pneumatic means for raising the pressure of the air pressure to a value above a normal pressure when the roller 31 through the lifting and lowering air cylinder 491 in the direction of the lower sewing material D goes up. In a case where the role 31 at a normal pressure on the lower fabric D is present, does not affect the forward transport of the lower fabric D through the main transport mechanism 20 exercised; in a case, however, in which the pressure through the electro-pneumatic regulator 494 is increased, the transport speed of the forward feed of the lower fabric D through the main transport mechanism 20 by the pressure of the roller 31 delayed. In other words, the electro-pneumatic regulator works 494 as "second speed adjuster which adjusts the forward transport speed of the second workpiece".

[Upper rotation transport mechanism]

As in 1 shown is the support frame 34 the upper rotary transport mechanism 50 with respect to the sewing machine frame swingably supported, and the piston of a lifting and lowering air cylinder 591 , which the swinging operation on the holding frame 34 applies is with the swing end of the support frame 34 connected.

The support frame 34 the upper rotary transport mechanism 50 extends to the upper part of the partition plate 11 in a state in which it is oriented diagonally forward and downward, and holds the rotary shaft 33 and the role 31 at a left end thereof; an upper end is swingably supported by the sewing machine frame.

Further, the rotary shaft 33 the upper rotary transport mechanism 50 oriented in the Y-axis direction and has at its right end the role 31 on. Further, the upper end of the holding frame 34 around a shaft along the same direction as the rotating shaft 33 rotatably supported.

Accordingly, by operating the lift and lower air cylinder 591 the upper rotation transport mechanism 50 the role 31 by the swinging of the holding frame 34 raise and lower.

Further, when the roll is down 31 the upper rotary transport mechanism 50 the outer circumference of the roll 31 on the upper fabric U on the partition plate 11 abut, and at high gear may be the role 31 from the upper fabric U be withdrawn.

Further, the role 31 the upper rotary transport mechanism 50 arranged so that they are on the left side of the stitch point position S on the upper fabric U is applied.

There - as in 6 shown - the rotary shaft 33 the role 31 the upper rotary transport mechanism 50 in a plan view along the Y-axis direction, the tangential direction of the outer circumference of the roller is in the decline 31 with respect to the upper fabric U parallel to the X-axis direction. Therefore, the contact position of the roll 31 of the upper material U by the rotary drive of the roller 31 the upper rotary transport mechanism 50 be moved in the front and back direction and cause the upper fabric U a rotation about the stitch point position S performs around.

[Lower rotation transport mechanism]

As in 1 shown is the support frame 34 the lower rotation transport mechanism 60 concerning the base 12 swingably supported, and the piston of a lifting and lowering air cylinder 691 , which the swinging operation on the holding frame 34 applies is with a swing end of the support frame 34 connected.

The support frame 34 the lower rotation transport mechanism 60 extends to a lower part of the placement plate 13 essentially along the X-axis direction and holds the rotating shaft 33 and the role 31 at a front end thereof; a rear end is swingably supported by the sewing machine frame.

Further, the rotary shaft 33 the lower rotation transport mechanism 60 oriented in a direction in which the right end is inclined slightly upward with respect to the Y-axis direction, and has the roller at its right end 31 on. Further, the rear end of the holding frame 34 around a shaft along the same direction as the rotating shaft 33 rotatably supported.

Accordingly, by operating the lift and lower air cylinder 691 the lower rotation transport mechanism 60 the role 31 by the swinging of the holding frame 34 raise and lower.

Furthermore, during the high gear of the role 31 the lower rotation transport mechanism 60 the outer circumference of the roll 31 on the lower fabric D on the placement plate 13 abut, and at the decline may be the role 31 from the bottom fabric D be withdrawn.

Further, the role 31 the lower rotation transport mechanism 60 arranged so that they are on the left side of the stitch point position S on the lower fabric D is applied.

Because the rotary shaft 33 the role 31 the lower rotation transport mechanism 60 - similar to the rotary shaft 33 the role 31 the upper rotary transport mechanism 50 in a plan view along the Y -Axis direction, the tangential direction of the outer circumference of the roller is at the high gear 31 with respect to the bottom fabric D parallel to the X -Axis direction. Therefore, the contact position of the roll 31 of the bottom fabric D by the rotary drive of the roller 31 the lower rotation transport mechanism 60 be moved in the front and back direction and cause the lower fabric D a swinging motion around the stitch point position S performs around.

[First and second camera]

As in 1 pictured is the first camera 71 held by the sewing machine frame in a state in which a line of sight oriented vertically downwards above the partition plate 11 is arranged, and it captures an image of the upper surface of the upper fabric U on the partition plate 11 from above. The first camera 71 includes an image sensor, such as a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor, and may convert a captured image to image data; the image data becomes an image processor 73 fed.

