JP2010233827A - Controller of sewing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a sewing machine capable of efficiently performing sewing operations at high speed, and improving skill levels of workers inexperienced in machine operations and their sewing speed. <P>SOLUTION: The sewing machine includes: a recording control unit 12 equipped with a recording control means 12c which records, in a recording mode, the speed-up change rate of an operation location signal in the acceleration command period or the slow-down change rate of the operation location signal in the deceleration command period, by linking them to their corresponding starting speed-up stitch number or starting slow-down stitch number in the acceleration command period or the deceleration command period, respectively; and an assist control unit 13 equipped with a correction control means 13b which corrects an operation location signal in the acceleration command period outputted in an assisting mode so as to get the speed-up change rate closer to the speed-up change rate recorded in the recording mode by linking it to the starting speed-up stitch number closest to the counted number at the starting speed-up location, and which corrects the operation location signal in the deceleration command period so as to get the slow-down change rate closer to the slow-down change rate recorded in the recording mode by linking it to the starting slow-down stitch number closest to the counted number at the starting slow-down location. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control device for a sewing machine that performs a sewing operation by driving a spindle motor of a sewing machine spindle by operating an operation pedal.

  2. Description of the Related Art Conventionally, there has been known a sewing machine control device that performs a sewing operation while changing a driving speed of a main spindle motor of a sewing machine spindle by an operator depressing an operation pedal.

  A conventional sewing machine control device detects, for example, an operation position corresponding to the amount by which an operator depresses an operation pedal, and based on an operation position signal corresponding to the detected operation position, determines the drive speed of the main spindle motor of the sewing machine spindle. It comes to control.

  In another conventional sewing machine control apparatus, the sewing machine main shaft is driven by limiting the driving speed of the sewing machine main shaft corresponding to the operation position of the operation pedal by the operator. As a result, the control device of the sewing machine suddenly operates at a high speed even when the sewing machine operation is performed by an unskilled worker who is not familiar with the sewing machine operation who does not sensuously grasp the relationship between the operation speed of the operation pedal and the sewing speed. The problem that the main spindle of the sewing machine rotates can be prevented, and the sewing machine main spindle can be driven to rotate smoothly and stably (for example, see Patent Document 1).

Japanese Patent Publication No. 60-44953

  Here, in the conventional sewing machine control device as described above, the driving speed of the spindle motor of the sewing machine spindle is fixedly determined in accordance with the operation position of the operation pedal. For this reason, a skilled worker who is skilled in sewing machine operation can know the sewing speed sensuously by the operation position of the operation pedal, so that the sewing work can be efficiently performed at a high speed. However, unskilled workers who are unfamiliar with the sewing machine operation do not sensuously know how fast the pedal is depressed and how fast the sewing operation is performed. For example, the sewing work cannot be performed at a high speed, and the efficiency of the sewing work is poor.

  Furthermore, the above-mentioned control devices for both sewing machines do not perform control to assist the sewing operation for the purpose of improving the skill level and sewing speed of the unskilled worker, and improve the skill level of the sewing operation for the unskilled worker. I couldn't make it.

  The present invention has been made in view of these points, and can perform sewing work at high speed and efficiently, and can improve the proficiency level and sewing speed of unskilled workers who are unfamiliar with the sewing machine operation. It is an object to provide a sewing machine control device.

  In order to achieve the above object, a control device for a sewing machine according to the invention described in claim 1 detects an operation position corresponding to an amount of depression of an operation pedal operated by an operator, and corresponds to the detected operation position. Pedal sensor that outputs an operation position signal and needle position detection that detects that the sewing needle that is held up and down by the needle bar connected to the sewing machine spindle has reached a predetermined vertical movement position and outputs a needle position signal And drive control means for controlling the drive speed of the spindle motor of the sewing machine spindle so as to correspond to the change in the operation position signal based on the operation position signal. The control device for a sewing machine according to the first aspect of the present invention is characterized in that each time a predetermined sewing operation is started, a counting means for counting the needle position signal from the start of sewing, and the predetermined sewing operation A recording control unit that executes a recording mode that stores a rate of change of the operation position signal with respect to time in a storage device of a sewing machine, and an output from the pedal sensor when the predetermined sewing operation is executed after the recording mode is executed And an assist control unit that executes an assist mode that corrects the operation position signal to be output based on the rate of change of the recording mode and outputs the correction signal to the drive control unit. The recording control unit includes command section specifying means for specifying an acceleration command section and a deceleration command section for the spindle motor of the operation position signal, and the rate of change of the acceleration command section in the recording mode as the rate of change, Calculating means for respectively calculating a deceleration change rate of the deceleration command section, and accelerating the acceleration start position of the acceleration command section and the deceleration start position of the deceleration command section in the recording mode corresponding to the count values of the counting means, respectively. The storage device stores the start stitch number and the deceleration start stitch number in the storage device, and stores the acceleration change rate and the deceleration change rate in the storage device in association with the corresponding acceleration start needle number and the deceleration start needle number, respectively. Storage control means for causing the assist control unit to Determining means for discriminating an acceleration command portion and a deceleration command portion for the spindle motor of the operation position signal output from the pedal sensor in the mode; and an operation position signal of the acceleration command portion, the acceleration change rate of the acceleration command portion is The acceleration start position is corrected so as to approach the acceleration change rate stored in association with the number of acceleration start needles closest to the count value of the counting means, and the operation position signal of the deceleration command portion is Correction control means that corrects the deceleration change rate of the command portion so as to approach the deceleration change rate stored in association with the number of deceleration start stitches closest to the count value of the counting means at the deceleration start position. ing.

  In the present invention, the predetermined sewing work refers to the same sewing work by one worker.

