JP2021104096A - Zigzag sewing machine - Google Patents

Abstract

To further accurately detect the position of each of edge portions of two sewing workpieces.SOLUTION: A zigzag sewing machine includes a traverse feed mechanism 30 that is provided on a more upstream side than a needle drop position F in a feeding direction of sewing workpieces and configured to move each of the sewing workpieces along a sewing direction of a sewing needle 11, a position detection unit 40 that is provided on a conveyance surface H positioned on a more upstream side than the traverse feed mechanism and configured to detect the position with respect to the sewing direction of each of edge portions C11 and C21 of two sewing workpieces C1 and C2 which are respectively arranged on one side and the other side of the sewing direction, and a controller 90 that is configured to control the traverse feed mechanism so that the edge portions approach or come in contact with each other on the basis of the detection by the position detection unit. The position detection unit has a light source 41 that emits linear detection light L in the sewing direction across the two sewing workpieces and an imaging unit 42 that captures an image of the detection light from a different direction from the emitting direction of the light source, a height-difference forming part H1 being provided that makes a difference in height between one workpiece and the other workpiece at a position irradiated with the detection light on the conveyance surface.SELECTED DRAWING: Figure 7

Description

The present invention relates to a zigzag sewing machine that performs sewing by joining an object to be sewn and an object to be sewn.

In order to join the edge of the sewn object to the edge of the sewn object, sewing is performed by a staggered sewing machine that swings the needles to the left and right in the direction of sewing.
Then, in the conventional sewing, for example, when the shapes of the edge portion of one sewn object and the edge portion of the other sewn object do not match, the operator manually manually ends the edge portion and the edge portion. Each sewn item was sent to the position where the needle fell (see, for example, Patent Documents 1 and 2).

Special Publication No. 55-48838 Japanese Unexamined Patent Publication No. 2003-38877

However, since the work of abutting the edge portions of each sewn object and sending them to the needle drop position requires skill, there is a possibility that the sewing quality may fluctuate greatly depending on the operator.

An object of the present invention is to maintain a stable and high sewing quality.

The invention according to claim 1
In a zigzag sewing machine that sew together by butting the edges of two sewn items together.
A lateral feed mechanism that individually moves the two sewing objects along the needle swing direction of the sewing needle on the upstream side in the feed direction of the sewing object from the needle drop position.
On the transport surface that is upstream of the lateral feed mechanism in the feed direction of the sewn object, the two sewn objects arranged in one and the other in the needle swing direction are joined together. A position detection unit that detects the position of the edge portion in the needle swing direction, and a position detection unit.
A control device for controlling the lateral feed mechanism so that the edge portions of the two sewn objects approach or abut against each other based on the detection of the position detecting portion is provided.
The position detection unit is different from the light source that irradiates the line-shaped detection light along the needle swing direction so as to straddle the edge portion of each of the two sewn objects, and the irradiation direction of the light source. It has an imaging unit that captures the detection light emitted from the two sewn objects from the direction.
A height difference forming portion for forming a height difference between the edge portion of one of the sewn products and the edge portion of the sewn product of the other at the irradiation position of the detected light on the transport surface is provided. It is a feature.

The invention according to claim 2 is the staggered sewing machine according to claim 1.
The irradiation direction of the detection light of the light source and the direction of the line of sight of the imaging unit are both directions on a plane perpendicular to the transport surface and parallel to the feed direction of the sewing material. It is characterized by being.

The invention according to claim 3 is the staggered sewing machine according to claim 1 or 2.
The irradiation direction of the detection light of the light source is a normal direction with respect to the transport surface.

The invention according to claim 4 is the staggered sewing machine according to any one of claims 1 to 3.
The light source is a laser light source.

The invention according to claim 5 is the staggered sewing machine according to any one of claims 1 to 4.
The control device determines whether or not there is a gap between the edge portion of one of the sewn products and the edge portion of the other sewn product, and if there is no gap, the gap is formed. It is characterized in that the lateral feed mechanism is controlled so that the two edge portions of the sewn object come close to each other or come into contact with each other after the two sewn objects are moved so as to be possible.

