JP2016146928A - Automatic sewing apparatus and automatic sewing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic sewing apparatus and an automatic sewing method for automating the sewing work of a stitch yarn, thereby improving the sewing work which allow even a low-skilled worker to carry out the sewing work while detecting a mark on a material to be sewn and finely adjusting the feed direction of the material to be sewn, so that the sewing work can be carried out at a high speed.SOLUTION: Based on image data of a part (5a) to be detected which has been detected by detection means (45) during sewing of a material (5) to be sewn and reference image data, the displacement direction and the displacement magnitude of the part (5a) to be detected which has been detected are distinguished, and a holding rotor (41) for holding the material (5) to be sewn and a supporting rotor (27) are moved to correct the feed direction of the material (5) to be sewn with respect to the needle position of a sewing machine (9). Thereby, the sewing is carried out in such a way that a sewing line follows the part (5a) to be detected.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an automatic sewing apparatus and an automatic sewing method that enable automatic sewing of various sewing materials such as cloth, leather, and synthetic resin sheets along a detected portion provided in advance in the sewing material. The present invention relates to an automatic sewing apparatus and an automatic sewing method that detect a detected portion of a material to be sewn and correct the feed direction of the material to be sewn with respect to a needle position to be always constant to enable automatic sewing.

  For example, in the interior material of a vehicle, a stitch pattern is formed by sewing a stitch thread on leather or a soft synthetic resin sheet (foamed urethane resin sheet) used as a sewing material as a sewing material. ing.

In the material to be sewn, a groove such as a V-shaped groove or a U-shaped groove imitating a butt pattern of different materials to be sewn is provided in a straight line or a curved line at a portion where the stitch thread is sewn. Yes. When sewing a stitch thread on a material to be sewn, conventionally, as shown in Patent Document 1, for example, an operator visually observes the groove of the material to be sewn with the backing material superimposed on the periphery of the back surface of the groove. Checking and performing the sewing work while correcting the feed direction of the sewing material so that the sewing line is along the groove.

  However, in the above-described sewing method, the operator needs to perform the sewing work while checking the groove of the sewing material and finely adjusting the feeding direction of the sewing material. At the same time, it has been difficult to efficiently perform the sewing work at a high speed.

In particular, when sewing the stitch thread in a curved line or when the material to be sewed is curved, it is extremely difficult to sew while finely adjusting the feed direction of the material to be sewn along the groove. It was difficult, and it took time and labor to sew compared to the case where the stitch thread was sewn in a straight line, and it was not possible to sew efficiently.

JP 2003-334895 A

  The problem to be solved is that the sewing work must be performed while checking the groove provided in the sewing material in advance and finely adjusting the feeding direction of the sewing material so that the sewing line is along the groove. In addition, a high skill level is required, and it is difficult to perform the sewing work efficiently at a high speed.

An automatic sewing apparatus according to claim 1 of the present invention is a sewing apparatus including a sewing machine that sews a material to be sewn provided with a detected portion extending along a sewing line along the detected portion. A holding rotator and a supporting rotator, which are provided so as to be movable in a direction orthogonal to the feeding direction of the sewing machine on the carry-in side of the sewing machine, and which can rotate by holding the sewing material;
Numerically-controllable moving means for reciprocating the clamping rotator and the support rotator in the direction perpendicular to the machine feed, and the sewing material to be fed by the sewing machine between the clamping rotator and the support rotator and the sewing machine needle position. The light output unit that outputs a band-shaped light extending in a direction orthogonal to the sewing machine feed direction to the detected portion of the sewing material and the reflected light from the detected portion of the sewing material are received and a signal is received. Detection means provided with a light receiving portion for output, image data processing means for converting the signal output from the detection means into image data, and the detection portion at the time of regular feeding of the sewing material stored in the storage means Image discriminating means for comparing the reference image data and the detected image data of the detected portion to determine the displacement direction and displacement amount of the detected portion in the image data, and the moving means based on the determined displacement direction and displacement amount Move And a control unit that controls and moves the sandwiching rotary body and the support rotary body, and the detected part detected by the image data of the detected part and the reference image data detected by the detection means during sewing of the sewing material The displacement direction and the displacement amount of the sewing material are discriminated, and the holding rotating body and the supporting rotating body that clamp the sewing material are moved based on the displacement direction and the displacement amount, and the sewing line covers the feeding direction of the sewing material with respect to the needle position. The most important feature is that correction can be made along the detection unit.