  According to the first aspect of the present invention, the acceleration change rate, the deceleration change rate, and the acceleration command with respect to time of the operation position signal output from the pedal sensor when the skilled worker operates the operation pedal according to the recording mode. The number of acceleration start stitches in the section and the number of deceleration start stitches in the deceleration command section are stored in the recording device. When the immature worker performs the sewing machine operation in the assist mode, the control device for the sewing machine sends the operation position signals of the acceleration command portion and the deceleration command portion to the acceleration change rate and deceleration rate of the acceleration command portion and the deceleration command portion. By correcting the change rate so as to approach the acceleration change rate and the deceleration change rate stored in the recording mode, the sewing operation of an unskilled worker can be brought close to the sewing operation of a skilled worker.

  According to a second aspect of the present invention, there is provided a sewing machine control apparatus according to the first aspect, wherein the assist control unit is configured to perform a correction after executing the assist mode in the predetermined sewing operation. The amount of change of the operation position signal with respect to the count value is compared with the amount of change of the operation position signal with respect to the count value in the recording mode. Based on the difference between the two amounts of change, the subsequent assist mode is executed. A correction intensity setting means for automatically setting the intensity of correction by the correction means is provided.

  According to the second aspect of the present invention, the correction strength can be adjusted stepwise according to the skill level of the operator who uses the assist mode, so that the sewing work can be performed more efficiently. Can do. Furthermore, the control device can improve the skill level of the operator of the sewing machine by setting the correction strength high for an operator with a low level of proficiency and setting the correction strength low for an operator with a high level of proficiency. Can do.

  According to a third aspect of the present invention, there is provided a sewing machine control apparatus according to the second aspect, wherein the correction strength setting means is configured to sew the predetermined sewing work a plurality of times in the assist mode. The number of times and the amount of change with respect to the number of stitches of the operation position signal in the assist mode are respectively stored in the storage device, and an average value of each change amount is obtained, and the average value and the operation position signal of the recording mode are recorded. Compared with the amount of change with respect to the count value, the intensity of the correction in the subsequent assist mode is changed based on the difference between the two amounts of change.

  According to the third aspect of the present invention, the average of the amount of change for each predetermined period or every predetermined number of times is determined from the number of times of the predetermined sewing work in the assist mode and the amount of change of each operation position signal with respect to the number of stitches. A value is obtained, and the correction intensity set based on this average value is changed. Thus, the control device can set the correction intensity according to the proficiency level of each worker more reliably by obtaining the average value of the respective change amounts.

  As described above, according to the characteristics of the sewing machine control device according to the present invention, even when an unskilled worker unaccustomed to the sewing machine operation performs the sewing machine operation, the sewing operation can be performed at high speed and efficiently. . In addition, it becomes possible to improve the proficiency level of the unskilled worker and the sewing speed.

The block diagram which shows the structure of the control apparatus of the sewing machine which concerns on this invention The graph which shows the variation | change_quantity with respect to the number of needles of the operation position signal memorize | stored in execution of the recording mode in the control apparatus of the sewing machine of FIG. FIG. 1 is a graph comparing the change amount of the operation position signal in execution of the recording mode of the control device of the sewing machine of FIG. FIG. 3 is a graph comparing the change amount of the operation position signal in the recording mode and the change amount of each operation position signal before and after the correction in the assist mode in FIG. The graph which compares the variation | change_quantity of the operation position signal in execution of the recording mode of the control apparatus of the sewing machine of FIG. 1 with the variation | change_quantity of the other operation position signal in execution of assist mode. The graph which shows the correction | amendment object in the operation position signal before correction | amendment of assist mode of FIG. The flowchart which shows each control process of the sewing operation | movement by the control apparatus of the sewing machine of FIG. The flowchart which shows each control process of the recording mode in the sewing operation | movement shown in FIG. The flowchart which shows each control process of the recording of the acceleration operation in the recording mode shown in FIG. The graph which shows the acceleration change rate with respect to time of the operation position signal calculated in the recording of the acceleration operation in FIG. The flowchart which shows each control process of the recording of the deceleration operation in the recording mode shown in FIG. The graph which shows the deceleration change rate with respect to time of the operation position signal calculated in the recording of the deceleration operation in FIG. The flowchart which shows each control process of assist mode in the sewing operation | movement shown in FIG. The flowchart which shows each control process of the automatic setting of the correction | amendment intensity | strength in assist mode shown in FIG. 14 is a graph showing the relationship between the number of stitches and the operation position signal of all the sewing operations stored in the recording mode in the automatic setting of the correction strength in FIG.

  Hereinafter, an embodiment of a control device for a sewing machine according to the present invention will be described with reference to FIGS.

  FIG. 1 is a block diagram illustrating a configuration of a sewing machine including a sewing machine control device according to the present embodiment. As illustrated in FIG. 1, the sewing machine 1 according to the present embodiment controls driving of each unit of the sewing machine 1. A control device 2 is provided. The sewing machine 1 includes a ROM for storing data and programs necessary for the control of the control device 2, a RAM for temporarily storing data used for the control, and an operator who performs a sewing operation of the sewing machine 1. A storage device 3 such as a non-volatile memory including an EEROM for storing various data related to the sewing machine operation is provided.

  The sewing machine 1 includes a sewing machine main shaft 10 that is driven to rotate by driving of a main shaft motor 11. The sewing machine main shaft 10 is connected to a needle bar (not shown), and a sewing needle 5 is held at the lower end of the needle bar. ing. Then, the drive control means 6 of the control device 2 drives the main shaft motor 11 and rotationally drives the sewing machine main shaft 10 via the main shaft motor 11 to move the sewing needle 5 up and down via the needle bar. The sewing operation is performed by the vertical movement of the sewing needle 5.

  Near the needle bar, there is provided needle position detecting means 7 for detecting that the sewing needle 5 moving up and down has reached a predetermined vertical movement position and outputting a needle position signal. The needle position detecting means 7 monitors the vertical movement of the needle bar and detects that the sewing needle 5 has reached a predetermined position when the needle bar is located at the top dead center or the bottom dead center, for example. Needle position signal is output. Then, the counting means 8 of the control device 2 counts the needle position signal output from the needle position detecting means 7, so that every time a predetermined sewing operation is started, the counting from the start of sewing is started. The number of stitches due to the vertical movement of the sewing needle 5 is measured.