As in 2 and 6 is shown at the first camera 71 an image capture area F as an area of several stitches behind the stitch point position S (Upstream side in the transport direction by the main transport mechanism 20 ), and the first camera 71 captures an image of a condition of the upper surface of the upper fabric U several stitches before the stitch point position S ,

Further, the image capture area F the first camera 71 desirably an area which is one to ten stitch positions past the stitch point position S includes (can also be the stitch point position S contain). Here a stitch denotes an average division of the upper and lower transport sewing machine 10 or a most commonly used division.

As in 1 pictured is the second camera 72 through the base 12 held in a state in which the line of sight is oriented vertically upward, and it captures an image of the lower surface of the lower fabric D on the placement plate 13 from below. The second camera 72 Also includes an image sensor, such as a CCD or CMOS image sensor, converts the captured image into the image data and feeds the image data to the image processor 73 one.

The image capture area of the second camera 72 is set to an area which is in a plan view at the same position as the first camera 71 located, and the second camera 72 captures an image of a condition of the lower surface of the lower fabric D several stitches before the stitch point position S ,

[First and second pressure-sensitive sensor]

Both the first pressure-sensitive sensor 74 as well as the second pressure-sensitive sensor 75 are inside a guide 76 arranged as in 2 and 6 shown. 7 is a front view when looking at the guide 76 as well as the first pressure-sensitive sensor 74 and the second pressure-sensitive sensor 75 , which are arranged inside the guide, from behind.

The leadership 76 has slots 761 and 762 into which an area from the stitch point position S up to one side slightly close (behind) the stitch point position S at the right lateral ends of the upper material to be transported U and bottom fabric D ranges and which are open in the front and back direction and left side.

Further, on a far right side of the slot 761 an attachment 741 , which at the right side end of the upper fabric U is applied, and the pressure-sensitive sensor 74 arranged, and on the far right side of the slot 762 are an attachment 751 , which at the right side end of the lower fabric D is applied, and the second pressure-sensitive sensor 75 arranged.

At each of the slots 761 and 762 are the plant members 741 and 751 each held so that they are pushed to the right side. Furthermore, when pressure is applied to the first pressure-sensitive sensor 74 and the second pressure-sensitive sensor 75 over the plant members 741 respectively. 751 a detection signal corresponding to the pressing force, in the control device 90 entered.

The symbol M in 7 gives a suitable target position of the right lateral end of the upper fabric U and the bottom fabric D at.

The control device 90 stores a standard detection pressure, which is from each of the pressure-sensitive sensors 74 and 75 in a case where the right side end of the upper cloth is detected U and the bottom fabric D at the appropriate target position M is positioned, and performs a control of the movement of the upper material U or the bottom fabric D to the left side in a case where the detected pressure is higher than the standard detection pressure, and controls the movement of the upper cloth U or the bottom fabric D to the right side in a case where the detected pressure is lower than the standard detection pressure.

[Control]

As in 3 includes the upper and lower transport sewing machine 10 the controller 90 which controls the entire sewing machine during sewing.

The sewing machine motor 15 for moving the needle up and down via a drive circuit 15a with the control device 90 connected. Further, on a sewing machine main shaft, not shown, which passes through the sewing machine motor 15 is driven in rotation, an encoder 151 for detecting the shaft angle and the detection shaft angle is provided via an interface 151a to the controller 90 output. It is possible, the speed or the rotation angle of the main shaft based on the output of the encoder 151 to detect.

Furthermore, a thread cutter 14 via a drive circuit 14a with the control device 90 connected.

Furthermore, the upper and lower transport sewing machine 10 an operator panel 95 to input various set values and to display various types of information; the control panel 95 is via an interface 95a also with the control device 90 connected.

Furthermore, the transverse transport motors 38 and 48 the upper transverse transport mechanism 30 and the lower cross transport mechanism 40 , the solenoid valves 393 and 494 for operating the lifting and lowering air cylinder 391 and 491 which are the roles 31 raise and lower, as well as the electropneumatic regulator 394 and 494 for adjusting the air pressure which the lifting and lowering air cylinders 391 and 491 is supplied via the drive circuit 38a . 48a . 393a . 493a . 394a respectively. 494a with the control device 90 connected.

The solenoid valves described above 393 and 493 switch the supply of the lifting and lowering air cylinders 391 and 491 with the working air pressure and cause the role 31 the lifting and lowering operation by the lifting and lowering air cylinder 391 and 491 performs.

The electro-pneumatic regulator 394 and 494 can adjust the supply air pressure to the lift and lower air cylinders 391 and 491 increase when each of the roles 31 with the upper fabric U or the lower fabric D is in contact, and can accordingly the contact pressure against the upper fabric U or the lower fabric D through each of the roles 31 increase.

