JP2019022621A - sewing machine - Google Patents

Abstract

To perform sewing corresponding to curve on a side end part of an object to be sewn.SOLUTION: A sewing machine includes: a main feed mechanism 20 for feeding a first object U to be sewn on an upper side and a second object D to be sewn on a lower side frontward; an upper side lateral feed mechanism 30 for moving the first object to be sewn along the left-to-right direction; a lower side lateral feed mechanism 40 for moving the second object to be sewn along the left-to-right direction; a first pressure-sensitive sensor 74 for bringing a side end part of the first object to be sewn to contact further on the rear side than a needle location S; a second pressure-sensitive sensor 75 for bringing a side end part of the second object to be sewn to contact further on the rear side of the needle location; and a control device 90 for performing location adjustment control for adjusting the locations of the side end part of the first object to be sewn and the side end part of the second object to be sewn. The control device performs location adjustment control of the first object to be sewn by the upper side lateral feed mechanism and location adjustment control of the second object to be sewn by the lower side lateral feed mechanism based on a detection pressure of the first pressure-sensitive sensor and the second pressure-sensitive sensor.SELECTED DRAWING: Figure 9

Description

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

As shown in FIG. 12, the conventional sewing machine 100 feeds the upper cloth and the lower cloth along the forming direction of the seam in order to perform the stitching so that the respective sewing allowances of the upper cloth and the lower cloth coincide with each other. Teeth (not shown), upper and lower lateral feed mechanisms (not shown) that individually feed the upper cloth and the lower cloth on the upstream side of the sewing needle 101 in a direction orthogonal to the cloth feed direction, and each lateral feed mechanism and feed Between the teeth, there are provided cloth edge detecting devices 110 and 120 for detecting the position of the side edge part on the sewing margin side of each of the upper cloth and the lower cloth (for example, see Patent Document 1).
FIG. 13 is an enlarged front view of the cloth edge detection device 110 with respect to the upper cloth CU of the sewing machine 100. As shown in the figure, the cloth edge detecting device 110 includes a light source 111 that emits slit-shaped irradiation light along a direction (left and right direction on the paper surface) orthogonal to the conveyance direction by the feed dog, and a line sensor that receives the irradiation light. 112, and the upper cloth CU passes between the light source 111 and the line sensor 112, and the position where the light intensity is reduced by the irradiation light being blocked by the upper cloth CU is specified from the output of the line sensor 112. Based on this, the position of the side end of the upper cloth CU is detected. The cloth edge detecting device 120 for the lower cloth has the same configuration.
And by adjusting the upper cloth and the lower cloth to an appropriate position by the lateral feed mechanism based on the positions of the respective side end portions of the upper cloth and the lower cloth detected by the cloth edge detecting devices 110 and 120, The upper cloth and the lower cloth were sewn so that the seam allowance would be the same.

JP-A-9-248390

  However, the above-mentioned conventional sewing machine detects the position of the side edges of the upper cloth and lower cloth using an optical line sensor, so it is easily affected by dust, dirt and foreign matter. In some cases, it was impossible to adjust the side end of the plate to an appropriate position.

  An object of the present invention is to satisfactorily sew an upper cloth and a lower cloth.

The invention according to claim 1 is a sewing machine,
A main feed mechanism for feeding the upper first sewing product and the lower second sewing product in the forward direction;
An upper lateral feed mechanism for moving the first sewing object along the left-right direction;
A lower lateral feed mechanism for moving the second sewing object along the left-right direction;
A first pressure-sensitive sensor that abuts the side end of the first sewing object behind the needle drop position;
A second pressure-sensitive sensor that abuts the side end of the second sewing object behind the needle drop position;
A controller for performing position adjustment control for adjusting the position of the side end of the first sewing product and the side end of the second sewing product,
The control device is configured to perform position adjustment control of the first sewing product by the upper lateral feed mechanism and the lower lateral sensor based on the pressure detected by the first pressure sensor and the second pressure sensor. The second sewing product position adjustment control is performed by a feed mechanism.

The invention according to claim 2 is the sewing machine according to claim 1,
A first camera for photographing the first sewing object behind the needle drop position;
A second camera for photographing the second sewing object behind the needle drop position;
An upper turning feed mechanism for turning the first sewing object around a needle drop position;
A lower turning feed mechanism for turning the second sewing product around a needle drop position;
The control device is configured to bend the side end portion of the first sewing product obtained from the photographed image of the first camera and the side edge of the second sewing material obtained from the photographed image of the second camera. In accordance with the degree of bending of the part, it is selected which of the upper lateral feed mechanism and the upper turning feed mechanism performs position adjustment control of the first sewing product, and the second workpiece It is characterized in that it is selected which of the lower lateral feed mechanism and the lower turning feed mechanism executes the position adjustment control of the sewing product.

The invention according to claim 3 is the sewing machine according to claim 2,
The control device includes:
Based on the detected pressure of the first pressure sensor, the position adjustment control of the first sewing product by the selected upper lateral feed mechanism or the upper turning feed mechanism,
Based on the pressure detected by the second pressure sensor, the position adjustment control of the second sewing product is performed by the selected lower side feed mechanism or the lower turn feed mechanism. Features.

The invention according to claim 4 is the sewing machine according to any one of claims 1 to 3,
A first camera for photographing the first sewing object behind the needle drop position;
A second camera for photographing the second sewing object behind the needle drop position;
The upper lateral feed mechanism has a function of changing the forward feed speed of the first sewing product,
The lower lateral feed mechanism has a function of changing the feed speed in the forward direction of the second sewing product,
The control device is configured to obtain the second sewing product obtained from the position of the alignment display of the side end portion of the first sewing product obtained from the photographed image of the first camera and the photographed image of the second camera. Based on the position of the alignment display of the side end portion, operation control is performed to change the forward feed speed by the upper lateral feed mechanism or the lower lateral feed mechanism.

The invention according to claim 5 is the sewing machine according to claim 1,
A photoelectric sensor arranged to detect a curved portion of the first sewing product by the presence or absence of the first sewing product behind the needle drop position;
A photoelectric sensor arranged to detect a curved portion of the second sewing product by the presence or absence of the second sewing product behind the needle drop position;
An upper turning feed mechanism for turning the first sewing object around a needle drop position;
A lower turning feed mechanism for turning the second sewing product around a needle drop position;
The control device includes a bending state of a side end portion of the first sewing product detected by the first photoelectric sensor and a side end of the second sewing product detected by the second photoelectric sensor. In accordance with the degree of bending of the part, it is selected which of the upper lateral feed mechanism and the upper turning feed mechanism performs position adjustment control of the first sewing product, and the second workpiece It is characterized in that it is selected which of the lower lateral feed mechanism and the lower turning feed mechanism executes the position adjustment control of the sewing product.

The invention according to claim 6 is the sewing machine according to claim 5,
The control device includes:
Based on the detected pressure of the first pressure sensor, the position adjustment control of the first sewing product by the selected upper lateral feed mechanism or the upper turning feed mechanism,
Based on the pressure detected by the second pressure sensor, the position adjustment control of the second sewing product is performed by the selected lower side feed mechanism or the lower turn feed mechanism. Features.

The invention according to claim 7 is the sewing machine according to any one of claims 1 to 6,
The control device includes:
Based on the detection pressure of the first pressure sensor, performing the end position detection and end processing operation of the first sewing product,
Based on the detected pressure of the second pressure-sensitive sensor, the terminal position detection and terminal processing operations of the second sewing product are performed.

  As described above, according to the present invention, it is possible to satisfactorily sew the upper cloth and the lower cloth.

