JP5249804B2 - Sewing machine - Google Patents

Description

  The present invention relates to a sewing machine (in particular, an embroidery sewing machine), and more particularly to an embroidery sewing machine having a sewing head having mechanical elements such as a needle bar and a balance.

  Some conventional multi-head embroidery sewing machines include individual motors for individually driving mechanical elements such as a needle bar, a balance, and a presser foot for each of a plurality of heads as shown in Patent Document 1. . The multi-head embroidery sewing machine disclosed in Patent Document 1 has a circuit group for controlling the driving of each motor and a circuit group for controlling the detection of a rotational position detector provided corresponding to each motor. In this case, the detection signal of the rotational position detector is used.

  Further, in a sewing machine such as an embroidery sewing machine, an upper thread and a lower thread in a previous stitch are tightened by inserting a sewing needle into a cloth. As shown in Patent Document 2, the top dead center of a balance is The balance is generally lowered immediately before the needle bar is at the timing after the top dead center and immediately before the sewing needle is inserted into the cloth. In addition, as a method of applying tension to the upper thread, it is common to use a tension plate or a rotating plate provided on the head.

JP 2007-301299 A JP-A-5-212183

  However, in the embroidery sewing machine of Patent Document 1, since the drive of the motor is controlled based on the detection signal of the rotational position detector, that is, the control is based only on the position control, so the change in the rotational speed of the motor and the change in the rotational direction are controlled. However, there is a problem that the response becomes poor and accurate embroidery cannot be performed based on the embroidery data.

  In addition, when lowering the balance when inserting the sewing needle, it is only possible to lower the balance. Therefore, the magnitude of the tension on the upper thread cannot be controlled. For example, it is applied to the upper thread. It is not possible to make the embroidery with a hard finish by increasing the tension applied, or to make the embroidery with a soft finish by reducing the tension applied to the upper thread. In addition, the tension applied to the upper thread can be adjusted by the tension plate or the rotation tension plate by the method of applying tension to the upper thread by the tension plate or the rotation tension plate provided on the head. The tension is continuously applied to the upper thread with the adjusted tension, and the magnitude of the tension applied to the upper thread when the balance is lowered cannot be controlled.

  Therefore, the problem to be solved by the present invention is that an embroidery sewing machine having an individual motor for individually driving a mechanical element such as a needle bar, a balance, and a presser foot for each of a plurality of heads. There is no hindrance to responsiveness even if the rotation speed and rotation direction change frequently, and the tension applied to the upper thread is controlled especially when the scale is lowered. An object of the present invention is to provide an embroidery sewing machine that can control the size of the sewing machine.

The present invention was created to solve the above problems. First, the sewing machine is an embroidery sewing machine having a needle bar (22b) having a sewing needle, and a sewing needle inserted into a work cloth. The upper thread hangs down with a presser foot (22c) that presses the work cloth when it is needled and a balance that swings around the center of rotation with a threading part through which the upper thread is inserted through the sewing needle. The top dead center on the side opposite to the bottom dead center passing through the threading portion and the bottom dead center in the swing range ("the top dead center opposite to the bottom dead center across the rotation center") A mechanical element group consisting of mechanical elements of a balance (22a) that swings between them and pulls the upper thread to detour in the vertical direction at the position of the top dead center, and a needle that drives the needle bar A needle bar drive mechanism for moving the needle bar up and down according to the rotational force of the needle bar motor (32b) and the needle bar motor in the bar drive unit; The needle bar drive unit having the presser foot and the presser foot drive unit for driving the presser foot include a presser foot motor (32c) and a presser foot drive mechanism (160) for moving the presser foot up and down according to the rotational force of the presser foot motor. A presser foot drive unit, a balance motor (32a) capable of forward and reverse rotation that swings the balance around the rotation center, a needle bar motor angle detection unit (34b) that detects the angle of the needle bar motor, An angle of the presser foot motor angle detector (34c) for detecting the angle of the presser foot motor, a balance motor angle detector (34a) for detecting the angle of the balance motor, and the angle of the virtual main shaft which is a virtual main shaft The needle bar angle correspondence data for defining the angle of the needle bar motor corresponding to the angle of the virtual spindle in the virtual spindle data for defining the time by time, and the angle of the presser foot motor corresponding to the angle of the virtual spindle data For specified presser foot Storage unit (60) in which each angle correspondence data of balance angle correspondence data for defining the angle correspondence data, the balance motor angle and torque data corresponding to the angle of the virtual spindle data is stored, Control unit that controls the operation of the needle bar and the balance in the order of the needle bar top dead center, the balance top dead center, and the needle bar bottom dead center. For each machine element, the angle data of the motor corresponding to the angle of the virtual spindle for each time in the virtual spindle data created corresponding to the embroidery data which is the stitch width and stitch direction data for each stitch is obtained from the angle correspondence data. In the reading process for reading, the speed data calculating process for calculating the speed data by calculating the amount of change per unit time of the angle data read in the reading process, and the speed data calculating process A torque data calculation step of calculating torque data by detecting a change amount per unit time of the speed data calculated in the step; angle data read in the read step; and a motor angle detected by the angle detection unit. Position deviation calculating step for calculating a position deviation value from the data, the calculated position deviation value, the calculated speed data, and the amount of change per unit time of the motor angle detected by the angle detector A speed deviation calculating step for calculating a value of the speed deviation from
A torque deviation calculating step for calculating a torque deviation value from the calculated speed deviation value, the calculated torque data, and a torque value based on a current value supplied to the motor; and a calculated torque deviation value In accordance with an operation control step consisting of a current supply step for supplying a current to the motor in accordance with the control method, the balance is adjusted in the period from the top dead center of the balance to the bottom dead center of the needle bar or in at least a part of the period. In the specific period that includes the period from when the sewing needle descends to when the sewing needle is inserted into the work cloth, torque data in the balance angle correspondence data and the motor are supplied instead of the torque deviation calculating step. A torque deviation (second torque deviation) value is calculated from the torque value based on the current value, and a current is supplied to the motor according to the calculated second torque deviation value. Between the control unit (40) that performs control according to the operation control step, and an upper thread tension applying mechanism that stops the upper thread drawing at a position upstream of the upper thread balance inserted into the balance during the specific period. Part (130, 1130, 185).