As described above, according to the present invention, since the lateral feed mechanism controlled according to the detection result of the position detecting unit is provided, the sewing quality can be stably maintained high regardless of the skill level of the operator. It will be possible.
Further, in the present invention, the height difference forming portion irradiates the edge portion of each sewn object with a line-shaped detection light in a state of being divided in the conveying direction of the sewn object. Even if there is no gap between the edges, the position of each edge in the needle swing direction can be detected more appropriately, and the needle swing direction of the edge of each sewn object can be detected more appropriately. It becomes possible to adjust the position in, and it becomes possible to improve the sewing quality.

It is a side view which shows the structure of the main part of the staggered sewing machine which is this embodiment. It is a top view which shows the structure of the main part of a staggered sewing machine. It is a block diagram which shows the control system of a staggered sewing machine. It is a top view which shows an example of two sewn objects. It is a top view which shows an example of the seam of a staggered stitch. It is sectional drawing which illustrated the structure of the 1st and 2nd lateral feed mechanism. It is explanatory drawing which shows the example of the captured image which image | photographed the detection light which irradiates each sewn object which provided the height difference by the height difference forming part so that it straddles each other edge part by a camera. It is a flowchart which shows the edge position adjustment control. It is a flowchart which shows another example of edge position adjustment control. FIG. 10A is a plan view showing another example of the height difference forming portion, and FIG. 10B is a side view. It is a side view which shows the further example of the height difference forming part.

[Embodiment of the Invention]
An embodiment of the present invention will be described. FIG. 1 is a side view showing the configuration of a main part of the staggered sewing machine 10 according to the present embodiment, FIG. 2 is a plan view of the staggered sewing machine 10, and FIG. 3 is a block diagram showing a control system of the staggered sewing machine 10.
The zigzag sewing machine 10 (hereinafter, simply referred to as the sewing machine 10) is placed on a horizontal plane, and the feed directions of the sewn objects C1 and C2 are horizontal. In the following description, the feed direction of the sewn objects C1 and C2 is the X-axis direction, the horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and the vertical vertical direction is the Z-axis direction.
Further, the downstream side in the feed direction of the sewn objects C1 and C2 in the X-axis direction is defined as "front", the upstream side is defined as "rear", and the left-hand side is "left" in the Y-axis direction facing forward. , The right hand side is "right", one in the Z-axis direction is "up", and the other is "down".

The sewing machine 10 is a sewing machine suitable for stitching and sewing by abutting the edge portions C11 and C21 of two objects to be sewn C1 and C2 against each other.
FIG. 4 is a plan view showing an example of the sewn object C1 and the sewn object C2. Here, the sewn objects C1 and C2 are all sheet materials that are thicker than the height difference between the sewn objects C1 and C2 formed by the height difference forming portion H1 described later and have elastic flexibility. Illustrate. It should be noted that this is an example, and it is also possible to perform joint sewing of sheet materials of other thin materials.

The shape of the edge portion C11 located at one end in the Y-axis direction of the sewn object C1 to be joined is different from the shape of the edge portion C21 located at the other end of the sewn object C2 in the Y-axis direction. By joining these together by joint sewing, each sewn object C1 and C2 has a curved shape, and the finished product after sewing has a three-dimensional shape.
With respect to the sewn objects C1 and C2, the sewing machine 10 abuts the edge portions C11 and C21 against each other so as not to form a gap and feeds them to the needle drop position so that the seams cross the both edge portions C11 and C21. Staggered stitching is performed and stitched sewing is performed.

FIG. 5 is a plan view showing an example of a staggered seam. As shown in the figure, in the staggered seams, the seams that are oblique to the left and right are continuously serrated along the X-axis direction, and the seams that are oblique to the left and right are butted against each other. By straddling the edge portions C11 and C21, the edge portions C11 and C21 are connected to each other in close contact with each other.
Note that FIG. 5 illustrates a so-called four-point staggered stitch in which three stitches are alternately dropped on the edge portions C11 and C21, but one stitch is provided on the edge portions C11 and C21. A so-called two-point staggered stitch may be formed in which the needles are alternately dropped one by one.

