EP0131087B1 - Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe - Google Patents

Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe Download PDF

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Publication number
EP0131087B1
EP0131087B1 EP84101898A EP84101898A EP0131087B1 EP 0131087 B1 EP0131087 B1 EP 0131087B1 EP 84101898 A EP84101898 A EP 84101898A EP 84101898 A EP84101898 A EP 84101898A EP 0131087 B1 EP0131087 B1 EP 0131087B1
Authority
EP
European Patent Office
Prior art keywords
stepping motor
microcomputer
phase
current
sewing machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP84101898A
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German (de)
English (en)
Other versions
EP0131087A2 (fr
EP0131087A3 (en
Inventor
Joachim Ing. Grad. Hammermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pfaff Haushaltsmaschinen GmbH
GM Pfaff AG
Original Assignee
Pfaff Haushaltsmaschinen GmbH
GM Pfaff AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6201297&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0131087(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Pfaff Haushaltsmaschinen GmbH, GM Pfaff AG filed Critical Pfaff Haushaltsmaschinen GmbH
Publication of EP0131087A2 publication Critical patent/EP0131087A2/fr
Publication of EP0131087A3 publication Critical patent/EP0131087A3/de
Application granted granted Critical
Publication of EP0131087B1 publication Critical patent/EP0131087B1/fr
Expired legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B19/00—Programme-controlled sewing machines
    • D05B19/02—Sewing machines having electronic memory or microprocessor control unit
    • D05B19/12—Sewing machines having electronic memory or microprocessor control unit characterised by control of operation of machine
    • D05B19/16—Control of workpiece movement, e.g. modulation of travel of feed dog