At normal contact pressure, the rollers prevent 31 not that the upper fabric U or the lower fabric D by the rotation of the wheel 32 is transported forward on the outer circumference; but if the supply air pressure through the electro-pneumatic regulator 394 and 494 is increased, the contact pressure with respect to the upper Nähguts U or the bottom fabric D each by the roles 31 increases and becomes a resistance for the transport of the upper fabric U or the bottom fabric D through the main transport mechanism 20 ,

If, for example, the supply air pressure of one of the two lifting and lowering air cylinder 391 respectively. 491 through the electropneumatic regulator 394 and 494 on one of the two workpieces, which are the upper fabric U and the lower fabric D , Increased, then it is possible, the transport speed at which the supply air pressure of the upper material U or the bottom fabric D is increased, reduce and perform the so-called Kräuselnähen.

Furthermore, the rotary transport motors 58 and 68 the upper rotary transport mechanism 50 and the lower rotary transport mechanism 60 and the solenoid valves 593 and 693 for operating the lifting and lowering air cylinder 591 and 691 which are the roles 31 raise and lower, via the drive circuits 58a . 68a . 593a respectively. 693a with the control device 90 connected.

The solenoid valves described above 593 and 693 switch the supply of the lifting and lowering air cylinders 591 and 691 with working air pressure and cause the roll 31 the lifting and lowering operation via the lifting and lowering air cylinder 591 and 691 performs.

Furthermore, the first and second camera 71 and 72 , the image processor 73 , the first and second pressure-sensitive sensor 74 and 75 over the interfaces 71a . 72a . 73a . 74a and 75a with the control device 90 connected.

Furthermore, the control device comprises 90 : a CPU 91 for performing various types of arithmetic processing; a ROM 92 in which a program related to the operation control of each of the configurations described above is stored; a RAM 93 for storing various types of data associated with the processing of the CPU 91 in a workspace; and an EEPROM 94 which serves as a memory for recording various types of setting data, sewing data and the like.

[Nähsteuerung]

The sewing control, which by the control device 90 in the upper and lower feed sewing machine configured as described above 10 is executed, is based on the explanatory view of 8th and the flowchart of 9 described.

Further, in the following description, there is a case where the upper cross transport mechanism 30 , the lower transverse transport mechanism 40 , the upper rotary transport mechanism 50 and the lower rotation transport mechanism 60 collectively referred to as a "sub-transport mechanism".

At the beginning of sewing, the CPU transports 91 the control device 90 the upper fabric U and the lower fabric D towards the back and performs several back stitches (step S1 ).

Furthermore, the CPU continues 91 the sub-transport mechanism to an initial state (step S3 ). In other words, the role 31 the upper transverse transport mechanism 30 is in a state where she is using with the upper fabric U in contact, the role 31 the lower transverse transport mechanism 40 is in a state in which she is using the lower fabric D in contact, the role 31 the upper rotary transport mechanism 50 is in a retreat state and the role 31 the lower rotation transport mechanism 60 is in a retreat state.

Furthermore, the drive of the sewing machine motor 15 started (step S5 ).

When sewing through the sewing machine motor 15 is started, causes the CPU 91 the first and the second camera 71 and 72 , an image from a position multiple stitches before the stitch point position S on the upper fabric U and on the bottom fabric D to capture (step S7 ). Furthermore, the image capture of the upper fabric U and the bottom fabric D and the processing is performed on the detected image at one cycle per two revolutions of the main shaft.

The image data of the captured images of the above-described first and second cameras 71 and 72 be through the image processor 73 Processed to a right side end U1 of the upper material U and a right side end D1 of the bottom fabric D to extract (step S9 : please refer 4A and 4B) ,

Next, the CPU determines 91 whether or not the forms of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D are like a form of a conclusion (step S11 ). The shape of the terminal end is determined, for example, on the basis of whether continuous straight lines or continuous curves which the right lateral ends U1 and D1 show, are broken through or the like.

Further, in a case where at least one of the ends, which is the right side end, becomes U1 of the upper material U and the right side end D1 of the bottom fabric D which has the shape of the terminal end (step S11 : YES), sewing to a position of the finishing end as it is continued (step S29 ), a backstitch is made at the position of the end of the finish (step S31 ), the upper thread and the lower thread parallel to stopping the drive of the sewing machine motor 15 through the thread cutter 14 cut off (step S33 ), and the sewing control is ended.

Furthermore, the CPU determines 91 in step S11 in a case where neither the right lateral end U1 of the upper material U still the right side end D1 of the bottom fabric D has the shape of the terminal end (step S11 : NO), a bending degree of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D , In other words, regarding the degree of bending of the right side end U1 of the upper material U and the right side end D1 of the bottom fabric D determines whether or not the bend of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D sharp, and in particular, whether or not the forms of the right lateral end U1 of the upper material U or the right side end D1 of the bottom fabric D equal to a curved shape (arc shape) with radius Roder are smaller (step S13 ).

With respect to the radius R, for example, since the bend is sharp, in the transverse transport operation of the upper cloth U through the upper transverse transport mechanism 30 in the left and right direction and in the transverse transport operation of the lower fabric D through the lower transverse transport mechanism 40 selects a size in the left and right direction to the extent that can not follow very well.

For example, the numerical value of the radius R through the control panel 95 be set to any value.