An automatic sewing apparatus according to a sixth aspect of the present invention is directed to a sewing apparatus including a sewing machine that sews a sewing material provided with a detected part extending along a sewing line along the detected part. A holding rotator and a supporting rotator which are provided so as to be movable in a direction orthogonal to the feed direction of the sewing machine on the carry-in side, and which can be rotated in a direction coinciding with the sewing machine feed direction by sandwiching the sewing material, A numerically controllable moving means for reciprocally moving the support rotator in a direction orthogonal to the machine feed, and provided between the clamping rotator and the support rotator and the needle position of the sewing machine and above the sewing material to be fed by the machine. Imaging the belt-like light irradiated on the surface of the sewing material including the light output unit that outputs the strip-shaped light extending in the direction orthogonal to the sewing machine feed direction to the detected part of the sewing material, and imaging data Detection with imaging member to output The displacement direction and displacement amount of the detected part in the imaging data by comparing the reference image data of the detected part and the detected imaging data of the detected part at the time of regular feeding of the sewing material stored in the storage means And an image discriminating means for discriminating the movement direction of the moving means on the basis of the discriminated displacement direction and displacement amount, and a control means for moving the holding rotating body and the supporting rotating body. The displacement direction and the displacement amount of the detected portion detected by the imaging data of the detected portion detected by the means and the reference image data are discriminated, and the sandwiching rotating body and the supporting rotating body that sandwich the material to be sewn are set in the above displacement direction. The main feature is that the direction of movement of the sewing material relative to the needle position can be corrected so that the sewing line follows the detected portion by moving based on the displacement amount.

The automatic sewing method according to claim 11 is a sewing method in which a sewing material provided with a detected portion extending along a sewing line is sewn along a detected portion by a sewing machine, and a sewing machine is formed on the carry-in side of the sewing machine. Of the detected portion detected by the detecting means provided in front of the needle position of the sewing machine, the holding rotating body and the supporting rotating body for holding the sewing material which is provided so as to be movable in the direction orthogonal to the feeding direction of the sewing machine. The image data and the reference image data of the detected part at the time of normal feeding of the sewing material are compared and discriminated, and the holding rotating body and the supporting rotating body that hold the sewing material are moved based on the displacement direction and the displacement amount. The most important feature is that the feeding direction of the sewing material relative to the needle position can be corrected so that the sewing line follows the detected portion.

  Even if the skill level is low, the present invention performs the sewing operation while finely adjusting the feed direction of the sewing material so that the detection portion of the sewing material is detected and the sewing force follows the detection portion. The sewing operation can be performed at high speed and efficiently. The sewing operation of the stitch yarn can be automated to improve efficiency.

It is a perspective view which shows the outline of an automatic sewing apparatus. It is a fragmentary perspective view which expands and shows the feed direction adjustment means location of FIG. FIG. 3 is an explanatory plan view of FIG. 2. It is side surface explanatory drawing of FIG. It is an electrical block diagram of a control means. It is explanatory drawing which shows the irradiation state of the strip | belt-shaped laser beam with respect to the groove part of a to-be-sewn material. It is explanatory drawing which shows the comparison of the image data of the detected groove part, and reference | standard image data. It is explanatory drawing which shows the irradiation state of the strip | belt-shaped laser beam when the feed direction of to-be-sewn material has shifted | deviated. It is explanatory drawing which shows the comparison of the image data of the groove part detected when the feed direction of to-be-sewn material deviated, and reference | standard image data. It is explanatory drawing which shows the correction state of the feed direction of a to-be-sewn material. It is a flowchart which shows the feed direction correction effect | action of a to-be-sewn material.

A sandwiching rotating body for discriminating the displacement direction and the amount of displacement of the detected portion detected by the imaging data of the detected portion and the reference image data detected by the detecting means at the time of sewing with respect to the sewing material, and holding the sewing material; In the best mode, the support rotating body is moved based on the displacement direction and the displacement amount so that the feed direction of the sewing material relative to the needle position can be corrected so that the sewing line is along the detected portion.

  Hereinafter, the present invention will be described with reference to the drawings showing an embodiment showing an automatic sewing apparatus for sewing and decorating a sewing material with a stitch thread.

