JP3516024B2 - sewing machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sewing machine for creating an embroidery product according to data stored in advance on an object such as cloth.

[0002]

2. Description of the Related Art A conventional sewing machine transmits the power of one spindle motor to each of a needle bar, a balance, and a shuttle via a power transmission means such as a cam mechanism or a belt mechanism, and simultaneously drives them. By moving an embroidery frame holding an object such as cloth in a two-dimensional direction according to previously stored sewing data, desired figures, patterns, etc. are embroidered on the object. The conditions that affect the quality of the embroidery pattern of this sewing machine include the surrounding temperature and humidity, the needle temperature, the rotation speed of the spindle, the stitch width, the characteristics of the thread, the characteristics of the object (cloth, etc.),
There are various factors such as thread tension. By appropriately controlling these various elements, the sewing machine can produce high-quality embroidery products with a good texture.

Of these factors, the tension of the yarn is one of the most important factors for improving the quality (feel). In a conventional sewing machine, a plurality of upper thread tension means provided between the balance and the bobbin for adjusting the tension of the upper thread, and a bobbin case provided on the outer circumference of the bobbin case for adjusting the tension of the lower thread. A skilled operator appropriately operates the lower thread tension means such as a leaf spring, etc., based on experience and intuition, to give optimum tension to both the upper thread and the lower thread, and to create a high-quality embroidery with a good texture. Was going on.

In addition, recently, JP-A-60-19349
Like the automatic thread tension sewing machine described in Japanese Patent Publication No. 3, the upper thread tension during sewing operation is detected, and the upper thread tension means is feedback-controlled according to the peak position to give the optimum tension to the upper thread. Is being done.
In addition to this, as a known example of a sewing machine configured to control the tension of the upper thread, Japanese Patent Publication No. 59-490.
24, Japanese Patent Publication No. 56-51796 and Japanese Patent Publication No. 56-51797.

[0005]

In the conventional sewing machine, it is necessary to set the tension of the upper thread to an optimum value in order to obtain a good embroidery texture, but this requires considerable skill. Further, in the multi-head type embroidery sewing machine, since it is necessary to adjust the tension for each needle bar of each head, there is a problem that a considerable amount of time is required even when an expert adjusts the tension. Further, even if the tension is once adjusted, if the cloth, the embroidery thread, or the like changes, it is necessary to adjust all the needle thread tensioning means corresponding to all the needle bars of each head. Further, even if the ambient temperature or humidity changes, the texture changes subtly, so the needle thread tension means of all needle bars must be adjusted accordingly.

Further, a feedback control system such as a conventional automatic thread tension sewing machine may be applied to the sewing machine so that each upper thread tension means is appropriately feedback-controlled in accordance with the peak value of the upper thread tension. However, the conventional automatic thread tension sewing machine is effective when the stitch pitch is constant as in the straight stitch, but the stitch pitch (stitch width) and the stitch direction (stitch direction) always change like the sewing machine. In such embroidery stitching, the peak value of the needle thread tension always fluctuates, so that there is a problem that it cannot be applied to general stitching.

The present invention has been made in view of the above points, and it is possible to create an embroidery product having a good texture by giving an optimum tension to a sewing thread even in embroidery stitching in which the stitch width and the stitch direction constantly change. The purpose is to provide a sewing machine.

[0008]

A sewing machine according to a first aspect of the present invention comprises a thread tensioning means for applying tension to a sewing thread, a tension detecting means for detecting an actual tension generated in the sewing thread, and reference data indicating a desired tension. And a deviation between the reference data from the reference data generating means and the tension detected by the tension detecting means at the time of stitching the embroidery, and the thread tensioning means determines the deviation based on the deviation. and a thread tension control means for controlling the tension applied to the suture
However, the reference data generating means is an embroidery product with a good texture.
Is output when the tension detecting means is generated.
The actual tension of the sewing thread is stored in advance as reference data.
It is characterized by comprising an actual tension storage means .

A sewing machine according to a second aspect of the present invention is a thread tension means for applying tension to a sewing thread, a control data storage means for storing control data of the thread tension means, and the thread tension means for reading the control data during embroidery sewing. The thread tension control means for controlling the tension of the sewing thread, the tension detecting means for detecting the actual tension generated in the sewing thread, the reference data generating means for generating the reference data indicating the desired tension, and the embroidery stitching. Sometimes a deviation between the reference data from the reference data generating means and the tension detected by the tension detecting means is obtained, and a data correcting means for correcting the control data given to the thread tension means based on this deviation. Equipped with
The standard data generating means creates an embroidery product with a good texture.
The sewing thread output from the tension detecting means when
The actual tension of the actual tension is stored in advance as reference data.
It is characterized by being configured by a force storage means .

A sewing machine according to a third aspect of the present invention is a thread tensioning means for applying tension to a sewing thread, a control data storage means for storing control data of the thread tensioning means, and a thread tensioning means for reading the control data when sewing an embroidery stitch. The thread tension control means for controlling the tension of the sewing thread, the tension detecting means for detecting the actual tension generated in the sewing thread, the reference data generating means for generating the reference data indicating the desired tension, and the embroidery stitching. Sometimes, a deviation between the reference data from the reference data generating means and the tension detected by the tension detecting means is obtained, and the control data stored in the control data storage means is corrected based on this deviation. The reference data generating means comprises a data correction means,
When the embroidery product is created, it is output from the tension detecting means.
The actual tension of the sewing thread is stored in advance as reference data.
It is characterized in that it is configured by the actual tension storage means
It

The sewing machine according to the fourth aspect applies tension to the sewing thread.
Thread tensioning means to give and actual tension generated in the sewing thread
Tension detecting means for detecting the
Reference data generating means for generating the
The reference data from the reference data generating means and the tension detection
Obtain the deviation from the tension detected by the output means,
The tension applied to the sewing thread by the thread tension means based on
And a thread tension control means for controlling the reference data generation.
The raw means are embroidery speed, stitch width, stitch direction and
When the stitching condition such as the stitch angle is used as a parameter
The optimum tension to be applied to the sewing thread is used as reference data.
The optimum tension storage means stored in advance.
And are characterized . The sewing machine according to claim 5 sew tension
Thread tension means given to the thread and control data of this thread tension means
And a control data storage means for storing the
Read the control data, give it to the thread tension means, and
Thread tension control means for controlling the tension of the thread and
The tension detecting means for detecting the actual tension generated and the desired tension.
Reference data generating means for generating reference data indicating force,
When the embroidery is sewn, the reference data from the reference data generating means is used.
Deviation between the tension and the tension detected by the tension detecting means.
And based on this deviation is given to the thread tension means.
Data correction means for correcting the control data
However, the reference data generating means are
Check the embroidery stitching status such as width, stitch direction and stitch angle.
The maximum value to be given to the sewing thread when it is used as a parameter.
Optimal tension stored in advance with appropriate tension as reference data
It is characterized by being configured by a storage means. Claim 6
The sewing machine is a thread tension means that applies tension to the sewing thread, and
Control data storage means for storing control data of thread tension means
When the embroidery is sewn, the control data is read and the thread adjustment is performed.
Thread tension control for giving tension to the child means to control the tension of the sewing thread
Means and tension for detecting the actual tension generated in the sewing thread.
Generates force detection means and reference data indicating desired tension
The reference data generating means and the reference data generating means at the time of stitching the embroidery.
Detected by the reference data from the raw means and the tension detecting means
The deviation between the tension and the
The control data stored in the control data storage means
And a data correction means for correcting
The generation means are embroidery speed, stitch width, stitch direction and
When embroidery stitching conditions such as stitch angle are used as parameters
The optimum tension to be applied to the sewing thread
Is composed of the optimum tension storage means stored in advance as
It is characterized by

In the sewing machine according to claim 7, tension is applied to the sewing thread.
The thread tension means to give and the control data of this thread tension means are recorded.
Memorizing control data storage means and the control data when embroidering
Read out the data and give it to the thread tension means,
Thread tension control means for controlling the tension, and the thread generated by the sewing thread
Tension detection means to detect the actual tension and the desired tension
Reference data generating means for generating the reference data shown, and embroidery
The reference data from the reference data generating means at the time of stitching
And the tension detected by the tension detecting means.
Therefore, before being given to the thread tension means based on this deviation
And a data correction means for correcting the control data,
The data correction means is stored in the control data storage means.
The control data that has been corrected to the corrected control data.
And are characterized. The sewing machine according to claim 8 sew tension
Thread tension means given to the thread and control data of this thread tension means
And a control data storage means for storing the
Read the control data, give it to the thread tension means, and
Thread tension control means for controlling the tension of the thread and
Tension detecting means for detecting the actual tension generated and the control
Correction of the control data stored in the data storage means
The stored data correction means and the stored data correction means
Therefore, when embroidering stitches based on the corrected control data
The actual tension output from the tension detecting means is used as the reference data.
Reference data storage means to store as data
Read the reference data from the reference data storage means
However, this reference data and the actual value detected by the tension detecting means are
The difference between the tension and the
Data for correcting the control data given to the thread tension means.
Data correction means, and the data correction means includes the control
After correcting the control data stored in the data storage means
It is characterized by rewriting to control data.

A sewing machine according to a ninth aspect of the present invention is a thread tension means for applying tension to a sewing thread, a control data storage means for storing control data of the thread tension means, and the thread tension means for reading the control data at the time of embroidery sewing. A thread tension control means for controlling the tension of the sewing thread, a tension detecting means for detecting an actual tension generated in the sewing thread, and a first correction means for correcting the control data stored in the control data storage means. Memory data correction means, embroidery speed, stitch width,
Optimum tension data generating means for generating tension data indicating the optimum tension to be applied to the sewing thread when the embroidery stitching condition such as the stitch direction and stitch angle is used as a parameter, and the optimum tension data generating means at the time of stitching for embroidery. The deviation between the tension data adapted to the current embroidery stitching state and the tension detected by the tension detecting means is obtained, and the control data stored in the control data storage means is corrected based on this deviation. Second stored data correction means, and the actual tension output from the tension detection means during embroidery stitching based on the control data corrected by at least one of the first and second stored data correction means. And a reference data storage unit that stores the reference data from the reference data storage unit when sewing embroidery, Of the reference data and the actual tension detected by the tension detecting means, and a data correcting means for correcting the control data given to the thread tension means based on the deviation. .

A sewing machine according to a tenth aspect of the present invention is a thread tensioning means for applying tension to a sewing thread, a control data storage means for storing control data of the thread tensioning means, and a thread tensioning means for reading the control data at the time of stitching embroidery. A thread tension control means for controlling the tension of the sewing thread, a tension detecting means for detecting an actual tension generated in the sewing thread, and a first data correcting means for correcting the control data stored in the control data storage means. And a stored data correction means for storing the tension data indicating the optimum tension to be applied to the sewing thread when the embroidery stitching state such as the embroidery speed, the stitch width, the stitch direction and the stitch angle is used as a parameter. , The tension data and the tension detecting hand adapted to the current embroidery stitching state generated from the optimum tension data generating means at the time of stitching embroidery. A second stored data correction means for correcting the control data stored in the control data storage means on the basis of the deviation between the detected tension and the detected tension; and the first and second Reference data storage means for storing the actual tension output from the tension detecting means as reference data during embroidery stitching based on the control data corrected by at least one of the stored data correction means, and the reference data storage means during embroidery stitching. From the reference data, the deviation between the reference data and the actual tension detected by the tension detecting means is obtained, and the control data stored in the control data storing means is corrected based on this deviation. Data correction means for

[0015]

Since the thread tension means is constructed so as to give tension to the sewing thread according to its control state, when the control state remains constant, the tension generated on the sewing thread must also be constant. . However, in an actual sewing machine, even if the control state of the thread tension means is constant, various factors such as the ambient temperature and humidity, the needle temperature, the rotation speed of the spindle, the stitch width, the stitch direction, and the previous stitch direction are used. The tension actually generated in the sewing thread varies variously depending on the angle (stitch angle) formed with the stitch direction, the characteristics of the sewing thread, the characteristics of the object (cloth, etc.). Therefore, in the present invention, a tension detecting means for detecting the actual tension generated in the sewing thread is provided, a deviation between the tension of the sewing thread which changes due to various factors and a predetermined reference value is obtained, and the thread tension means is based on the deviation. Is configured to adjust the control state of the.