Next: in a case where the shape of the right lateral end U1 of the upper material U or the right side end D1 of the bottom fabric D is not equal to a curved shape with radius R or smaller (step S13 : NO) is used in the subsequent position adjustment control to position the right side end U1 or D1 in a target position M (please refer 7 ) (Control of the steps S25 to S27 as described later), the upper cross transport mechanism 30 or the lower transverse transport mechanism 40 selected (step S15 ).

Meanwhile, in a case where the shape of the right lateral end becomes U1 of the upper material U or the right side end D1 of the bottom fabric D is equal to a curved shape with radius R or smaller (step S13 : YES), the speed of the sewing machine motor 15 changed to a low speed which is lower than a normal sewing speed, and in the subsequent position setting control for positioning the right side end U1 or D1 in the target position M (please refer 7 ) becomes the upper rotation transport mechanism 50 or the lower rotation transport mechanism 60 selected (step S17 ).

Further, the selection of the sub-transport mechanisms described above in the steps S15 and S17 individually according to the forms of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D certainly.

For example, there is also a case where the upper cross transport mechanism 30 (or the upper rotation transport mechanism 50 ) for the upper fabric U and the lower rotation transport mechanism 60 (or the lower cross transport mechanism 40 ) for the lower fabric D is selected.

Next, the CPU detects 91 notch N from the shapes of the right lateral end U1 of the upper material U or the right side end D1 of the bottom fabric D , gets the position of each of the notches N and calculated as in 8th shown, a deviation amount G in the X -Axis direction between the position of the notch N of the upper material U and the position of the notch N of the bottom fabric D , Furthermore, the CPU determines 91 , whether or not the calculated deviation amount G the score N is equal to or greater than the execution width of the predetermined curling control (step S19 ).

Further, the value of the execution width of the curl control which is a threshold value of the deviation amount G the score N through the control panel 95 be set to any value.

Further, in a case where the deviation amount G the score N is not equal to or greater than the execution width of the predetermined curling control (step S19 : NO), each of the sub-transport mechanisms maintains the previous set state and the curl control is not executed (step S21 ).

Further, in a case where the deviation amount G the score N is equal to or greater than the execution width of the predetermined curling control (step S19 : YES), become the electropneumatic controllers 394 and 494 the upper transverse transport mechanism 30 or the lower transverse transport mechanism 40 which is either to the upper fabric U or to the lower fabric D corresponds to the notch N at a Front is positioned, operated and the role 31 is allowed to the upper fabric U or the lower fabric D to be pressure-welded in a state in which the contact pressure with respect to the upper fabric U or the bottom fabric D is higher than a normal pressure (step S23 ). Accordingly, a state is achieved in which the execution of the crimping control is enabled.

In the example of 8th For example, due to the presence of the notch N of the bottom fabric D on the front of the electro-pneumatic regulator 494 operated and the role 31 the lower transverse transport mechanism 40 gets to the lower fabric D pressure-welded.

Further, there is also, if by the determination in step S13 the upper rotation transport mechanism 50 or the lower rotation transport mechanism 60 is selected, a case in which the operation of the electropneumatic regulator 394 or 494 in step S23 is performed.

For example, regarding the upper fabric U even in a case where by the provision in step S13 the upper rotation transport mechanism 50 is selected and the role 31 with the upper fabric U comes in contact, then when in step S23 the pressure welded condition of the roll 31 the upper transverse transport mechanism 30 is determined, reaches a state where the role 31 the upper rotary transport mechanism 50 with the upper fabric U comes in contact and the role 31 the upper transverse transport mechanism 30 to the upper fabric U is pressure welded. This also applies to a case of the lower fabric D ,

Further, the control of step S7 until step S23 repeatedly as described above, that is, every time the main shaft rotates twice as long as the terminal end of the upper sewing material U or the bottom fabric D in step S11 is not detected.

Meanwhile, while the above-described control of step S7 until step S23 is repeatedly executed, with respect to the upper cross-transport mechanism 30 or the upper rotary transport mechanism 50 and the lower cross transport mechanism 40 or the lower rotary transport mechanism 60 which in step S13 to be selected, the position adjustment controller for positioning the right side end U1 of the upper material U and the right side end D1 of the bottom fabric D in the target position M based on the first and second pressure-sensitive sensors 74 and 75 repeatedly with a minute-time cycle (for example, in a cycle of 1 [ms]).

In other words, the CPU 91 detects the from the right side end U1 and D1 of the upper material U or the lower material D received contact pressure by the first and the second pressure-sensitive sensor 74 and 75 (Step S25 ), and it becomes the position adjusting controller for positioning the right side end U1 of the upper material U and the right side end D1 of the bottom fabric D in the target position M with respect to the upper transverse transport mechanism 30 or the upper rotary transport mechanism 50 and the lower cross transport mechanism 40 or the lower rotary transport mechanism 60 which in step S13 selected (step S27 ).