[Outline configuration of zigzag sewing machine]
As shown in FIGS. 1 to 3, the staggered sewing sewing machine 10 has a needle vertical movement mechanism that moves the sewing needle 11 up and down at the needle drop position F, and a needle swing that swings the sewing needle 11 along the Y-axis direction. A mechanism, a feed mechanism that feeds the objects C1 and C2 to be sewn at a predetermined feed pitch by the feed dog 21 at the needle drop position of the sewing needle 11, and a needle thread that is passed through the sewing needle 11 under the feed needle 21. The hook mechanism that entangles the bobbin thread and the sewn objects C1 and C2 that are arranged side by side along the Y-axis direction behind the needle drop position F (upstream side in the feed direction) are given a movement operation in the Y-axis direction. The edge portions C11 and C21 of the lateral feed mechanism 30 and the two sewn objects C1 and C2 arranged behind the lateral feed mechanism 30 (upstream side in the feed direction) on one side and the other side in the needle swing direction, respectively. A position detecting unit 40 for detecting a position in the Y-axis direction, a sewing machine frame for storing or supporting each of the above configurations, and a control device 90 for controlling each of the above configurations are provided.

The needle vertical movement mechanism is a well-known structure in which the sewing machine motor 12 is used as a drive source and the needle rod holding the sewing needle 11 is subjected to vertical movement by a crank mechanism.
The needle swing mechanism has a well-known structure in which the needle bar base that supports the needle bar so as to be vertically movable is arbitrarily moved along the Y-axis direction by using the needle swing motor 13 as a drive source.
The feed mechanism receives power from the feed dogs 21 that can appear and disappear from the left and right openings formed in the needle plate (not shown) provided on the upper surface of the sewing machine bed portion of the sewing machine frame, and the sewing machine motor 12, and forms an XZ plane. It is a well-known configuration including a power transmission mechanism that applies an elliptical motion along the feed dog 21 to the feed dog 21. When moving the upper part of the locus of the oval motion, the feed dog 21 protrudes upward from the opening of the needle plate, and the sewn objects C1 and C2 can be fed in the moving direction. In this feed mechanism, the feed amount (feed pitch) at one time can be arbitrarily adjusted by the feed adjustment motor 14.
Further, a pressing foot 23 for pressing each sewn object C1 and C2 with a constant spring pressure is provided above the protruding position of the feed dog 21 on the needle plate.
The hook mechanism includes an outer hook that captures the loop of the needle thread by rotation, an inner hook that stores the bobbin around which the bobbin thread is wound, and a power transmission mechanism that receives power from the sewing machine motor 12 to apply rotational force to the outer hook. It is a well-known configuration including.

In the zigzag sewing machine 10, the upper surface of the sewing machine bed portion of the sewing machine frame (not shown) is the transport surface H of the sewing machines C1 and C2. The transport surface H is parallel to the XY plane and is flush with the upper surface of the needle plate (not shown). In the following description, the transport surface H includes the upper surface of the needle plate.
An oval needle hole corresponding to the maximum allowable needle swing width is formed as a needle drop position F at a position directly below the needle rod on the transport surface H. The longitudinal direction of this needle hole is parallel to the Y-axis direction.
The needle swing mechanism swings the needle with the same width in the left-right direction around the midpoint in the Y-axis direction of the needle hole as the needle drop position F. The straight line along the X-axis direction passing through the midpoint of the needle hole is defined as the needle swing baseline K.
At the time of sewing, one sewn object C1 is arranged on the left side of the baseline K and the other sewn object C2 is arranged on the right side of the baseline K on the conveying surface H.

[Horizontal feed mechanism]
The lateral feed mechanism 30 is provided along the Y-axis direction of the sewn objects C1 and C2 so that the edge portion C11 of the sewn object C1 and the edge portion C21 of the sewn object C2 approach or abut on the baseline K. And give a movement action.
The lateral feed mechanism 30 is arranged on the left side of the baseline K, and is arranged on the right side of the baseline K and the first lateral feed mechanism 30A that imparts a moving motion along the Y-axis direction to the sewn object C1 from above. It is composed of a second lateral feed mechanism 30B that imparts a moving motion along the Y-axis direction from above to the sewn object C2.

