EP1321556A2 - Procédé et dispositif pour réguler le transport de l'ouvrage dans une machine à coudre ou à broder - Google Patents

Procédé et dispositif pour réguler le transport de l'ouvrage dans une machine à coudre ou à broder Download PDF

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Publication number
EP1321556A2
EP1321556A2 EP02405896A EP02405896A EP1321556A2 EP 1321556 A2 EP1321556 A2 EP 1321556A2 EP 02405896 A EP02405896 A EP 02405896A EP 02405896 A EP02405896 A EP 02405896A EP 1321556 A2 EP1321556 A2 EP 1321556A2
Authority
EP
European Patent Office
Prior art keywords
sewing
sensor
actual
step size
feed
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.)
Granted
Application number
EP02405896A
Other languages
German (de)
English (en)
Other versions
EP1321556B1 (fr
EP1321556A3 (fr
Inventor
Manfred Schweizer
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.)
Fritz Gegauf AG
Original Assignee
Fritz Gegauf 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
Application filed by Fritz Gegauf AG filed Critical Fritz Gegauf AG
Publication of EP1321556A2 publication Critical patent/EP1321556A2/fr
Publication of EP1321556A3 publication Critical patent/EP1321556A3/fr
Application granted granted Critical
Publication of EP1321556B1 publication Critical patent/EP1321556B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B27/00—Work-feeding means
    • D05B27/10—Work-feeding means with rotary circular feed members
    • D05B27/14—Work-feeding means with rotary circular feed members rotating discontinuously
    • 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
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B27/00—Work-feeding means
    • D05B27/22—Work-feeding means with means for setting length of stitch