It is a perspective view which shows the principal part of the up-down feed sewing machine which is embodiment. It is explanatory drawing which showed simply the structure seen from the front direction of the principal part of a vertical feed sewing machine. It is a block diagram which shows the control system of a vertical feed sewing machine. 4A is a plan view of the upper cloth, and FIG. 4B is a bottom view of the lower cloth. It is sectional drawing which illustrated the structure common about an upper side lateral feed mechanism, a lower side lateral feed mechanism, an upper side turning feed mechanism, and a lower side turning feed mechanism. It is a top view which shows arrangement | positioning of the structure of the periphery of a needle drop position. It is the front view which looked at the guide and the 1st pressure sensor and the 2nd pressure sensor which were arranged inside from the back. It is explanatory drawing which shows the positional relationship of the notch of an upper cloth and the notch of a lower cloth. It is a flowchart of sewing control. It is a block diagram which shows the control system of the other example of a vertical feed sewing machine. Fig. 11 is a flowchart showing sewing control of the sewing machine of Fig. 10. It is a front view of the conventional sewing machine. It is an enlarged front view of the cloth edge detection apparatus with respect to the upper cloth of the conventional sewing machine. It is a figure which shows arrangement | positioning of a 1st or 2nd photoelectric sensor.

[Embodiment of the Invention]
An embodiment of the present invention will be described. FIG. 1 is a perspective view showing a main part of a vertical feed sewing machine 10 as a sewing machine according to the present embodiment, FIG. 2 is an explanatory view schematically showing a configuration viewed from the front direction of the main part, and FIG. 3 is a vertical feed sewing machine. It is a block diagram which shows 10 control systems.
In the following description, one horizontal direction is the Y-axis direction, a horizontal direction perpendicular to the Y-axis direction is the X-axis direction, a vertical vertical direction is the Z-axis direction, and one of the X-axis directions is “front”. The other is “rear”, one in the Y-axis direction is “left”, the other is “right”, one in the Z-axis direction is “upper”, and the other is “lower”.
In the state where the vertical feed sewing machine 10 is placed on a horizontal plane, the feed direction of the upper cloth U (first sewing product) and the lower cloth D (second sewing product), which will be described later, by the main feed mechanism 20 is X. It is parallel to the axial direction, and the advance direction of the feed is “front”.
Further, the lateral feed mechanisms 30 and 40 described later can move the upper cloth U and the lower cloth D in both directions in the Y-axis direction, that is, both left and right.

  The vertical feed sewing machine 10 is configured to feed the upper cloth U and the lower cloth D, which are arranged above and below the placing plate 13, forward, respectively, while the right side edge of the upper cloth U and the right side edge of the lower cloth D. The stitching is performed so that the portions match with each other so as not to cause a deviation and the sewing allowance becomes a predetermined target value.

[About sewing products]
4A is a plan view of the upper cloth U, and FIG. 4B is a plan view of the lower cloth D. FIG. The upper cloth U and the lower cloth D are both long, and the upper cloth U and the lower cloth D are stitched together at the side ends on one side along the longitudinal direction. The upper fabric U is sewn with the surface shown in FIG. 4 (A) facing upward, and the lower fabric D is sewn with the surface appearing in FIG. 4 (B) facing downward. Is done.

Further, both the upper cloth U and the lower cloth D are formed with a plurality of notches N as alignment indications along the side end portions where the sewing is performed. The plurality of notches N of the upper cloth U and the plurality of notches N of the lower cloth D are indices for performing sewing so that the positions of the notches N are matched in order from the end.
Note that the notches N of the upper cloth U and the lower cloth D are not formed at uniform intervals, and the formation intervals of the notches N corresponding to each other between the upper cloth U and the lower cloth D are also inconsistent. There is also. For example, the interval from one notch N of the upper fabric U to the next notch N may be wider than the interval from the corresponding notch N of the lower fabric D to the next notch N. In such a case, the vertical feed sewing machine 10 conveys the upper cloth U and the lower cloth D so that the feed of the upper cloth U is larger than the feed of the lower cloth D at the time of sewing to the next notch N. While performing sewing, so-called squeeze stitching is executed. Hereinafter, the control for performing the sewing operation is referred to as “wetting control”.

  The alignment display formed on the upper cloth U and the lower cloth D is not limited to the notch such as the notch N, but may be formed in a convex shape, or a line or other mark may be visually placed on the workpiece. Any recognizable display can be used.

[Schematic configuration of sewing machine]
As shown in FIGS. 1 to 3, the vertical feed sewing machine 10 has a needle vertical movement mechanism (not shown) that moves the needle bar that holds the sewing needle up and down, and the upper cloth U and the lower cloth D at the X-axis (normal position) during sewing. ) Main feed mechanism 20 that feeds in the direction, upper lateral feed mechanism 30 that moves rearward with respect to the needle drop position and moves the upper cloth U in the left-right direction, and rearward with respect to the needle drop position, The lower lateral feed mechanism 40 for moving the cloth D in the left-right direction, the upper turning feed mechanism 50 for turning the upper cloth U around the needle drop position, and the lower cloth D turning around the needle drop position. A lower turning feed mechanism 60, a base 12 that supports the upper turning feed mechanism 50 and the lower turning feed mechanism 60, and a placing plate 13 that places the lower cloth D supported by the base 12, In order to prevent the upper cloth U and lower cloth D from interfering with each other during transverse feed operation and turning operation, From the partition plate 11 to be cut, the first camera 71 for photographing the upper cloth U behind the needle drop position, the second camera 72 for photographing the lower cloth D behind the needle drop position, and the needle drop position The first pressure-sensitive sensor 74 that abuts the side end portion of the upper cloth U at the rear and the second pressure-sensitive sensor that abuts the side end portion of the second sewing product behind the needle drop position. 75, a hook mechanism (not shown) that catches the upper thread from the sewing needle on the lower side of the placing plate 13 and entangles it with the lower thread, a thread trimming device 14, and a control device 90 that controls each of the above components. Yes.
The needle up-and-down moving mechanism, the shuttle mechanism, and the thread trimming device 14 are the same as those conventionally known, and detailed description thereof is omitted. Moreover, although the vertical feed sewing machine 10 is generally provided with a configuration such as a balance and a thread tension which the sewing machine has, these are the same as those conventionally known, and thus description thereof is omitted.

[Base]
The base 12 is a flat plate provided horizontally on the upper surface of the sewing machine bed portion, and supports the lower lateral feed mechanism 40 and the lower turning feed mechanism 60 as described above.

The mounting plate 13 is a flat plate provided horizontally above the base 12, and the lower cloth D is mounted at the time of sewing.
A lower lateral feed mechanism 40 and a lower turning feed mechanism 60, which will be described later, are arranged on the lower side of the placement plate 13 and are mounted on the lower cloth D placed on the placement plate 13. The lower cloth D is fed through an opening or notch (not shown) formed in the placing plate 13.
In addition, the second camera 72 that photographs the lower cloth D from below also photographs the lower cloth D through an opening or notch (not shown) formed in the mounting plate 13. Note that the mounting plate 13 may be formed of a transparent plate so as not to hinder photographing.

The partition plate 11 is a flat plate provided horizontally above the placement plate 13, and the upper cloth U is placed at the time of sewing.
An upper lateral feed mechanism 30 and an upper turning feed mechanism 50, which will be described later, are disposed above the partition plate 11, and feed the upper cloth U placed on the partition plate 11 from above.
In addition, the first camera 71 captures an image from above on the upper cloth U placed on the partition plate 11.