  The sewing machine 1 is also provided with operation means for outputting an instruction of a sewing operation such as a vertical movement of the sewing needle 5 to the control device 2 of the sewing machine 1 when the operator performs a sewing operation. In the present embodiment, the sewing machine 1 detects, as the operation means, an operation pedal 15 on which an operator performs a stepping operation, and an operation position that is connected to the operation pedal 15 and corresponds to the stepping amount of the operation pedal 15. A pedal sensor 16 that outputs an operation position signal corresponding to the operation position is provided. The operation position signal functions as a signal for instructing the driving speed of the spindle motor 11 that drives the sewing machine spindle 10. Specifically, the pedal sensor 16 is composed of a variable resistor, and outputs an operation position signal having a voltage proportional to the depression amount of the operation pedal 15 in a range of 0 (V) to 5 (V). Here, when the operation pedal 15 is in the neutral position, an operation position signal of 0 (V) is output from the pedal sensor 16, and when the operation pedal 15 is fully depressed, the pedal sensor 16 outputs 5 (V). An operation position signal is output.

  Then, the control device 2 uses, for example, the value of the operation position signal of the pedal 15 input by the operator via the interface (I / F) 18 from the pedal sensor 16 (hereinafter also referred to as an operation position signal at the end). It is read every 50 ms. Specifically, the control device 2 performs AD conversion on an operation position signal output from the pedal sensor 16 in a voltage range of 0 (V) to 5 (V) by an AD conversion unit (not illustrated), The control device 2 reads the numerical value of the range. Here, AD conversion is performed so that 0 (V) of the operation position signal corresponds to 0 and 5 (V) of the operation position signal corresponds to 255, respectively. That is, the operation position signal is output in response to a change in the operation position signal in accordance with a change in the depression amount of the operation pedal 15. The drive control means 6 in the control device 2 drives the spindle motor 11 by controlling the drive speed of the spindle motor 11 to correspond to the change in the operation position signal based on the operation position signal. In addition, the sewing needle 5 is moved up and down via the needle bar to perform the sewing operation. The drive control means 6 in the present embodiment increases the drive speed of the spindle motor 11 as the depression amount of the operation pedal 15 increases. Thereby, the drive control means 6 can change the drive speed of the sewing machine spindle 10 according to the operation position of the pedal 15.

  The control device 2 controls the drive of the sewing machine 1 in the normal mode or the operation assist mode. In the normal mode, the control device 2 performs the sewing operation by determining the drive speed of the sewing machine spindle 10 by the drive control means 6 based on the operation position signal of the operation position by the operator's depression of the pedal 15. Yes. In addition, the control device 2 includes a recording control unit 12 that executes the recording mode and an assist control unit 13 that executes the assist mode in the operation assistance mode.

  The recording mode is a mode for storing each data of the sewing operation when a skilled worker who is skilled in the sewing operation such as the depression of the operation pedal 15 performs the sewing operation. When the recording mode is selected and a predetermined sewing operation is started by a skilled worker, the control device 2 determines the drive speed of the spindle motor 11 based on the operation position of the operation pedal 15 by the drive control means 6 and performs the sewing operation. In addition, the recording control unit 12 stores the rate of change of the operation position signal with respect to time when the predetermined sewing operation is performed in the storage device 3.

  The recording control unit 12 includes command section specifying means 12 a that specifies an acceleration command section and a deceleration command section for the spindle motor 11 among operation position signals that function as a signal that commands the drive speed of the spindle motor 11.

  The recording control unit 12 also includes, as the change rate of the operation position signal, an acceleration change rate with respect to time of an acceleration command section for the spindle motor 11 in the operation position signal in the recording mode (inclination of the acceleration operation line with respect to unit time), and Calculation means 12b for calculating a deceleration change rate (slope of the deceleration operation straight line with respect to unit time) in the deceleration command section is provided.

  Furthermore, the recording control unit 12 has storage control means 12c for storing various recording data during acceleration operation and deceleration operation in the recording mode as shown in FIG. 2, Table 1 and Table 2 in the storage device 3. Yes. The circled numbers shown in Table 1 and Table 2 are codes indicating correspondence with the circled number portions shown in FIG.

  As shown in Tables 1 and 2, the storage control means 12c associates the acceleration start position of the acceleration command section and the deceleration start position of the deceleration command section with the count value of the counting means 8, respectively, In addition, the storage device 3 stores the number of deceleration start stitches. The storage control unit 12c stores the acceleration change rate and the deceleration change rate calculated by the calculation unit 12b in the storage device 3 in association with the corresponding acceleration start needle number and deceleration start needle number. Yes. For example, the acceleration change rate associated with the acceleration start stitch number 0 in Table 1 is 16, and the deceleration change rate associated with the deceleration start stitch number 61 in Table 2 is 16. The numerical values indicating the acceleration change rate and the deceleration change rate are obtained from the pedal sensor 16 read by the control device 2 as numerical values of 0 to 255 via the above-described AD converter in each acceleration command interval and each deceleration command interval. It is the rate of change per unit time (for example, 10 ms) of the output voltage.

  Further, the memory control means 12c is configured to count the number of acceleration needles and the number of deceleration needles, which are the count values respectively counted by the counting means 8 in the acceleration command section and the deceleration command section, at the start of the acceleration command section and at the start of the deceleration command section. The start operation position signal, which is an operation position signal, and the end operation position signal at the end of the acceleration command section and the end operation position signal at the end of the deceleration command section are stored in the storage device 3 in association with the corresponding acceleration start needle number and deceleration start needle number, respectively. It is supposed to let you. For example, in Table 1, the acceleration needle number of the portion indicated by the circle numeral 7 associated with the acceleration start needle number 90 indicated by the circle numeral 6 is 8, the start operation position signal of the portion indicated by the circle numeral 5 is 135, and the circle numeral 8 is The end operation position signal of the portion shown is 220. Further, in Table 2, the number of deceleration needles indicated by the circle numeral 10 associated with the number 145 of deceleration start needles indicated by the circle numeral 9 is 15, the start operation position signal of the part indicated by the circle numeral 8 is 220, and the end operation position signal. Is 0.