Definitions

  • the invention relates to a method for controlling the Fabric transport with a sewing or embroidery machine according to the features of claim 1, and a Device for performing the method according to Claim 6.
  • Sewing material or fabric After the execution of a Sewing stitch through a fabric feed device.
  • Mass transport devices are below, for example a slider arranged on a stitch plate or drivable embroidery hoop.
  • Knobs can have one or more horizontal bars, which are sawtooth-shaped on their side facing the material.
  • the fabric pusher After each sewing stitch has been carried out, ie after the sewing needle is no longer in contact with the sewing material, the fabric pusher carries out one or more cyclical movements, whereby the sewing material is transported in the sewing direction by one or more increments.
  • the fabric pusher is raised so far that the bars reach through slot-shaped openings in the needle plate and come into contact with the sewing material.
  • the sewing material is pressed by a presser foot against the needle plate or against the bars reaching through the needle plate.
  • the fabric pusher then carries out a pushing movement in the sewing direction, whereby the sewing material is transported by one step in the sewing direction.
  • the fabric pusher lowers again so that the bars no longer protrude beyond the stitch plate and returns to its original position.
  • the individual partial movements can be combined to form a continuous sequence of movements.
  • the sewing direction can be reversed by reversing the movement sequence described, so that the new sewing direction runs counter to the original sewing direction.
  • Sewing machine models are also known in which the fabric pusher can carry out transport movements vertically to the sewing direction in an analogous manner in addition to the sewing direction, so that the fabric or the sewing material can be displaced in two dimensions or in a sewing plane predetermined by the surface of the stitch plate.
  • Such sewing machines can be used to embroider small patterns.
  • an embroidery hoop can be used to embroider patterns.
  • an embroidery frame which can be driven by two stepper motors, for example, is used to move the sewing material in the vicinity plane, the fabric or the sewing material being clamped in this embroidery frame. After a sewing stitch has been carried out, the embroidery hoop is moved by means of the two stepper motors in such a way that the new puncture point comes to rest under the sewing needle.
  • the embroidery hoop is moved by means of the two stepper motors in such a way that the new puncture point comes to rest under the sewing needle.
  • specified stitch widths and directions are adhered to in the vicinity.
  • the actual stitch widths and directions can deviate from the values set on the machine or calculated by the machine control. The actual material feed in one or two directions for the individual transport steps or cycles does not correspond to the required standard values.
  • Deviations of the actual actual stitch widths or actual feed widths from the respective nominal stitch widths or nominal feed widths of the fabric transport device can, for example, depend on the sewing machine model or on the properties of the sewing material or fabric or on the effects of force on the sewing material when sewing or embroidering depend.
  • the slip dependent on the material to be sewn during the transport process or different transport properties during the forward and backward transport of the material to be sewn are important.
  • Deviations of the actual values from the target values can also occur when using the embroidery hoop, for example if the fabric warps within the embroidery hoop.
  • From DE-C2-3525028 is a sewing machine with a Device for measuring and regulating the feed size known.
  • the third embodiment there are two spaced from each other, with vertical to Sewing direction aligned CCD sensors and one each Light source equipped line cameras arranged.
  • the sewing direction of the front line camera is at the beginning of the Sewing process switched on and generated a digitized Current image line of a surface section of the Sewing material. Once this surface section due to the Feed speed above the rear one in the sewing direction Line camera should lie, this is switched on and scans the surface of the material until the pattern with the one previously recorded by the front line camera Pattern correlated.
  • a disadvantage of this device is in their sensitivity to vertical shifts for sewing direction and against twisting of the sewing material in the near plane.
  • the Sewing material Even the smallest changes in the location of the Sewing material can make big differences in the Lead determination of correlation values. In the further must the brightness of the light sources to the basic brightness of the material to be matched. In addition, the sewing material at least by the distance between the two line sensors be advanced until a value for the deviation of the Actual feed rate of the sewing material from the target feed rate can be determined. The Measuring and control device can only in such deviations a feed direction. In addition, the actual feed rate may be less than that Target feed rate. Both the determination of the Feed speed as well as the sewing material position are with Measurement errors.
  • actual values of feed or step sizes of a sewing material can be recorded for each sewing step or each feed cycle. If the sensor used to detect the feed or step sizes has a sufficiently high sampling rate, then actual values of the feed movement or the displacement of the sewing material can also take place during the feeding, that is to say during the execution of sewing steps or feed cycles.
  • the actual step sizes of the sewing material can be adapted to predetermined values of the target step sizes in such a way that the total value of the actual step sizes matches the total value of the target step sizes over one or more feed cycles.
  • the feed size can be regulated quickly and sensitively or slowly.
  • deviations of the actual feed from the target feed determined during the execution of a sewing step or feed cycle can already be compensated for in the same sewing step or in the subsequent sewing step or feed cycle.