FIG. 6 is a cross-sectional view illustrating the configurations of the first and second lateral feed mechanisms 30A and 30B. Since the first and second lateral feed mechanisms 30A and 30B have the same structure and the same configuration, the same reference numerals are given to the configurations, and duplicate description will be omitted.

The first and second lateral feed mechanisms 30A and 30B include a roller 31 that feeds the workpiece C1 or C2 in the tangential direction of the outer circumference, a plurality of wheels 32 that are arranged at uniform intervals along the outer circumference of the roller 31, and a plurality of wheels 32. A rotary shaft 33 fixedly equipped with a roller 31, a support frame 34 that rotatably supports the rotary shaft 33, a pair of sprockets 35 and 36 and a timing belt 37 that transmit torque from a drive source to the rotary shaft 33. It is equipped with a lateral feed motor 38 as a drive source.

Each wheel 32 is provided on the outer periphery of the roller 31 at uniform intervals, can rotate about an axis along the tangential direction at each mounting position, and is tangentially fed in contact with the outer periphery of the roller 31. Alternatively, the C2 is allowed to move with respect to the roller 31 in a direction along the rotation shaft 33 or in a direction slightly inclined with respect to the rotation shaft 33.
Strictly speaking, the roller 31 comes into contact with the sewn object C1 or C2 via each wheel 32, but in the present specification, for the sake of simplification of the description, the sewn object C1 or C2 is referred to as "roller 31". It is described as "contacting the outer periphery of the roller 31" or "contacting the roller 31".

[Position detector]
As shown in FIG. 1, the position detection unit 40 has a line-shaped detection light L that straddles the baseline K and is along the Y-axis direction on the transport surface H that is behind the lateral feed mechanism 30 (upstream side in the feed direction). It has a light source 41 that irradiates the light source 41 and a camera 42 as an imaging unit that captures the detection light L from a direction different from the irradiation direction of the light source 41.

Specifically, the light source 41 is composed of a laser light source of single wavelength light, and the camera 42 has a filter suitable for capturing the single wavelength light of the light source 41.
The light source 41 irradiates the detection light L downward in the Z-axis direction. On the other hand, the camera 42 takes an image with the irradiation position of the detected light on the transport surface H as the center of the imaging range with a line of sight that is parallel to the XZ plane and is directed in a direction inclined diagonally forward and downward. It is attached to the sewing machine 10 as described above.

On the other hand, as shown in FIG. 2, on the transport surface H, a height difference forming portion forming a height difference between one sewn object C1 and the other sewn object C2 in the vicinity of the irradiation position of the detection light L. H1 is provided.
The height difference forming portion H1 is composed of a rectangular protruding portion provided on the transport surface H so as to be higher than the transport surface H on one side (right side) in the Y-axis direction with the baseline K as a boundary. The upper surface of the height difference forming portion H1 is smooth along the XY plane, and the width in the X-axis direction is set sufficiently wider than the detection light L. As a result, the right half of the detection light L is applied to the upper surface of the height difference forming portion H1 in the absence of the sewn objects C1 and C2.
The height difference forming portion H1 may be separated from the baseline K to some extent as long as a height difference can be provided between one sewn object C1 and the other sewn object C2, and the shape is not rectangular. Tomo good.

FIG. 7 shows the detection light L irradiated by the camera 42 on the sewn object C1 and the sewn object C2 having the height difference formed by the height difference forming portion H1 so as to straddle the mutual edge portions C11 and C21. It is an image taken.
The camera 42 includes an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and can convert an captured image into image data. The image data is an image processing device 43 (see FIG. 3). Is entered in.
Then, the processing result of the image processing device 43 is input to the control device 90, and the amount of deviation of the edge portions C11 and C21 with respect to the baseline K in the Y-axis direction is obtained from the position of each portion of the detected light L within the imaging range. The position adjustment amount of the sewn objects C1 and C2 in the Y-axis direction by the first and second lateral feed mechanisms 30A and 30B is determined.