  On the other hand, the assist mode is a mode used when an immature worker who is unfamiliar with the sewing machine operation performs the sewing work. When the assist mode is selected after execution of the recording mode and the predetermined sewing work same as the sewing work executed in the recording mode by the unskilled worker is started, the control device 2 causes the assist control unit 13 to execute the assist mode instruction. The operation position signal output from the pedal sensor 16 is corrected based on the rate of change in the recording mode and output to the drive control means 6.

  As shown in FIG. 1, the assist control unit 13 includes a determination unit 13 a that determines an acceleration command portion and a deceleration command portion of the operation position signal output from the pedal sensor 6 in the assist mode. The discriminating means 13a compares the operation position signal detected by the pedal sensor 16 with the current operation pedal 5 operation and the operation position signal with the most recent operation pedal 15 operation, for example, with the current operation pedal 5 operation. When the operation position (depression amount) of the position signal is greater than the operation position (depression amount) of the operation position signal due to the most recent operation of the operation pedal 5, acceleration operation is performed, if it is the same, constant speed operation is performed, and if it is smaller, deceleration is performed. It is supposed to be an operation.

  Further, the assist control unit 13 uses the operation position signals of the acceleration command portion and the deceleration command portion determined by the determination means 13a, the acceleration change rate with respect to time in the operation position signal of the acceleration command portion, and the operation of the deceleration command portion. Correction control means 13b is provided for correcting the deceleration change rate with respect to time in the position signal so as to approach the acceleration change rate and deceleration change rate calculated and stored in the recording mode.

  The correction control means 13b stores the operation position signal of each acceleration command portion in association with the acceleration start needle number closest to the count value (number of stitches) counted by the counting means 8 at the acceleration start position of the acceleration command portion. It corresponds to the acceleration rate of change. The correction control means 13b associates the operation position signal of each deceleration command portion with the number of deceleration start stitches closest to the count value (number of stitches) counted by the measuring means 8 at the deceleration start position of the deceleration command portion. It corresponds to the stored deceleration change rate. As shown in FIG. 3, the correction control means 13 b relates the acceleration start positions U1 to U3 of the acceleration command portion and the deceleration start positions D1 to D4 of the deceleration command portion. It is determined whether the number of stitches close to the count value exists in each acceleration start stitch number or each deceleration start stitch number stored in the recording mode within a predetermined threshold stitch count R. Here, when it is determined that the correction control means 13b exists, as shown in FIG. 4, the operation position signals of each acceleration command portion and each deceleration command portion are used as the acceleration change rate of each acceleration command portion and each deceleration command. The partial deceleration change rate is corrected so as to approach the acceleration change rate and deceleration change rate stored in the associated recording mode.

  At this time, the operation position signals of each acceleration command portion and each deceleration command portion are changed to the acceleration change rate and deceleration change rate of the acceleration command portion, respectively. How close the correction is made is determined based on the correction intensity G set manually or automatically. The correction strength G will be described later.

  On the other hand, as shown in FIG. 5, when the acceleration command section in the recording mode has the deceleration start position D3 of the deceleration command part, or when the acceleration command part is in the deceleration command section, the correction control means 13b performs the acceleration command section. The number of stitches close to the count value of the acceleration start position of the portion and the deceleration start position of the deceleration command portion is present in each acceleration start stitch number or each deceleration start stitch number stored in the recording mode within the predetermined threshold stitch number R. It will be judged not to. Then, as shown in FIG. 6, the correction control means 13b does not correct the operation position signal of the acceleration command portion or the deceleration command portion (F) determined not to exist.

  The assist control unit 13 includes a correction intensity setting unit 13c that sets the intensity of correction executed by the correction control unit 13b. The correction strength setting means 13c compares the amount of change of the corrected operation position signal with respect to time after execution of the assist mode in the predetermined sewing operation with the amount of change of the operation position signal of the corresponding recording mode with respect to time. It has become. Then, the correction strength setting means 13c automatically sets the correction strength in the subsequent execution of the assist mode based on the difference between the two variations. When the difference between the two variations is large, If the correction strength is set high so that the acceleration change rate and deceleration change rate of the operation position signal after correction are closer to the recording mode change rate, and the difference between the two changes is small, the acceleration change of the operation position signal The correction strength is set low so that the rate and the deceleration change rate are not corrected much.

  Furthermore, the correction strength setting means 13c stores in the storage device 3 the number of times of a predetermined number of sewing operations in the assist mode and the amount of change of each operation position signal with respect to the number of stitches when the assist mode is executed. The average value of each change amount stored in the storage device 3 is obtained, and the average value is compared with the change amount with respect to the count value of the operation position signal in the recording mode. Then, the correction intensity setting means 13c changes the intensity of correction in the subsequent execution of the assist mode based on the difference between the two changes. The change of the correction strength by the correction strength setting means 13c is performed, for example, every predetermined period such as every day or every week, or every predetermined number of times such as every 10 times or every 50 times.

  The sewing machine 1 is provided with an operation panel 20 that outputs an instruction relating to driving of the sewing machine 1 to the control device 2 via the I / F 18 by an operator's input operation. The operation panel 20 includes a normal mode and operation assistance. A first mode switch 21 for switching modes and a second mode switch 22 for switching between recording mode and assist mode in the operation assist mode are provided.

  The control device 2 controls the drive of the sewing machine 1 in the normal mode, the recording mode in the operation assist mode, or the assist mode according to the operator's selection.

  Next, the operation of the control device 2 of the sewing machine 1 according to the present embodiment will be described with reference to FIGS.