First, in the sewing machine according to the invention of claim 1 ,
Since the reference data generating means generates the reference data indicating the desired tension, the thread tension control means causes the deviation between the reference data from the reference data generating means and the actual tension detected by the tension detecting means at the time of sewing the embroidery. the calculated, to control the tension thread tension means based on the deviation has on the sewing thread, the reference data
The actual tension storage means constituting the data generating means has a good texture.
When the embroidery product is created, it is output from the tension detecting means.
The actual tension of the sewing thread that has been
I remember. Further, in the sewing machine according to the invention of claim 4,
The reference data generating means includes embroidery speed, stitch width, and
Set the embroidery stitching condition such as the stitch direction and stitch angle.
The optimum tension to be applied to the sewing thread when
Optimal tension memory that stores force in advance as reference data
Composed of steps. In this way, the
By storing in advance as quasi data, the thread tension means is controlled so that the tension equal to the reference data is generated in the sewing thread, and the tension equal to the reference data is actually generated in the sewing thread. You will be able to create good embroidery products.

In the sewing machine according to the second aspect of the present invention, the control data storage means stores the control data indicating the control state of the thread tension means, and the thread tension control means reads this control data at the time of stitching the embroidery to the thread tension means. Give and control the tension of the sewing thread. Since the reference data generating means generates the reference data indicating the desired tension as in the first aspect of the invention, the data correcting means detects the reference data from the reference data generating means and the tension detecting means at the time of sewing the embroidery. The difference between the tension and the tension is determined, and the control data given to the thread tension means is corrected based on this deviation. In addition, the reference data generator
The actual tension storage means forming the step is an embroidery product with a good texture.
Is output when the tension detecting means is generated.
The actual tension of the sewing thread is stored in advance as reference data.
It In the sewing machine according to the invention of claim 5, the reference
Data generation means are embroidery speed, stitch width, stitch method
The embroidery stitching condition such as the direction and stitch angle is used as a parameter.
The optimum tension to be applied to the sewing thread when
Consists of optimum tension storage means that is stored in advance as data
To be done. In this way, properly selected tension is used as reference data.
Since the control data is corrected so that the tension equal to the reference data is generated in the sewing thread, and the tension equal to the reference data is actually generated in the sewing thread, the sewing machine has a good texture. Will be able to create.

The sewing machine according to the invention of claim 3 has the same structure as the invention of claim 2 except that the structure of the data correction means is different. In addition, the sewing machine according to the invention of claim 6 is
The structure is the same as that of the invention of claim 5 except that the structure of the corrective means is different.
is there. That is, in the inventions of claims 3 and 6 , the data correction means obtains a deviation between the reference data from the reference data generating means and the tension detected by the tension detecting means at the time of sewing the embroidery, and based on this deviation The control data stored in the control data storage means is corrected. Therefore, once the control data stored in the control data storage means is corrected so that the tension equal to the reference data is generated in the sewing thread, the thread tension control means thereafter applies the corrected control data to the thread tension means. Since the tension equal to the reference data can be applied to the sewing thread only by supplying it, it is not necessary to obtain the deviation one by one and correct the control data based on the deviation as in the invention of claim 2 or 5 .

According to the sewing machine of the invention of claim 7,
As in the invention of 2, the control data storage means is a thread tension hand.
The control data indicating the control status of the thread is stored, and the thread tension control
When the stitches are sewn on the embroidery, this control data is read and the thread tension
Applied to the step to control the tension of the sewing thread, and a reference data generating means
Generates reference data indicating the desired tension.
The correction means is a reference from the reference data generating means when stitching embroidery.
The deviation between the data and the tension detected by the tension detection means
Control given to the thread tension means based on this deviation
Correct the data. Then, in the data correction means,
Corrects the control data stored in the control data storage means
It is characterized by being rewritten to later control data. Servant
Thus, it becomes possible to create an embroidered product with a good texture.
In the sewing machine according to the invention of claim 8 , the control data storage means stores the control data of the thread tension means, and the thread tension control means reads this control data at the time of stitching the embroidery and gives it to the thread tension means to control the tension of the sewing thread. is doing. Since stored data correcting means for correcting the control data stored in the control data <br/> data storage means is provided, the operator operates the storage data correction means based on the embroidery experience their confidence Then, the tension of the sewing thread can be appropriately corrected and set. The reference data storage means stores, as reference data, the actual tension output from the tension detecting means during embroidery stitching based on the control data corrected by the stored data correcting means. The reference data is read, the deviation between this reference data and the actual tension detected by the tension detecting means is determined, and the control data given to the thread tension means is corrected based on this deviation. That
In the data correction means, the control data storage means is recorded.
Rewrite the stored control data to the corrected control data
The feature is to get. Therefore, the control data is corrected so that the tension equal to the reference data stored in the reference data storage means is generated in the sewing thread, and the tension equal to the reference data is actually generated in the sewing thread. You will be able to create a good-looking embroidery product in the form of incorporating any embroidery experience.

[0020]

[0021] In the sewing machine according to the invention of claim 9, the control de <br/> over data storage means stores the control data of the thread tension means, thread tension thread tension control means reads out the control data during embroidery sewing The tension of the sewing thread is controlled. Since the first storage data correction means for correcting the control data stored in the control data storage means is provided, the operator operates the first storage data correction means based on his or her own experience of embroidery. Then, the tension of the sewing thread can be appropriately corrected and set. Further, an optimum tension data generating means and a second stored data correcting means are provided. The optimum tension data generating means stores in advance tension data indicating the optimum tension to be applied to the sewing thread when the embroidery stitching state such as the embroidery speed, the stitch width, the stitch direction and the stitch angle is used as a parameter, and the second memory is stored. The data correction means reads the tension data adapted to the current embroidery stitching state from the optimum tension data generation means at the time of stitching the embroidery, finds the deviation between the optimum tension data and the tension detected by the tension detecting means, and uses this deviation as the deviation. Since the control data stored in the control data storage means is corrected on the basis of this, even an operator who has no embroidery experience can correct the control data on the basis of the tension data generated by the optimum tension data generation means. Embroidery products can be finished. Further, the reference data storage means stores the actual tension output from the tension detection means during embroidery stitching based on the control data corrected by at least one of the first and second storage data correction means, as reference data, and corrects the data. The means reads the reference data from the reference data storage means at the time of stitching the embroidery, finds a deviation between the reference data and the actual tension detected by the tension detecting means, and based on this deviation, control data given to the thread tension means. Is being corrected. Therefore, the control data is corrected so that the tension equal to the reference data stored in the reference data storage means is generated in the sewing thread, and the tension equal to the reference data is actually generated in the sewing thread. The textured embroidery product can be created based on the data, and the operator can also create the textured embroidery product by incorporating his or her own embroidery experience.

The sewing machine according to the invention of claim 10 has the same structure as the invention of claim 9 except that the structure of the data correction means is different. That is, the data correction means reads the reference data from the reference data storage means at the time of sewing the embroidery, finds the deviation between the reference data and the actual tension detected by the tension detection means, and based on this deviation, the control data storage means. The control data stored in is corrected. Therefore, once the control data stored in the control data storage means is corrected so that the tension equal to the reference data is generated in the sewing thread, the thread tension control means thereafter applies the corrected control data to the thread tension means. tension equal to the reference data by simply supply can be applied to sewing threads, seeking each time deviation as claimed in claim 9, better even without correcting the control data on the basis of the deviation.

[0023]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. FIG. 2 is a view showing the concept of the embroidery sewing machine of the present invention. This figure shows a simple structure of an embroidery sewing machine necessary for embroidering an object. For example, when the embroidery sewing machine is a multi-head sewing machine, one needle bar in one head of the sewing machine is It is shown.

In FIG. 1, the sewing machine control means 1 controls the operation of the entire embroidery sewing machine, and has a panel switch (not shown) for setting various kinds of information such as thread type and cloth type. . The sewing machine control means 1 controls the operations of the frame drive means 8 and the spindle motor 4, and drives and controls the needle thread tension motor 2 based on the control state and the tension signal TS from the tension detection means 3 to obtain the needle thread. Control tension. The details of the needle thread tension control system will be described later. When the embroidery sewing machine is of a multi-head type, the sewing machine control means 1 controls the needle thread tension motor 2 corresponding to each needle bar of each head to independently control the tension of the upper thread.

The upper thread tensioning means 21 gives an appropriate tension to the upper thread 22. For example, the upper thread 22 is sandwiched between a pair of tension disks and a spring for applying a pressing force to one of the tension disks. The expansion and contraction are appropriately changed by controlling the rotational position of the needle thread tension motor 2. Further, the needle thread tension means 21 may be of a type that applies a pressing force to one of the tension discs using electromagnetic force instead of the elastic force of the spring. That is, the upper thread tensioning means 21 may have any configuration as long as it can appropriately variably control the tension of the upper thread according to the command signal.

The tension detecting means 3 is composed of the upper thread tensioning means 21 and the first tension adjusting means 21.
What is necessary is just to detect the tension of the needle thread 22 between the thread guide 52 and output the detected tension value to the sewing machine control means 1. For example, the tension of the upper thread may be detected by a cantilevered measuring lever having a strain gauge as described in JP-A-60-193493. In this embodiment, the tension of the upper thread is detected by using the tension detecting means as shown in FIG.

The tension detecting means of FIG. 5 has two thread guides 54,
A cantilever lever 57 that applies a predetermined pressing force in one direction to the needle thread 22 passing between 55 via a contact member 56;
It is composed of detection coils 58A and 58B provided before and after the cantilever lever 57. Since the cantilever lever 57 flexibly deforms in accordance with the magnitude of the tension of the upper thread 22, a signal corresponding to the flexure amount is generated in the detection coils 58A and 58B. The tension detecting means rotates about the rotating shaft 59 in the direction opposite to the pressing force direction. This is because one tension detecting means is provided for each head, and when replacing the needle bar, it is rotated in the direction opposite to the pressing force direction to release the contact between the needle thread 22 and the contact member 56, and the needle bar. This is because after the replacement, the pressing force is returned to the original position, the next upper thread is brought into contact with the contact member 56, and the tension of the upper thread is detected. If one tension detecting means is provided for each head, the needle thread tension of all needle bars can be detected even if the needle bars are replaced.

The spindle motor 4 receives a drive current from the sewing machine control means 1 and rotates at a constant speed. Further, a rotational position sensor 41 for absolutely detecting the rotational position of the spindle motor 4 is coupled. As the rotational position sensor 41, for example, Japanese Patent Laid-Open No. 57-70406 is used.
An inductive type phase shift type rotational position sensor as disclosed in Japanese Laid-Open Patent Publication No. 58-106691 is used. The detailed configuration of the rotational position sensor 41 will be described later.