  • the compensation in the following sewing step causes a relatively large difference between two successive step sizes. If the sensor used to detect the feed has a significantly higher sampling rate than the time required for the execution of the sewing step, the regulation of the feed size can even take place during the execution of this sewing step. In this case, the actual values match the target values for each sewing step within the scope of the control accuracy.
  • This variant of the regulation of the feed size is particularly important in the case of mass transport systems, which are driven independently of the main drive of the needle bar.
  • the deviation found is compensated for over several sewing steps or feed cycles, which means that on average there are only small differences between the individual stitch widths.
  • the method can be used to regulate the feed sizes during forward and / or backward movements of the sewing material in one or two dimensions of the sewing plane.
  • the sensor can detect deviations of the actual material feed in the sewing direction and in a transverse direction that is vertical to the sewing direction. When sewing in the sewing direction, deviations in the sewing direction and / or in the transverse direction detected by the sensor can be compensated for by influencing the feed sizes in the sewing direction and / or transverse direction. The same applies to transverse sewing processes.
  • the method according to the invention and the device according to the invention are suitable for controlling cyclically operating feed means coupled to the main drive for the needle bar.
  • the method and the device can also be used to regulate the mass transport in the sewing direction and / or transverse direction with independent drives that are not coupled to the main drive.
  • Such drives can be, for example, the stepper motors of an embroidery frame or electromotive roller drives.
  • FIG. 1 shows an exemplary embodiment of an inventive household sewing machine, or sewing machine 1 for short, with a machine housing, or housing 3 for short, which includes a forearm 5, a stand 7 and an upper arm 9 with a head part 11.
  • the housing 3 is partially cut open in FIG. 1, so that a machine control or control 13 is partially visible inside.
  • a needle bar 15 which can be driven by a drive (not shown in FIG. 1) for receiving and moving a sewing needle, also called a needle 17, projects downward from the head part 11. Below the head part 11, an opening or a shaft 19 on the top of the forearm 5 is covered by a needle plate 21.
  • the upper sides of the throat plate 21 and the forearm 5 are arranged flush with one another and define a plane of proximity N lying approximately vertically to the needle bar 15.
  • the throat plate 21 comprises a slit-shaped needle insertion opening 23 below the needle bar 23. On both sides of this there is an elongated, approximately rectangular fabric slide opening 25 in each Throat plate 21 inserted. The three openings are not connected and have approximately the shape of the capital letter "H".
  • the two material slide openings 25 define a sewing direction y with their longitudinal extension.
  • the longitudinal extent of the needle insertion opening 23 extends in a transverse direction x which is vertical to the sewing direction y.
  • An at least partially arranged in the shaft 19 fabric transport device 27 for the gradual transport of a fabric or sewing material 28 (FIG. 7) comprises two bar-like fabric pusher 29 in the area of the fabric pusher openings 25.
  • y is immediately behind in the sewing direction a circular sensor opening 31 is inserted into the needle plate 21 of the needle insertion opening 23.
  • the sensor opening 31 could also be in front of or next to the needle insertion opening 23, but it should be arranged in the vicinity or in the area of the needle insertion opening 23 such that it is still within the range of action of the mass transport device 27.
  • a plurality of sensors 32 can also be used independently of one another or in combination with one another for this purpose.
  • the sensor opening 31 can be round or have any other shape, for example rectangular or oval.
  • the sensor or sensors 32 are designed to resolve a measurement variable in at least one spatial dimension.
  • the measurement variable is preferably an optical pattern or the optical structure of the sewing material 28.
  • a sensor 32 can, for example, in the form of a position sensor 33 as a CCD line aligned parallel to the sewing direction (y) or as a CCD matrix (50) or as a micro camera with a lens 34 (FIG. 2) and with an image processing unit for capturing and processing a one- or two-dimensional image area.
  • other spatially resolving sensors 32 can also be used, which use, for example, ultrasound, radar waves or other methods for position, position or speed detection of the sewing material 28.
  • the position sensor 33 is inserted into the shaft 19 such that a protective window 36 (FIG. 2) attached in front of the lens 34 closes the sensor opening 31 flush.
  • the sewing material 28 can optionally be pressed against the needle plate 21 and / or the protective window by a slide shoe or roller 38 (FIG. 3) in the area of the protective window 36 from the side of the head part 11.
  • the sliding shoe or roller 38 which can be pressed onto the material 28 with a slight pressure of a spring 40, can be fastened, for example, to a holding rod of a presser foot 42. In this embodiment, it can be brought into contact with the sewing material 28 together with the presser foot 42 for the sewing process and then raised again.
  • sensors 32 and / or a plurality of sensors 32 working with different technology can also be inserted into the sensor opening 31, for example motion sensors or speed sensors.
  • a pair of rollers with at least one electrically drivable first roller 46 (FIG. 5) and a second roller 48 that can be pressed against it can be used as an alternative to the fabric pusher 29, the sewing material 28 between the rollers 46, 48 is passed through.
  • the surface of the rollers 46, 48 is made, for example, of rubber or another material that has good adhesive properties with respect to textiles.