  As shown in FIG. 2, when the sewing machine 1 is started by an operator of the sewing machine 1 (ST1), the control device 2 first determines whether or not the operation assist mode is selected (ST2). Here, the operator can operate the first mode switch 21 on the operation panel 20 to select either the normal mode or the operation assist mode. When the operation assist mode is selected, the operator can select either the recording mode or the assist mode by operating the second mode switch 22.

  When determining that the operation assist mode is selected (Yes in ST2), the control device 2 subsequently determines whether or not the recording mode is selected (ST3), and the recording mode is selected. If it is determined (Yes in ST3), the drive of the sewing machine 1 is controlled by the recording mode (ST4). If it is determined that the recording mode is not selected (No in ST3), the sewing machine 1 is controlled by the assist mode. Is controlled (ST5). Further, when it is determined that the operation assist mode is not set in ST2 (No in ST2), the control device 2 controls the driving of the sewing machine 1 so as to perform the sewing operation in the normal mode (ST6). In the normal mode, when the operator operates the operation pedal 15, the control device 2 detects the operation position of the operation pedal based on the operation position signal output from the pedal sensor 16, and detects the detected operation pedal 15. By controlling the driving speed of the spindle motor 11 based on the operation position, the sewing needle 5 is moved up and down via the sewing machine spindle 10 and the needle bar to perform the sewing operation.

  Next, the operation when the drive of the sewing machine 1 is controlled by the recording mode (ST4) will be described.

  As shown in FIG. 8, the control device 2 monitors whether or not the operation pedal 15 has been operated by the operator based on the operation position signal output from the pedal sensor 16 (ST41), and the operation pedal 15 is operated. If it is determined that it is not (No in ST41), the operation of the pedal 15 is continuously monitored (ST41). If the control device 2 determines that the pedal 15 has been operated (Yes in ST41), the control device 2 temporarily stores the value of the operation position signal in the RAM of the storage device 3 every 50 ms, and stores the current operation position signal. By subtracting the value of the previous operation position signal from the value, the difference of the operation position signal between the two points before and after is calculated (ST42).

  Subsequently, the control device 2 determines whether or not the operation position signal is in the acceleration command section by determining whether or not the difference between the operation position signals calculated by the process of ST42 has a positive sign (ST43). . If the control device 2 determines that the operation position signal is in the acceleration command section by determining that the difference between the operation position signals has a positive sign (Yes in ST43), the storage control means 12c Various recording data of the acceleration command section are stored in the EEPROM of the recording device 3 (ST44). On the other hand, when the control device 2 determines that the difference in the operation position signal between the two points before and after is not positive and is not in the acceleration command section (No in ST43), it is calculated by the process of ST42. By determining whether the difference between the operation position signals has a negative sign, it is determined whether or not the operation position signal is in the deceleration command section (ST45). When the control device 2 determines that the operation position signal is in the deceleration command section by determining that the difference in the operation position signal between the two points before and after has a negative sign (Yes in ST45). Then, various recording data of the deceleration command section is stored in the EEPROM of the storage device 3 by the storage control means 12c (ST46).

  In addition, the process of ST42-ST43 and ST45 by the control apparatus 2 is equivalent to the command area specific | specification means 12a of this invention.

  Regarding storage of data in the acceleration command section, as shown in FIGS. 9 to 10 and Table 1, first, the control device 2 uses the storage control means 12c to determine the value of the operation position signal (Pus ), And the number of acceleration start needles (Nu) at the acceleration start position is stored in the storage device 3 (ST441). Whether or not the acceleration operation is completed is determined from the gradient of the change rate of the operation position signal as in ST43 (ST442). ). Control device 2 determines that the acceleration operation has not ended (No in ST442), waits for the acceleration operation to end (ST442), and determines that the acceleration operation has ended (Yes in ST442). ) The value (Pue) of the operation position signal of the operation pedal 15 when the acceleration operation is ended by the storage control means 12c is stored in the storage device 3 (ST443).

  Subsequently, the control device 2 uses the acceleration start needle number (Nu) stored in ST441 and the number of operation position signals stored every 50 ms from the start of acceleration to the end of acceleration. The count value (number of stitches) (Du) and time (Tu) counted by the counting means 8 are calculated within the acceleration command interval from the start of the operation to the end of the acceleration operation, and this calculation is performed by the storage control means 12c. The numerical value (number of stitches) (Du) and time (Tu) are stored in the storage device 3 (ST444).

  Further, as shown in FIG. 10, the control device 2 uses the calculation means 12b to set the acceleration change rate (the slope of the acceleration operation line with respect to time) in the acceleration command interval as [acceleration change rate (Su)] = [acceleration command interval]. The amount of change in the operation position signal at (Pu)] / [time from the start to the end of the acceleration operation (Tu)]. Here, Pu is calculated by Pu = Pue-Pus. Then, the control device 2 associates the acceleration change rate (Su) calculated by the storage control means 12c with the acceleration start needle number (Nu) stored in ST441 and stores it in the storage device 3 (ST445). Thereby, the record data of the acceleration command section as shown in Table 1 is stored.

  Regarding the storage of the deceleration operation, as shown in FIGS. 11 to 12 and Table 2, first, the control device 2 uses the storage control means 12c to determine the value (Pds) of the operation position signal at the deceleration start position in the deceleration command section, and The number of deceleration start needles (Nd) at the deceleration start position is stored in the storage device 3 (ST461), and it is determined whether or not the deceleration operation is completed from the inclination of the change rate of the operation position signal (ST462). Control device 2 determines that the deceleration operation has not been completed (No in ST462), waits until the deceleration operation is completed (ST462), and determines that the deceleration operation has been completed (Yes in ST462). ) The value (Pde) of the operation position signal when the deceleration operation is completed by the storage control means 12c is stored in the storage device 3 (ST463).

  Subsequently, the control device 2 uses the number of deceleration start needles (Nd) stored in ST461 and the number of operation position signals stored every 50 ms from the start of deceleration to the end of acceleration. The count value (number of stitches) (Dd) and time (Td) counted by the counting means 8 are calculated within the deceleration command interval from when the deceleration operation is started to when the deceleration operation is completed, and the storage control means 12c This count value (number of stitches) (Td) and time are stored in the storage device 3 (ST464).