[Main feed mechanism]
As shown in FIG. 2, the main feed mechanism 20 is provided on the lower side of the mounting plate 13 with a cloth presser 23 that moves up and down on the mounting plate 13 to press the upper cloth U and the lower cloth D. A feed dog 21 that moves in and out of the opening of the mounting plate 13 by performing an elliptical motion along the axial direction, and a feed foot 22 that is provided on the upper side of the mounting plate 13 and performs an elliptical motion along the Y-axis direction; , And a motion transmission mechanism (not shown) that gives the cloth presser 23, the feed dog 21, and the feed leg 22 a vertical motion or an elliptical motion.
The feed dog 21 performs a circular motion so that the upper section in the elliptical motion is forward, and the feed leg 22 performs a circular motion so that the lower section in the elliptical motion is forward. As a result, the upper cloth U and the lower cloth D that have passed through the partition plate 11 and overlapped on the placement board 13 are sandwiched between the feed dog 21 and the feed leg 22 and intermittently forward at a constant feed pitch. The feed operation is performed.

The cloth presser 23 moves up and down in synchronization with the revolving motion of the feed dog 21 and the feed leg 22, and descends at a timing when the feed dog 21 is retracted downward and the feed leg 22 is retracted upward, and the upper cloth U and The lower cloth D is pressed, and the feed dog 21 and the feed leg 22 are engaged with each other and the cloth is raised at the timing of feeding the cloth.
The feed dog 21, the feed leg 22 and the cloth presser 23 all receive power from a sewing machine motor 15 (see FIG. 3) which is a drive source for the needle up-and-down moving mechanism and the shuttle mechanism.
That is, the feed dog 21 is long by synchronously applying up and down and front and back reciprocating motions by a transmission mechanism that converts the rotational motion of the sewing machine motor 15 to up and down reciprocating motion and a transmission mechanism that converts back and forth back and forth motion. It is possible to make a circular movement.
The same applies to the feed leg 22, in which the rotation operation of the sewing machine motor 15 is converted into a back-and-forth motion and applied to a rod that supports the feed foot 22 to move the feed foot 22 back and forth and the rotation operation of the sewing machine motor 15. Is moved up and down by applying to the rod that supports the feed leg 22. Thereby, it is possible to cause the feed leg 22 to perform an elliptical movement.
In addition, the rotational movement of the sewing machine motor is converted into a vertical movement and transmitted to the rod that supports the cloth presser 23 to realize the vertical movement.

The sewing machine motor 15 applies power to the needle up-and-down moving mechanism and the main feed mechanism 20 through a main shaft (not shown), and the needle up-and-down movement mechanism moves the needle by one rotation of the main shaft. 20 performs a feed operation for one pitch.
The needle up-and-down movement mechanism includes a well-known needle swing mechanism, and swings the needle bar holding the sewing needle along the Y-axis direction in synchronization with the vertical movement of the sewing needle. The needle swing mechanism swings the needle bar forward in a section where the lower end portion of the sewing needle is below the upper surface of the placing plate 13.
Accordingly, when the main shaft angle when the needle bar is at the top dead center is 0 °, the sewing needle swings forward while being stuck in the upper cloth U and the lower cloth D within the main shaft angle range of 90 to 270 °. The feed dog 21 and the feed leg 22 described above move forward in the angle range of the main shaft angle of 90 to 270 ° to perform a feed operation.
For this reason, the feed leg 22 is formed with a needle hole through which the sewing needle is inserted, and the needle bar, the feed leg 22 and the feed dog 21 are moved forward while the sewing needle is stuck into the upper cloth U and the lower cloth D. Move to and feed.

[Configuration common to transverse feed mechanism and swivel feed mechanism]
FIG. 5 is a cross-sectional view illustrating a common configuration for the upper lateral feed mechanism 30, the lower lateral feed mechanism 40, the upper turning feed mechanism 50, and the lower turning feed mechanism 60. In addition, about the structure which is common about these each mechanisms 30-60, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

Each of the mechanisms 30 to 60 has a roller 31 that feeds the upper cloth U or the lower cloth D in a tangential direction of the outer periphery, a plurality of wheels 32 that are arranged at uniform intervals along the outer periphery of the roller 31, and the roller 31 fixed. A rotating shaft 33, a support frame 34 that rotatably supports the rotating shaft 33, a pair of sprockets 35 and 36 and a timing belt 37 that transmit torque from the driving source to the rotating shaft 33, and a motor as a driving source. I have.
The upper lateral feed mechanism 30 is driven by a lateral feed motor 38, the lower lateral feed mechanism 40 is driven by a lateral feed motor 48, the upper turning feed mechanism 50 is turned by a turning motor 58, and the lower turning feed mechanism 60 is driven by a turning motor 68. As a motor.

Each wheel 32 is provided on the outer periphery of the roller 31 at a uniform interval, can be rotated about an axis along the tangential direction at each attachment position, and is fed to the outer periphery of the roller 31 in the tangential direction. The lower cloth D is allowed to move with respect to the roller 31 in a direction along the rotation axis 33 or a direction slightly inclined with respect to the rotation axis 33.
Strictly speaking, the roller 31 comes into contact with the upper cloth U or the lower cloth D through each wheel 32. However, in this specification, the upper cloth U or the lower cloth D is “ It is described as “in contact with the outer periphery of the roller 31” or “in contact with the roller 31”.

[Upper lateral feed mechanism]
As shown in FIG. 1, the support frame 34 of the upper lateral feed mechanism 30 is swingably supported with respect to the sewing machine frame, and the upper lateral feed mechanism 30 swings with respect to the support frame 34. And an input lever 392 fixed to the support frame 34 and connected to the plunger of the lift air cylinder 391.

FIG. 6 is a plan view showing the arrangement of the configuration around the needle drop position S. FIG. Although the sewing needle swings back and forth, the needle drop position S in FIG. 6 indicates the needle drop position of the sewing needle at the bottom dead center.
The support frame 34 of the upper lateral feed mechanism 30 extends substantially above the partition plate 11 along the Y-axis direction, and supports the rotating shaft 33 and the roller 31 at the left end thereof, and the right end thereof with respect to the sewing machine frame. And is supported so that it can swing.
The rotation shaft 33 of the upper lateral feed mechanism 30 is directed in a direction in which the front end portion is inclined slightly downward with respect to the X-axis direction, and has a roller 31 at the front end portion. Further, the right end portion of the support frame 34 is supported so as to be rotatable around an axis along the same direction as the rotation shaft 33.

Thereby, the upper lateral feed mechanism 30 can move the roller 31 up and down through the swinging of the support frame 34 by the operation of the lifting air cylinder 391.
When the roller 31 of the upper lateral feed mechanism 30 is lowered, the outer periphery thereof can be brought into contact with the upper cloth U on the partition plate 11, and the roller 31 can be retracted from the upper cloth U when it is raised.
Further, the roller 31 of the upper lateral feed mechanism 30 is arranged to abut on the upper cloth U behind the needle drop position S.

  As shown in FIG. 6, since the rotation shaft 33 of the roller 31 of the upper lateral feed mechanism 30 is along the X-axis direction in plan view, the tangential direction with respect to the upper cloth U of the outer periphery of the roller 31 when descending is the Y-axis. Parallel to the direction. Therefore, the upper cloth U can be moved in the left-right direction by the rotational drive of the roller 31 of the upper lateral feed mechanism 30.