  As shown in FIGS. 1 to 4, a sewing machine 9 for sewing a stitch thread 7 on a material to be sewn 5 to form a stitch pattern is provided at the center of the main body 3 in the automatic sewing apparatus 1. The sewing machine 9 has a conventionally known one-needle structure or a two-needle structure provided with a sewing material feed mechanism, a needle movement mechanism for moving the needle, and the details thereof are omitted.

  The sewing material 5 is a skin integrated with the surface of the interior material, and is formed of a soft polyurethane resin. On the surface of the material to be sewed 5, as a detected part such as a V-shaped groove or a U-shaped groove as a mark imitating a butt groove formed when the original sewed materials are butted together to form a single sheet. The groove portion 5a is integrally formed at a predetermined interval with respect to the sewing line.

  The sewing material 5 may be leather or thick cloth in addition to the soft polyurethane resin sheet. When the material to be sewn 5 is leather, the groove 5a is formed by cutting the surface of the leather into a streak shape at a certain depth or by stamping. When the material to be sewn 5 is a thick cloth, the groove 5a is formed by stamping the surface of the thick cloth into a streak shape at a certain depth.

  The main body 3 is provided with feed direction adjusting means 11 for the sewing material 5 from the needle position of the sewing machine 9 to the carry-in side at a required interval. The movable body 13 of the feeding direction adjusting means 11 is supported so as to be movable in the extending direction with respect to a linear guide 15 provided on the main body 3 so as to extend in a direction orthogonal to the sewing machine feeding direction.

The movable body 13 has an axis line in a direction coinciding with the extending direction of the linear guide 15 and is rotatably supported by the main body 3. An electric motor 17 such as a servo motor capable of numerical control is provided at one end. The feed screw 19 constituting the connected moving means is meshed and reciprocated in the extending direction as the electric motor 17 is driven.

The moving means for the movable body 13 may be a belt moving mechanism, a linear servo motor, or the like.

A base end portion of a pair of support frames 23 whose front end side (loading side) coincides with the feeding direction of the sewing machine 9 and extends to the loading side is attached to the upper portion of the movable body 13. A plurality of loading-side support rollers 25 having an axis line in a direction orthogonal to the feeding direction are rotatably supported on the tip end side of 23.

On the carry-in side upper portion of the movable body 13, a support rotating body 27 is provided so as to be rotatable in a direction that coincides with the feeding direction of the sewing machine 9 at a height that coincides with the conveyance surface of the carry-in support roller 25.

The movable body 13 is provided with a front U-shaped mounting arm 29 that extends in the horizontal direction and rises at a predetermined height and extends in the horizontal direction so that the upper portion reaches the movable body 13. At the end of the mounting arm 29, a hanging mounting block 31 is provided.

The mounting block 31 is provided with a vertical guide 33 extending in the vertical direction. The vertical guide 33 supports a lifting body 35 movably in the vertical direction. Further, a shaft support portion 31a is provided on the upper portion of the mounting block 31, and a support shaft 37 having an axis line in the vertical direction is slid on the shaft support hole formed in the shaft support portion 31a. It is pivotally supported. The elevating body 35 is urged downward by an elastic member 39 such as a compression spring provided between the shaft support portion 31a.

The lifting and lowering body 35 is provided with a sandwiching rotating body 41 that is opposed to the support rotating body 27 and is rotatable in a direction that coincides with the feeding direction of the sewing machine 9. The clamping rotator 41 clamps the sewing material 5 positioned between them together with the support rotating body 27 by the elastic force of the elastic member 39, and the sewing material 5 is fed by the sewing machine 9. Followed rotation.

A mounting portion 31b is provided on the sewing machine 9 side of the mounting block 31 so as to extend toward the sewing machine 9, and a base end side of the pressing guide plate 43 is provided on the mounting portion 31b so that the height can be adjusted. The pressing guide plate 43 has a length that extends to the vicinity of the needle position of the sewing machine 9 relative to the table surface of the main body 3 and presses the sewing portion and the periphery of the groove portion 5a. A long hole extending in the vertical direction is formed in the base end portion of the pressing guide plate 43, and a fixing screw inserted into the long hole is screwed to the mounting portion 31b so that the height can be adjusted.