  Further, as shown in FIG. 12, the control device 2 uses the calculation means 12b to set the deceleration change rate (slope of the deceleration operation straight line with respect to time) to [deceleration change rate (Sd)] = [deceleration command interval]. The change amount of the operation position signal at (Pd)] / [time from the start to the end of the deceleration operation (Td)] is calculated. Here, Pd is calculated by Pd = Pds−Pde. Then, the control device 2 associates the calculated deceleration change rate (Sd) with the storage control means 12c and the number of deceleration needles (Nd) stored in ST461 and stores it in the storage device 3 with the storage control means 12c ( ST465). Thereby, the recording data of the deceleration command section as shown in Table 2 is recorded.

  On the other hand, when it is determined that the operation is not a deceleration operation in ST45 (No in ST45), the control device 2 determines that the operation is a constant speed operation, and counts the operation position signal within the constant speed command section for the spindle motor 11. 8, the operation position signal is counted, the sewing position during the sewing operation is estimated, and the counted value (number of stitches) is stored in the storage device 3 (ST47).

  Then, after storing the storage data of the acceleration command section (ST44), after the storage of the storage data of the deceleration command section (ST46), the control device 2 has a positive difference in the operation position signal between the two points before and after ST45. If it is determined that the operation position signal is not in the deceleration command section (No in ST45), for example, by confirming whether the thread trimming operation has been performed by depressing the operation pedal 15, the sewing operation is being performed. It is determined whether or not there is (ST47). Here, when it is determined that the sewing operation is being performed (Yes in ST47), the control device 2 calculates again the difference in the operation position signal between the two points before and after (ST43). On the other hand, when it is confirmed that the thread trimming operation has been performed, the control device 2 determines that the sewing operation is not being performed (No in ST47), and ends the sewing operation.

  Next, the operation when the drive of the sewing machine 1 is controlled by the assist mode (ST5) will be described.

  As shown in FIG. 13, the control device 2 monitors whether or not the operation pedal 15 has been operated by the operator based on the operation position signal output from the pedal sensor 16 (ST51). If it is determined that it has not been performed (No in ST51), the operation of the operation pedal 15 is continuously monitored (ST51). Further, when the control device 2 determines that the operation pedal 15 has been operated (Yes in ST51), the control device 2 detects the current operation position signal of the operation pedal 15 detected by the pedal sensor 16 and the previous operation pedal 15. The operation position signal by the operation is compared to determine whether or not it is an acceleration command portion (ST52). Here, when the control device 2 determines that the operation position signal by the operation of the current operation pedal 15 is larger than the operation position signal by the operation of the previous operation pedal 15 by the determination unit 13a and is an acceleration command portion. (Yes in ST52), the count value (number of stitches) of the acceleration start position of the acceleration command portion counted by the measuring means 8 is confirmed by the correction control means 13b. Further, the control device 2 uses the correction control means 13b to be closest to the confirmed count value (number of stitches) within a predetermined threshold number of stitches R among the numbers of acceleration start stitches stored in the recording mode. Determine the number of acceleration start stitches. And the control apparatus 2 matches this acceleration command part with the acceleration change rate memorize | stored linked | related with the said nearest acceleration start needle | hook number with the correction | amendment control means 13b, and reads this acceleration change rate (ST53).

  On the other hand, when the control device 2 determines that the acceleration operation is not performed in ST52 (No in ST52), the operation position signal by the operation of the current operation pedal 15 detected by the pedal sensor 16 and the operation of the previous operation pedal 15 are detected. It is determined whether the operation is a deceleration operation or not (ST54). When the determination unit 13a determines that the operation position signal due to the current operation pedal 15 operation is smaller than the operation position signal due to the previous operation pedal 15 operation, the control device 2 determines that the operation is a deceleration operation (in ST54). Yes), the count value (number of stitches) of the deceleration start position of the deceleration command portion counted by the measuring means 8 is confirmed by the correction control means 13b. Further, the control device 2 causes the correction control means 13b to perform the deceleration closest to the confirmed count value (number of stitches) within the predetermined threshold number of stitches R among the number of deceleration start stitches stored in the recording mode. Determine the number of starting stitches. Then, the control device 2 reads the deceleration change rate by associating the deceleration command portion with the deceleration change rate stored in association with the closest number of deceleration start stitches by the correction control means 13b (ST55).

  Note that the controller 2 starts each acceleration in which a numerical value that is the same as or approximate to the confirmed count value (number of stitches) is stored in the recording mode within a predetermined threshold stitch number R in the determination of ST53 and ST55. When it is determined that the number of stitches and the number of stitches at each deceleration start are not present, the operation position signals of the acceleration command portion and the deceleration command portion are not corrected.

  Then, the control device 2 uses the correction control means 13b to obtain the correction value of the operation position signal using the acceleration change rate read in ST53 or the deceleration change rate read in ST55, and [correction value of the operation position signal]. ] = (Po × (1−G)) + tm × a × G) (ST56). In the above formula, Po = operating position signal output from the pedal sensor 16 when an operator operating using the assist mode operates the operating pedal 15, G = correction intensity, tm = acceleration command part or The time from the start of the deceleration command portion to the present time is assumed to be a = acceleration change rate read in ST53 or deceleration change rate read in ST55. As a result, the control device 2 causes the correction control means 13b to output each operation signal output from the pedal sensor 16 in the assist mode so that the acceleration change rate in the acceleration command portion and the deceleration change rate in the deceleration command portion are in the recording mode. Corrections are made so as to approach the stored acceleration change rate and deceleration change rate, respectively. Thereby, the control device 2 corrects each operation signal of the acceleration command portion and the deceleration command portion in the assist mode so as to approach the operation position signal of the acceleration change rate and the deceleration change rate in the recording mode.