Further, as shown in FIG. 3, an electromagnetic valve 393 and an electropneumatic regulator 394 are provided side by side on the lifting air cylinder 391 of the upper lateral feed mechanism 30.
The electromagnetic valve 393 supplies air pressure for the lifting operation by the lifting air cylinder 391.
The electropneumatic regulator 394 is a pneumatic device for increasing the pressure of air pressure when the roller 31 is lowered toward the upper cloth U by the lifting air cylinder 391. When the roller 31 is in contact with the upper cloth U at normal pressure, the main feed mechanism 20 does not affect the front feed of the upper cloth U, but the pressure is increased by the electropneumatic regulator 394. The feed speed of the forward feed of the upper cloth U by the main feed mechanism 20 is slowed by the pressing pressure of the roller 31.
That is, the electropneumatic regulator 394 functions as a “first speed changing unit that adjusts the forward feed speed of the first sewing product”.

[Lower side feed mechanism]
As shown in FIG. 1, the support frame 34 of the lower lateral feed mechanism 40 is supported so as to be swingable with respect to the base 12, and an elevating air cylinder that imparts swing motion to the support frame 34. A plunger 491 is connected to the swinging end of the support frame 34.

The support frame 34 of the lower lateral feed mechanism 40 extends below the mounting plate 13 substantially along the Y-axis direction, supports the rotary shaft 33 and the roller 31 at the left end thereof, and the right end portion is a sewing machine frame. Is supported so as to be able to swing.
The rotating shaft 33 of the lower lateral feed mechanism 40 is directed in a direction in which the front end portion is inclined slightly upward with respect to the X-axis direction, and has a roller 31 at the front end portion. Further, the right end portion of the support frame 34 is supported so as to be rotatable around an axis along the same direction as the rotation shaft 33.

Accordingly, the lower lateral feed mechanism 40 can move the roller 31 up and down through the swinging of the support frame 34 by the operation of the lifting air cylinder 491.
The outer periphery of the roller 31 of the lower lateral feed mechanism 40 can be brought into contact with the lower cloth D on the mounting plate 13, and the roller 31 can be retracted from the lower cloth D when lowered.
Further, the roller 31 of the lower lateral feed mechanism 40 is disposed so as to contact the lower cloth D behind the needle drop position S.

  The rotation shaft 33 of the roller 31 of the lower lateral feed mechanism 40 is along the X-axis direction in the same way as the rotation shaft 33 of the roller 31 of the upper lateral feed mechanism 30 in plan view. The tangential direction with respect to the lower cloth D of the outer periphery is parallel to the Y-axis direction. Therefore, the lower cloth D can be moved in the left-right direction by the rotational drive of the roller 31 of the lower lateral feed mechanism 40.

In addition, as shown in FIG. 3, an electromagnetic valve 493 and an electropneumatic regulator 494 are provided in the lifting air cylinder 491 of the lower lateral feed mechanism 40.
The electromagnetic valve 493 supplies air pressure for the lifting operation by the lifting air cylinder 491.
The electropneumatic regulator 494 is a pneumatic device for increasing the pressure of air pressure when the roller 31 is raised toward the lower cloth D by the lifting air cylinder 491. When the roller 31 is in contact with the lower cloth D under normal pressure, the main feed mechanism 20 does not affect the forward feeding of the lower cloth D, but the pressure is increased by the electropneumatic regulator 494. In this case, the feed speed of the forward feed of the lower cloth D by the main feed mechanism 20 is slowed by the pressing pressure of the roller 31.
That is, the electropneumatic regulator 494 functions as a “second speed changing unit that adjusts the forward feed speed of the second sewing product”.

[Upper turning feed mechanism]
As shown in FIG. 1, the support frame 34 of the upper turning feed mechanism 50 is supported so as to be swingable with respect to the sewing machine frame, and a lifting air cylinder 591 that imparts swinging motion to the support frame 34. Is connected to the swinging end of the support frame 34.

The support frame 34 of the upper turning feed mechanism 50 extends upward from the partition plate 11 with the front facing downward, supports the rotary shaft 33 and the roller 31 at its lower end, and the upper end as a sewing machine frame. On the other hand, it is supported to be swingable.
The rotation shaft 33 of the upper turning feed mechanism 50 is oriented in the Y-axis direction, and has a roller 31 at the right end thereof. Further, the upper end portion of the support frame 34 is supported so as to be rotatable about an axis along the same direction as the rotation shaft 33.

Thereby, the upper turning feed mechanism 50 can move the roller 31 up and down through the swinging of the support frame 34 by the operation of the lifting air cylinder 591.
When the roller 31 of the upper turning feed mechanism 50 is lowered, the outer periphery thereof can be brought into contact with the upper cloth U on the partition plate 11, and the roller 31 can be retracted from the upper cloth U when it is raised.
Further, the roller 31 of the upper turning feed mechanism 50 is arranged to contact the upper cloth U on the left side of the needle drop position S.

  As shown in FIG. 6, since the rotation shaft 33 of the roller 31 of the upper turning feed mechanism 50 is along the Y-axis direction in plan view, the tangential direction with respect to the upper cloth U of the outer periphery of the roller 31 when lowered is the X-axis. Parallel to the direction. Therefore, the contact position of the roller 31 of the upper cloth U can be moved in the front-rear direction by rotating the roller 31 of the upper turning feed mechanism 50, and the upper cloth U can be swung around the needle drop position S. it can.

[Lower turning feed mechanism]
As shown in FIG. 1, the support frame 34 of the lower turning feed mechanism 60 is supported so as to be swingable with respect to the base 12, and an elevating air cylinder that imparts swinging motion to the support frame 34. A plunger 691 is connected to the swing end of the support frame 34.

The support frame 34 of the lower turning feed mechanism 60 extends below the mounting plate 13 substantially along the X-axis direction, supports the rotating shaft 33 and the roller 31 at the front end thereof, and the rear end thereof is a sewing machine. It is supported so as to be swingable with respect to the frame.
The rotating shaft 33 of the lower turning feed mechanism 60 is directed in a direction in which the right end portion is inclined slightly upward with respect to the Y-axis direction, and has a roller 31 at the right end portion. Further, the rear end portion of the support frame 34 is supported so as to be rotatable about an axis along the same direction as the rotation shaft 33.

Thus, the lower turning feed mechanism 60 can move the roller 31 up and down through the swinging of the support frame 34 by the operation of the lifting air cylinder 691.
The outer periphery of the roller 31 of the lower turning feed mechanism 60 can be brought into contact with the lower cloth D on the placing plate 13, and the roller 31 can be retracted from the lower cloth D when lowered.
Further, the roller 31 of the lower turning feed mechanism 60 is arranged to contact the lower cloth D on the left side of the needle drop position S.

  The rotation shaft 33 of the roller 31 of the lower turning feed mechanism 60 is along the Y-axis direction in the same way as the rotation shaft 33 of the roller 31 of the upper turning feed mechanism 50 in a plan view. The tangential direction with respect to the lower cloth D of the outer periphery is parallel to the X-axis direction. Therefore, the contact position of the roller 31 of the lower cloth D can be moved in the front-rear direction by rotating the roller 31 of the lower turning feed mechanism 60, and the lower cloth D is turned around the needle drop position S. Can do.

[First and second cameras]
As shown in FIG. 1, the first camera 71 is supported by the sewing machine frame with the line of sight directed vertically downward above the partition plate 11, and the upper surface of the upper cloth U on the partition plate 11 from above. Take a picture. The first camera 71 includes an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), and can convert a captured image into image data. The image data is input to the image processing device 73. Is done.

As shown in FIGS. 2 and 6, in the first camera 71, the imaging range F is set to an area that is a few stitches behind the needle drop position S (upstream in the feed direction by the main feed mechanism 20). The state of the upper surface of the upper cloth U a few stitches before the needle drop position S is photographed.
The imaging range F of the first camera 71 is desirably a range including a position 1 to 10 stitches behind the needle drop position S (may include the needle drop position S). Here, one needle indicates one average pitch of the vertical feed sewing machine 10 or the most commonly used one pitch.