The pressing guide plate 43 makes it possible to sew the stitch thread 7 with high quality by making the sewing part and the groove part 5a of the sewing material 5 passing through the table surface of the main body 3 into a flat shape, and the groove detecting means 45. The accuracy of the detection of the groove 5a due to is improved.

In the main body 3 spaced from the needle position of the sewing machine 9 to the support rotary body 27 and the holding rotary body 41 side, a groove detection means 45 as a detection means is provided on the surface of the sewing material 5 to be fed by the sewing machine. Provided at regular intervals.

The groove detecting means 45 is a laser beam output section that outputs a band-shaped laser beam that extends in a direction perpendicular to the feeding direction of the sewing material 5 at a predetermined angle with respect to the groove portion 5a of the sewing material 5 and crosses the groove portion 5a. And a laser beam receiving unit that receives the laser beam reflected from the groove 5a, and a signal from the laser beam receiving unit is subjected to image processing by an image processing unit 67 described later.

The laser beam output unit and the laser beam receiving unit may be configured to be driven continuously. For example, at a predetermined sampling rate corresponding to a predetermined number of pulses of a servo motor that drives the sewing machine 9, a needle May be configured to output a signal by being driven every time the hand movement operation moves to the top dead center or every feeding operation of the sewing material 5.

On the carry-out side of the main body 3, a carry-out support roller 47 having an axis in a direction orthogonal to the feed direction of the sewing machine 9 is rotatably supported, and the sewing material 3 to which the stitch thread 7 is sewn and fed is sent. Support it so that it can be taken out.

The carry-out side support roller 47 may be rotated by a connected electric motor (not shown) in the carry-out direction so that the carry-out side support roller 47 can be carried out by a frictional force against the back surface of the sewing material 5 on which the stitch thread 7 is sewn.

  As shown in FIG. 5, a program storage area 55 and a work data storage area 57 are connected to the CPU 53 of the control means 51 in the automatic sewing apparatus 1. The program storage area 55 stores various control programs such as a sewing machine control program and a feed direction correction program for the sewing material 5.

  The work data storage area 57 includes a reference image data storage area 59, an image data storage area 61, a displacement direction storage area 63, a displacement amount storage area 65, and the like. When the feeding direction of the sewing material 5 and the extending direction of the groove 5a in the sewing material 5 coincide with each other and become parallel, the image detected and processed by the groove detecting means 45 is stored as a reference image.

  In the image data storage area 61, image data of the groove 5a detected by the groove detection means 45 and subjected to image processing by an image processing unit 67 described later is stored. The image data of the groove portion 5a stored in the image data storage area 61 is newly detected every predetermined time, for example, every time the needle moves to the top dead center or every time the sewing material 5 is fed. Sequentially updated to image data.

  The displacement direction storage area 63 is constituted by a flag, for example, and is detected by an image determination unit 69 described later according to the displacement direction of the bottom in the image data of the groove 5a detected with respect to the bottom (deepest part) position in the reference image data of the groove 5a. The flag is turned on and off and stored.

  In the displacement amount storage area 65, the displacement amount of the bottom portion in the image data of the groove portion 5a detected with respect to the bottom portion (deepest portion) in the reference image data of the groove portion 5a calculated by the image determination unit 69 is stored.

  An image processing unit 67 and an image determination unit 69 are connected to the CPU 53. The image processing unit 67 performs image processing based on a signal output from the laser light receiving unit of the groove detecting unit 45 and stores the processed image data in the image data storage area 61.

  The image discriminating unit 69 compares the reference image data of the groove 5a stored in the reference image data storage area 59 with the image data of the groove 5a stored in the image data storage area 61, and the groove 5a in the reference image data is compared. The displacement direction of the bottom portion of the groove portion 5a detected with respect to the bottom portion is discriminated and the flag of the displacement direction storage area 63 is turned ON / OFF and stored, and the displacement of the bottom portion of the detected groove portion 5a with respect to the bottom portion of the groove portion 5a in the reference image data is stored. The amount is calculated and stored in the displacement amount storage area 65.

  A sewing machine drive control unit 71 is connected to the CPU 53, and the sewing machine drive control unit 71 drives and controls the sewing machine 9 based on the sewing machine control program stored in the program storage area 55 to stitch the sewing material 5. The thread 7 is sewn along the groove 5a.