  Here, the correction strength (G) is determined, for example, in the range of 0 <G <1, and when the proficiency level of the worker who receives operation assistance by using the assist mode is low, the value of G is set to be large. Is done. Further, the correction intensity for obtaining the correction value of the operation position signal when the operator performs the predetermined sewing work for the first time in the assist mode may be set automatically by the correction control means 13b. Alternatively, the correction intensity arbitrarily selected by the operator using the operation panel 20 or the like may be set.

  When the correction value of the operation position signal is calculated by the correction control means 13b (ST56), the control device 2 controls the drive speed of the spindle motor 11 by the drive control means 6 based on the operation position signal obtained from the correction value. Then, the drive of the sewing machine 1 is controlled so as to perform the sewing operation (ST57).

  On the other hand, when it is determined in ST54 that the operation is not a deceleration operation (No in ST54), the control device 2 controls the driving speed of the spindle motor 11 based on the operation position signal output from the pedal sensor 16 to perform the sewing operation. Perform (ST57). That is, when the operation pedal 15 is operated at a constant speed in the assist mode, the control device 2 does not correct the constant speed command portion of the operation position signal. This is to prevent the needle drop from being made on a portion of the workpiece to be sewn because the spindle motor 11 rotates at a high speed against the operator's will.

  Thereafter, the control device 2 stores the current count value (number of stitches) and the operation position signal counted by the counting means 8 in the storage device 3 (ST58).

  Subsequently, for example, the control device 2 determines whether or not the sewing operation is being performed by checking whether or not the thread trimming operation has been performed (ST59), and if it is determined that the sewing operation is being performed (in ST59) Yes), it is determined again whether or not an acceleration operation has been performed (ST52). On the other hand, when it is determined that the thread trimming operation has been performed, the control device 2 determines that the sewing operation is not being performed (No in ST59), and automatically sets the correction strength (ST60).

  Next, the operation when the control device 2 automatically sets the correction strength for correcting the operation position signal of the operator who performs the sewing work in the assist mode (ST60) will be described.

  As shown in FIG. 14, first, the control device 2 uses the correction strength setting means 13c to store the acceleration start needle number (Nu), the deceleration start needle number (Nd), and the acceleration command interval stored in the storage device 3 in the recording mode. Count value (number of stitches) (Du), count value in deceleration command section (number of stitches) (Dd), operation position signals (Pus and Pue) at the start and end of each acceleration command section, each deceleration command section The operation position signals (Pds and Pde) at the start and end are read. Then, the control device 2 uses the correction intensity setting means 13c to record the above-mentioned recording data stored in the recording mode, on the memory map of the storage device 3, using the horizontal axis as the number of stitches and the vertical axis as the operation position signal. In addition, a graph representing the amount of change in the operation position signal with respect to the number of stitches as shown in FIG. 15 is created (ST61).

  Subsequently, the control device 2 reads the corrected operation position signal and the count value (number of stitches) counted by the counting means 8 stored in the storage device 3 in ST58 by the correction strength setting means 13c. Using the numerical value and each operation position signal, similarly to ST61, a graph representing the change amount of the operation position signal with respect to the number of stitches is created on the memory map of the storage device 3 (ST62).

  Further, the control device 2 superimposes both graphs created in ST61 and ST62 by the correction intensity setting means 13c, and the change amount of the operation signal in the recording mode with respect to the number of stitches and the operation signal in the assist mode of both graphs are related to the logical number. Compare the amount of change. And the control apparatus 2 calculates the comparison area which is the total area of the difference part (part shown with a hatching in FIG. 15) of the variation | change_quantity of both graphs by the correction | amendment intensity | strength setting means 13c (ST63). Then, control device 2 determines whether or not the sewing operation in the recording mode and the assist mode are similar using the comparison area calculated in ST63 (ST64).

  Here, when the comparison area calculated in ST63 is smaller than the first set area set in advance, the control device 2 uses the correction strength setting means 13c to perform similar sewing operations between the recording mode and the assist mode. (Yes in ST64), a value smaller than the currently set correction strength is set as a new correction strength (ST65). On the other hand, when the comparison area is not smaller than the first set area in ST64, the control device 2 determines that the sewing operation between the recording mode and the assist mode is not similar by the correction strength setting means 13c (No in ST64). Subsequently, it is determined whether or not the sewing operation is greatly different between the recording mode and the assist mode (ST66).

  Here, if the comparison area is larger than the preset second setting area, the control device 2 determines that the recording mode and the assist mode are greatly different by the correction intensity setting means 13c (in ST66). Yes), a value larger than the currently set correction strength is set as a new correction strength (ST67). On the other hand, when the comparison area is not larger than the second set area in ST66, control device 2 determines that the sewing operation in the recording mode and the assist mode is not significantly different by correction intensity setting means 13c (in ST66). No), the correction strength is not changed (ST68). Thereby, the control apparatus 2 performs the automatic setting of the correction intensity in the subsequent execution of the assist mode by the correction intensity setting means 13c.

  Further, with regard to the setting of the correction strength, the correction strength setting means 13c of the assist control unit 13 is configured so that the number of times of predetermined sewing operations in the assist mode and the number of stitches of each operation position signal when the assist mode is executed. Are stored in the storage device 3 respectively. Then, the correction strength setting means 13c calculates the average value of each change amount stored in the storage device 3 every predetermined period such as every day or every week, or every predetermined number of times such as every 10 times or every 50 times. The average value is compared with the amount of change of the operation position signal with respect to the number of stitches in a predetermined sewing operation in the recording mode, and the difference between the average value and the amount of change with respect to the number of stitches of the operation signal in the recording mode is calculated. . Thereafter, when the difference between the average value and the amount of change in the recording mode is larger than a predetermined threshold range, the correction strength setting unit 13c changes the correction strength value so that the difference becomes a predetermined value. If the difference is smaller than the threshold range, the correction strength value is changed to be small, and if the difference is within the predetermined threshold range, the correction strength is not changed. Thereby, the correction strength setting means 13c changes the correction strength set in the subsequent execution of the assist mode based on the average value of the change amount with respect to the number of stitches of each operation position signal when the assist mode is executed. It is like that.