  • the pair of rollers can be arranged in the sewing direction y behind or in front of the needle insertion opening 23. Alternatively, a pair of rollers can also be arranged behind and in front of the needle insertion opening 23.
  • FIG. 6 shows the sewing machine 1 from FIG. 1 with an attached embroidery module 35.
  • the embroidery module 35 comprises an embroidery frame 37 for clamping and holding the sewing material 28 and a positioning or movement device 39 which can be driven by two stepping motors (not shown) for moving the embroidery frame 37 in or against the two directions x and y of the sewing plane N.
  • the embroidery frame 37 is attached to a frame holder 30 which is movable in the y direction along a first arm 43 of the movement device 39. This first arm 43 in turn can be moved in the x direction along a second arm 45 of the movement device 39.
  • FIG. 2 shows a longitudinal section through the throat plate 21 in the sewing direction y in the region of the position sensor 33.
  • the protective window 36 is, for example, a scratch-resistant sapphire glass or made of a hard, transparent plastic. The depositing of dust or dirt particles is prevented by the flush fit into the sensor opening 31.
  • the lens 34 and a substrate 41 arranged below it, for example a printed circuit board, as a carrier of a two-dimensional CCD matrix 50 and a light source 52, for example an LED, are held in a sensor housing 47.
  • the position sensor 33, in particular the substrate 41 with the CCD matrix 50 and the light source 52 are connected to sensor electronics 49, which can comprise a processor with a clock rate of more than 10 MHz, for example, and can execute digital image processing algorithms.
  • FIG. 7 shows a top view of the throat plate 21 with the sewing material 28 lying thereon during the sewing process in the sewing direction y. In the example shown in FIG.
  • the stitch width or the distance between the puncture points 51 of the sewing stitches already carried out in the sewing material 28 is equal to a first actual step size ⁇ y B of the fabric feed through the fabric pushers 29 in the sewing direction y per feed cycle, since after each fabric push -Cycle a sewing stitch was carried out.
  • a first actual step size ⁇ y B of the fabric feed through the fabric pushers 29 in the sewing direction y per feed cycle since after each fabric push -Cycle a sewing stitch was carried out.
  • several fabric pushing or feed cycles can be carried out before the execution of sewing stitches, in which the actual fabric feed or the first actual step width in sewing direction y is ⁇ y B in each case.
  • the first actual step size ⁇ y B of the fabric feed in the sewing direction y is changed by the user of the sewing machine 1 or by the control 13 during the sewing process.
  • the first target step sizes ⁇ y A and the first actual step sizes ⁇ y B can take on both positive and negative values.
  • the input or specification of a default value or a first target step size ⁇ y A for the material feed in the sewing direction y is symbolically represented on the control 13 in FIG.
  • Such a default value can be made, for example, by users of the sewing machine 1 using a scale wheel or menu-controlled via a touch screen.
  • the controller 13 can also calculate such default values for first target step sizes ⁇ y A , in particular taking user inputs into account.
  • the first thrust variable ⁇ y T likewise symbolically shown in FIG.
  • the first thrust variable ⁇ y T can assume negative or positive values, depending on whether a movement backwards or forward in the sewing direction y.
  • the values of the first thrust quantity ⁇ y T and the first actual step size ⁇ y B correspond to the value of the first target step size ⁇ y A.
  • the first thrust quantity ⁇ y T is somewhat larger than the first nominal step size ⁇ y A , because a certain slippage of the sewing material 28 must be expected with each transport step. It is thereby achieved that the first actual step size ⁇ y B corresponds approximately to the value of the first target step size ⁇ y A for an average sewing material 28.
  • a value for the ratio of the first thrust size ⁇ y T to the first desired step size ⁇ y A which is optimal for an average sewing material 28, can be stored in a non-volatile memory of the control 13, with this average sewing material 28 being fed with this first thrust size when the sewing medium is advanced ⁇ y T an actual material feed is achieved by a first actual step size ⁇ y B , which corresponds to the value of the first target step size ⁇ y A.
  • the material transport device 27 is designed such that the sewing material 28 can be moved in addition to the sewing direction y in a transverse direction x lying in the vicinity plane N and oriented vertically to the sewing direction y.
  • FIG. 9 shows a top view of the throat plate 21 with the sewing material 28 lying thereon during the sewing process with feed movements in the sewing direction y and in the transverse direction x.
  • the fabric pushers 29 can also carry out a transport movement in the transverse direction x.
  • the material pushers 29 each carry out a transport or feed cycle with a second thrust size ⁇ x T in the transverse direction x on the basis of a second set step size ⁇ x A.
  • FIG. 10 shows the cyclical movement of a bar of the presser foot 29 for such a transport cycle.
  • the second thrust size ⁇ x T is longer and the dimensions of the bar are shown smaller than they actually are in relation to the stroke movement. Possible positions of the bar during a transport cycle are shown in dotted lines.
  • the sewing material 28 is moved in the transverse direction x by a second actual step size ⁇ x B.
  • ⁇ x A , ⁇ x T and ⁇ x B can take positive and negative values, which corresponds to movements in and against the transverse direction x.
  • the relative coordinates in units of the respective first actual step sizes ⁇ y B in the sewing direction y and the respective second actual step sizes ⁇ x B in the transverse direction x are given between the individual puncture points 51a-51e already carried out.
  • the associated individual feed cycles of the fabric pusher 29 in the sewing direction y and in the transverse direction x can be carried out successively one after the other. Alternatively, part of the feed cycles to be carried out between two puncture points 51 can also take place as a combined movement in the sewing direction y and transverse direction x at the same time.