Definitions

  • the invention relates to a sewing machine according to the preamble of claim 1.
  • Electronically controlled sewing machines preferably have stepper motor drives for controlling the change in the lateral swing-out movement of the needle bar and the feed movement of the fabric pusher, since these drives are outstandingly suitable for the implementation of the digitally stored stitch information.
  • the gear ratio between the step size of the stepper motor and the respective driven element must be chosen so that with a sufficiently fine gradation of the adjustment movement, a sufficiently fast execution of the adjustment of the driven element in the maximum adjustment range is achieved within the time available. With very specific requirements, the existing gradation from step to step is not sufficient. A further subdivision is necessary here.
  • Such a correction is particularly necessary in the case of sewing patterns which contain a large number of sewing stitches which are to be carried out both in one and in the other transport direction.
  • any feed difference between the two transport directions that is not recognizable for individual stitches has the effect of a total error, which can render the sewing result unusable.
  • the known arrangement is not intended to enter a specific correction value in addition to the specified control value to the stepper motor for the desired deviation from the specified angular position of the stepper motor.
  • the invention has for its object to enable the step position correction over the entire step area of the stepper motor and to combine with the stepper motor control.
  • a stepper motor control for a sewing machine results, in which a fine-step correction of the step positions specified by the stepper motor can be carried out in a simple manner, wherein the specified step angle, but a step angle deviating from it, is controlled.
  • a different correction in different situations can be predefined in a simple manner via the microcomputer.
  • the sewing machine is equipped with a main shaft 1 which, via a crank 2 and a link 3, sets a vertical lifting movement of a needle bar 6 provided with a needle 4 and mounted in a guide rocker 5.
  • the guide rocker 5 is mounted in the housing of the sewing machine, not shown, by means of a pin 7.
  • the guide rocker 5 has a shoulder 8, which is connected via a link 9 to a crank 10, which is arranged on the shaft 11 in the housing of the sewing machine Stepper motor 12 for controlling the stitch width of the needle 4 is attached.
  • the main shaft 1 drives a lower shaft 13 via a chain, not shown.
  • a gearwheel 14 is fastened on the shaft 13 and engages with a gearwheel 15 which is fastened on a shaft 16 mounted parallel to the shaft 13.
  • a secondary eccentric 17, which carries a cam 18, is screwed onto this.
  • an eccentric 19 is also attached, which is encompassed by an eccentric rod 20, on which two links 22 and 23 are articulated by means of a bolt 21.
  • the handlebar 22 is rotatably connected via a bolt 24 to an angle lever 25 which is rotatably mounted on an axle 26 fastened in the housing of the sewing machine and is connected via an arm 27 of the angle lever 25 and a rod 28 to a crank 29 which is on the Shaft 30 of a second stepping motor 31 arranged in the housing of the sewing machine, which controls the stitch length of the sewing machine.
  • the link 23 is articulated to an arm 33 of a rocker arm 34 supported on the shaft 13 by a bolt 32.
  • a second upwardly projecting arm 35 to rocker arm 34 has at its end a guide slot 36 in which a pin 37 is guided.
  • This is attached to a support arm 38, which is slidably mounted on a horizontal axis 39 fastened in the housing of the sewing machine parallel to the feed direction.
  • the support arm 38 carries a fabric slide 40, which is provided for the transport of sewing material, which is sewn by the needle 4 in cooperation with a gripper, not shown.
  • the support arm 38 is supported on the cams 18 of the lifting eccentric 17 via a web 41 directed downwards.
  • the two stepper motors 12 and 31 are identical in their structure and in their basic control; Therefore, the description of the control of the stepping motor 31 is sufficient to understand their mode of operation.
  • the Schrmitt motor 31 which is used to control the stitch length of the sewing machine, is designed as a two-strand stepper motor. It is controlled by a microcomputer 42 (FIG. 2), in the memory of which a large number of any sewing patterns are stored in a known manner.
  • a pulse generator 43 which is controlled by the main shaft 1 of the sewing machine, is connected to the microcomputer 42 and emits a pulse with each revolution of the main shaft 1 when the fabric pusher 40 is not in engagement with the sewing material and the stepping motor 31 can change the stitch adjustment.
  • the pulse is fed to a comparator 44 for pulse shaping, the output of which is connected to the INT input of the microcomputer 42.
  • the microcomputer 42 is connected via a group of eight data lines 47 to an intermediate memory 48 for transferring the control processes for the two phase windings 49 and 49 ′ present in the stepper motor 31, which are operated with constant current chopper control.
  • the output P11 of the microcomputer 42 is connected to the buffer memory 48 via a line 50 and the output WR of the microcomputer 42 is connected via a line 51.
  • a digital-to-analog converter unit 52 in which a control voltage U ST is generated, is connected downstream of the buffer memory 48. This is fed via line 53 to a chopper stage 54, in which it is compared with an actual voltage U, which is supplied via line 55 from a stepper motor output stage 56. A switching voltage U s is generated in the chopper stage 54 and conducted to the output stage 56 via a line 57. The two phase windings 49, 49 ′ of the stepping motor 31 are connected to the stepping motor output stage 56. The microcomputer 42 and the output stage 56 are still connected by lines 58 and 59 for the transmission of switching voltages U o and U.
  • the intermediate memory 48 serves to expand the output of the microcomputer 42 in order to subdivide the half-steps normally carried out by the stepping motor 31 for balance correction into seven intermediate stages.
  • the latch 48 (FIG. 3) has outputs 0, 1, 2 which are connected directly to inputs 0, 1, 2 of a D / A converter 60, while a further output 3 connects the latch 48 to a resistor 61 Input 3 of the D / A converter 60 is connected.
  • the input 3 of the D / A converter 60 is connected to ground via a resistor 62.
  • the output of the D / A converter 60 is connected to the non-inverting input of an impedance converter 63 and to a ground via a capacitor 64.
  • the output of the impedance converter 63 is connected via line 53 to a voltage divider 65, which consists of resistors 66 and 67, the resistor 67 being connected to ground.
  • a capacitor 68 is connected in parallel with the resistor 67.
  • connection point between the two resistors 66 and 67 is connected via a resistor 69 to the reference input of a comparator 70, to the inverting input of which line 55 is connected via a resistor 71.
  • the inverting input of the comparator 70 is connected to ground via a capacitor 72.
  • the output of the comparator 70 is connected via a capacitor 73 to the non-inverting input of a second comparator 74 and via a resistor 75, to which a diode 76 is connected in parallel, to the positive voltage source + U.
  • the inverting input of comparator 74 is on one consisting of resistors 77 and 78 connected voltage dividers connected between the positive voltage and ground.
  • the outputs of the comparators 70 and 74 are connected to one another and connected to the positive voltage source + U via a resistor 80. They are also connected to the stepper motor output stage 56 via the line 57.
  • the switching voltages U o and U are generated in the microcomputer 42 and are supplied to the stepper motor output stage 56 via the lines 58 and 59.
  • the switching voltages U o and U, controlled by the microcomputer 42, can assume the value L or H.
  • Line 58 is connected to the non-inverting input of a switching amplifier 81 and line 59 to the non-inverting input of a further switching amplifier 82 in the stepper motor output stage 56.
  • Line 57 is connected to the CE inputs of the two switching amplifiers 81 and 82. These work as switches for switching on and off or switching over the phase current I for the phase winding 49, which lies between the outputs of the two switching amplifiers 81 and 82.