The rotational power of the spindle motor 4 is transmitted to each of the balance 51, the needle bar 6 and the shuttle 91 through a power transmission means such as a cam mechanism or a belt mechanism, and is used as a power source for each. Therefore, the balance 51, the needle bar 6, and the shuttle 91 have the same structure as a conventional embroidery sewing machine that operates in synchronization with the rotation of the spindle motor 41.

The balance 51 has a first thread guide 52 and a second thread guide 5
The reciprocating motion of pulling up the upper thread 22 from between 3 and returning to the original state is repeated. The needle bar 6 holds the needle 61 and moves up and down, and moves the cloth presser 71 in conjunction with this up and down motion. Although not shown, the needle bar 6 is provided with a jump mechanism.

The hook 91 comprises an outer hook and an inner hook. The outer hook rotates in synchronization with the rotation of the spindle motor 4, and the inner hook is independent of the outer hook via a hook support. A bobbin case is held inside the inner hook. The frame driving means 8 moves the embroidery frame 81 in the X-axis and Y-axis directions in response to a command from the sewing machine control means 1. The frame driving means 8 moves the embroidery frame 81 in synchronization with the vertical movement of the needle bar 6.

FIG. 1 is a diagram showing the detailed construction of the sewing machine control means 1 for controlling the operation of the embroidery sewing machine shown in FIG. In FIG. 1, the same components as those in FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted. The spindle operation command unit 11
When a command speed signal VM indicating the rotation speed of the spindle motor 4 is input from a host controller (not shown), the command speed signal VM is temporarily stored in the internal memory, and an operation start signal ST is input from the host controller. Command speed signal VM
The current command signal (torque signal) TM corresponding to is output to the current amplifier 12, and the command speed signal VM is output to the tension data selection reading unit 16. Further, the spindle operation command unit 11 inputs the actual rotation speed MF output from the speed calculation unit 14,
The current command signal TM is controlled while constantly monitoring whether or not the spindle motor rotates at the command speed.

The current amplifier 12 receives the current command signal TM from the spindle operation command section 11 and supplies a drive current corresponding to it to the spindle motor 4. Spindle motor 4 is current amplifier 1
The motor rotates at a rotation speed corresponding to the command speed signal VM according to the drive current from 2.

The position converter 13 converts the output of the rotational position sensor 41 into digital rotational position data MP and outputs it to the speed calculator 14 and the address converter 15. The detailed configuration of the position conversion unit 13 will be described later. The speed calculation unit 14 receives the rotational position data MP from the position conversion unit 13 and digitally calculates the actual rotation speed MF of the main shaft motor 4 based on the amount of change per unit time, and then outputs the actual rotation speed MF of the main shaft operation command unit 11 and the speed. It is output to the variation calculation unit 1B.

The address conversion unit 15 receives the rotational position data MP from the position conversion unit 13 and determines which position in one cycle of the vertical movement of the needle bar 6 it corresponds to according to the movement of the needle bar 6. Converted to an address AD, the reference data storage unit 1
9, output to the optimum tension data storage unit 17 and the frame operation command unit 1K. That is, although the spindle motor 4 and the shuttle 91 are directly connected and rotate at the same speed, the needle bar 6 moves up and down by one cycle for two rotations of the shuttle 91, so that the address conversion unit 15 rotates. By inputting the position data MP, the needle bar 6 can be converted into an address AD indicating where the needle bar 6 is currently positioned in one cycle of vertical movement.

The servomotors 8X and 8Y constitute the frame driving means 8 of FIG. 2, and move the embroidery frame 82 in the X-axis and Y-axis directions. Servo motors 8X and 8Y are position control unit 1
L, 1R, speed control units 1M, 1S, current amplifiers 1N, 1
It is controlled by a feedback control loop including T, position conversion units 1P and 1U, and speed calculation units 1Q and 1V. Since the configuration of the feedback control loop for the servomotors 8X and 8Y is the same, the configuration of the feedback control loop for the servomotor 8X will be described here, and the description for the servomotor 8Y will be omitted.

A rotary position sensor 81X for absolutely detecting the rotary position of the rotary shaft of the servo motor 8X.
Are combined. The rotational position sensor 81X is composed of the same inductive type phase shift type rotational position sensor as the rotational position sensor 41 described above. The position conversion unit 1P
It has the same configuration as the position conversion unit 13 described above, converts the output of the rotational position sensor 81X into digital rotational position data XP, and outputs it to the speed calculation unit 1Q, the position control unit 1L, and the frame operation command unit 1K. The position converter 1P also generates a phase signal CX for controlling the switching position of the field of the servo motor 8X based on the output from the rotational position sensor 81X, and outputs it to the current amplifier 1N. The position control unit 1L inputs the position command signal POX from the frame operation command unit 1K and the position data XP indicating the current position of the servomotor 8X, obtains a position deviation δPX between the two, and a speed corresponding to the position deviation δPX. The command signal FX is output to the speed controller 1M.

The speed calculation unit 1Q receives the rotational position data XP from the position conversion unit 1P and performs a digital calculation based on a change amount per a predetermined unit time to servo motor 8X.
The speed signal FL indicating the current rotation speed of the
Output to. The speed control unit 1M includes a speed command signal FX from the position control unit 1L and a speed signal FL from the speed calculation unit 1Q.
Is input to obtain the speed deviation δFX of both, and a current command signal (torque signal) TX corresponding to the speed deviation δFX is output to the current amplifier 1N.

The current amplifier 1N includes a current command signal TX from the speed controller 1Q and a phase signal CX from the position converter 1P.
Is input, a PWM signal of three phases is generated based on it, the power transistor is driven, and a drive current is supplied to each phase (U phase, V phase, W phase) of the servomotor 8X. At this time, a current feedback signal of the current values of the U phase and the V phase is sent to the current amplifier 1 by a current isolator (not shown).
Since it is fed back to N, the current amplifier 1N supplies to the servomotor 8X a drive current obtained by amplifying the deviation between the current command signal of each phase and the current feedback signal.

The frame operation command section 1K includes an address conversion section 15
The address corresponding to the movement of the needle bar 6 is input from the position, the period during which the needle 61 is not stuck in the cloth is detected based on the address, and the servomotors 8X and 8Y are drive-controlled within the period.
The frame operation command unit 1K stores data regarding driving of the servo motors 8X and 8Y as frame drive data. The frame drive data corresponds to embroidery patterns and patterns, and is set by the operator from the outside. Further, the frame operation commanding section 1K outputs the position command signals POX and POY relating to the control of the frame driving means 8 to the tension data selecting and reading section 16.
Output to.

The tension data selecting / reading unit 16 receives the command speed signal VM from the spindle motion commanding unit 11 and the frame motion commanding unit 1K.
The position command signals POX and POY are input and the optimum tension data for the current sewing condition is read out from the optimum tension data storage unit 17 based on these signals. The tension data stored in the optimum tension data storage unit 17 has a structure as shown in FIG.

That is, in FIG. 3, the optimum tension data storage unit 17 stores six types of tension data corresponding to the rotation speeds N1 to N6 of the spindle motor 4. Further, the tension data corresponding to each of the rotation speeds N1 to N6 is composed of 16 types of tension data corresponding to the stitch width and the size in the stitch direction. Here, the stitch width is the amount of movement of the embroidery frame 82 that is moved by the servo motors 8X and 8Y, and the stitch direction is the servo motors 8X and 8Y.
This is the moving direction of the embroidery frame 82 that moves.

That is, when the stitch start position is the origin 0 as shown in FIG. 4, the movement amount of the embroidery frame 82 is 3 mm.
The embroidery frame 82 is divided into four types of 0 to 3, 3 to 6, 6 to 9, and 9 to 0. The + Y direction is 0 degrees and the -Y direction is 180 degrees from the origin 0. Divide every 45 degrees, 0-45, 45-90, 90-135, 135-
It is classified into four types of 180. However, in the case of stitch direction, it rotates around + X direction (counterclockwise) and around -X direction (clockwise).
And make the tension data the same. Further, the tension data corresponding to the stitch width and the stitch direction is composed of four types of tension data corresponding to the stitch angle formed by the present stitch direction and the previous stitch direction.

Thus, the rotation speed of the spindle, the stitch width,
The reason why the tension data is provided according to the stitch direction and the stitch angle is that the tension of the yarn changes variously depending on these. The reason why the tension data is changed according to the stitch width is that the pull-up amount of the lower thread varies depending on the stitch width. Further, the reason why the tension data is changed according to the stitch direction is that the frictional force generated when the needle thread 22 passes through the needle hole changes variously according to the moving direction of the embroidery frame 82.

That is, as shown in FIG. 4, the X direction moved by the servomotor 8X is perpendicular to the needle hole passing direction of the needle thread 22, and the Y direction moved by the servomotor 8Y is the needle hole passing direction of the needle thread 22. Since the embroidery frame 82 moves in various directions in the X and Y directions, the direction in which the needle thread 22 passes through the needle hole changes depending on the moving direction. For example, in FIG.
If the embroidery frame 82 moves in the same + Y direction when the needle hole passing direction of 2 is the + Y direction, the needle thread 22 smoothly passes through the needle hole, and the change in tension depending on the stitch direction is small.
On the contrary, when the embroidery frame 82 moves in the -Y direction opposite to the needle hole passing direction, the needle thread 22 is inverted by about 180 degrees after passing the needle hole, so that the tension change due to the stitch direction becomes severe.

The tension data is changed according to the stitch angle when the stitch angle does not change as in linear stitching and when the stitch angle always changes as in embroidery stitching. It is necessary to make each different. That is, in the case of straight stitching,
It is said that the intersection of the upper thread and the lower thread should be located near the center of the cloth. However, in the case of embroidery stitching, it is considered that the upper thread should come out sufficiently below the cloth. There is. Therefore, in the embroidery sewing machine according to the present embodiment, the tension data is variously changed according to the stitch angle to change the pulling amount of the lower thread. The stitch direction is an absolute value determined by the moving direction of the embroidery frame 82, but the stitch angle is a value that depends on the previous stitch direction. Command signal POX,
This stitch angle is calculated based on POY.

Therefore, the tension data selecting and reading unit 16 selects the tension data closest to the command speed signal VM from the rotation speeds N1 to N6 based on the command speed signal VM from the spindle operation commanding unit 11, and the frame operation is performed. The stitch width, stitch direction and stitch angle are calculated based on the position command signals POX and POY from the command unit 1K, and the optimum tension data for the current stitch is selected from the optimum tension data storage unit 17. Then, the selected tension data MT is sequentially read from the optimum tension data storage unit 17 according to the address from the address conversion unit 15, and is output to the tension correction unit 1C.

For example, when the rotation speed is N1, the previous stitch direction is + Y direction, the current stitch width is 5 mm, and the current stitch direction is +30 degrees, the current stitch angle is 30 degrees, so the tension data selecting and reading unit 16 Selectively reads the tension data T12A at the rotation speed N1 from the optimum tension data storage unit 17 as the tension data, and outputs it as the tension data MT to the tension correction unit 1C.

When the rotation speed is N3, the previous stitch direction is -X direction, the current stitch width is 7 mm, and the current stitch direction is -170, the current stitch angle is 100 degrees, so the tension data selecting and reading unit. 16 selectively reads the tension data T43C at the rotation speed N3 as the tension data from the optimum tension data storage unit 17, and outputs it as the tension data MT to the tension correction unit 1C.