Since it is necessary to convey the end edges C11 and C21 of the sewn objects C1 and C2 to the needle drop position F at a position coincided with the baseline K in the Y-axis direction, the edge portions C11 and C21 The position in the Y-axis direction needs to be detected accurately.
Therefore, when the portion of the detection light L on the sewn object C1 side is the dividing light L1 and the portion on the sewn object C2 side is the dividing light L2, the position of the right end portion of the divided light L1 in the Y-axis direction is obtained from the captured image. As a result, the amount of deviation of the edge portion C11 of the sewn object C1 with respect to the baseline K can be detected. Similarly, by obtaining the position of the left end portion of the divided light L2 in the Y-axis direction from the captured image, it is possible to detect the amount of deviation of the edge portion C21 of the sewn object C2 with respect to the baseline K.

When there is a gap N in the Y-axis direction between the sewn object C1 and the sewn object C2, the reflected light due to the detection light L directly irradiating the upper surface of the transport surface H in the gap N is emitted. However, for example, by applying a low-reflection coating on the upper surface of the transport surface H, it is possible to easily distinguish between the divided lights L1 and L2 and the directly reflected light on the upper surface of the transport surface H. ..

By the way, assuming a transport surface H in which the height difference forming portion H1 does not exist, if there is a gap N in the edge portions C11 and C21 of the sewn objects C1 and C2 on the transfer surface H, the sewn object is sewn. Since the dividing light L1 on the C1 side and the dividing light L2 on the sewing object C2 side are separated from each other in the Y-axis direction, the right end portion of the dividing light L1 and the left end portion of the dividing light L2 are clearly extracted from the captured image. It is possible to accurately detect the position of each in the Y-axis direction.
However, when there is no gap N in the edge portions C11 and C21, the right end portion of the dividing light L1 and the left end portion of the dividing light L2 are combined to form a straight line light, so that the dividing light L1 It becomes difficult to extract the right end portion of the light portion L2 and the left end portion of the split light L2, and it becomes difficult to accurately detect the positions of the right end portion of the split light L1 and the left end portion of the split light L2 in the Y-axis direction.

In order to deal with such a problem, a height difference forming portion H1 that forms a height difference between the sewn object C1 and the sewn object C2 is provided at the irradiation position of the detection light L on the conveying surface H. When the camera 42 takes an image from an oblique direction, a deviation S in the X-axis direction always occurs between the dividing light L1 and the dividing light L2 regardless of the presence or absence of the gap N between the edge portions C11 and C21. Therefore, the right end portion of the dividing light L1 and the left end portion of the dividing light L2 can be clearly extracted from the captured image, and the respective positions in the Y-axis direction can be detected more reliably and accurately.

[Control device]
As shown in FIG. 3, the sewing machine 10 includes a control device 90 that controls the entire sewing machine at the time of sewing.
The control device 90 includes the sewing machine motor 12 of the needle vertical movement mechanism, the needle swing motor 13 of the needle swing mechanism, the feed adjustment motor 14 of the feed mechanism, and the horizontal feed motors of the first and second lateral feed mechanisms 30A and 30B. 38 are connected via drive circuits 12a, 13a, 14a, 38a, respectively.
Further, an encoder 15 for detecting the shaft angle is provided on the sewing machine spindle (not shown) which is rotationally driven by the sewing machine motor 12, and the detection shaft angle is output to the control device 90 via the interface 15a. .. The rotation speed and rotation angle of the spindle can be detected from the output of the encoder 15.

Further, the light source 41 of the position detection unit 40 is connected to the control device 90 via the power supply circuit 41a.
Further, the camera 42 of the position detection unit 40 is connected via the drive circuit 42a, and the image processing device 43 is connected via the interface 43a.

Then, the control device 90 has a CPU 91 that performs various arithmetic processes, a ROM 92 that stores a program related to operation control of each configuration described above, a RAM 93 that stores various data related to the processing of the CPU 91, and various settings. It is provided with an EEPROM 94 as a storage unit for recording data, sewing data, and the like.
As the recording medium for various setting data, sewing data, etc., any non-volatile recording medium can be used instead of the EEPROM 94.
Further, the 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 the interface 95a.