A detection control unit 72 is connected to the CPU 53, and the detection control unit 72 continuously performs the above-described predetermined sampling rate, every movement of the needle moved to the top dead center, every feeding operation of the sewing material 5, or continuously. Then, the laser beam output unit is driven to output a band-shaped laser beam to the surface of the sewing material 5 including the groove 5a, and the laser beam receiving unit is controlled to receive the reflected laser beam from the above location and output a signal. To do.

The CPU 53 is connected to a feed direction correction control unit 73 for the sewing material 5, and the feed direction correction control unit 73 refers to the flag in the displacement direction storage area 63 for the electric motor 17 according to the opposite side of the displacement direction. The direction of rotation of the sewing material 5 is numerically controlled based on the amount of displacement stored in the displacement amount storage area 65, and the feed direction of the sewing material 5 is corrected so that the groove 5a matches the feed direction of the sewing machine 9.

  The CPU 53 is provided with a display control unit 75, and a display unit 77 such as an LCD is connected to the display control unit 75. The display member 77 is detected with respect to the reference image data of the groove 5a stored in the reference image data storage area 59, the image data of the groove 5a stored in the image data storage area 61, and the bottom of the groove 5a in the reference image data. The displacement direction and displacement amount of the bottom of the groove 5a are displayed.

Next, the feed direction correcting action and the feed direction correcting method of the sewing material 5 during sewing by the automatic sewing apparatus 1 will be described.
First, the sewing material 5 is placed on the carry-in support roller 25 with the movable body 13 positioned at the longitudinal center of the linear guide 15, and thus the support rotating body 27 and the sandwiching rotating body 41 at the longitudinal center of the linear guide 15. The front end portion of the main body 3 is sandwiched between the pressing guide plate 43 and the support rotating body 27 and the elastic member 39 so as to pass between the pressing rotating plate 41. Is set so that the sewing start position of the sewing material 5 is located at the needle position of the sewing machine 9.

At this time, the material to be sewn 5 has the groove 5a located below the groove detecting means 45, and the groove 5a is spaced from the needle position of the sewing machine 9 by a predetermined distance so that the longitudinal direction of the groove 5a is the feed direction of the sewing machine 9. The feed direction is adjusted to match.

When the sewing machine 9 is sewn and driven in this state, the material 5 to be sewn is fed by the feed mechanism of the sewing machine 9 while the stitch thread 7 is extended from the groove 5a at a predetermined distance from the groove 5a. Sewing along the exit direction.

At the time of sewing the stitch thread 7 on the sewing material 5 described above, the surface of the groove portion 5a in the sewing material 5 fed by the sewing machine is from the laser beam output portion of the groove detecting means 45 to the surface of the sewing material 5. The belt-shaped laser light that extends in a direction orthogonal to the sewing machine feed direction at a predetermined angle and is output so as to cross the groove 5a is reflected and detected by the reflected laser light received by the laser light receiving part. (See Figure 6)

In the detection of the groove portion 5a, when the sewing material 5 is fed in the normal feeding direction with respect to the needle position, that is, the groove portion 5a has a predetermined interval with respect to the needle position, and the feeding direction of the sewing material 5 When the extending direction of the groove 5a matches, the image data of the groove 5a detected by the groove detecting means 45 and the reference image data stored in the reference image data storage area 59 match, so that the sewing material 5 The stitch thread 7 is continuously sewn. (See Figure 7)

Then, the material to be sewn 5 in which the stitch thread 7 is sewn along the groove 5 a is fed from the needle position to the carry-out side with the feed of the sewing machine 9, placed on the carry-out side support roll 47 and carried out. The carry-out side support roll 47 rotates at a constant speed, and allows the sewing material 5 to be carried out by a frictional force against the back surface of the sewing material 5.

On the other hand, when the feeding direction of the sewing material 5 is displaced due to a change in the feeding force of the sewing material 5 at the time of sewing, a change in the feeding resistance, or the like, or the extension direction and the feeding direction of the groove 5a due to the bending of the sewing material 5. In the case of mismatch or when the extending direction of the groove 5a is a curve or the like, the stitch yarn 7 is placed in the extending direction of the groove 5a at a predetermined distance from the groove 5a with respect to the material 5 to be sewn. It becomes impossible to sew along. (See FIG. 8, FIG. 8 shows a case where the groove portion is displaced in a direction away from the needle position.)