The selection circuit 18 selectively outputs the tension signal TS of the tension detection means 3 to either the reference data storage unit 19 or the tension deviation calculation unit 1A according to an instruction from the host controller. The reference data storage unit 19 is connected to the tension detecting means 3 via the selection circuit 18 at the time of creating the reference data, and stores the actual tension signal TS when the embroidery product having a good texture is produced as the basic tension data BT in the order of addresses. The basic tension data BT is output to the tension correction unit 1C according to the address from the address conversion unit 15 at the time of the next embroidery.

The speed fluctuation calculation section 1B receives the actual rotation speed MF of the spindle motor 4 from the speed calculation section 14, calculates the speed fluctuation rate ε thereof, and outputs it to the tension correction section 1C. Since the power of the spindle motor 4 is transmitted to each of the needle bar 6, the balance 51 and the shuttle 91 via a power transmission means such as a cam mechanism or a belt mechanism, when the needle 61 pierces the cloth, the shuttle drives the upper thread. The load fluctuates when the needle 61 is pulled out, when the needle 61 is pulled out of the cloth, and when the balance pulls up the upper thread. When the load fluctuates, the actual rotation speed MF of the spindle motor 4 is correspondingly changed.
Also fluctuates.

The ratio of such load fluctuation, that is, the speed fluctuation rate ε, is the characteristic of the yarn (whether the yarn is a natural fiber or a synthetic fiber, or the thickness of the yarn) and the characteristic of the object (of the cloth). Material and thickness). Therefore, the characteristic of the yarn target yam object can be grasped based on the speed variation rate ε of the actual rotation speed MF. The rate of load fluctuation (speed fluctuation rate ε) depends not only on the characteristics of the yarn and the characteristics of the object, but also on the ambient temperature and humidity. That is, even if the same cloth is embroidered with the same thread using the same thread, if the ambient temperature and humidity are different, the load changes accordingly. Therefore, based on the speed variation rate ε of the actual rotation speed MF, it is possible to roughly grasp changes in the ambient temperature, humidity and the like in addition to the characteristics of the yarn and the characteristics of the object.

Therefore, in this embodiment, the tension correction unit 1C
The tension data BT of the reference data storage unit 19 or the tension data MT of the optimum tension data storage unit 17 is corrected based on the speed variation rate ε calculated by the speed variation calculation unit 1B. That is, the tension correction unit 1C is composed of a plurality of conversion tables using the speed fluctuation rate ε as a parameter, and the tension data BT
Alternatively, MT is converted according to a conversion table and output as corrected tension data CT to the tension deviation calculation unit 1A.

The tension deviation calculating unit 1A calculates the deviation between the tension signal TS of the tension detecting means 3 inputted via the selecting circuit 18 and the corrected tension data CT from the tension correcting unit 1C, and calculates the tension. As the deviation data δT, the thread tension controller 1E
Output to. That is, the reference tension data BT stored in the reference data storage unit 19 is the same as the reference tension data BT because the reference tension data BT is the tension data when a good-quality embroidery product is sewn (at the time of high-quality embroidery). If the tension of the upper thread can be controlled as described above, a good quality embroidery product can be manufactured with good reproducibility.

The thread tension data storage unit 1D stores thread tension data YT indicating the rotational position of the upper thread tension motor 2. That is, the upper thread tension means 21 changes variously the tension of the upper thread in accordance with the rotational position of the upper thread tension motor 2. Therefore, in order to give a desired tension to the upper thread, the upper thread tension motor The rotational position of 2 needs to be precisely controlled. Therefore, the tension signal TS when a good-quality embroidery product is sewn (at the time of high-quality embroidery) is stored in the reference data storage unit 19 as the reference tension data BT, and at the same time, the rotation of the needle thread tension motor 2 is performed. The thread tension data YT indicating the position is also stored in the thread tension data storage unit 1D.

The thread tension control section 1E includes a tension deviation calculation section 1A.
The tension of the needle thread 22 is changed by an amount corresponding to the tension deviation data δT from. That is, the thread tension controller 1E
Is a position deviation between the command position data OP and the current value data TP in order to position the rotational position of the needle thread tension motor 2 (current position data TP from the position conversion unit 1G) according to the command position data OP. δP is calculated, and this position deviation δP
The current command signal TT corresponding to is output to the current amplifier 1F. Therefore, the thread tension controller 1E determines the tension deviation data δ.
T is input, this is converted into position data δTP and added to the command position data OP. Then, since the position deviation δP, which has been zero until now, becomes the position data δTP, the needle thread tension motor 2 rotates corresponding to the position data δTP. Then, the thread tension control unit 1E uses the current position data TP rotated by the position data δTP as the thread tension data in the current stitch, and the thread tension data storage unit 1D.
Remember.

The current amplifier 1F receives the current command signal TT and supplies a drive current corresponding thereto to the needle thread tension motor 2. The rotary shaft of the needle thread tension motor 2 has a rotary position sensor 2 for absolute detection of its rotary position.
3 are connected. The rotational position sensor 23 is composed of the same inductive phase shift type rotational position sensor as the rotational position sensor 41 described above. The position conversion unit 1G has the same configuration as the position conversion unit 13 described above, converts the output of the rotational position sensor 23 into digital position data TP, and outputs the digital position data TP to the thread tension control unit 1E.

Next, the operation of the sewing machine control means shown in FIG. 1 will be described with reference to FIG.
The motion diagram will be used for explanation. FIG. 6 is a motion diagram showing the movement relationship among the shuttle 91, the balance 51, and the needle bar 6. In the figure, the horizontal axis indicates the rotation angle when one cycle of the vertical movement of the needle bar 6 is 360 °, and the vertical axis indicates the hook point of the hook 91 and the balance 51 based on the bottom dead center of the needle bar 6. The positions of the upper thread passing hole and the needle hole of the needle bar 6 are shown respectively.

The needle bar 6 has a top dead center of 0 ° and a bottom dead center of 180 °.
It moves up and down with an amplitude of about 40 mm. In Figure 6,
The position of the needle hole associated with the vertical movement of the needle bar 6 is shown. The needle hole moves up and down like a sine waveform 6M. The kettle 91 is
At the time when the vicinity of the bottom dead center of the needle bar 6 and the vicinity of the top dead center of the hook point approximately coincide with each other, 2 of the needle bar 6 is drawn so that the hook point draws the upper thread 22.
It rotates in a double cycle. FIG. 6 shows the position associated with the rotary motion of the blade point of the hook. When the hook point reaches the bottom dead center, the upper thread 22 is pulled in by about 30 mm. The hook point makes a rotary motion like a sine wave 91M.

In the balance 51, when the hook tip of the hook 91 pulls in the upper thread 22 and reaches the bottom dead center, the upper thread 22 is pulled up and entangled with the lower thread 92, and the needle bar 6 is lowered and the hook tip is pulled in. The upper and lower threads 22 are loosened in response to the vertical movement as in a waveform 51M. The cycle of vertical movement of the balance 15 and the cycle of vertical movement of the needle bar 6 are the same.

The frame drive signals P0X and P0Y become high level "1" when the needle 61 comes out of the cloth and the sine waveform 6M reaches about 10 mm (about 240 ° in this embodiment), and the needle 61 moves. When it reaches approximately 15 mm (105 ° in this embodiment) immediately before being stabbed in the cloth, it returns to the low level “0”.
That is, the frame operation command unit 1K outputs frame drive signals P0X and P0Y in the period of 240 ° to 105 ° in response to the address AD from the address conversion unit 15 to drive the servomotors 8X and 8Y to embroidery frame. Move 82. In this embodiment, a case will be described in which the embroidery frame 82 is alternately moved in the −Y direction and the + Y direction.

The tension signal TS is output from the tension detecting means 3, and is a schematic diagram of an actual waveform diagram. First, as the tension signal TS, the hook point is the upper thread 2
The hook bottom dead center tension signals ta and tf generated at the time when the balance pulls up the upper thread 22 (about 300 °) after drawing 2 to the bottom dead center and when the upper thread 22 passes the hook support (about 10 Hook support passing point tension signals tb, t
g, the balance top dead center tension signals tc and tg generated when the balance 51 pulls the upper thread 22 to the top dead center (around 30 ° to 90 °), and the time when the needle 61 of the needle bar 6 pierces the cloth. Needle cloth puncture point tension signals td, ti generated at (around 110 °)
And exist. Among these tension signals, since the balance top dead center tension signals tc and tg most affect the texture of the embroidery product, the present embodiment describes the case where the thread tension is adjusted based on the balance top dead center tension signal. To do.

Hereinafter, the operation of the sewing machine control means 1 will be described. First, the host controller (not shown) resets the data in each memory (reference data storage section 19 and thread tension data storage section 1D) and selects the selection circuit. Initialization processing is performed by setting the selection state of No. 3 or reading frame drive data and the like into the internal memory of the frame operation command unit 1K. At this time, since the data has not yet been written in the reference data storage unit 19, the host controller sets the selection circuit 18 to B
Connect to the terminal side.

Then, the spindle operation command section 11 outputs the current command signal TM to the current amplifier 12 in response to the input of the start signal from the host controller to rotate the spindle motor 4 at the rotation speed of the command speed signal VM. . At this time, the spindle operation command unit 11 outputs the command speed signal VM to the tension data selection reading unit 16. As a result, the shuttle 91 and the needle bar 6
And the balance 51 comes to operate in the motion as shown in FIG.

The tension data selection reading unit 16 selects the tension data of the rotation speeds N1 to N6 of the optimum tension data storage unit 17 that is closest to the command speed signal VM, and the position command from the frame operation command unit 1K. The stitch width, the stitch direction, and the stitch angle are calculated based on the signals POX and POY, and the optimum tension data MT for this stitch is selected from the optimum tension data storage unit 17, and according to the address from the address conversion unit 15. Output to the tension correction unit 1C.

The tension correction unit 1C corrects the tension data MT based on the speed fluctuation rate ε from the speed fluctuation calculation unit 1B, and uses it as the corrected tension data CT to calculate the tension deviation calculation unit 1
Output to A. The tension deviation calculation unit 1A includes tension detection means 3
The tension deviation data δT between the tension signal TS from the and the tension data CT is output to the thread tension controller 1E. The thread tension control unit 1E drives the thread tension motor 2 by an amount corresponding to the tension deviation data δT, and the position data TP after the driving is finished.
Is stored in the thread tension data storage unit 1D as thread tension data for the current stitch.

The above operation is performed until the embroidery pattern is completed, that is, until the reading of the frame drive data stored in the internal memory of the frame operation command section 1K is completed. As a result, the tension detecting means 3 is stored in the thread tension data storage unit 1D.
Position data (thread tension data) of the needle thread tension motor 2 such that the tension signal TS of the above is substantially equal to the tension data MT (actually, the corrected tension data CT) in the optimum tension data storage unit 17 for each stitch. It is stored in the thread tension data storage unit 1D.

Therefore, even if the operator is completely unskilled in adjusting the thread tension, the tension data stored in advance in the optimum tension data storage unit 17 can be obtained by executing the above-described processing (thread tension data creation processing). It is possible to set thread tension data with which an embroidery product having a texture corresponding to MT can be completed. Needless to say, it is possible to set thread tension data with which an embroidery product having a texture more compatible with the tension data MT can be created by repeatedly executing the thread tension data creation processing described above several times.