In particular, in a case where the right lateral end becomes U1 of the upper material U one opposite the target position M deviating course to the right side or to the left side has, with respect to the cross-feed motor 38 the upper transverse transport mechanism 30 or the rotary motor 58 the upper rotary transport mechanism 50 determines the rotational direction for eliminating the deviation and the rotational speed corresponding to the magnitude of the deviation, and the position adjusting control is performed according to the determination.

Similarly, in a case where the right side end is D1 of the bottom fabric D one opposite the target position M deviating course to the right side or to the left side has, with respect to the transverse transport motor 48 the upper transverse transport mechanism 40 or the rotary motor 68 the lower rotation transport mechanism 60 determines the rotational direction for eliminating the deviation and the rotational speed corresponding to the magnitude of the deviation, and the position adjusting control is performed according to the determination.

The control of the steps described above S25 and S27 is also repeatedly executed at the specified minute-time cycle as long as the terminal end of the upper fabric U or the bottom fabric D in step S11 is not detected.

[Technical effect of the embodiment of the invention]

In the upper and lower transport sewing machine described above 10 is characterized in that the control device 90 selects which of the two transport mechanisms, which are the upper transverse transport mechanism 30 and the upper rotation transport mechanism 50 , the position adjusting control on the upper cloth U according to the degree of bending of the lateral end of the upper fabric U , which off the captured image of the first camera 71 is obtained, and according to the bending degree of the lateral end of the lower fabric D which is from the captured image of the second camera 72 is received, executes, and that the control device 90 selects which of the two transport mechanisms, which are the lower transverse transport mechanism 40 and the lower rotation transport mechanism 60 , the position adjustment control on the lower fabric D performs, even if the shape of the lateral end of the upper fabric U or the bottom fabric D is curved, given the opportunity to perform an appropriate transport, which corresponds to the curve, and to realize an excellent stitching.

Further, the controller selects 90 the upper transverse transport mechanism 30 and the upper rotary transport mechanism 50 , which with the position adjustment of the upper material U is in relationship, and selects the lower cross transport mechanism 40 and the lower rotation transport mechanism 60 , which with the position adjustment of the lower fabric D in a cycle of two stitch points through the needle.

In this way, by performing the selection processing with a margin in the cycle, it is possible to complete the selection processing until the beginning of the next cycle even in a case where there is time for the selection processing to complete the selection processing Generation of a delay caused by the position adjustment control of the upper material U or the bottom fabric D caused to reduce and to carry out the sewing safely.

In particular, although the image data generated by the image capture of the camera takes time for the image processing, it is found that the present embodiment of the invention allows, as described above, a margin in the cycle for the reduction of the delay the processing is more effective.

Further, in the case described above, the responsiveness of the processing is reduced by extending the repetition cycle; but there the image capture area F the first and the second camera 71 and 72 to one position several stitches before the stitch point position S is set, a time margin exists until a detection destination is the key point position S achieved, and it is possible to correspond to a low responsiveness.

Further, by the controller 90 the speed reduction control of the sewing speed by the sewing machine motor 15 according to the degree of bending of the lateral end of the upper fabric U which is from the captured image of the first camera 71 is obtained, and according to the bending degree of the lateral end of the lower fabric D which is from the captured image of the second camera 72 is obtained, and thus it is possible, even in a case where the shape of the lateral end of the upper fabric U or the bottom fabric D is curved to carry out the transport of the curve following and also to realize an excellent sewing.

Furthermore, the upper and lower transport sewing machine includes 10 the electro-pneumatic regulator 394 , which serves as a first speed adjuster, which determines the transport speed of the upper material U in the forward direction, and the electro-pneumatic regulator 494 , which serves as a second speed adjuster, which determines the transport speed of the lower fabric D in the forward direction, and the controller 90 performs the operation control of the curling with a difference between the transport speed of the upper material U and that of the bottom fabric D through the electropneumatic regulator 394 and 494 through, based on the position of the notch N the lateral end of the upper fabric U which from the captured image of the first camera 71 and the position of the notch N the lateral end of the lower fabric D which from the captured image of the second camera 72 is obtained.

Accordingly, it is possible to sew the lateral ends of the curves of the upper fabric U and the bottom fabric D and sewing with the through the upper fabric U and the lower fabric D caused three-dimensional buckling outstanding perform.

In particular, this is because the position of the notch N is recognized and sewn on the captured image, given the opportunity to automate the sewing of the seams, which in the conventional art due to the curling when no manual processing is involved, difficult to design, and to improve the production efficiency drastically.

The upper and lower transport sewing machine 10 further includes the first pressure-sensitive sensor 74 , which is behind the stitch point position S at the lateral end of the upper fabric U is applied, and the second pressure-sensitive sensor 75 , which is behind the stitch point position S at the lateral end of the lower fabric D abuts, and performs the position adjustment control of the upper material U through the upper transverse transport mechanism 30 or the upper rotary transport mechanism 50 and the position adjustment control of the lower fabric D through the lower transverse transport mechanism 40 or the lower rotary transport mechanism 60 based on the detection of the first and second pressure sensitive sensors 74 and 75 out.