  As shown in FIG. 1, the second camera 72 is supported by the base 12 with the line of sight directed vertically upward, and photographs the lower surface of the lower cloth D on the placement plate 13 from below. The second camera 72 also includes an image sensor such as a CCD or a CMOS, and converts the captured image into image data and inputs the image data to the image processing device 73.

  The shooting range of the second camera 72 is set to an area where the first camera 71 is located at the same position in plan view, and the lower surface of the lower cloth D before the needle drop position S is photographed. To do.

[First and second pressure-sensitive sensors]
The first pressure sensor 74 and the second pressure sensor 75 are both disposed inside the guide 76 shown in FIGS. FIG. 7 is a front view of the guide 76 and the first pressure sensor 74 and the second pressure sensor 75 disposed inside the guide 76 as viewed from the rear.
The guide 76 is a slit opened to the front and rear and the left to individually insert a range from the needle drop position S at the right end of the upper cloth U and the lower cloth D to be conveyed slightly forward (backward). 761, 762.
A contact body 741 and a first pressure-sensitive sensor 74 that are in contact with the right end of the upper cloth U are disposed behind the slit 761, and a lower cloth D of the lower cloth D is disposed behind the slit 762. An abutment body 751 that abuts on the right end and a second pressure sensor 75 are disposed.

  The contact bodies 741 and 751 are supported in the slits 761 and 762 so as to be pushed rightward. When the first pressure sensor 74 and the second pressure sensor 75 are pressurized through the contact bodies 741 and 751, respectively, a detection signal corresponding to the applied pressure is input to the control device 90. .

7 indicates an appropriate target position of the right end portion of the upper cloth U and the lower cloth D.
The control device 90 stores standard detected pressures from the pressure-sensitive sensors 74 and 75 when the right end portions of the upper cloth U and the lower cloth D are positioned at an appropriate target position M. When the detected pressure is higher than the detected pressure, the upper cloth U or the lower cloth D is moved to the left. When the detected pressure is lower than the standard detected pressure, the upper cloth U or the lower cloth D is moved to the right. Control to move.

[Control device]
As shown in FIG. 3, the vertical feed sewing machine 10 includes a control device 90 that controls the entire sewing machine during sewing.
A sewing machine motor 15 for moving the sewing needle up and down is connected to the control device 90 via a drive circuit 15a. An unillustrated sewing machine main shaft (not shown) that is driven to rotate by the sewing machine motor 15 is provided with an encoder 151 that detects the shaft angle, and outputs the detected shaft angle to the control device 90 via the interface 151a. . From the output of the encoder 151, the rotation speed and rotation angle of the main shaft can be detected.
Further, the thread cutting device 14 is connected to the control device 90 via a drive circuit 14a.
Further, the vertical feed sewing machine 10 includes an operation panel 95 for inputting various settings and displaying various information, and the operation panel 95 is also connected to the control device 90 via an interface 95a. .

Further, the control device 90 includes electromagnetic valves 393 and 493 for operating the lateral feed motors 38 and 48 of the upper lateral feed mechanism 30 and the lower lateral feed mechanism 40 and the lifting air cylinders 391 and 491 for raising and lowering the rollers 31. Electropneumatic regulators 394 and 494 for adjusting the air pressure supplied to the lifting and lowering air cylinders 391 and 491 are connected via drive circuits 38a, 48a, 393a, 493a, 394a and 494a, respectively.
The electromagnetic valves 393 and 493 switch the supply of working air pressure to the lifting air cylinders 391 and 491, and cause the lifting and lowering operation of the roller 31 by the lifting and lowering air cylinders 391 and 491.

The electro-pneumatic regulators 394 and 494 can increase the air pressure supplied to the lifting and lowering air cylinders 391 and 491 when the respective rollers 31 are in contact with the upper cloth U or the lower cloth D. The contact pressure with respect to the upper cloth U or the lower cloth D by 31 can be made high.
Each roller 31 does not interfere with the forward feeding of the upper cloth U or the lower cloth D by the rotation of the outer peripheral wheel 32 at a normal contact pressure, but when the supply air pressure is increased by the electropneumatic regulators 394 and 494, The contact pressure with respect to the upper cloth U or the lower cloth D by each roller 31 becomes high, and it becomes the resistance of the feeding of the upper cloth U or the lower cloth D by the main feed mechanism 20.
For example, when the supply air pressure of either the lifting air cylinder 391 or 491 is increased by the electropneumatic regulators 394 and 494 for only one of the upper cloth U and the lower cloth D, the upper cloth U or the lower cloth It is possible to reduce the feed speed when the supply air pressure of D is increased and perform so-called shampooing.

Further, the control device 90 includes solenoid valves 593 and 693 for operating the swing feed motors 58 and 68 of the upper swing feed mechanism 50 and the lower swing feed mechanism 60 and the lifting air cylinders 591 and 691 for moving the rollers 31 up and down. Are connected via drive circuits 58a, 68a, 593a, and 693a, respectively.
The electromagnetic valves 593 and 693 switch the supply of working air pressure to the lifting air cylinders 591 and 691 and cause the lifting and lowering air cylinders 591 and 691 to move the roller 31 up and down.

  The control device 90 includes first and second cameras 71 and 72, an image processing device 73, and first and second pressure sensors 74 and 75 via interfaces 71a, 72a, 73a, 74a, and 75a. It is connected.

  The control device 90 includes a CPU 91 that performs various arithmetic processes, a ROM 92 that stores a program related to the operation control of each configuration described above, a RAM 93 that stores various data related to the processing of the CPU 91 in a work area, and various settings. And an EEPROM 94 as a storage unit for recording data, sewing data, and the like.

[Sewing control]
Sewing control executed by the control device 90 in the vertical feed sewing machine 10 configured as described above will be described based on the explanatory diagram of FIG. 8 and the flowchart of FIG. 9.
In the following description, the upper lateral feed mechanism 30, the lower lateral feed mechanism 40, the upper turning feed mechanism 50, and the lower turning feed mechanism 60 may be collectively referred to as “sub feed mechanism”.

At the start of sewing, the CPU 91 of the control device 90 sends the upper cloth U and the lower cloth D backward, and executes reverse stitching of several stitches (step S1).
Then, the CPU 91 sets the sub-feed mechanism to the initial state (step S3). That is, the roller 31 of the upper lateral feed mechanism 30 is brought into contact with the upper cloth U, the roller 31 of the lower lateral feed mechanism 40 is brought into contact with the lower cloth D, and the roller 31 of the upper rotary feed mechanism 50 is retracted. The roller 31 of the lower turning feed mechanism 60 is in the retracted state.
Then, driving of the sewing machine motor 15 is started (step S5).

When sewing by the sewing machine motor 15 is started, the CPU 91 photographs a position a few stitches before the needle drop position S on the upper cloth U and lower cloth D by the first and second cameras 71 and 72 ( Step S7). The photographing of the upper cloth U and the lower cloth D and the processing using the photographed image are performed at a cycle of once every two rotations of the main shaft.
Image data of images taken by the first and second cameras 71 and 72 is processed by the image processing device 73, and the right end U1 of the upper cloth U and the right end D1 of the lower cloth D are extracted. (Step S9: See FIG. 4).