The position data stored in the thread tension data storage unit 1D by the above-described thread tension data creation processing is based on the tension data MT stored in advance in the optimum tension data storage unit 17, and is used for the embroidery product. The texture is average. Therefore, if the operator has an advanced embroidery technique, this thread tension data storage unit 1D
The position data stored in the above item may be manually changed in various ways by operating a setting operator or the like according to the texture of the embroidery product.

In this way, when the operator manually changes and sets the position data in the thread tension data storage unit 1D, an embroidery product is prototyped in order to see the texture of the embroidery product.
In such a case, the thread tension control section 1E controls the positioning of the upper thread tension motor 2 only in accordance with the position data in the thread tension data storage section. That is, the thread tension controller 1E
Ignores the tension deviation data δT from the tension deviation calculator 1A.

As described above, the thread tension data storage unit 1
When the position data (thread tension data) in D is confirmed, the host controller connects the selection circuit 18 to the A terminal side, operates the spindle operation command section 11 and the frame operation command section 1K again, and performs the embroidery operation. Then, the actual tension signal TS output from the tension detecting means 3 is stored in the reference data storage unit 19 as the reference tension data BT. When the thread tension data creation process and the reference tension data storage process are completed, the host controller connects the selection circuit 18 to the B terminal side.

After that, the tension correction section 1C adds a correction to the reference tension data BT from the reference data storage section 19 based on the speed variation rate ε from the speed variation calculation section 1B, and then corrects it. Tension deviation calculator 1 as data CT
Output to A. Then, the tension deviation calculator 1A outputs the tension deviation data δT between the tension signal TS from the tension detector 3 and the corrected tension data CT to the thread tension controller 1E.

The thread tension controller 1E determines the tension deviation data δT.
The thread tension motor 2 is driven by an amount corresponding to, and the position data TP after the driving is rewritten in the thread tension data storage section 1D as new thread tension data. That is, the thread tension control unit 1E always performs the review control of the thread tension data so that the tension signal TS becomes the reference tension data BT. This makes it possible to optimally control the tension of the upper thread 22 in accordance with the reference tension data BT even when the upper thread tensioning means 21 and the upper thread tensioning motor 2 change with time, and an embroidery product having the same texture can be obtained. You will be able to create with good reproducibility.

In the above embodiment, the tension correction unit 1C is used.
Has described the case where the tension data MT and the reference tension data BT are corrected based on the speed fluctuation rate ε from the speed fluctuation calculation unit 1B, but the tension correction unit 1C and the speed fluctuation calculation unit 1B are omitted, and these tension data MT and BT may be directly input to the tension deviation calculation unit 1A. Also,
In the above-described embodiment, the case where the reference tension data storage processing is performed after the thread tension data creation processing has been described. However, when the thread tension data is previously set in the thread tension data storage unit 1D from the outside, The tone data creation process may be omitted. Further, the reference tension data BT in the reference data storage unit 19 and the thread tension data in the thread tension data storage unit 1D are stored in an external storage device such as a floppy disk or a memory card, and appropriately read and used as necessary. You may allow it.

In the above-described embodiment, in order to create the tension data MT as shown in FIG. 3, it is necessary to actually operate the embroidery sewing machine using the stitch direction, stitch width and stitch angle as parameters. If there are three, data must be created while changing these parameters variously, and thus data creation is not easy.

That is, in the conventional embroidery sewing machine, since the needle bar 6 repeats the vertical movement with a constant stroke as shown by the sine waveform 6M in FIG. 6, the cloth 83 and the upper thread 22 are responsive to the size of the stitch width. The pulling angle θP formed by and changes. In addition, since the passage hole of the presser foot 71 (the hole for the needle 61 to pass in the vertical direction) is larger than the diameter of the needle 61 than necessary, even if the stitch direction is constant, it depends on the size of the stitch width. The needle hole passing angle θT when the needle thread 22 passes through the needle hole also changes.

The manner in which the pulling angle θP and the needle hole passing angle θT change according to the stitch width will be described with reference to FIG. FIG. 7 is a diagram schematically showing how the pulling angle θP and the needle hole passing angle θT change as the size of the stitch width changes. In the figure, the operating position of the needle bar 6 is near 0 degrees in FIG. 6, the height from the presser foot 71 to the lower surface of the needle hole of the needle 61 is H1, and the height from the upper surface of the cloth 83 to the presser foot 71. Is H2. In FIG. 7A, the stitch direction is -Y and the stitch width is SW.
7 shows the case where the stitch angle is 0 degree, and FIG. 7B shows the case where the stitch direction is -Y, the stitch width is SW2 which is about twice the size of SW1, and the stitch angle is 0 degree. Shows.

When the stitch width is SW1 and the needle thread 22 is not in contact with the work clamp 71 as shown in FIG. 7A, the pulling angle θP and the needle hole passing angle θT are the same value, that is, arct.
It becomes an {(H1 + H2) / SW1}. On the other hand, FIG.
When the stitch width is SW2 and the needle thread 22 contacts the presser foot 71 as shown in (B), the pulling angle θP is arcta.
n {H2 / (SW2-R)} and needle hole passage angle θT
Becomes arctan (H1 / R). Here, R is the radius of the presser foot 71. As shown in FIG. 7B, when the stitch width becomes large and the needle thread 22 and the presser foot 71 come into contact with each other, the needle hole passage angle θT is the radius R of the passage hole of the cloth retainer 71.
And the height from the work clamp 71 to the lower surface of the needle hole of the needle 61 is H1.
It is a constant value specified by and.

For example, in the case of FIG. 7A, the pulling angle θP1 and the needle hole passing angle θT1 are about 75 degrees,
In the case of FIG. 7B, the pulling angle θP2 is about 60 degrees and the needle hole passing angle θT2 is about 68 degrees. That is, in FIG. 7, the needle hole passing angle θT has a constant value irrespective of the size of the stitch width. As described above, in the conventional embroidery sewing machine, since the pulling angle θP and the needle hole passing angle θT are variously changed according to the size of the stitch width, the optimum tension data storage unit 17 shown in FIG. It was necessary to obtain and store the tension data using the stitch width as a parameter by experiments.

Therefore, in this embodiment, the structure of the embroidery sewing machine is improved so that the pulling angle θP and the needle hole passing angle θT can be maintained at constant values even when the stitch width changes, and the parameters at the time of data creation are set. Allow to omit the stitch width item from. Therefore, in the present embodiment, the radius of the needle passage hole of the cloth presser 71 is set to the minimum value r required for the needle 61 to pass, and the height from the cloth 83 to the cloth presser 71 is set to the stitch width. The upper limit of the stroke of the needle bar 6 is variably controlled according to the size of the stitch width so as to be equal to the height.

FIG. 8 shows a state in which the pulling angle θP and the needle hole passing angle θT are maintained at constant values even when the stitch width is changed as in the case of FIG. 7 by adding the above-described improvement to the embroidery sewing machine. It is a figure which shows typically. In addition,
FIG. 8A shows a case where the embroidery frame 82 moves in the same stitch direction −Y with the same stitch width SW1 as in FIG. 7A.
FIG. 8B shows a case where the embroidery frame 82 moves in the opposite stitch direction + Y with the same stitch width SW2 as in FIG. 7B.
In the case of FIG. 8A, the upper limit value of the stroke of the needle bar 6 is controlled so that the height H3 from the cloth 83 to the presser foot 71 and the stitch width SW1 (more accurately, SW1-r) are equal. In the case of FIG. 8B, the height H4 from the cloth 83 to the cloth presser 71 and the stitch width SW2 (more accurately, SW2-r).
The upper limit of the stroke of the needle bar 6 is controlled so that and become equal.

Therefore, in both cases of FIG. 8A and FIG. 8B, the pulling angle θP3 is about 45 degrees, and the pulling angle θP is maintained at a constant value even when the stitch width and the stitch direction change. Therefore, the item of stitch width can be omitted from the parameter at the time of data creation, and the data creation of the optimum tension data storage unit 17 becomes easy. In addition, FIG. 8 (A)
When the stitch direction is −Y as shown in FIG. 8, the needle hole passage angle θT3 is about 82 degrees, and when the stitch direction is + Y as shown in FIG. 8B, the needle hole passage angle θT4 is about 98 degrees. It is degree. On the other hand, the stitch direction is -Y as shown in FIG.
In the case of, the maximum value of the needle hole passing angle θT is about 68 degrees, and when the stitch direction is + Y, the maximum value of the needle hole passing angle θT is 112 degrees.

That is, in the case of the conventional embroidery sewing machine as shown in FIG. 7, the change width of the needle hole passing angle θT is ± 22 degrees (68 degrees to 112 degrees) due to the change in the stitch direction.
However, by setting the radius of the needle passage hole of the work clamp 71 to the minimum value r required for the needle 61 to pass as in the present embodiment of FIG. 8, the change of the needle hole passage angle θT Width is ±
Since it can be made as small as 8 degrees (about 82 degrees to about 98 degrees), variations in tension data due to changes in the stitch direction are small and stable, and the optimum tension data storage unit 17 is provided.
Has the side effect of making it easier to create data.

In the above embodiment, the case where the thread tension is performed based on the balance top dead center tension signals tc and tg as shown in FIG. 6 has been described. The thread tension may be controlled based on the puncture point tension signals td and ti. In this case, the hook support passing point tension signal t
b and tg are tensions generated when the upper thread 22 passes through the hook support, and are essentially unnecessary in embroidery stitching. Therefore, a structure for removing the tension signal of the shuttle support passing point may be applied to the shuttle 91. For example, when the upper thread 22 passes through the hook support, the bobbin case is moved in a direction opposite to the rotation direction of the hook in order to make a gap between the bobbin case and the hook support so that the upper thread can pass therethrough. Just rotate it.

Next, the structure of the rotational position sensor used in this embodiment will be described. FIG. 9 is a diagram showing a detailed configuration of the rotational position sensor used in this embodiment. In this embodiment, rotational position sensors 41, 23, 81X and 81 for detecting the rotational positions of the spindle motor 4, the needle thread tension motor 2 and the servomotors 8X and 8Y, respectively.
Y is connected.

The rotary position sensor is an absolute rotary position sensor composed of an inductive phase shift linear position sensor. The details of this rotational position sensor are disclosed in JP-A-57-70406 or JP-A-58-1066.
Since it is known in Japanese Patent Publication No. 91, it will be briefly described here.
This rotation rotational position sensor is inserted in the space of the stator 5a in which a plurality of poles A to D are provided at predetermined intervals (90 degrees as an example) in the circumferential direction, and the stator 5a surrounded by each pole A to D. And a rotor 5b that has been rotated.

The rotor 5b is connected to a rotary shaft of a motor or the like, and has a shape and a material that change the reluctance of the poles A to D according to the angle of the rotary shaft. There is. Each pole A to D of the stator 5a
Include the primary coils 1a to 1d and the secondary coils 2a to 2d.
Are each wound. The first pair of two poles A and C and the second pair of poles B and D that face each other in the radial direction.
The coils are wound so as to operate differentially, and a differential reluctance change is generated.

The primary coils 1a and 1c wound on the first pole pair A and C are excited by the sine signal sinωt and the primary coil 1 wound on the second pole pair B and D is wound.
b and 1c are excited by the cosine signal cosωt. As a result, a combined output signal Y of them is obtained from the secondary coils 2a to 2d. This combined output signal Y is a primary AC signal (excitation signal of the primary coil) sinω that serves as a reference signal.
A signal Y = si obtained by phase-shifting t or cosωt by an electrical phase angle corresponding to the rotation angle θ of the rotor 5b.
n (ωt + φ).