  • the switching amplifiers 81 and 82 are connected with their positive current connections via a line 83 to a positive voltage source + U B and with their sensor connections via line 55 to a measuring resistor 84 which is connected to ground.
  • the switching voltage U o of line 58 is H
  • the switching voltage U line 59
  • the switching voltage U s of line 57 is also level L.
  • the switching amplifier 82 is grounded .
  • the level H of the line 58 causes the switching amplifier 81 to switch through as soon as the switching voltage U s of the line 57 at the CE input also switches to H potential (see also FIG. 4b).
  • phase current I thus begins to flow from the positive voltage source + U B via the switching amplifier 81, the phase winding 49, the switching amplifier 82 and the measuring resistor 84 to ground.
  • a voltage drop is generated at the measuring resistor 84, which is supplied via the line 55, the resistor 71 and the capacitor 72 as actual voltage U, (FIG. 4c) with a time delay to the comparator 70 and here with the reference voltage formed from the control voltage U ST on line 53 is compared. If the actual voltage U exceeds the control voltage U ST via the measuring resistor 84, the end of the charging phase is reached at the time t.
  • the output of the comparator 70 switches the switching voltage U s to L potential (FIG. 4b) and the two switching amplifiers 81 and 82 are switched off via the line 57 connected to their CE inputs. At the same time, this negative voltage jump is transmitted via the capacitor 73 as switching voltage U s , (FIG.
  • phase winding 49 is alternately connected to a relatively high voltage and separated from it after reaching the current setpoint I s , so that, due to the law of induction, the energy stored in the phase winding 49 is fed back into the voltage source + U s via the freewheeling diodes 85 becomes.
  • the current I in the phase winding 49 therefore continues to flow.
  • phase current I of the phase windings 49 and 49 ′ can be changed by the D / A converter unit 52 in order to increase the torque of the stepping motor 31 during its movement phase, to increase the holding force of the stepping motor 31 in a half-step position and to correct the step adjustment within the predetermined step angle .
  • the level of the control voltage U ST is controlled by the microcomputer 42 (FIG. 3) by entering a correction number into the buffer memory 48 via the data lines 47. At its output and thus also at the input of the D / A converter 60, this correction number is now pending during normal operation of the stepping motor 31 until a new correction number is entered, while the microcomputer 42 alternately corrects the correction operation for reasons described later rectification number and the value 0 in a ratio of 1: 1 to the buffer memory 48.
  • the correction number is converted into a corresponding level voltage and the square-wave voltage generated in the correction mode is sifted through the capacitor 64, so that a relatively low pulsating control voltage is present on the line 53.
  • the again reduced control voltage U ST which is largely smoothed again by the capacitor 68, can then be taken from the voltage divider 65 and fed to the comparator 70 as a reference voltage via the resistor 69.
  • the level of the control voltage U ST determines the rise time and thus the level of the phase current I (FIG. 4).
  • Suitable constant circuit values assign predetermined constant current values to the string current I.
  • the magnitude of the phase current I is adjusted to a current value + I H , -I H , + Iy, -I V or a current value between + I B and -I B in accordance with the correction number pending at the intermediate memory 48 (FIGS. 5 and 6) .
  • a positive sign denotes a current flow of the string current I in one direction, a negative sign a current flow of the string current I in the other direction determined by the control voltages U o and U 1 . If the control voltages U o and U 1 are the same, then no current flows through the respective phase winding 49 or 49 '.
  • 5 shows the current profile in the two phase windings 49 and 49 'of the stepping motor 31 when eight full steps have been carried out in one direction and after a pause of eight full steps and a half step in the other direction.
  • 5a shows the course of the phase current I in the phase winding 49
  • FIG. 5b shows the course of the phase current I in the phase winding 49 '.
  • the stepper motor 31 is in the full step position, since both phase windings 49 and 49 'are traversed by phase currents I with the current value + I v .
  • H potential is present at the inputs 0, 1 and 2 of the D / A converters 60 of the two phase windings. Since both phase currents I have the current values + Iy, the holding torque is sufficiently large.
  • the sequence of steps begins at time t.
  • the current flow in the phase winding 49 ' is increased to the current value + I H while the current flow in the phase winding 49 is reversed by changing the control voltages U o and U 1 and increased to the current value -I H.
  • an increased torque for driving the stepping motor 31 is generated by the microcomputer 42 also applying 60 H potential to the input 3 of the D / A converter in addition to the inputs 0 to 2.
  • the stepper motor 31 is driven until after reaching the desired full step position at time t 8, the phase currents I of the two phase windings 49 and 49 'are reduced to the current value + I v .
  • the phase current I of the phase winding 49 is increased to the current value + I H at the time t ′ 1 , while the current flow in the phase winding 49 ′ is reversed and thereby increased to the current value -I H .
  • the phase current I of the phase winding 49 is reversed from the current value + I H , while the phase current I of the phase winding 49' is maintained, etc.
  • the stepping motor 31 is in Half step position, in which the phase current I of the one phase winding, in this case the phase winding 49 ', is zero.
  • the phase current I of the other phase winding 49 is therefore kept at its increased current value + I H in order to correspondingly increase the holding force of the stepping motor 31 which is normally reduced in this position.
  • the step adjustment between a full step VS and the adjacent half step HS is corrected by dividing the intermediate step angle into seven intermediate stages. Since the stepper motor 31 operates very strongly in its magnetic saturation during the intended operation, its angular deviation is no longer proportional to the change in current. Measurements have shown that a proportionality of angular rotation and current change in the present case only occurs below half the current value + I v or -I v of the phase current I, that is to say first below + I B or -I B. To carry out a step correction in seven uniform stages, the current stage of the phase current + I v or -I v predetermined by the microcomputer 42 is halved in each case.
  • the stepper motor 31 sets itself to a half step HS. As shown in FIG. 6 (position HS), the phase current I of one winding 49 has the value 0 and that of the other winding 49 'has a value + I H , for example.
  • the stepper motor 31 thereby changes its angle of rotation such that it adjusts itself to the position HS in the middle between the two full steps VS.
  • the stepping motor 31 By applying a certain correction number chopped with the value 1: 1 from the microcomputer 42 to the buffer 48 of the phase winding 49 - for example H potential at outputs 0 and 2 and L potential at outputs 1 and 3 with positive phase current I while maintaining the Value + I v in the phase winding 49'-the stepping motor 31 adjusts itself to the correction position of the twist angle cp shown in FIG. 6 by the identification 5. The same applies to the adjustment to other correction positions.
  • the input 3 of the D / A converter 60 at whose inputs H potential is present in this case, remains at H potential in order to increase the holding torque of the stepping motor 31 which is lower in this position .
  • the voltage divider from the resistors 61 and 62 is connected upstream, so that the control voltage U ST is not doubled, but is only increased by half the amount.
  • phase current I of the respectively excited phase winding 49 or 49 'in the half-step position HS increases from the current value + I v or -I v to the current value + I H or -I H , at which there are still no heat problems in a permanent position the stepping motor 31 in this position.