[Sewing operation control]
When performing four-point staggered stitching, the CPU 91 of the control device 90 controls the needle swing motor 13 in advance when the encoder 15 detects a specified spindle angle when the sewing machine motor 12 is driven. Move the sewing needle to the left or right with the specified needle swing width.
In the case of four-point staggered stitching, the left and right needle swing directions are switched for each three stitches, so the needle swing motor 13 counts the number of stitches from the output of the encoder 15 and changes the needle swing direction for each three stitches. To control.
If the number of stitches to be sewn is set in advance, the number of stitches is counted during sewing, and when the target number of stitches is reached, sewing is finished.
If the number of stitches is not set in advance, the sewing is finished in response to the input of the sewing end command.

[End edge position adjustment control]
Next, the edge position adjustment control executed by the CPU 91 of the control device 90 during the sewing will be described with reference to the flowchart of FIG. This edge position adjustment control is repeatedly executed in a short cycle during sewing. This edge position adjustment control may be performed in synchronization with the needle drop cycle, or may be executed in a shorter cycle.

According to the control program stored in the ROM 92, the CPU 91 of the control device 90 receives the detection light L by the light source 41 of the position detection unit 40 behind the needle drop position F (upstream side in the feed direction) during the sewing operation of the staggered sewing. The upper surfaces of the sewn objects C1 and C2 are irradiated (step S1).
Since the sewn objects C1 and C2 are provided with a height difference by the height difference forming portion H1, the detection light L is divided in the X-axis direction at the boundary between the sewn objects C1 and C2, and the divided lights L1 and L2 are divided. The image is taken by the camera 42 (step S3).

The captured image is converted into image data, and the end positions of the divided lights L1 and L2 are detected by the image processing of the image processing device 43 (step S5).
The CPU 91 obtains the amount of deviation in the Y-axis direction with respect to the baseline K from the position of the detected right end portion of the divided light L1 and determines the amount of position adjustment of the sewn object C1 in the Y-axis direction by the first lateral feed mechanism 30A. .. Similarly, the amount of deviation in the Y-axis direction with respect to the baseline K is obtained from the position of the left end of the detected dividing light L2, and the amount of position adjustment of the sewn object C2 in the Y-axis direction by the second lateral feed mechanism 30B is adjusted. decide.

Then, the CPU 91 controls the lateral feed motors 38 of the first and second lateral feed mechanisms 30A and 30B, and executes the position adjustment of the sewn objects C1 and C2 in the Y-axis direction (step S7).
As a result, immediately before the needle drop position F, the edge portion C11 of the sewn object C1 and the edge portion C21 of the sewn object C2 are positioned at the positions of the baseline K, respectively, and the needle drop position is set by the feed mechanism. The edge portion C11 of the sewn object C1 and the edge portion C21 of the sewn object C2 are brought into close contact with each other for stitching and sewing.

[Technical Effects of Embodiments of the Invention]
As described above, since the sewing machine 10 includes the lateral feed mechanism 30 that is controlled according to the detection result of the position detection unit 40, the sewing quality can be stably maintained at a high level regardless of the skill level of the operator. It will be possible.
Further, in the sewing machine 10, the light source 41 of the position detection unit 40 irradiates the line-shaped detection light L along the Y-axis direction so as to straddle the end edges C11 and C21 of the two sewn objects C1 and C2, respectively. However, the camera 42 captures the detection light L irradiated on the two sewn objects C1 and C2 from a direction different from the irradiation direction of the light source 41.
Then, at the irradiation position of the detection light L on the transport surface H in the absence of the sewn objects C1 and C2, the height difference forming portion H1 forming a height difference between one sewn object C1 and the other sewn object C2. Because the divided light L1 and the divided light L2, which divide the detection light L into the sewn object C1 side and the sewn object C2 side, are imaged in a state of being deviated in the X-axis direction. Even when there is no gap between the sewn objects C1 and C2, the positions of the right end of the dividing light L1 and the left end of the dividing light L2 in the Y-axis direction can be satisfactorily detected, and the sewn objects C1 and C2 can be sewn. The edge portions C11 and C21 of the above can be adjusted to appropriate positions on the baseline K in the Y-axis direction, respectively, and the stitching can be performed so that no gap is generated. Further, staggered sewing can be performed so that the boundary between the sewn object C1 and the sewn object C2 is located at the center of the seam in the Y-axis direction, and the sewing quality can be improved.