When the induction type phase shift type rotational position sensor as shown in FIG. 9 is used, the position conversion unit 1 shown in FIG. 1 is used.
3, 1G, 1P and 1U are a reference signal generator that generates the primary AC signal sinωt or cosωt and a phase difference detector that measures the electrical phase shift φ of the combined output signal Y and calculates the position data of the rotor 5b. It is necessary to prepare and. Figure 1
Reference numeral 0 is a diagram showing a detailed configuration of the position conversion unit.

The reference signal generator is composed of a clock oscillator 9A, a synchronous counter 9B, ROMs 93a and 93b, D / A converters 94a and 94b and amplifiers 95a and 95b. A phase difference detector is an amplifier 96, a zero cross circuit 97 and a latch circuit. It consists of 98. The clock oscillator 9A generates a high-speed and accurate clock signal, and other circuits operate based on this clock signal. The synchronous counter 9B counts the clock signal of the clock oscillator 9A and outputs the count value to the ROM 93a and the latch circuit 98 as an address signal.

The ROMs 93a and 93b store amplitude data corresponding to the reference AC signal, and the synchronization counter 9B
Amplitude data of the reference AC signal is generated according to the address signal (count value) from the. ROM 93a is sinωt
, And the ROM 93b stores amplitude data of cos ωt. Therefore, the ROMs 93a and 93b receive the same address signal from the synchronous counter 9B, and thereby the two types of reference AC signals sinωt and cos are input.
Output ωt. Even if the ROM of the same amplitude data is read by the address signals having different phases, the same 2
It is also possible to obtain a kind of reference AC signal.

The D / A converters 94a and 94b are the ROM 9
The digital amplitude data from 3a and 93b is converted into an analog signal and output to the amplifiers 95a and 95b. The amplifiers 95a and 95b amplify the analog signal from the D / A converter and use it to amplify the reference AC signals sinωt and cos.
ωt is applied to each of the primary coils 1a, 1c and 1b, 1d. Assuming that the frequency division number of the synchronous counter 9B is M, that M count is the maximum phase angle 2 of the reference AC signal.
This corresponds to π radian (360 degrees). That is, one count value of the synchronization counter 9B indicates a phase angle of 2π / M radian.

The amplifier 96 amplifies the composite value Y = Ksin (ωt + φ) of the secondary voltage induced in the secondary coils 2a to 2d and outputs it to the zero-cross circuit 97. The zero-cross circuit 97 detects the zero-cross point from the negative voltage to the positive voltage based on the mutual induction voltage (secondary voltage) induced in the secondary coils 2a to 2d of the rotational position detecting means 5, and latches the detection signal. Output to.

The latch circuit 98 latches the count value of the synchronous counter started by the rising clock signal of the reference AC signal at the output point (zero cross point) of the detection signal of the zero cross circuit 97. Therefore, the value latched in the latch circuit 98 is exactly the phase difference (phase shift amount) MP (T) between the reference AC signal and the mutual induction voltage (combined secondary output).
P, XP, YP).

That is, the combined output signal Y = sin (ωt + φ) of the secondary coils 2a to 2d is the zero cross circuit 97.
Given to. The zero cross circuit 97 outputs the pulse L to the latch circuit 98 in synchronization with the timing when the electric phase angle of the combined output signal Y is zero. The pulse L is used as a latch pulse for the latch circuit 98. Therefore, the latch circuit 9
8 latches the count value of the synchronous counter 9B in response to the rising of the pulse L. The period in which the count value of the synchronization counter 9B makes one cycle is synchronized with one cycle of the sine wave signal sinωt. Then, the reference AC signal s is sent to the latch circuit 98.
The count value corresponding to the phase difference φ between inωt and the combined output signal Y = sin (ωt + φ) will be latched. Therefore, the latched value is the digital position data M
It is output as P (TP, XP, YP). The latch pulse L may be appropriately used as a timing pulse.

Since the combined output signal Y = sin (ωt + φ) of the phase shift type rotational position sensor as shown in FIG. 9 is output as an absolute phase difference signal, it has a characteristic that it is hardly influenced by noise. The rotation-rotational position sensor of FIG. 9 detects the range of one rotation in an absolute manner. By combining a plurality of such absolute sensors, it is possible to detect the absolute position over multiple rotations.

In the above embodiment, the case where the tension of the upper thread of the embroidery sewing machine of the type in which the balance 51, the needle bar 6 and the shuttle 91 are driven by one main spindle motor 4 is controlled has been described, but the present invention is not limited to this. In the following types of embroidery sewing machines, the texture of the embroidery product can be improved by controlling the tension of the upper thread in the same manner.
Hereinafter, a schematic configuration of an embroidery sewing machine that can be controlled by the embroidery sewing machine control device of the present invention will be described.

FIG. 11 is a diagram showing a schematic structure of an embroidery sewing machine configured so that the balance and the needle bar are driven by a spindle motor, and the shuttle is driven by a shuttle motor other than this. In FIG. 11, the same components as those in FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted. The embroidery sewing machine shown in FIG. 11 is different from that shown in FIG.
Is driven by the shuttle motor 9, and both the balance 51 and the needle bar 6 are driven by the spindle motor 4. The shuttle motor 9 is provided with a rotational position sensor 93 for absolutely detecting the rotational position thereof. When the embroidery sewing machine shown in FIG. 11 is controlled by the sewing machine control means 1 shown in FIG. 1, a shuttle operation command section for controlling the rotation of the shuttle motor 9 is newly provided in the sewing machine control means 1, and the spindle operation command section 11 is provided. It may be synchronized with the operation of the shuttle operation command unit.

FIG. 12 is a diagram showing a schematic structure of an embroidery sewing machine in which the balance is independently driven by the balance motor, the needle bar is driven by the spindle motor, and the shuttle is independently driven by the shuttle motor. In FIG. 12, the same components as those in FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted. The embroidery sewing machine of FIG. 12 is different from that of FIG. 2 in that a balance motor 5 and a shuttle motor 9 are newly provided, the balance 51 is driven by the balance motor 5, and the shuttle 91 is driven by the shuttle motor 9. The point is that the needle bar 6 is driven by the spindle motor 4. The shuttle motor 9 and the balance motor 5 are provided with rotational position sensors 54 and 93, respectively, for absolute detection of their rotational positions.

When the embroidery sewing machine of FIG. 12 is controlled by the sewing machine control means 1 of FIG. 1, rotation of the balance operation command section for controlling the rotation of the balance motor 5 and rotation of the shuttle motor 9 are performed in the sewing machine control means 1. A shuttle operation command section to be controlled is newly provided, the spindle operation command section 11 may be synchronized with the operation of the shuttle operation command section, and the balance operation instruction section may be synchronized with the operation of the spindle operation command section 11. By configuring the embroidery sewing machine as shown in FIG. 12, the height of the needle bar 6 can be appropriately controlled by the spindle motor 4 according to the stitch width as shown in FIG.

FIG. 13 shows a structure in which the balance is independently driven by the balance motor, the needle bar is the needle bar motor, the shuttle is the shuttle motor, and the presser foot is independently driven by the presser motor. It is a figure which shows schematic structure of the embroidery sewing machine which newly provided the means to control the thread feed amount. In FIG. 13, the same components as those in FIG. 12 are designated by the same reference numerals, and the description thereof will be omitted. The embroidery sewing machine shown in FIG. 13 differs from that shown in FIG. 12 in that the needle bar 6 and the cloth presser 71, which were driven by the spindle motor 4 shown in FIG. 12, are driven separately by the needle bar motor 62 and the cloth presser motor 7. It is a point that is configured in.

Further, in the embroidery sewing machine shown in FIG. A feed motor 24, a second balance 52A for controlling the amount of lifting of the upper thread 22, and a second balance motor 52D for driving the second balance 52A are newly provided. The needle thread feed motor 24 and the second balance motor 5
The 2D, needle bar motor 62 and cloth pressing motor 7 are provided with rotational position sensors 26, 52E, 63 and 72, respectively, for absolute detection of their rotational positions.

The upper thread feeding means 25 is composed of, for example, a pulley around which the upper thread 22 is wound, and by rotating this pulley, the upper thread 2 having a length corresponding to the rotation amount thereof.
2 will be sent out. Therefore, by controlling the rotational position of the pulley with the needle thread feed motor 24, the feed amount of the needle thread 22 can be appropriately controlled according to the movement amount of the embroidery frame 82. It is also possible to stop the feeding of the upper thread 22 by providing the upper thread feeding motor 24 with a braking means.

In the second balance 52A, the thread guide 52B has a shaft 52
It is provided on an arm that rotates around C, and the pulling amount of the needle thread 22 can be appropriately controlled according to the rotation amount of this arm. That is, when the arm rotates to the left and the thread guide 52B moves downward, the pulling amount of the upper thread 22 increases, and conversely, when the arm rotates to the right and the thread guide 52B moves upward, the pulling amount of the upper thread 22 increases. Decrease. In this way, by appropriately controlling the rotational position of the arm, it is possible to control the pulling amount of the upper thread, and at the same time, the tension generation timing when the balance 51 pulls up the upper thread 22 (near the top dead center of the balance). It can also be controlled appropriately.

For example, when the amount of movement of the embroidery frame 82 is constant, when the arm rotates counterclockwise and the thread guide 52B moves downward, the amount of pulling up of the upper thread 22 increases, so tension is generated at an early stage. , On the contrary, the arm rotates to the right and the thread guide 52
When B is moved to the upper side, the amount of pulling-up of the upper thread 22 is reduced, so that tension is generated at a later time. Therefore, by controlling the rotational position of the second balance 52A according to the movement amount of the embroidery frame 82, it is possible to generate tension at the same timing (near the top dead center of the balance).

The sewing machine control means 1 for controlling the embroidery sewing machine shown in FIG. 13 has a balance operation command section for controlling the rotation of the balance motor 5 and a second balance operation command for controlling the rotation amount of the second balance motor 52D. Section, an upper thread feed operation command section for controlling the rotation amount of the upper thread feed motor 24, a cloth pressing operation command section for controlling the rotation of the cloth pressing motor, and a hook operation for controlling the rotation of the hook motor 9. A command unit is newly provided. In addition,
It is the same spindle operation command unit 11 as in FIG. 1 that controls the rotation of the needle bar motor 62.

The needle bar operation command section drives and controls the needle bar 6 in synchronization with the shuttle operation command section. This is to ensure that the sword tip of the hook hooks the needle thread 22 protruding from the needle hole of the needle 16. Further, the balance operation command unit drives and controls the balance 51 in synchronization with the hook operation command unit and the needle bar operation command unit. This is when the upper thread 22 reaches the bottom dead center by the hook 91.
Is to raise. The presser foot operation command section drives and controls the height of the presser foot 71 in synchronization with the frame operation command section 1K.
This is because the cloth presser operation command section is driven and controlled by the frame operation command section 1K and the cloth presser 71 is moved according to the movement amount of the embroidery frame 82.
This is for variably controlling the height of the. The upper thread feed operation command section controls the feed amount of the upper thread 22 in synchronization with the frame operation command section 1K, and the second balance operation command section also controls the pulling up amount of the upper thread 22 in synchronization with the frame operation command section 1K. To do. This is the embroidery frame 82
This is to appropriately control the amount of pull-up of the upper thread, the time point at which the tension is generated, etc., according to the moving amount of.