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  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Textile Engineering (AREA)
  • Control Of Stepping Motors (AREA)
  • Sewing Machines And Sewing (AREA)

Claims (1)

  1. Machine à coudre avec
    un arbre principal (1),
    une barre à aiguilles (6) guidée verticalement, qui est en liaison motrice avec l'arbre principal afin d'accomplir une course,
    une griffe d'entraînement d'étoffe (40) actionnée par l'intermédiaire d'organes de réglage (21-29, 32-38),
    un moteur pas à pas (31) accouplé aux organes de réglage, pour produire un mouvement d'avance de la griffe d'entraînement d'étoffe,
    un montage de commande déterminant le sens de rotation et l'angle de rotation du moteur pas à pas et par suite l'importance et la direction de l'avancement de la griffe d'entraînement d'étoffe, montage qui présente les dispositifs suivants:
    (i) un micro-ordinateur (42),
    (ii) un générateur d'impulsions (43) accouplé à l'arbre principal, pour fournir au micro-ordinateur des impulsions de rythme déclenchant le mouvement du moteur pas à pas,
    (iii) une mémoire intermédiaire (48) pour mémoriser une valeur binaire à chaque fois produite par le micro-ordinateur,
    (iv) une unité de conversion numérique-analogique (52) pour convertir la valeur binaire à chaque fois contenue dans la mémoire intermédiaire en une valeur analogique,
    (v) un montage comparateur (54; 70) pour comparer la valeur analogique à chaque fois fournie par l'unité de conversion numérique- analogique avec les signaux de sortie d'organes de mesure (84) qui enregistrent les intensités de courant dans chaque enroulement de phase (49, 49') du moteur pas à pas (31),
    (vi) des circuits d'attaque de courant de phase (56) pour déterminer l'importance, la durée et la direcetion des courants de phase en fonction des signaux de sortie des montages comparateurs ainsi que de signaux de commutation qui sont directement amenés aux circuits d'attaque par le micro-ordinateur, par l'intermédiaire de lignes de commutation (58, 59, 58', 59'),