In this embodiment, the image data of the groove 5a detected by the groove detecting means 45 and subjected to image processing by the image processing unit 67 is compared with the reference image data stored in the reference image data storage area 59, and the groove 5a is compared. The displacement direction of the bottom part (deepest part) is determined and stored in the displacement direction storage area 63, and the displacement amount of the bottom part (deepest part) in the groove 5a is calculated and stored in the displacement quantity storage area 65. (See FIG. 9, FIG. 10 shows the case where the groove portion is displaced in the direction away from the needle position.)

Then, the feed direction correction control unit 73 drives and controls the electric motor 17 with the rotation direction opposite to the displacement direction stored in the displacement direction storage area 63 and with the displacement amount stored in the displacement amount storage area 65. 13. Therefore, the support rotator 27 and the sandwiching rotator 41 are moved in the direction orthogonal to the feed direction. (See Figure 10)

As a result, the support rotating body 27 and the sandwiching rotating body 41 sandwiching the sewing material 5 are moved in the direction perpendicular to the feeding direction, and the feeding direction of the sewing material 5 with respect to the needle position is set so that the groove portion 5a has a predetermined position relative to the needle position. The stitch thread 7 is continuously sewed on the material to be sewn 5 while correcting the feeding direction of the material to be sewn 5 and the extending direction of the groove portion 5a to coincide with each other with a gap.

The operation and method for correcting the feeding direction of the sewing material 5 described above will be described with reference to FIG. 11. After the sewing operation by the sewing machine 9 is started in step 101, the sewing material 5 fed by the groove detecting means 45 in step 103 is fed. The groove 5a is detected.

Next, in step 105, the image processing unit performs image processing on the signal from the groove detection unit 45 and stores the image data in the image data storage area 61, and then in step 107, the image determination unit 69 deletes the image data from the image data storage area 61. It is determined whether or not the read image data matches the reference image data stored in the reference image data storage area 59.

If step 107 is YES (the image data and the reference image data match), it is determined in step 109 whether or not the sewing operation has ended. If the step 109 is YES and the sewing operation has ended, In step 111, the sewing operation of the sewing material 5 by the sewing machine 9 is stopped and finished. On the other hand, if step 109 is NO, the process returns to step 103 to continue the groove detection operation at a predetermined timing.

On the other hand, if step 107 is NO ((the image data and the reference image data do not match), the bottom of the groove 5a in the image data with respect to the bottom (deepest part) of the groove 5a in the reference image data is determined by the image determination unit 69 in step 113 The displacement direction is determined and stored in the displacement direction storage area 63, and the displacement amount is calculated and stored in the displacement amount storage area 65.

Next, based on the displacement direction and the displacement amount read from the displacement direction storage area 63 and the displacement amount storage area 65 in step 115, the electric motor 17 is driven and controlled so that the movable body 13 is displaced to the opposite side of the displacement direction. The workpiece 5 is moved by a distance and the material to be sewn 5 sandwiched between the support rotator 27 and the sandwiching rotator 41 is moved in the direction orthogonal to the feed direction to correct the feed direction, and then the process proceeds to Step 109.

In this embodiment, the displacement direction of the groove 5a relative to the sewing line determined by comparing the image data of the groove 5a detected by the groove detecting means 45 and the reference image data when the stitch thread 7 is sewn on the sewing material 5. By correcting the feed direction of the material to be sewn 5 based on the displacement amount, the sewing material 5 can be sewn at a certain interval with respect to the groove 5a and the stitch thread 7 can be sewn along the groove 5a. The stitch pattern can be sewn with high quality and the stitch pattern can be sewn automatically.

In the above description, an example in which the stitch thread 7 is sewn on the sewing material 5 to form a stitch pattern has been described. However, the present invention is not limited to the invention for forming a stitch pattern. It can also be implemented as an invention in which automatic sewing is performed while detecting the provided mark and correcting the feed direction of the sewing material.