  • the first thrust size ⁇ y T is minimal the value of the step size of the stepping motor acting in sewing direction y.
  • the second thrust quantity ⁇ x T minimally has the value of the step size of the stepping motor acting in the transverse direction x. If these step sizes are very small, for example less than 0.1 mm, a multiple of these step sizes can also be defined as the first thrust variable ⁇ y T or as the second thrust variable ⁇ x T and stored, for example, in a non-volatile memory of the controller 13 or the embroidery module 35.
  • the first thrust sizes ⁇ y T or the second thrust sizes ⁇ x T can also be newly defined for each sewing stitch to be carried out, for example as values of the stitch width in the sewing direction y and in the transverse direction x.
  • the actual step sizes ⁇ y B , ⁇ x B can deviate from the associated desired step sizes ⁇ y A , ⁇ x A both during the transport of the sewing material 28 by means of fabric slides 29 and during the transport using the movement device 39 of an embroidery module 35.
  • Reasons for this can be, for example, different transport properties depending on the sewing material 28, the sewing position within the sewing material 28 or the transport direction. Forces which act on the sewing material 28 during the sewing process and signs of wear on the sewing machine 1 are further possible causes for changing transport properties. As can be seen from the basic diagram in FIG.
  • the first thrust variable ⁇ y T or the second thrust variable ⁇ x T becomes dependent on the first actual step width ⁇ y B of the actual material feed in the sewing direction y or the second actual step width ⁇ x B detected by the position sensor 33 regulated in the transverse direction x.
  • a region of the sewing material 28 lying above the protective window 36 (FIG. 2) which for example has the dimensions 5 mm ⁇ 5 mm, is illuminated by the light source 52 and imaged on the CCD matrix 50 via the lens 34.
  • the sensor electronics 49 which comprises a digital image processing unit, abbreviated to IPS (Image Processing System) or DSP (Digital Signal Processor)
  • the position sensor 33 can, for example, acquire and process 1500 images per second.
  • the position sensor 33 is able to recognize the smallest structures or structure differences as well as their position in the recorded image section on the basis of intensity differences within the recorded image section. Due to the change in position of characteristic irregularities in the surface structure of the sewing material 28 and / or due to the change in position of color patterns of the sewing material 28 in immediately successive and / or temporally spaced apart image recordings, the IPS of the position sensor 33 determines relative displacements of the sewing material 28 in the sewing direction y and in the Cross direction x or the corresponding feed speeds. The resolution and accuracy of the position sensor 33 can be further improved by taking into account several image recordings with at least one common structural feature.
  • the displacements or changes in position of the sewing material 28 are summed up by the sensor electronics 49, starting from the x and y coordinates of a zero or starting value at the start of the sewing process, and as absolute x and y coordinates of the position or position values in relation to the Starting value provided as an output signal.
  • the controller 13 reads the actual feed values of the sewing material 28 determined by the IPS in the x and y directions with respect to the starting value and stores them in a memory of the controller 13
  • the feed values can also be transmitted to the controller 13 and stored during the material advancement, for example periodically at the same or changing intervals.
  • a sewing step which is characterized by two successive needle sticks, can consequently be broken down in any desired manner into individual target step sizes, for which the actual actual step sizes are then determined by the sensor 32.
  • the controller 13 calculates the associated actual material feed, that is to say the first actual step size ⁇ y B or the second actual step size ⁇ x B.
  • the zero or start value can be set again and again for each sewing step or feed cycle or a multiple thereof.
  • the value transferred from the IPS to the controller 13 is directly the first actual step size ⁇ y B or the second actual step size ⁇ x B, and the difference is omitted.
  • the controller 13 now determines the deviation of the associated first target step size ⁇ y A from the determined first actual step size ⁇ y B and stores this value as the first correction value D y .
  • the second thrust quantity ⁇ x T is regulated in an analogous manner.
  • the controller 13 can correct any deviations detected in the first thrust sizes ⁇ y T or the second thrust sizes ⁇ x T very quickly within only one feed or sewing step.
  • the individual target step sizes can be set as desired within a sewing step, so that the thrust sizes ⁇ y T , ⁇ x T can even be regulated within a single sewing step.
  • other known control algorithms for controlling the thrust quantities ⁇ y T , ⁇ x T can also be used, in which errors are compensated for and corrected over several feed or sewing steps. This makes it possible to avoid major differences between the stitch widths of two successive sewing stitches as well as unwanted feedback or oscillations of the sewing needle.
  • the thrust quantities ⁇ y T , ⁇ x T are set or controlled via stepper motors.
  • the stepping motors act directly or indirectly on an adjusting device (not shown) for setting the respective thrust sizes ⁇ y T , ⁇ x T.
  • the thrust sizes ⁇ y T , ⁇ x T of these stepper motors are directly adapted.
  • the sensor 32 can also be used for the optical recognition of the embroidery hoop if its edge is above the sensor 32. In this way, an embroidery hoop coding for recognizing different hoop types and sizes can be easily replaced.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Sewing Machines And Sewing (AREA)
EP02405896A 2001-12-19 2002-10-21 Procédé et dispositif pour réguler le transport de l'ouvrage dans une machine à coudre ou à broder Expired - Lifetime EP1321556B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH23172001 2001-12-19
CH23172001 2001-12-19