    caractérisée en ce que
    les signaux de commutation sont choisis de telle sorte qu'un fonctionnement en demi-cycles du moteur pas à pas est rendu possible, et
    les valeurs binaires qui peuvent être introduites dans la mémoire intermédiaire (48) par le micro-ordinateur (42) comprennent des valeurs de correction pour lesquelles est obtenue à chaque fois une modification de la position angulaire du moteur pas à pas (31), qui correspond à une fraction d'un demi-cycle fonction de la valeur de correction respective.
EP84101898A 1983-06-11 1984-02-23 Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe Expired EP0131087B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3321215A DE3321215C2 (de) 1983-06-11 1983-06-11 Nähmaschine mit einem Schrittmotor zur Vorschubsteuerung
DE3321215 1983-06-11

Publications (3)

Publication Number Publication Date
EP0131087A2 EP0131087A2 (fr) 1985-01-16
EP0131087A3 EP0131087A3 (en) 1985-05-15
EP0131087B1 true EP0131087B1 (fr) 1988-11-09

Family

ID=6201297

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84101898A Expired EP0131087B1 (fr) 1983-06-11 1984-02-23 Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe

Country Status (4)

Country Link
US (1) US4625667A (fr)
EP (1) EP0131087B1 (fr)
JP (1) JPS607889A (fr)
DE (2) DE3321215C2 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62139694A (ja) * 1985-12-16 1987-06-23 ブラザー工業株式会社 パルスモ−タを備えた布送り装置
JPH0710312B2 (ja) * 1986-11-15 1995-02-08 ブラザー工業株式会社 ミシンの布送り制御装置
DE4032813C1 (fr) * 1990-10-16 1991-12-19 Strobel & Soehne Gmbh & Co J
JPH07194193A (ja) * 1993-12-27 1995-07-28 Canon Inc モータ制御方法
US6979972B2 (en) * 2003-12-30 2005-12-27 Xerox Corporation Method and apparatus for detecting a stalled stepper motor
JP2009095148A (ja) * 2007-10-09 2009-04-30 Juki Corp ミシンのステッピングモータの駆動装置
CN104911830B (zh) * 2015-06-18 2017-04-12 杰克缝纫机股份有限公司 一种缝纫机送料控制系统及其控制方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2821552A1 (de) * 1977-05-17 1978-11-30 Husqvarna Ab Naehmaschine

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5845280B2 (ja) * 1978-03-11 1983-10-07 蛇の目ミシン工業株式会社 ミシンにおけるパルスモ−タの回転位相調整装置
DE2942844A1 (de) * 1979-10-24 1981-05-07 Pfaff Haushaltsmaschinen GmbH, 7500 Karlsruhe Steuereinrichtung fuer den antrieb eines schrittmotors zur verstellung der ueberstichbreite und/oder vorschublaenge einer naehmaschine
JPS5666282A (en) * 1979-11-02 1981-06-04 Brother Ind Ltd Cycle sewing machine
US4413577A (en) * 1982-11-08 1983-11-08 The Singer Company Pattern feed balancing arrangement in an electronically controlled sewing machine

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2821552A1 (de) * 1977-05-17 1978-11-30 Husqvarna Ab Naehmaschine

Also Published As

Publication number Publication date
US4625667A (en) 1986-12-02
DE3321215A1 (de) 1984-12-13
JPS607889A (ja) 1985-01-16
DE3475088D1 (en) 1988-12-15
JPH0116200B2 (fr) 1989-03-23
EP0131087A2 (fr) 1985-01-16
DE3321215C2 (de) 1985-04-04
EP0131087A3 (en) 1985-05-15

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