Next, the CPU 91 determines whether or not the shapes of the right end U1 of the upper cloth U and the right end D1 of the lower cloth D are terminal shapes (step S11). The terminal shape is determined from, for example, whether a continuous straight line or a continuous curve indicating the right end portions U1 and D1 is interrupted.
When at least one of the right end U1 of the upper cloth U or the right end D1 of the lower cloth D has a terminal shape (step S11: YES), the sewing is continued as it is to the terminal position (step S29). Reverse stitching is performed at the end position (step S31), and the upper thread and lower thread are cut by the thread trimming device 14 in parallel with the drive stop of the sewing machine motor 15 (step S33), and the sewing control is completed.

In step S11, when neither the right end U1 of the upper cloth U nor the right end D1 of the lower cloth D is a terminal shape (step S11: NO), the CPU 91 determines whether the right end of the upper cloth U is right. A determination is made as to how the end portion U1 and the right end portion D1 of the lower cloth D are bent. That is, the bending state of the right end portion U1 of the upper cloth U and the right end portion D1 of the lower cloth D is that the right end portion U1 of the upper cloth U and the right end portion D1 of the lower cloth D are suddenly bent. More specifically, it is determined whether or not the shapes of the right end U1 of the upper cloth U and the right end D1 of the lower cloth D are curved shapes (arc shapes) each having a radius R or less (step S13). .
The radius R is, for example, sharply bent, so that the upper cloth U is laterally fed by the upper lateral feed mechanism 30 and the lower cloth D is laterally laterally moved by the lower lateral feed mechanism 40. The size is selected such that the feeding operation cannot be followed satisfactorily.
For example, the numerical value of the radius R may be arbitrarily set by the operation panel 95.

  When the shape of the right end U1 of the upper cloth U or the right end D1 of the lower cloth D is not a curved shape having a radius R or less (step S13: NO), the right end U1 or D1 thereafter is changed. The upper side feed mechanism 30 or the lower side feed mechanism 40 is selected for position adjustment control (control of steps S25 to S27 described later) for positioning to the target position M (see FIG. 7) (step S15).

  On the other hand, when the shape of the right end U1 of the upper cloth U or the right end D1 of the lower cloth D is a curved shape having a radius R or less (step S13: YES), the rotational speed of the sewing machine motor 15 is normal sewing. In the position adjustment control in which the right end U1 or D1 is changed to a lower speed slower than the speed and the subsequent right end U1 or D1 is positioned at the target position M (see FIG. 7), the upper turning feed mechanism 50 or the lower turning is used. The feed mechanism 60 is selected (step S17).

The selection of the sub-feed mechanism in steps S15 and S17 is individually determined according to the shapes of the right end U1 of the upper cloth U and the right end D1 of the lower cloth D.
For example, the upper lateral feed mechanism 30 (or the upper turning feed mechanism 50) is selected for the upper cloth U, and the lower turning feed mechanism 60 (or the lower lateral feed mechanism 40) is selected for the lower cloth D. It can be done.

Next, the CPU 91 detects the notches N from the shapes of the right end U1 of the upper cloth U and the right end D1 of the lower cloth D, obtains the position of each notch N, and as shown in FIG. A deviation amount G in the X-axis direction between the position of the notch N of U and the position of the notch N of the lower cloth D is calculated. Then, the CPU 91 determines whether or not the calculated shift amount G of the notch N is equal to or greater than a predetermined execution width of the squeeze control (step S19).
Note that the value of the execution width of the squeeze control that is the threshold value of the deviation amount G of the notch N may be arbitrarily set by the operation panel 95.

When the deviation amount G of the notch N is not equal to or greater than the predetermined execution width of the squeeze control (step S19: NO), each of the sub-feed mechanisms maintains the set state up to that time and squeezes. Control is not executed (step S21).
Further, when the deviation amount G of the notch N is equal to or greater than the predetermined execution width of the squeeze control (step S19: YES), the notch N is placed on either the upper cloth U or the lower cloth D positioned forward. The electropneumatic regulators 394 and 494 of the corresponding upper lateral feed mechanism 30 or lower lateral feed mechanism 40 are actuated so that the roller 31 is raised in a state where the contact pressure with respect to the upper cloth U or the lower cloth D becomes higher than usual. The cloth U or the lower cloth D is press-contacted (step S23). As a result, the exercising control can be executed.

For example, in the example of FIG. 8, since the notch N of the lower cloth D is on the front, the electropneumatic regulator 494 is activated, and the roller 31 of the lower lateral feed mechanism 40 is pressed against the lower cloth D.
Note that, even if the upper turning feed mechanism 50 or the lower turning feed mechanism 60 is selected according to the determination in step S13, the operation of the electropneumatic regulator 394 or 494 may be executed in step S23.
For example, even if the upper turning feed mechanism 50 is selected for the upper cloth U by the determination in step S13 and the roller 31 is in contact with the upper cloth U, the roller of the upper lateral feed mechanism 30 is determined in step S23. If the pressure contact state of 31 is determined, the roller 31 of the upper turning feed mechanism 50 comes into contact with the upper cloth U and the roller 31 of the upper lateral feed mechanism 30 is in pressure contact. The same applies to the lower cloth D.

  The above-described control from step S7 to step S23 is repeatedly executed every time the main shaft rotates twice unless the end portion of the upper cloth U or the lower cloth D is detected in step S11.

  On the other hand, while the above-described control from step S7 to step S23 is repeatedly executed, the upper lateral feed mechanism 30 or the upper turning feed mechanism 50 selected in step S13 and the lower lateral feed mechanism 40 or the lower side are selected. Position adjustment control for positioning the right end U1 of the upper cloth U and the right end D1 of the lower cloth D at the target position M based on the first and second pressure sensitive sensors 74 and 75. It is repeatedly executed in a minute time period (for example, 1 [ms] period).

  That is, the CPU 91 detects the contact pressure received from the right end portions U1 and D1 of the upper cloth U and the lower cloth D by the first and second pressure sensitive sensors 74 and 75 (step S25), and is selected in step S13. With respect to the upper lateral feed mechanism 30 or the upper turning feed mechanism 50 and the lower lateral feed mechanism 40 or the lower turning feed mechanism 60, the right end portion U1 of the upper cloth U and the right end portion of the lower cloth D. Position adjustment control for positioning D1 at the target position M is executed (step S27).

Specifically, when the right end U1 of the upper cloth U is shifted to the right or left with respect to the target position M, the transverse feed motor 38 of the upper transverse feed mechanism 30 or the upper turning feed mechanism 50 The rotational direction for eliminating the deviation and the rotational speed corresponding to the magnitude of the deviation are determined for the turning feed motor 58, and the position adjustment control according to the determination is executed.
Similarly, when the right end D1 of the lower cloth D is shifted to the right or left with respect to the target position M, the transverse feed motor 48 of the lower transverse feed mechanism 40 or the lower turning feed mechanism 60 The rotational direction for eliminating the deviation and the rotational speed corresponding to the magnitude of the deviation are determined for the turning feed motor 68, and the position adjustment control according to the determination is executed.

  The control in steps S25 and S27 is also repeatedly executed at a specified minute time period unless the end portion of the upper cloth U or the lower cloth D is detected in step S11.

[Technical effects of the embodiment of the invention]
In the vertical feed sewing machine 10, the control device 90 has the side end portion of the lower cloth D obtained from the bending state of the side end portion of the upper cloth U obtained from the photographed image of the first camera 71 and the photographed image of the second camera 72. In accordance with the degree of bending of the upper cloth U, it is selected whether the upper lateral feed mechanism 30 or the upper turning feed mechanism 50 performs the position adjustment control of the upper cloth U, and the position adjustment control of the lower cloth D is performed on the lower side. Since either the lateral feed mechanism 40 or the lower turning feed mechanism 60 is selected, even if the shape of the side end portion of the upper cloth U or the lower cloth D is curved, it can be curved. Therefore, it is possible to perform appropriate feeding, and it is possible to realize good sewing.