In the above embodiment, the case where the tension of the upper thread 22 is controlled has been described, but the actual thread tightness (texture) is established when the tensions of the upper thread 22 and the lower thread 92 are balanced with each other. To do. Therefore, the tension of the lower thread 92 may be controlled in the same manner as the tension of the upper thread 22 is controlled. In this case, the tension of the lower thread 92 can be indirectly detected by detecting the feed amount of the upper thread 22 based on the rotation amount of the upper thread feed motor 24 as shown in FIG. That is, when the tension of the lower thread 92 is high, the amount of the upper thread 22 pulled by the lower thread 92 increases.
Inevitably, the feed amount of the upper yarn 22 also increases, and conversely, when the tension of the lower yarn 92 is small, the feed amount of the upper yarn 22 decreases.
By measuring the feed amount of the upper thread 22 corresponding to the tension of the lower thread 92 in advance, the feed amount of the upper thread 22 can be known based on the rotation amount of the upper thread feed motor 24. The tension of the thread 92 can be assumed. Therefore,
The tension of the upper thread 22 may be controlled, the tension of the lower thread 92 may be detected from the feed amount of the upper thread 22, and the tension of the lower thread 92 may be similarly controlled. The tension of the lower thread 92 may be configured to appropriately control the pressing force of the leaf spring of the bobbin case.

Needless to say, the present invention can be applied to a single-needle embroidery machine (sewing machine), a multi-head embroidery machine (sewing machine) and a shuttle embroidery machine. In the above-described embodiment, the case where the tension correction unit 1C corrects the tension data MT of the optimum tension data storage unit 17 or the reference tension data BT of the reference data storage unit 19 according to the speed variation rate ε has been described. Not limited to this, the tension signal TS of the tension detecting means 3 may be corrected, or the tension deviation data δT of the tension deviation calculating unit 1A may be corrected. In the above embodiment, the optimum tension data storage unit 1
Although the case where a memory in which tension data is stored in advance as shown in FIG. 3 is used as 7 has been described, the tension data MT may be output by processing the embroidery speed, the stitch width, the stitch direction, and the stitch angle.

In the above embodiment, the thread tension data storage unit 1
D is the position data of the needle thread tension motor 2 (thread tension data)
However, the tension data having the parameters such as the embroidery speed, the stitch width, the stitch direction, and the stitch angle are stored in the same manner as the optimum tension data storage unit 17, and the spindle operation command unit is stored. Commanded speed signal VM and position command signal PO of frame operation command section 1K
Appropriate tension data corresponding to X and POY may be read out.

In the above embodiment, the case where the height of the needle bar 6 is detected by the rotational position sensor 41 provided on the spindle motor 4 and the rotational position sensor 63 provided on the needle bar motor 62 will be described. However, this is not a problem when the embroidery sewing machine is a single-needle embroidery sewing machine, but has the following problems when the multi-head embroidery sewing machine is used. That is, in the case of a multi-head embroidery sewing machine, one spindle motor 4 and one needle bar motor 62 must drive 6 to 12 needle bars at the same time. The needle bar does not always perform the stroke motion at the same height, and there is a difference in the stroke position between the needle bar located closest to the spindle motor 4 and the needle bar located farthest.

Therefore, a linear position detector as shown in FIG. 14 may be provided on the needle bar 6 to directly detect the stroke position of the needle bar 6. FIG. 14 is a diagram showing a detailed configuration of a linear position detector that directly detects the stroke position of the needle bar 6. The linear position detector is an absolute position detector composed of an inductive phase shift type linear position sensor.

This linear position detector detects the linear position of the needle bar 6 by the same principle as that of the rotational position sensor of FIG. 9, that is, the phase shift method, and is special in the coil assembly 64 and a part of the needle bar 6. It is composed of a processed magnetic scale portion 6S. Coil assembly 64
Is composed of four primary coils 1a, 1c, 1b, 1d arranged at a predetermined interval in the axial direction of the needle bar 6 and secondary coils 2a, 2c, 2b, 2d provided corresponding to the four primary coils 1a, 1c, 1b, 1d. Become. The coil assembly 64 is fixed in the cylinder block 67 so that the cylindrical space formed therein is concentric with the needle bar 6.

The needle bar 6 is made of a magnetic material such as iron and is held by bearings 68 and 69. The needle bar 6 has ring-shaped non-magnetic material portions 66 having a predetermined width, which are alternately provided in the axial direction on the outer circumference. A magnetic scale portion 6S is formed on the outer peripheral surface of the needle bar 6 by the repeating pattern of the magnetic body portion 65 and the non-magnetic body portion 66. The magnetic material portion 65 and the non-magnetic material portion 66 may be made of any material as long as the magnetic circuit formed by the coil assembly 64 is configured to change the magnetic resistance. Good. For example, the non-magnetic material portion 66 may be made of a non-magnetic material, air, or the like. Further, the iron needle bar 6 is laser-baked to change its magnetic properties, so that the magnetic material portion 65 and the non-magnetic material portion 6 having different magnetic permeability from each other.
6 and 6 may be formed alternately.

As an example, one coil length is “P / 2”.
If (P is an arbitrary number), the interval of one pitch in the alternating arrangement of the magnetic material portions 65 and the non-magnetic material portions 66 is “P”. In that case, for example, the magnetic material portion 65 and the non-magnetic material portion 66.
May have equal lengths of "P / 2", and need not necessarily be equal. In this example, the coil assembly 64 is configured to operate in four phases. In the drawing, these phases are referred to as A, C, B, D for convenience.
Is attached.

The positional relationship between the needle bar 6 and the coil assembly 64 is such that the reluctance generated in each phase A to D of the coil assembly 64 is 9 depending on the position of the magnetic body portion 65 of the needle bar 6.
It is designed to be offset by 0 degrees. For example, assuming that the A phase is a cosine phase, the C phase is a minus cosine phase, the B phase is a sine phase, and the D phase is a minus sine phase. There is.

In the embodiment of FIG. 14, the primary coils 1a, 1c, 1b, 1d and the secondary coil 2 are individually provided for each of the phases A to D.
a, 2c, 2b and 2d are provided respectively. The secondary coils 2a, 2c, 2b, 2d of the respective phases A to D are wound outside the corresponding primary coils 1a, 1c, 1b, 1d.

The length of each of the primary coils 1a, 1c, 1b, 1d and the secondary coils 2a, 2c, 2b, 2d is "P / 2" as described above. In the example of FIG. 14, the A-phase coils 1a and 2a and the C-phase coils 1c and 2c are provided adjacent to each other, and the B-phase coils 1b and 2b and the D-phase coil 1 are provided.
d and 2d are also provided adjacent to each other. In addition, the coil spacing of A phase and B phase or C phase and D phase is “P (n ± 1/4)”
(N is an arbitrary natural number).

With this structure, the needle bar 6 can receive the bearings 68,
By sliding 69, linear displacement occurs in the relative positional relationship between the needle bar 6 and the coil assembly 64, and the reluctance of the magnetic circuit in each of the phases A to D becomes the distance “P”.
Can be changed periodically, and the phase of the reluctance change can be shifted by 90 degrees for each of the phases A to D. Therefore, the A phase and the C phase are shifted by 180 degrees, and the B phase and the D phase are also shifted by 180 degrees.

Primary coils 1a, 1c, 1b, 1d and 2
The connection form of the next coils 2a, 2c, 2b and 2d is the same as that of the rotational position sensor shown in FIG. In FIG. 10, the A-phase and C-phase primary coils 1a and 1c are sine signals s
The outputs of the secondary coils 2a and 2c are excited in phase with each other at inωt and are connected in such a manner that the outputs of the secondary coils 2a and 2c are added in reverse phase.
Similarly, the B-phase and D-phase primary coils 1b and 1d are excited in phase with each other by the cosine signal cosωt, and the secondary coil 2b is excited.
The outputs of 2 and 2d are connected so as to be added in opposite phases. The outputs of the secondary coils 2a, 2c, 2b and 2d are finally added and taken in as an output signal Y in the position conversion section of FIG.

This output signal Y is applied to the magnetic material portion 65 of the needle bar 6.
Of the reference AC signal (sin ωt, cos) by the phase angle φ corresponding to the relative linear position between the coil assembly 64 and the coil assembly 64.
ωt) is phase-shifted. The reason is that the reluctance of each phase A to D is deviated by 90 degrees, and the electrical phase of the excitation signal of one pair (A, C) and the other pair (B, D) is deviated by 90 degrees. This is because. Therefore, the output signal Y is Y = Ksin (ωt + φ). Where K
Is a constant.

The phase φ of the reluctance change depends on the magnetic material portion 65.
Of the reference signal sinωt in the output signal Y, since it is proportional to the linear position of
The linear position can be detected by measuring the phase shift φ from (or cosωt). However, when the phase shift amount φ is the full angle 2π, the linear position corresponds to the distance P described above. That is, the absolute linear position within the range of the distance P can be detected by the electrical phase shift amount φ in the output signal Y. By measuring this electrical phase shift amount φ, it becomes possible to accurately determine the linear position within the range of the distance P with high resolution.

The magnetic scale portion 6S of the needle bar 6 is not limited to the magnetic body portion 65 and the non-magnetic body portion 66, and other materials capable of causing a change in magnetic resistance may be used. For example, the magnetic scale portion 6S is formed by a combination of a material having a high conductivity such as copper and a material having a low conductivity (such as a non-conductive material) such as iron (a material having a different conductivity), You may make it produce the magnetoresistive change according to a current loss. In that case, a pattern of a good conductor may be formed on the surface of the needle bar 6 made of iron or the like by copper plating or the like. The shape of the pattern or the like may be any shape as long as it can efficiently cause a change in magnetic resistance. The linear movement of the needle bar 6 may be converted into a rotational movement using a rack and pinion, and the rotational position of the pinion may be detected. In this case, as the rotational position sensor for detecting the rotational position of the pinion, an absolute type position sensor including an inductive type phase shift type position sensor as shown in FIG. 9 is used.

[0124]

According to the embroidery sewing machine of the present invention, the optimum tension can be applied to the sewing thread even in the embroidery sewing so that the stitch width and the stitch direction are constantly changed, so that an embroidery product having a good texture can be produced. There is an effect that can be.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a control device for an embroidery sewing machine according to the present invention.

FIG. 2 is a diagram schematically showing a configuration of an embroidery sewing machine whose operation is controlled by a control device for the embroidery sewing machine of the present invention.

3 is a diagram showing a concept of contents of tension data stored in an optimum tension data storage unit of FIG. 1. FIG.

FIG. 4 is a diagram showing the content of each parameter when tension data is created according to three parameters of a stitch width, a stitch direction, and a stitch angle.

5 is a diagram showing a detailed configuration of the tension detecting means in FIG.

FIG. 6 is a motion diagram showing an operational relationship among a shuttle, a balance, and a needle bar.

FIG. 7 is a diagram schematically showing how the pulling angle θP and the needle hole passing angle θT change as the size of the stitch width changes.

FIG. 8 is a diagram schematically showing how the pulling angle θP and the needle hole passing angle θT are maintained at constant values even when the stitch width changes, as in FIG. 7.

9 is a diagram showing a detailed configuration of the rotational position sensor of FIG.

10 is a diagram showing a detailed configuration of a position conversion unit in FIG.

FIG. 11 is a diagram showing a schematic configuration of an embroidery sewing machine configured to drive the balance and the needle bar by a spindle motor and drive the shuttle by a shuttle motor different from the spindle motor.