It is accordingly possible to determine the position of the lateral ends of the upper fabric U and the bottom fabric D stable with high accuracy and improve the sewing quality. Furthermore, instead of the pressure-sensitive sensor, an optical line sensor or a camera can be used.

[Another configuration example of an upper and lower transport sewing machine]

10 is a block diagram showing a top and bottom feed sewing machine 10B according to another configuration. As shown in the drawing, is at the top and bottom feed sewing machine 10B the first pressure-sensitive sensor 74 and the second pressure-sensitive sensor 75 not included; the remaining parts are identical to those of the upper and lower transport sewing machine described above 10 ,

The of the control device 90 at the upper and lower transport sewing machine 10B executed sewing control is based on the flowchart of 11 described.

At the beginning of sewing, the CPU performs 91 a backstitch from (step T1 ) sets the sub-transport mechanism to an initial state (step T3 ) and then starts the drive of the sewing machine motor 15 (Step T5 ).

Next up is the CPU 91 the image capture by the first and the second camera 71 and 72 through (step T7 ) and extract the right side end U1 of the upper material U and the right side end D1 of the bottom fabric D through the image processor 73 (Step T9 ).

Further, based on the extracted positions of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D in the Y -Axis direction with respect to any of the transport mechanisms, which are the upper cross transport mechanism 30 and the upper rotation transport mechanism 50 , and any of the transport mechanisms, which are the lower cross transport mechanism 40 and the lower rotation transport mechanism 60 , which - as described later - in step T15 to be selected, the position adjustment controller for positioning the right side end U1 of the upper material U and the right side end D1 of the bottom fabric D in the target position M performed (step T11 ).

Furthermore, in the case of the initial phase in which the selection in step T15 has not yet been performed, the position adjustment control by the upper cross-transport mechanism 30 and the lower cross transport mechanism 40 carried out.

In particular, in a case where the right lateral end becomes U1 of the upper material U , which is obtained from the captured image, one to the target position M deviating course to the right side or to the left side has, with respect to the transverse transport motor 38 the upper transverse transport mechanism 30 or the rotary motor 58 the upper rotary transport mechanism 50 determines the rotational direction for eliminating the deviation and the rotational speed corresponding to the magnitude of the deviation, and the position adjusting control is performed according to the determination.

Similarly, in a case where the right side end is D1 of the bottom fabric D which is obtained from the captured image, one opposite the target position M deviating course to the right side or to the left side has, with respect to the transverse transport motor 48 the lower transverse transport mechanism 40 or the rotary motor 68 the lower rotation transport mechanism 60 determines the rotational direction for eliminating the deviation and the rotational speed corresponding to the magnitude of the deviation, and the position adjusting control is performed according to the determination.

Next, in a case where by the CPU 91 It is determined that the forms of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D equal to the shape of the conclusion end (step T13 ) and that the upper fabric U or the lower fabric D is the shape of the conclusion (step T13 : YES), sewing up to the position of the finishing end as it is continued (step T29 ), a backstitch is executed (step T31 ), the drive of the sewing machine motor 15 stopped and cutting the upper thread and the lower thread through the thread cutter 14 executed (step T33 ), and the sewing control is ended.

Furthermore, the CPU determines 91 in step T13 in a case where neither the upper fabric is U still the lower fabric D has the shape of the terminal end (step T13 : NO), the bending degrees of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D , In this case, in terms of the bending degree of the right side end U1 of the upper material U and the right side end D1 of bottom fabric D determines whether or not the bend of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D sharp, and in particular, whether or not the forms of the right lateral end U1 of the upper material U or the right side end D1 of the bottom fabric D are equal to a curved shape with radius R or smaller (step T15 ).

Further, in a case where the curved shape of radius R or smaller is not determined (step T15 : NO), the subsequent position setting control (control of step T11 ) of the right end U1 or D1 through the upper transverse transport mechanism 30 or the lower transverse transport mechanism 40 performed (step T17 ).

Meanwhile, in a case where the shape of the right lateral end becomes U1 of the upper material U or the right side end D1 of the bottom fabric D is equal to a curved shape with radius R or smaller (step T15 : YES), the speed of the sewing machine motor 15 is changed to a low speed which is lower than a normal sewing speed, and then the position adjusting control (control of step T11 ) of the right lateral end U1 or D1 through the upper rotary transport mechanism 50 or the lower rotary transport mechanism 60 performed (step T19 ).

Further, the selection of the sub-transport mechanisms described above in the steps T17 and T19 individually according to the forms of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D is determined, similar to a case of the upper and lower feed sewing machine described above 10 ,

Next, the CPU detects 91 the notches N from the shapes of the right lateral end U1 of the upper material U or the right side end D1 of the bottom fabric D and calculates the variance amount G in the X-axis direction between the positions of the notches N of the upper material U and the bottom fabric D , Furthermore, the CPU determines 91 , whether or not the calculated deviation amount G the score N is equal to or greater than the execution width of the predetermined curling control (step T21 ).