Further, the control device 90 selects the upper lateral feed mechanism 30 and the upper turning feed mechanism 50 for the position adjustment control of the upper cloth U and adjusts the position of the lower cloth D in the cycle of two needle drops by the sewing needle. The lower lateral feed mechanism 40 and the lower turning feed mechanism 60 related to the control are selected.
Since the selection process is performed with a margin in this way, even when the selection process has time, the selection process can be completed by the start of the process of the next period, and the upper cloth U and lower cloth It is possible to reduce the occurrence of delay in the position adjustment control of D and perform sewing stably.
In particular, image data taken by a camera requires time for image processing, but it is more effective for processing delay by providing a margin for the period as described above.
In the above case, the responsiveness of the process is reduced by increasing the repetition period. However, the imaging range F of the first and second cameras 71 and 72 is set to a position a plurality of stitches before the needle drop position S. Since it is set, there is a sufficient time until the shooting location reaches the needle drop position S, and it is possible to cope with low responsiveness.

  Further, the control device 90 determines the bending state of the side end portion of the upper cloth U obtained from the photographed image of the first camera 71 and the bending state of the side edge portion of the lower cloth D obtained from the photographed image of the second camera 72. Accordingly, since the deceleration control of the sewing speed by the sewing machine motor 15 is executed, even if the shape of the side end portion of the upper cloth U or the lower cloth D is curved, it can be fed following the curve, and is further improved. Can be achieved.

The vertical feed sewing machine 10 includes an electropneumatic regulator 394 as a first speed changing unit that adjusts the forward feed speed of the upper cloth U, and a second that adjusts the forward feed speed of the lower cloth D. The controller 90 includes an electropneumatic regulator 494 serving as a speed change unit, and the controller 90 captures the position of the notch N at the side end portion of the upper cloth U determined from the captured image of the first camera 71 and the captured image of the second camera 72. Based on the position of the notch N at the side end portion of the lower cloth D obtained from the above, the electropneumatic regulators 394 and 494 control the operation of squeezing to provide a difference in the feeding speed of the upper cloth U and the lower cloth D. .
This makes it possible to satisfactorily perform stitching between the side edges of the curved lines of the upper cloth U and the lower cloth D and stitching with a three-dimensional bulge caused by the upper cloth U and the lower cloth D.
In particular, since the position of the notch N is recognized from the photographed image and stitched together, it is possible to automate the stitching by stitching, which has been difficult without manual intervention in the past, and dramatically improve production efficiency. It becomes possible.

The vertical feed sewing machine 10 includes a first pressure-sensitive sensor 74 that abuts the side end of the upper cloth U behind the needle drop position S, and a side end of the lower cloth D behind the needle drop position S. And a second pressure-sensitive sensor 75 for contacting the upper and lower portions, and the position adjustment control of the upper cloth U by the upper lateral feed mechanism 30 or the upper turning feed mechanism 50 and the lower lateral feed mechanism 40 or the lower turning. The position adjustment control of the lower cloth D is performed by the feed mechanism 60 based on the detection of the first or second pressure sensitive sensors 74 and 75.
As a result, unlike the case of using an optical line sensor or camera, the influence of dust, dirt, and foreign matter can be eliminated, and the position adjustment of the side edges of the upper cloth U and lower cloth D can be stably and accurately performed. Therefore, it is possible to improve the sewing quality.

[Examples of other configurations of vertical feed sewing machine]
FIG. 10 is a block diagram showing a vertical feed sewing machine 10A having another configuration. As shown in the figure, the vertical feed sewing machine 10A does not include the first camera 71 and the second camera 72, and is an electropneumatic regulator 394, 494 used for sneak control that requires the cameras 71, 72. Further, the upper and lower turning feed mechanisms 50 and 60 that require the cameras 71 and 72, the configuration related thereto, and the image processing device 73 are not provided. The other parts of the vertical feed sewing machine 10A are the same as those of the vertical feed sewing machine 10 described above.
Sewing control executed by the control device 90 in the vertical feed sewing machine 10A will be described based on the flowchart of FIG.

  At the start of sewing, the CPU 91 of the control device 90 executes reverse stitching (step V1) and sets the lateral feed mechanisms 30 and 40 to the initial state (the respective rollers 31 are brought into contact with the upper cloth U or the lower cloth D). After (step V3), driving of the sewing machine motor 15 is started (step V5).

  Next, for the upper lateral feed mechanism 30 and the lower lateral feed mechanism 40, the right end U1 of the upper cloth U and the right end D1 of the lower cloth D based on the first and second pressure-sensitive sensors 74 and 75 are used. The position adjustment control for positioning to the target position M is repeatedly executed in a minute time period (for example, 1 [ms] period).

  That is, the CPU 91 detects the contact pressure received from the right end portions U1 and D1 of the upper cloth U and lower cloth D by the first and second pressure sensitive sensors 74 and 75 (step V7), and the upper lateral feed mechanism. Position adjustment control for positioning the right end portion U1 of the upper cloth U and the right end portion D1 of the lower cloth D at the target position M is executed on the 30 and the lower lateral feed mechanism 40 (step V9).

Specifically, when the right end U1 of the upper cloth U is shifted to the right or left with respect to the target position M, the deviation is eliminated with respect to the lateral feed motor 38 of the upper lateral feed mechanism 30. A rotation direction and a rotation speed corresponding to the amount of deviation are determined, and position adjustment control according to the determination is executed.
Similarly, when the right end D1 of the lower cloth D is shifted to the right or left with respect to the target position M, the rotation that eliminates the deviation with respect to the lateral feed motor 48 of the lower lateral feed mechanism 40. The direction and the rotational speed corresponding to the amount of deviation are determined, and position adjustment control according to the determination is executed.

  Then, the CPU 91 executes end detection processing for the upper cloth U and the lower cloth D (step V11). For example, the end detection of the upper cloth U and the lower cloth D may be performed by controlling the upper cloth U and the lower cloth D to the right. When the contact pressure received from the right end portions U1 and D1 of the upper cloth U and the lower cloth D is not detected by the sensors 74 and 75, the termination is determined. If it is determined that either one of the upper cloth U and the lower cloth D is the end, it is determined that the end is detected.

  If the end of the upper cloth U and the lower cloth D is not detected (step V11: NO), has a certain minute time (for example, 1 [ms]) elapsed since the execution of the process of step V7? It is determined whether or not (step V13). If it has not elapsed, the determination is repeated (step V13: NO). If it has elapsed (step V13: YES), the process returns to step V7.

Further, when the end is detected in step V11 (step V11: YES), the following end processing operation is executed. That is, the sewing is continued to the end position as it is (step V15), reverse stitching is performed (step V17), the driving of the sewing machine motor 15 is stopped, and the upper thread and lower thread are cut by the thread trimming device 14 (step V19). The sewing control is finished.
In this way, the sewing control is executed on the vertical feed sewing machine 10A.

[Technical effects in other examples of vertical feed sewing machines]
As described above, the vertical feed sewing machine 10 </ b> A has the same technical effect as the vertical feed sewing machine 10.
The vertical feed sewing machine 10A uses the first and second pressure-sensitive sensors 74 and 75, which are easy to process, and eliminates the need for image data processing of the photographic image that requires time for processing. It is possible to improve the production efficiency.