FIG. 12 is a diagram showing a schematic configuration of an embroidery sewing machine configured such that a balance is driven by a balance motor, a needle bar is driven by a spindle motor, and a shuttle is independently driven by a shuttle motor.

FIG. 13 is configured such that the balance is independently driven by a balance motor, the needle bar is a needle bar motor, the shuttle is a shuttle motor, and the presser foot is independently driven by the presser foot motor. It is a figure which shows schematic structure of the embroidery sewing machine which newly provided the means to control the quantity.

FIG. 14 is a diagram showing a detailed configuration of a linear position detector that directly detects a stroke position of a needle bar.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Sewing machine control means, 11 ... Spindle operation command section, 12, 1
F, 1N, 1T ... Current amplifier, 13, 1G, 1P, 1U
... Position conversion part, 14, 1Q, 1V ... Velocity calculation part, 15 ...
Address conversion unit, 16 ... Tension data selection reading unit, 17 ...
Optimal tension data storage unit, 18 ... Selection circuit, 19 ... Reference data storage unit, 1A ... Tension deviation calculation unit, 1B ... Speed fluctuation calculation unit, 1C ... Tension correction unit, 1D ... Thread tension data storage unit,
1E ... Thread tension control section, 1K ... Frame operation command section, 1L, 1R
... Position control section, 1M, 1S ... Speed control section, 2 ... Upper thread tension motor, 21 ... Upper thread tension means, 22 ... Upper thread, 23, 2
6, 41, 52E, 54, 63, 72, 81X, 81
Y, 93 ... Rotational position sensor, 25 ... Needle thread feeding means, 3 ...
Tension detecting means, 4 ... Spindle motor, 5 ... Balance motor, 5
2A ... 2nd balance, 52, 52B, 53, 54, 55 ... Thread guide, 52D ... 2nd balance motor, 56 ... Contact member, 5
7 ... Cantilever lever, 58A, 58B ... Detection coil, 5
9, 52C ... Rotating shaft, 6 ... Needle bar, 61 ... Needle, 7 ... Cloth pressing motor, 71 ... Cloth pressing, 8 ... Frame driving means, 8X, 8Y
... servo motor, 82 ... embroidery frame, 83 ... cloth, 84 ... needle plate, 91 ... shuttle, 92 ... bobbin, 5a ... starter, 5b ... rotor, 1a, 1b, 1c, 1d ... primary coil, 2a, 2
b, 2c, 2d ... secondary coil, 9A ... clock oscillator,
9B ... Synchronous counter, 93a, 93b ... ROM, 94
a, 94b ... D / A converter, 95a, 95b, 96 ... Amplifier, 97 ... Zero cross circuit, 98 ... Latch circuit

Front Page Continuation (72) Inventor Hiroshi Uenishi 1-9-10, Mukoyama-cho, Takahama-shi, Aichi (56) References JP-A-2-49688 (JP, A) JP-A-4-51991 (JP, A) JP-A-5-123473 (JP, A) JP-A-60-83696 (JP, A) JP-A-60-193493 (JP, A) JP-A-57-185890 (JP, A) JP-A-57-209081 (JP, A) JP-B 3-45675 (JP, B2) JP-B 59-49024 (JP, B1) JP-B 56-51796 (JP, B1) JP-B 56-51797 (JP, B1) (JP 58) Fields investigated (Int.Cl. ⁷ , DB name) D05B 1/00-97/12

Claims (10)

(57) [Claims] 1. A thread tensioning means for applying tension to a sewing thread, a tension detecting means for detecting an actual tension generated in the sewing thread, a reference data generating means for generating reference data indicating a desired tension, and an embroidery sewing time. A thread tension control means for obtaining a deviation between the reference data from the reference data generating means and the tension detected by the tension detecting means, and controlling the tension applied to the sewing thread by the thread tension means based on the deviation. provided with a door,
The reference data generating means produces an embroidery product with a good texture.
The sewing output from the tension detecting means when the sewing is performed.
The actual tension of the thread is stored in advance as reference data.
A sewing machine comprising a tension storage means . 2. Thread tension means for applying tension to the sewing thread, control data storage means for storing control data of the thread tension means, and reading the control data at the time of embroidery stitching and applying the control data to the thread tension means. Thread tension control means for controlling the tension, tension detecting means for detecting the actual tension generated in the sewing thread, reference data generating means for generating reference data indicating a desired tension, and the reference data generating means during embroidery sewing the deviation between the tension and the detected in the reference data and the tension detecting means from the determined, and a data correction means for correcting the control data applied to said thread tension means on the basis of the deviation
However, the reference data generating means is an embroidery product with a good texture.
Is output when the tension detecting means is generated.
The actual tension of the sewing thread is stored in advance as reference data.
A sewing machine comprising an actual tension storage means . 3. Thread tension means for applying tension to the sewing thread, control data storage means for storing control data of the thread tension means, and reading and supplying the control data to the thread tension means at the time of embroidery sewing, Thread tension control means for controlling the tension, tension detecting means for detecting the actual tension generated in the sewing thread, reference data generating means for generating reference data indicating a desired tension, and the reference data generating means during embroidery sewing a deviation between the tension and the detected in the reference data and the tension detection means from, and a data correction means for correcting the control data stored in the control data storing means based on the deviation However, the reference data generating means has a good texture.
Output from the tension detecting means when a new embroidery product is created
The actual tension of the sewing thread that has been
A sewing machine characterized by being constituted by a stored actual tension storage means . 4. Thread tension means for applying tension to the sewing thread, and a tension detecting hand for detecting the actual tension generated in the sewing thread.
Step and reference data generation that generates reference data indicating desired tension
Means and the reference data from the reference data generating means when stitching embroidery.
Deviation between the data and the tension detected by the tension detecting means.
The thread tension means based on this deviation.
A thread tension control means for controlling the tension applied to the thread,
The reference data generating means includes embroidery speed, stitch width, and
Set the embroidery stitching condition such as the stitch direction and stitch angle.
The optimum tension to be applied to the sewing thread when
Optimal tension memory that stores force in advance as reference data
Sewing machine characterized by being composed of stages . 5. Thread tension means for applying tension to the sewing thread, and control data storage for storing control data of the thread tension means.
And the thread tension hand by reading out the control data when sewing the embroidery.
Thread tension control means for giving the tension to the sewing thread to control the tension of the sewing thread
And a tension detecting hand for detecting the actual tension generated in the sewing thread.
Step and reference data generation that generates reference data indicating desired tension
Means and the reference data from the reference data generating means when stitching embroidery.
Deviation between the tension and the tension detected by the tension detecting means.
And based on this deviation is given to the thread tension means.
Data correction means for correcting the control data
However, the reference data generating means are
Check the embroidery stitching status such as width, stitch direction and stitch angle.
The maximum value to be given to the sewing thread when it is used as a parameter.
Optimal tension stored in advance with appropriate tension as reference data
A sewing machine comprising storage means . 6. Thread tension means for applying tension to the sewing thread, and control data storage for storing control data of the thread tension means.
And the thread tension hand by reading out the control data when sewing the embroidery.
Thread tension control means for giving the tension to the sewing thread to control the tension of the sewing thread
And a tension detecting hand for detecting the actual tension generated in the sewing thread.
Step and reference data generation that generates reference data indicating desired tension
Means and the reference data from the reference data generating means when stitching embroidery.
Deviation between the tension and the tension detected by the tension detecting means.
To the control data storage means based on this deviation.
Data correction hand for correcting the stored control data
The reference data generating means includes an embroidery speed,
Characterized in that configured at the optimum tension storage means stores in advance the stitch width, the tension of the optimum should be given to the sewing thread when the embroidery sewing conditions such as stitching direction and stitch angle as a parameter as reference data Missing. 7. Thread tension means for applying tension to a sewing thread, and control data storage for storing control data of the thread tension means.
And the thread tension hand by reading out the control data when sewing the embroidery.
Thread tension control means for giving the tension to the sewing thread to control the tension of the sewing thread
And a tension detecting hand for detecting the actual tension generated in the sewing thread.
Step and reference data generation that generates reference data indicating desired tension
Means and the reference data from the reference data generating means when stitching embroidery.
Deviation between the tension and the tension detected by the tension detecting means.
And based on this deviation is given to the thread tension means.
Data correction means for correcting the control data
However, the data correction means is stored in the control data storage means.
Rewrite the stored control data to the corrected control data
Sewing machine, characterized in that to obtain. 8. Thread tension means for applying tension to a sewing thread, and control data storage for storing control data of the thread tension means.
And the thread tension hand by reading out the control data when sewing the embroidery.
Thread tension control means for giving the tension to the sewing thread to control the tension of the sewing thread
And a tension detecting hand for detecting the actual tension generated in the sewing thread.
And the control data stored in the control data storage means.
Data correction means for correcting the data, and the control data corrected by the storage data correction means.
Output from the tension detecting means when sewing embroidery based on the data
Reference data that stores the actual tension that is stored as reference data
The storage means and the reference data from the reference data storage means when embroidering stitches.
Data and read it with this reference data and the tension detection means.
Find the deviation from the actual tension exerted and use this deviation as the basis.
Then, the control data given to the thread tension means is supplemented.
; And a positive data correcting means, Mi <br/> Shin said data correction means, characterized in that the rewriting of the control data after correcting the control data stored in the control data memory. 9. Thread tension means for applying tension to the sewing thread, control data storage means for storing control data of the thread tension means, and reading and supplying the control data to the thread tension means at the time of stitching for embroidery. Thread tension control means for controlling the tension, tension detection means for detecting the actual tension generated in the sewing thread, and first stored data correction means for correcting the control data stored in the control data storage means. Optimum tension data generating means for generating tension data indicating the optimum tension to be applied to the sewing thread when the embroidery stitching conditions such as embroidery speed, stitch width, stitch direction and stitch angle are used as parameters, Of the tension data generated by the tension data generating means and adapted to the current embroidery stitching state, and the tension detected by the tension detecting means. And a second stored data correction means for correcting the control data stored in the control data storage means based on this deviation, and at least one of the first and second stored data correction means. Reference data storage means for storing the actual tension output from the tension detecting means as reference data during embroidery stitching based on the control data corrected by; and reading the reference data from the reference data storage means during embroidery stitching, And a data correction means for calculating the deviation between the reference data and the actual tension detected by the tension detection means, and correcting the control data given to the thread tension means based on this deviation. And sewing machine. 10. Thread tension means for applying tension to the sewing thread, control data storage means for storing control data of the thread tension means, and reading the control data at the time of stitching for embroidery and applying the control data to the thread tension means. Thread tension control means for controlling the tension, tension detection means for detecting the actual tension generated in the sewing thread, and first stored data correction means for correcting the control data stored in the control data storage means. Optimum tension data generating means for generating tension data indicating the optimum tension to be applied to the sewing thread when the embroidery stitching conditions such as embroidery speed, stitch width, stitch direction and stitch angle are used as parameters, The tension data generated by the tension data generating means and adapted to the current embroidery stitching state, and the tension detected by the tension detecting means. And a second stored data correction means for correcting the control data stored in the control data storage means based on this deviation, and at least the first and second stored data correction means. Reference data storage means for storing, as reference data, the actual tension output from the tension detection means during embroidery stitching based on the control data corrected by one, and the reference data is read from the reference data storage means during embroidery stitching. A data correction means for obtaining a deviation between the reference data and the actual tension detected by the tension detection means, and correcting the control data stored in the control data storage means based on the deviation. A sewing machine characterized by having.