Further, in a case where the deviation amount G the score N is not equal to or greater than the execution width of the predetermined curling control (step ST21: NO), each of the sub-transporting mechanisms maintains the previous setting state and the curling control is not performed (step T23 ).

Further, in a case where the deviation amount G the score N is equal to or greater than the execution width of the predetermined curling control (step T21 : YES), is controlled by the electro-pneumatic regulator 394 and 494 the upper transverse transport mechanism 30 or the lower cross transport mechanism 40 which is either to the upper fabric U or to the lower fabric D corresponds to the notch N positioned on a front side, the roller 31 allowed, to the upper fabric U or the lower fabric D to be pressure welded at a contact pressure higher than a normal pressure (step T25 ). Accordingly, a state is achieved in which the execution of the crimping control is enabled.

Furthermore, the CPU determines 91 due to the output of the encoder 151 whether or not the main shaft from the step's execution T7 two turns (step T27 ); in a case where the main shaft has not yet made two revolutions, the determination is repeated, and when two revolutions of the main shaft are performed, the process goes to step processing T7 back.

This is how the top and bottom feed sewing machine performs 10B the sewing control off.

[Technical Effects of Top and Bottom Transport Sewing Machine According to Another Example]

As described above, the upper and lower transport sewing machine 10B the same technical effect as the upper and lower transport sewing machine 10 ,

Further: because the upper and lower transport sewing machine 10B both the position adjustment control of the upper fabric U through the upper transverse transport mechanism 30 or the upper rotary transport mechanism 50 as well as the position adjustment control of the lower fabric D through the lower transverse transport mechanism 40 or the lower rotary transport mechanism 60 based on the captured image of the first and second cameras 71 and 72 is performed at a cycle of two stitch points, it is possible to generate the deceleration involved in the position adjustment control of the upper fabric U or the bottom fabric D occurs, more effectively reduce and perform stitching stable.

[Miscellaneous]

The first workpiece and the second workpiece are not limited to textile material; Flat materials made of other materials can also be a goal of sewing.

Furthermore, although here are exemplary of the above-described upper and Untertransportnähmaschinen 10 and 10B been described; However, the invention is not limited thereto, and it may be a sewing machine are used, which performs a general transport with only one conveyor for the transport of the workpiece.

The processing of step S7 until step S23 in the flowchart of 9 is not limited to one repetition per two revolutions of the main shaft, but may be performed per one revolution or per three or more integer revolutions.

Further, a configuration may be used in which repeated execution is performed at a certain minute-time cycle without synchronization with the rotational speed of the main shaft.

Furthermore, the control device 90 based on the shape of the right lateral end of the upper fabric U or the bottom fabric D from the captured image, the controller to change the cycle of performing the processing of S7 to S23 dynamically according to the situation change in the sewing process, for example, per plurality of revolutions of the main shaft when the shape is linear and per one revolution of the main shaft when the shape is curved.

Furthermore, the processing is by step T7 until step T27 in the flowchart of 11 not limited to one repetition per two revolutions of the main shaft; this can also be done per one revolution or per three or more integer revolutions.

Further, a configuration may be used in which repeated execution is performed at a specified minute-time cycle without synchronization with the rotational speed of the main shaft.

Furthermore, the control device 90 based on the shape of the right lateral end of the upper fabric U or the bottom fabric D from the captured image, control to change the cycle of performing the processing of T7 to T27 dynamically according to the situation change in the sewing process, for example, per plurality of revolutions of the main shaft when the shape is linear and per one revolution of the main shaft when the shape is curved.

Furthermore, in the upper and Unterransportnähmaschinen 10 and 10B also given the opportunity to use a configuration in which the upper rotation transport mechanism 50 and the lower rotation transport mechanism 60 are not provided. In this case, in step S13 from 9 in a case where the forms of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D each equal to the curved shape with radius R or smaller, the speed reduction control of the sewing machine motor in step S17 but even in both cases where the radius is equal to or less than the radius R or greater than the radius R , become the upper cross transport mechanism 30 and the lower cross transport mechanism 40 selected as sub-transport mechanism.

Further, in step T15 from 11 also in a case where the forms of the right lateral end U1 of the upper material U and the right side end D1 of the bottom fabric D each equal to the curved shape with radius R or smaller, the speed reduction control of the sewing machine motor in step T19 executed, but even in both cases where the radius is equal to or less than the radius R or larger than the radius R, becomes the upper cross transport mechanism 30 or the lower transverse transport mechanism 40 selected as sub-transport mechanism.