Further, both the irradiation direction of the detection light L of the light source 41 of the position detection unit 40 and the direction of the line of sight of the camera 42 are X perpendicular to the transport surface H and parallel to the feed direction of the sewn objects C1 and C2. It is in any direction on the −Z plane. Therefore, if the edge portion of the dividing light L1 and the edge portion of the dividing light L2 match in the Y-axis direction, the edge portions are close to each other according to the values of the sewn object C1 and the sewn object C2. It can be determined that they are in contact with each other, and even if they are separated from each other without matching, it is not necessary to perform a calculation for correcting the separation distance on the screen in consideration of the inclination of the optical axis or the line of sight. Since it can be performed, the process can be simplified and the accuracy can be easily ensured. On the other hand, when irradiation or imaging is performed from a direction inclined with respect to the XZ plane, even when the edge portions are close to each other or in contact with each other at the values of the sewn object C1 and the sewn object C2. Separation occurs on the imaging screen, and if separation occurs, it is necessary to perform an operation to correct the separation distance on the screen in consideration of the inclination of the optical axis or the line of sight, which complicates the process. ..

Further, since the irradiation direction of the detection light L of the light source 41 is perpendicular to the transport surface H, the dividing light L1 and the dividing light L2 can be detected with high brightness, and the right end portion of the dividing light L1 and the dividing light L2 can be detected. The position of the left end portion of the light in the Y-axis direction can be detected more accurately, and the sewing quality can be further improved.

In particular, by using the light source 41 as a laser light source, it is possible to irradiate the detection light L composed of a single wavelength light, and the influence of the disturbance light can be easily suppressed. It can be detected satisfactorily, and the positions of the right end portion of the dividing light L1 and the left end portion of the dividing light L2 in the Y-axis direction can be detected more accurately, and the sewing quality can be further improved.

[others]
The details shown in each of the above embodiments can be appropriately changed without departing from the spirit of the invention.
For example, in the above embodiment, the case where the sewn objects C1 and C2 are thicker than the height difference formed by the height difference forming portion H1 is illustrated, but in this case, the sewn objects C1 and C2 are covered. Since the sewn object C1 located at a lower position than the sewn object C2 rarely sneaks into the sewn object C2, it is less necessary to consider the sunk.
On the other hand, when the sewn objects C1 and C2 are thinner than the height difference formed by the height difference forming portion H1, the sewn object C1 with respect to the sewn object C2 It is preferable to consider sneaking in.

FIG. 9 shows a flowchart of the edge position adjustment control in consideration of the diving.
This edge position adjustment control may also be performed in synchronization with the needle drop cycle, or may be executed in a shorter cycle.
In the case of this edge position adjustment control, the CPU 91 of the control device 90 is located behind the needle drop position F (upstream in the feed direction) during the staggered sewing operation according to the control program stored in the ROM 92. The light source 41 of 40 irradiates the upper surfaces of the sewn objects C1 and C2 with the detected light L (step S11).
Then, the dividing light L1 of the sewn object C1 and the dividing light L2 of the sewn object C2 obtained by the height difference of the height difference forming portion H1 are imaged (step S13), and the right end portion of the dividing light L1 and the dividing light L2 are imaged. It is determined whether or not there is a gap N between the left end portion and the left end portion of the above (step S15).

At this time, if there is no gap N between the right end portion of the dividing light L1 and the left end portion of the dividing light L2, the CPU 91 uses the lateral feed motors 38 of the first and second lateral feed mechanisms 30A and 30B. Under control, the sewn objects C1 and C2 are moved in directions separated from each other so that a gap is formed between the edge portion C11 of the sewn object C1 and the edge portion C21 of the sewn object C2 (step S17). ).
Then, imaging is performed again (step S13), and the presence or absence of the gap N is determined (step S15).

In the determination of the presence or absence of the gap N, when the gap N is present, the end positions of the split lights L1 and L2 are detected (step S19).
Then, the CPU 91 obtains the amount of deviation in the Y-axis direction with respect to the baseline K from the end positions of the dividing lights L1 and L2, and controls the lateral feed motors 38 of the first and second lateral feed mechanisms 30A and 30B. The position adjustment of the sewn objects C1 and C2 in the Y-axis direction is executed (step S21).
As a result, the state in which the edge portion C11 of the sewn object C1 is submerged in the sewn object C2 is eliminated, and the edge portion C11 of the sewn object C1 and the edge portion C21 of the sewn object C2 are respectively provided with a baseline K. It is possible to perform joint sewing in a state of being positioned at the position of.