In the above description, the laser light receiving part of the groove detecting means 45 is an image sensor such as a CMOS that receives the reflected laser light of the belt-like laser light output to the surface of the sewing material 5 including the groove part 5a. The signal output from the light receiving unit is configured to be image data by the image processing unit 67, but the band-shaped laser beam output to the surface of the sewing material 5 including the groove 5a is captured by an imaging unit such as a CCD camera, The displacement direction and amount of the detected groove 5a are determined by comparing the position information of the groove 5a in the image data output from the imaging means and the position information of the groove 5a in the reference image data. It is good also as a structure which corrects the feed direction of the to-be-sewn material 5 by linearly moving the support rotary body 27 and the clamping rotary body 41 to a feed orthogonal direction based on a direction and the amount of displacement.

In the above description, the stitch yarn 7 of the pattern yarn is sewn along the detected portion on the sewing material 5, but in the present invention, another sewing material is covered on the surface of the sewing material. It can also be implemented as an apparatus and method for sewing along the detection unit.

DESCRIPTION OF SYMBOLS 1 Automatic sewing apparatus 3 Main body 5 Sewing material 5a Groove part 7 as a to-be-detected part Stitch thread 9 Sewing machine 11 Feeding direction adjustment means 13 Movable body 15 Linear guide 17 Electric motor 19 Feed screw 23 which comprises moving means Support frame 25 Carry-in side Supporting roller 27 Supporting rotating body 29 Mounting arm 31 Mounting block 31a Shaft support 31b Mounting part 33 Vertical guide 35 Lifting body 37 Supporting shaft 39 Elastic member 41 Holding rotating body 43 Pressing guide plate 45 Groove detection means 47 Unloading side support roller 51 Control means 53 CPU
55 Program storage area 57 Work data storage area 59 Reference image data storage area 61 Image data storage area 63 Displacement direction storage area 65 Displacement amount storage area 67 Image processing section 69 Image discrimination section 71 Sewing drive control section 75 Detection control section 73 Feed direction Correction control unit 75 Display control unit 77 Display member

Claims (16)