LIST OF REFERENCE NUMBERS

10, 10B

Upper and lower transport sewing machine (sewing machine)

11

separating plate

12

Base

13

placement plate

15

sewing machine motor

20

Main transport mechanism

21

carrier

22

feeding foot

30

Upper transverse transport mechanism

31

role

32

wheel

33

rotary shaft

34

holding frame

38, 48

Cross feed motor

40

Lower transverse transport mechanism

50

Upper rotary transport mechanism

58, 68

rotary engine

60

Lower rotary transport mechanism

71

First camera

72

Second camera

73

image processor

74

First pressure-sensitive sensor

75

Second pressure-sensitive sensor

90

control device

91

CPU

151

encoder

391, 491, 591, 691

Lifting and lowering air cylinder

393, 493, 593, 693

solenoid valve

394

Electropneumatic controller (first speed adjuster)

494

Electropneumatic controller (second speed adjuster)

D

Lower material (second workpiece)

D1

Right side end

F

Image capture area

G

Deviation amount of the notch

M

target position

N

score

S

Stitch point position

U

Upper sewing material

U1

Right side end

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• JP 9248390 [0002]

Claims (6)

Sewing machine comprising: a main transport mechanism that transports an upper first workpiece and a lower second workpiece in a forward direction; an upper cross transport mechanism that moves the first workpiece along left and right directions; a lower cross transport mechanism that moves the second workpiece along the left and right directions; a first camera that captures an image of the first workpiece behind a stitch point position; a second camera that captures an image of the second workpiece behind the stitch point position; and a control device that executes a position setting control for adjusting positions of a side end of the first workpiece and a side end of the second workpiece, wherein the controller performs the position adjustment control on the first workpiece by the upper cross transport mechanism and the position adjusting control on the second workpiece by the lower cross transport mechanism based on captured images obtained from the first camera and the second camera at a cycle of one or more stitch points through a needle. Sewing machine after Claim 1 wherein: the control means controls the number of stitch points serving as one cycle of the position adjusting control on the first workpiece by the upper cross transport mechanism and the position adjusting control on the second workpiece by the lower cross transport mechanism according to a state change of a shape of the lateral end of the first workpiece is obtained from the captured image of the first camera, and a shape of the lateral end of the second workpiece, which is obtained from the captured image of the second camera. Sewing machine, comprising: a main transport mechanism that transports an upper first workpiece and a lower second workpiece in a forward direction; an upper cross transport mechanism that moves the first workpiece along left and right directions; a lower cross transport mechanism that moves the second workpiece along the left and right directions; a first speed adjuster adjusting a conveying speed of the first workpiece in the forward direction; a second speed adjuster adjusting a transport speed of the second workpiece in the forward direction; a first camera that captures an image of the first workpiece behind a stitch point position; a second camera that captures an image of the second workpiece behind the stitch point position; and a control device that executes a position setting control for adjusting positions of a side end of the first workpiece and a side end of the second workpiece, wherein the controller performs an operation control for providing a difference between the conveying speed of the first workpiece and the second workpiece by the first speed adjuster and the second speed adjuster based on a position of the lateral end position indicator of the first workpiece obtained from the captured image of the first camera and a position of a position indication of the lateral end of the second workpiece, which is obtained from the captured image of the second camera, at a cycle of one or more stitch points by a needle. Sewing machine after Claim 3 wherein the control means determines the number of stitch points serving as one cycle of curling control according to a state change of a shape of the lateral end of the first workpiece obtained from the detected image of the first camera and a shape of the lateral end of the second workpiece; which is obtained from the captured image of the second camera changes. A sewing machine comprising: a main transport mechanism that transports an upper first workpiece and a lower second workpiece in a forward direction; an upper cross transport mechanism that moves the first workpiece along left and right directions; a lower cross transport mechanism that moves the second workpiece along the left and right directions; an upper rotation transport mechanism that rotates and moves the first workpiece about a stitch point position; a lower rotation transport mechanism that rotates and moves the second workpiece about the stitch point position; a first camera that captures an image of the first workpiece behind the stitch point position; a second camera that captures an image of the second workpiece behind the stitch point position; and a control device including a position adjusting controller for adjusting positions of a side end of the first workpiece and a lateral end of the second workpiece, wherein the control means selects which of the mechanisms, which are the upper transverse transport mechanism and the upper rotational transport mechanism, the Positionsseinstellsteuerung performs on the first workpiece, and selects which of the mechanisms, which are the lower transverse transport mechanism and the lower rotation transport mechanism that performs position adjusting control on the second workpiece according to a bending degree of the lateral end of the first workpiece obtained from the detected image of the first camera and a bending degree of the lateral end of the second workpiece obtained from the detected image of the second camera , in a cycle of one or more stitch points by a needle. Sewing machine after Claim 5 wherein: the control means calculates the number of stitch points which execute as a cycle of the selection, which of the mechanisms, which are the upper cross transport mechanism and the upper rotational transport mechanism, the position adjustment control on the first workpiece, and the selection of which of the mechanisms lower transverse transport mechanism and lower rotational transport mechanism that performs position adjustment control on the second workpiece, according to a state change of a shape of the lateral end of the first workpiece, which is obtained from the detected image of the first camera, and a shape of the lateral end of the second workpiece which is obtained from the captured image of the second camera changes.

Images