[An example of another configuration of the method of detecting the bending state of the side end]
Further, the sewing machine 10 does not include the first camera 71 and the second camera 72, but instead is located behind the needle drop position (for example, the same as the first camera 71 and the second camera 72 in FIG. 2). The first photoelectric sensor 71C is arranged so as to detect the curved portion of the first sewing product at the position), and the second photoelectric sensor 71C is used to detect the curved portion of the second sewing product behind the needle drop position. Also by arranging the photoelectric sensor 72C, it is possible to perform switching of the feeding mechanism and deceleration control of the sewing speed. The photoelectric sensor only needs to detect the presence or absence of an article to be sewn on the spot. For example, as shown in FIG. 14, the arrangement of the first or second photoelectric sensors 71C and 72C is such that when a curved portion of a sewing product that requires switching of a feed mechanism or a sewing speed deceleration control passes, Place it at a position where the presence or absence of the sewing object changes. As shown in the drawing, in order to detect the bending state of the plurality of curved portions of the upper cloth U and the lower cloth D, it is desirable to arrange a plurality of photoelectric sensors 71C and 72C along the Y-axis direction.

[Others]
The first sewing product and the second sewing product are not limited to cloth, and a sheet-like material made of other materials may be used as a sewing target.
Moreover, although the said up-and-down feed sewing machine 10 and 10A has illustrated the comprehensive feed sewing machine, it is not restricted to this, The sewing machine provided with the general feed which sends a to-be-sewn material only with a feed dog may be sufficient.

The processing from steps S7 to S23 in the flowchart of FIG. 9 is not limited to repetition every two rotations of the main spindle, but may be performed every rotation or every three or more integer rotations.
Moreover, it is good also as a structure which is repeatedly performed with a predetermined | prescribed minute time period, without synchronizing with the rotation speed of a main axis | shaft.
Further, the control device 90 sews on the basis of the fabric edge shape of the photographed image, for example, every time the main shaft rotation speed is a plurality of revolutions if the shape is a straight line, and every rotation of the main shaft speed if the shape is a curve. You may perform control which changes the period which performs the process to S7-S23 dynamically according to the inside condition change.

  Further, the vertical feed sewing machine 10 may be configured not to include the upper turning feed mechanism 50 and the lower turning feed mechanism 60. In that case, if the shapes of the right end U1 of the upper cloth U and the right end D1 of the lower cloth D are curved shapes having a radius R or less in step S13 in FIG. 9, the sewing machine motor is decelerated in step S17. Although the control is executed, the upper side feed mechanism 30 and the lower side feed mechanism 40 are selected as the sub-feed mechanism regardless of whether the radius R is equal to or less than the radius R.

10,10A Vertical feed sewing machine (sewing machine)
DESCRIPTION OF SYMBOLS 11 Partition plate 12 Base 13 Mounting plate 15 Sewing motor 20 Main feed mechanism 21 Feed dog 22 Feed leg 30 Upper lateral feed mechanism 31 Roller 32 Wheel 33 Rotating shaft 34 Support frame 38, 48 Lateral feed motor 40 Lower lateral feed Mechanism 50 Upper turning mechanism 58, 68 Upper turning motor 60 Lower turning mechanism 71 First camera 72 Second camera 71C First photoelectric sensor 72C Second photoelectric sensor 73 Image processing device 74 First sense Pressure sensor 75 Second pressure sensor 90 Controller 91 CPU
151 Encoder 391,491,591,691 Lifting air cylinder 393,493,593,693 Solenoid valve 394 Electropneumatic regulator (first speed changing unit)
494 Electropneumatic regulator (second speed changer)
D Lower cloth (second sewing product)
D1 Right end F Shooting range G Amount of deviation of notch position M Target position N Notch (alignment display)
S Needle entry position U Top cloth (first sewing product)
U1 right end

Claims (7)

A main feed mechanism for feeding the upper first sewing product and the lower second sewing product in the forward direction;
An upper lateral feed mechanism for moving the first sewing object along the left-right direction;
A lower lateral feed mechanism for moving the second sewing object along the left-right direction;
A first pressure-sensitive sensor that abuts the side end of the first sewing object behind the needle drop position;
A second pressure-sensitive sensor that abuts the side end of the second sewing object behind the needle drop position;
A controller for performing position adjustment control for adjusting the position of the side end of the first sewing product and the side end of the second sewing product,
The control device is configured to perform position adjustment control of the first sewing product by the upper lateral feed mechanism and the lower lateral sensor based on the pressure detected by the first pressure sensor and the second pressure sensor. A sewing machine that performs position adjustment control of the second sewing product by a feed mechanism. A first camera for photographing the first sewing object behind the needle drop position;
A second camera for photographing the second sewing object behind the needle drop position;
An upper turning feed mechanism for turning the first sewing object around a needle drop position;
A lower turning feed mechanism for turning the second sewing product around a needle drop position;
The control device is configured to bend the side end portion of the first sewing product obtained from the photographed image of the first camera and the side edge of the second sewing material obtained from the photographed image of the second camera. In accordance with the degree of bending of the part, it is selected which of the upper lateral feed mechanism and the upper turning feed mechanism performs position adjustment control of the first sewing product, and the second workpiece 2. The sewing machine according to claim 1, wherein one of the lower lateral feed mechanism and the lower turning feed mechanism is selected to perform position adjustment control of the sewing product. The control device includes:
Based on the detected pressure of the first pressure sensor, the position adjustment control of the first sewing product by the selected upper lateral feed mechanism or the upper turning feed mechanism,
Based on the pressure detected by the second pressure sensor, the position adjustment control of the second sewing product is performed by the selected lower side feed mechanism or the lower turn feed mechanism. The sewing machine according to claim 2, wherein A first camera for photographing the first sewing object behind the needle drop position;
A second camera for photographing the second sewing object behind the needle drop position;
The upper lateral feed mechanism has a function of changing the forward feed speed of the first sewing product,
The lower lateral feed mechanism has a function of changing the feed speed in the forward direction of the second sewing product,
The control device is configured to obtain the second sewing product obtained from the position of the alignment display of the side end portion of the first sewing product obtained from the photographed image of the first camera and the photographed image of the second camera. 2. An operation control for changing a forward feed speed by the upper lateral feed mechanism or the lower lateral feed mechanism is performed based on the position display position of the side end portion. 4. The sewing machine according to any one of items 1 to 3. A first photoelectric sensor arranged so as to detect a curved portion of the first sewing product by the presence or absence of the first sewing product behind a needle drop position;
A second photoelectric sensor arranged so as to detect a curved portion of the second sewing product by the presence or absence of the second sewing product behind the needle drop position;
An upper turning feed mechanism for turning the first sewing object around a needle drop position;
A lower turning feed mechanism for turning the second sewing product around a needle drop position;
The control device includes a bending state of a side end portion of the first sewing product detected by the first photoelectric sensor and a side end of the second sewing product detected by the second photoelectric sensor. In accordance with the degree of bending of the part, it is selected which of the upper lateral feed mechanism and the upper turning feed mechanism performs position adjustment control of the first sewing product, and the second workpiece 2. The sewing machine according to claim 1, wherein one of the lower lateral feed mechanism and the lower turning feed mechanism is selected to perform position adjustment control of the sewing product. The control device includes:
Based on the detected pressure of the first pressure sensor, the position adjustment control of the first sewing product by the selected upper lateral feed mechanism or the upper turning feed mechanism,
Based on the pressure detected by the second pressure sensor, the position adjustment control of the second sewing product is performed by the selected lower side feed mechanism or the lower turn feed mechanism. The sewing machine according to claim 5, characterized in that The control device includes:
Based on the detection pressure of the first pressure sensor, performing the end position detection and end processing operation of the first sewing product,
The sewing machine according to any one of claims 1 to 6, wherein an end position detection and an end processing operation of the second sewing product are performed based on a detection pressure of the second pressure sensor. .

Images