Further, the height difference forming portion H1 described above exemplifies a protrusion protruding upward on the transport surface H, but the present invention is not limited to this.
For example, as shown in FIGS. 10A and 10B, a height difference forming portion H1 composed of substantially hemispherical protrusions may be provided on the transport surface H on the right side near the baseline K.
Alternatively, as shown in FIG. 11, an inclined portion H11 that gradually increases the change in the height difference may be provided at the end portion of the height difference forming portion H1 shown in FIG. 2 on the upstream side in the transport direction. Alternatively, an inclined portion H12 for gradually reducing the change in the height difference may be provided at the end portion of the height difference forming portion H1 on the downstream side in the transport direction. One or both of these inclined portions H11 and H12 may be provided.

Further, although the case where the height difference forming portion H1 is provided on the right side of the baseline K is illustrated, it goes without saying that the sewn object C1 may be provided on the left side and made higher than the sewn object C2.
Further, in the example of the edge portion position adjustment control of FIGS. 8 and 9, the first and first edges C11 of the sewn object C1 and the edge portion C21 of the sewn object C2 are in close contact with each other without any gap. Although the case of controlling each of the lateral feed motors 38 of the second lateral feed mechanisms 30A and 30B has been illustrated, the position may be adjusted so that a minute gap N is generated within an allowable range of sewing quality.

10 Staggered sewing machine 11 Sewing needle 12 Sewing machine motor 13 Needle swing motor 30 Lateral feed mechanism 30A First lateral feed mechanism 30B Second lateral feed mechanism 38 Lateral feed motor 40 Position detection unit 41 Light source 42 Camera (imaging unit)
43 Image processing device 90 Control device 91 CPU
C1, C2 Sewing products C11, C21 Edge edge F Needle drop position H Transport surface H1 Height difference forming part H11, H12 Inclined part K Base line L Detection light L1, L2 Divided light N Gap S Misalignment

Claims (5)

In a zigzag sewing machine that sew together by butting the edges of two sewn items together.
A lateral feed mechanism that moves the two sewing objects individually along the needle swing direction of the sewing needle on the upstream side of the sewing object in the feeding direction from the needle drop position.
On the transport surface that is upstream of the lateral feed mechanism in the feed direction of the sewn object, the two sewn objects arranged in one and the other in the needle swing direction are joined together. A position detection unit that detects the position of the edge portion in the needle swing direction, and a position detection unit.
A control device for controlling the lateral feed mechanism so that the edge portions of the two sewn objects approach or abut against each other based on the detection of the position detecting portion is provided.
The position detection unit is different from the light source that irradiates the line-shaped detection light along the needle swing direction so as to straddle the edge portion of each of the two sewn objects, and the irradiation direction of the light source. It has an imaging unit that captures the detection light emitted from the two sewn objects from the direction.
A height difference forming portion for forming a height difference between the edge portion of one of the sewn objects and the edge portion of the sewn object of the other at the irradiation position of the detected light on the conveying surface is provided. A characteristic zigzag sewing machine. The irradiation direction of the detection light of the light source and the line-of-sight direction of the imaging unit are both directions on a plane perpendicular to the transport surface and parallel to the feed direction of the sewing object. The staggered sewing machine according to claim 1, wherein the sewing machine is characterized by the above. The zigzag sewing machine according to claim 1 or 2, wherein the irradiation direction of the detection light of the light source is a normal direction with respect to the transport surface. The staggered sewing machine according to any one of claims 1 to 3, wherein the light source is a laser light source. The control device determines whether or not there is a gap between the edge portion of one of the sewn products and the edge portion of the other sewn product, and if there is no gap, the gap is formed. Any of claims 1 to 4, wherein the lateral feed mechanism is controlled so that the end edges of the sewn object come close to each other or come into contact with each other after moving the two sewn objects so as to be able to do so. The staggered sewing machine described in item 1.

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