In a sewing apparatus provided with a sewing machine that sews a sewing material provided with a detected portion extending along a sewing line, along the detected portion,
A holding rotator and a supporting rotator, which are provided so as to be movable in a direction orthogonal to the feeding direction of the sewing machine on the carry-in side of the sewing machine, and which can rotate by holding the sewing material;
Numerically controllable moving means for reciprocally moving the sandwiching rotating body and the supporting rotating body in the direction orthogonal to the machine feed;
A band-shaped light provided between the holding rotating body and the supporting rotating body and the needle position of the sewing machine and above the sewing material to be fed by the sewing machine and extending in a direction orthogonal to the sewing machine feeding direction to the detected portion of the sewing material. Detecting means comprising a light output part for outputting the light output part and a light receiving part for receiving the reflected light from the part to be detected of the sewing material and outputting a signal;
Image data processing means for converting the signal output from the detection means into image data;
The reference image data of the detected part at the time of normal feeding of the sewing material stored in the storage means is compared with the image data of the detected detected part to determine the displacement direction and displacement amount of the detected part in the image data. Image discrimination means;
Control means for controlling the movement of the moving means based on the determined displacement direction and the amount of displacement to move the sandwiching rotary body and the support rotary body;
With
A sandwiching rotating body for discriminating a displacement direction and a displacement amount of the detected portion detected from the image data of the detected portion detected by the detecting means at the time of sewing of the sewing material and the reference image data, and holding the sewing material; An automatic sewing apparatus that moves a support rotating body based on the displacement direction and the displacement amount so as to correct the feeding direction of the sewing material with respect to the needle position so that the sewing line follows the detected portion. In claim 1,
An automatic sewing apparatus that is provided with a pressing guide member that presses the surface of the material to be sewn on the sewing machine side of the sandwiching rotating body, and that makes the detection location and the sewing location of the detected portion of the material to be sewn flat by the pressing guide member. In claim 1,
An automatic sewing device in which the detected portion is either a V-shaped groove or a U-shaped groove. In claim 1,
The image discriminating means is an automatic sewing apparatus that discriminates the displacement direction and the displacement amount with reference to the bottom of the detected portion. In claim 1,
The light output portion of the detecting means is an automatic sewing that outputs a band-shaped light that extends at a predetermined angle with respect to the detected portion of the sewing material and in a direction orthogonal to the feeding direction of the sewing material and crosses the detected portion. apparatus. In a sewing apparatus provided with a sewing machine that sews a sewing material provided with a detected portion extending along a sewing line, along the detected portion,
A holding rotator and a support rotator which are provided so as to be movable in a direction orthogonal to the sewing machine feed direction on the carry-in side of the sewing machine, and which can be rotated in a direction coinciding with the sewing machine feed direction by holding the sewing material;
Numerically controllable moving means for reciprocally moving the sandwiching rotating body and the supporting rotating body in the direction orthogonal to the machine feed;
A band-shaped light provided between the holding rotating body and the supporting rotating body and the needle position of the sewing machine and above the sewing material to be fed by the sewing machine and extending in a direction orthogonal to the sewing machine feeding direction to the detected portion of the sewing material. Detecting means provided with an imaging member that images the belt-like light irradiated on the surface of the sewing material including the light output unit and the detected part to output imaging data;
The reference image data of the detected part at the time of normal feeding of the sewing material stored in the storage means is compared with the detected image data of the detected part to determine the displacement direction and displacement amount of the detected part in the imaging data. Image discrimination means;
Control means for controlling the movement of the moving means based on the determined displacement direction and the amount of displacement to move the sandwiching rotary body and the support rotary body;
With
A sandwiching rotating body for discriminating the displacement direction and the amount of displacement of the detected portion detected by the imaging data of the detected portion and the reference image data detected by the detecting means at the time of sewing with respect to the sewing material, and holding the sewing material; An automatic sewing apparatus that moves a support rotating body based on the displacement direction and the displacement amount so as to correct the feeding direction of the sewing material with respect to the needle position so that the sewing line follows the detected portion. In claim 6,
An automatic sewing apparatus that is provided with a pressing guide member that presses the surface of the material to be sewn on the sewing machine side of the sandwiching rotating body, and that makes the detection location and the sewing location of the detected portion of the material to be sewn flat by the pressing guide member. In claim 6,
An automatic sewing device in which the detected portion is either a V-shaped groove or a U-shaped groove. In claim 6,
The image discriminating means is an automatic sewing apparatus that discriminates the displacement direction and the displacement amount with reference to the bottom of the detected portion. In claim 6,
The light output portion of the detecting means is an automatic sewing that outputs a band-shaped light that extends at a predetermined angle with respect to the detected portion of the sewing material and in a direction orthogonal to the feeding direction of the sewing material and crosses the detected portion. apparatus. In a sewing method in which a material to be sewn provided with a detected portion extending along a sewing line is sewn along a detected portion by a sewing machine,
Detection means provided before the needle position of the sewing machine, the holding rotating body and the supporting rotating body that are provided so as to be movable in the direction orthogonal to the feeding direction of the sewing machine on the carry-in side of the sewing machine and hold the sewing material to be sewn By comparing the image data of the detected part detected by the reference image data of the detected part at the time of regular feeding of the sewing material,
The holding rotating body and the supporting rotating body that clamp the material to be sewn are moved based on the displacement direction and the displacement amount so that the feeding direction of the material to be sewn relative to the needle position can be corrected so that the sewing line follows the detected portion. Automatic sewing method. In claim 11,
The detection means includes a light output unit that outputs a band-like light that extends at a predetermined angle with respect to the detected portion of the material to be sewn and is orthogonal to the feed direction of the material to be sewn and crosses the detected portion, and the material to be sewn. An automatic sewing method including a light receiving unit that receives reflected light from a detected portion of a material and outputs a signal. In claim 11,
An automatic sewing method in which a pressing guide member that presses the surface of a material to be sewn is provided on the sewing machine side of the sandwiching rotary body, and the detection location and the sewing location of the to-be-detected portion in the material to be sewn are made flat by the pressure guide member. In claim 11,
When comparing the image data of the detected portion detected by the detecting means and the reference image data of the detected portion during normal feeding of the sewing material, the displacement direction and the displacement amount are determined with reference to the bottom of the detected portion. Automatic sewing method. In claim 11,
The image data of the detected portion is an automatic sewing method in which a signal output from a light receiving portion that receives reflected light from the surface of the sewing material including the detected portion is subjected to image processing. In claim 11,
The automatic sewing method in which the image data of the detected part is imaging data output from an imaging member that images the belt-shaped light irradiated on the surface of the sewing material including the detected part.

Images