  According to the present embodiment, the acceleration change rate and deceleration change rate of the operation position signal output from the pedal sensor 16 when the skilled worker operates the operation pedal 15 in the recording mode, and the acceleration start needle in the acceleration command section The number of deceleration start stitches in the deceleration command section is stored in the recording device 3. When the immature worker performs the sewing machine operation in the assist mode, the control device 2 of the sewing machine 1 transmits the operation position signals of the acceleration command portion and the deceleration command portion, the acceleration change rate of the acceleration command portion, and the deceleration command. Corrections are made so that the deceleration change rate of the part approaches the acceleration change rate and deceleration change rate stored in the recording mode. Thereby, the control apparatus 2 of the sewing machine 1 can make the sewing operation of an immature worker close to the sewing operation of a skilled worker.

  Therefore, even when an immature worker performs a sewing operation, the sewing operation can be performed efficiently at high speed. It is also possible to improve the proficiency level and sewing speed of the unskilled worker.

  Moreover, since the control apparatus 2 of the sewing machine 1 which concerns on this embodiment can adjust correction | amendment intensity | strength according to the skill level of the sewing machine operation of the operator who uses assist mode, it can sew more efficiently. Can do. Furthermore, the control device 2 sets the correction strength high for an operator with a low proficiency level, and sets the correction strength low for an operator with a high proficiency level, thereby improving the proficiency level of the operator's sewing operation. be able to.

  Furthermore, the control device 2 of the sewing machine 1 according to the present embodiment is configured so that the predetermined number of sewing operations in the assist mode and the amount of change of each operation position signal with respect to time with respect to the number of stitches for each predetermined period or every predetermined number of times. Then, an average value of the change amounts is obtained, and the set correction strength is changed based on the average value. Thus, the control apparatus 2 can set the correction intensity | strength according to the proficiency of each worker more reliably by calculating | requiring the average value of each said variation | change_quantity.

  In addition, this invention is not limited to the said embodiment, A various change is possible as needed.

  In the present embodiment, the operation position signal functions as a signal for instructing the drive speed of the spindle motor 11 that drives the sewing machine spindle 10. It can also be considered as a rate of change with respect to time, and correcting the operation position signal can be considered as correcting the driving speed of the spindle motor 11.

DESCRIPTION OF SYMBOLS 1 Sewing machine 2 Control apparatus 3 Memory | storage device 5 Sewing needle 6 Drive control means 7 Needle position detection means 8 Counting means 10 Sewing machine spindle 11 Spindle motor 12 Recording control part 12a Command area specification means 12b Calculation means 12c Storage control means 13 Assist control part 13a Discriminating means 13b Correction control means 13c Correction intensity setting means 15 Operation pedal 16 Pedal sensor 18 I / F
20 Operation Panel 21 First Mode Change Switch 22 Second Mode Change Switch

Claims (3)

A pedal sensor that detects an operation position corresponding to the depression amount of an operation pedal operated by an operator, and outputs an operation position signal corresponding to the detected operation position;
Needle position detection means for detecting that a sewing needle held by a needle bar connected to the sewing machine main shaft and moved up and down has reached a predetermined vertical movement position and outputs a needle position signal;
In a control device for a sewing machine, comprising: drive control means for controlling the driving speed of the spindle motor of the sewing machine spindle based on the operation position signal so as to correspond to the change in the operation position signal;
A counting means for counting the needle position signal from the start of sewing each time a predetermined sewing operation is started;
A recording control unit for executing a recording mode in which a rate of change of the operation position signal with respect to time in the predetermined sewing operation is stored in a storage device of a sewing machine;
The operation position signal output from the pedal sensor when the predetermined sewing operation is executed after execution of the recording mode is corrected based on the rate of change of the recording mode and is output to the drive control means. An assist control unit for executing the assist mode,
The recording control unit includes command section specifying means for specifying an acceleration command section and a deceleration command section for the spindle motor of the operation position signal;
Calculating means for calculating an acceleration change rate of the acceleration command section and a deceleration change rate of the deceleration command section in the recording mode, respectively, as the change rate;
The acceleration start position of the acceleration command section and the deceleration start position of the deceleration command section in the recording mode are stored in the storage device as the acceleration start needle number and the deceleration start needle number corresponding to the count values of the counting means, respectively. And storage control means for storing the acceleration change rate and the deceleration change rate in the storage device in association with the corresponding acceleration start needle number and the deceleration start needle number, respectively.
The assist control unit is configured to determine an acceleration command portion and a deceleration command portion for the spindle motor of the operation position signal output from the pedal sensor in the assist mode;
Acceleration change stored in the recording mode in association with the operation position signal of the acceleration command portion in association with the acceleration start needle number at which the acceleration change rate of the acceleration command portion is closest to the count value of the counting means at the acceleration start position The operation position signal of the deceleration command portion is related to the number of deceleration start stitches whose deceleration change rate of the deceleration command portion is closest to the count value of the counting means at the deceleration start position. A control device for a sewing machine, comprising: correction control means for performing correction so as to approach the deceleration change rate stored in the recording mode.   The assist control unit, after execution of the assist mode in the predetermined sewing work, a change amount with respect to the count value of the operation position signal after correction, and a change amount with respect to the count value of the operation position signal in the recording mode, The correction intensity setting means for automatically setting the intensity of correction by the correction means in the subsequent execution of the assist mode based on the difference between the two changes is provided. The sewing machine control device according to claim 2.   The correction strength setting means stores, in the storage device, the number of times the predetermined sewing work is performed a plurality of times in the assist mode and the amount of change of the operation position signal with respect to the number of stitches in the assist mode. An average value of the amount of change is obtained, and the average value is compared with the amount of change with respect to the count value of the operation position signal in the recording mode. The sewing machine control device according to claim 2, wherein the control device is changed.

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