Publications (3)

Publication Number Publication Date
EP1321556A2 true EP1321556A2 (fr) 2003-06-25
EP1321556A3 EP1321556A3 (fr) 2004-12-15
EP1321556B1 EP1321556B1 (fr) 2006-01-04

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Family Applications (1)

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EP02405896A Expired - Lifetime EP1321556B1 (fr) 2001-12-19 2002-10-21 Procédé et dispositif pour réguler le transport de l'ouvrage dans une machine à coudre ou à broder

Country Status (4)

Country Link
US (2) US6871606B2 (fr)
EP (1) EP1321556B1 (fr)
AT (1) ATE315120T1 (fr)
DE (1) DE50205513D1 (fr)

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EP2045386A1 (fr) 2007-10-02 2009-04-08 Dürkopp Adler AG Machine à coudre
CN101501263B (zh) * 2006-08-17 2012-07-04 兄弟工业株式会社 可编程电子缝纫机和可编程电子缝纫机的控制装置
CN107059260A (zh) * 2016-02-10 2017-08-18 Juki株式会社 缝纫机

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US20050115482A1 (en) 2005-06-02
EP1321556B1 (fr) 2006-01-04
US20030131773A1 (en) 2003-07-17
EP1321556A3 (fr) 2004-12-15
ATE315120T1 (de) 2006-02-15
US6871606B2 (en) 2005-03-29
DE50205513D1 (de) 2006-03-30
US6994042B2 (en) 2006-02-07

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