  In the embroidery sewing machine of the first configuration, the control unit (40) controls the operation of the machine elements of the needle bar (22b), the presser foot (22c), and the balance (22a). The elements are controlled by controlling the operation of each motor through the reading step, speed data calculation step, torque data calculation step, position deviation calculation step, speed deviation calculation step, torque deviation calculation step, and current supply step. Control element behavior. On the other hand, for the balance, in the period from the top dead center of the balance to the bottom dead center of the needle bar or in a specific period that is at least a part of the period, torque data in the angle-corresponding data for the balance is used instead of the torque deviation calculating step. And the torque value based on the current value supplied to the motor, the value of the torque deviation (second torque deviation) is calculated, and the current is supplied to the motor according to the calculated second torque deviation value. In this period, control is performed according to the operation control process. In the specific period, the upper thread tension applying mechanism (130, 1130, 185) stops the upper thread drawing at a position upstream of the upper thread balance inserted into the balance. Therefore, when the sewing needle is inserted into the work cloth, the locking portion of the upper thread and the lower thread between the stitch being sewn and the stitch immediately before the stitch is tightened. Since the balance is torque-controlled, the amount of tension on the upper thread can be controlled, and the hardness of the embroidery finish such as a hard finish embroidery or a soft finish embroidery can be adjusted. In addition, during a specific period, the upper thread tension applying mechanism stops the upper thread drawing at a position upstream of the upper thread balance inserted into the balance, so that the upper thread is not moved when the needle bar and the balance are lowered. It is not unwound from the wound yarn, and does not hinder the tension control applied to the upper yarn by controlling the torque of the balance. For mechanical elements other than the balance such as a needle bar, the above-described operation control process, that is, control based on the motor angle, motor speed, and motor torque is performed, and for the balance, the above normal control is performed in a non-specific period. In addition, since torque control is performed in a specific period, even if a change in the rotation speed of the motor or a change in the rotation direction becomes frequent, there is no problem in responsiveness.

  Second, in the embroidery sewing machine having the first configuration, the upper thread tension applying mechanism section includes an upper thread tension applying mechanism main body (131, 1131) having a pair of tension plates (132, 1132). And an upper thread tension applying drive section (142, 1422) that presses one of the pair of tension plates against the other, and the upper thread tension applying drive section presses one of the pair of tension dishes. The upper thread between the tension plates is tensioned to prevent the upper thread from being pulled out.

  Third, in the second configuration described above, the arm (112) constituting the housing of the embroidery head in the embroidery sewing machine and the front side which is one side surface of the arm are provided in the left-right direction with respect to the arm. A needle bar case (114) slidably formed on the needle bar case, and a plurality of needle bars are provided on the needle bar case. The upper thread tension applying drive is provided on the needle bar case corresponding to the needle bar, the upper thread tension applying drive is provided on the arm, and the upper thread tension applying mechanism main body (131, 1311) selected by sliding the needle bar case. A tension is applied to the upper thread between the pair of tension plates by the thread tension applying drive unit. As described above, it is possible to deal with an embroidery head provided with a plurality of needle bars, and only one solenoid constituting the upper thread tension applying mechanism portion is provided in one embroidery head. The score can be reduced.

  Fourthly, in the first configuration, the arm (112) constituting the housing of the embroidery head in the sewing machine for embroidery and the front side which is one side surface of the arm are provided in the left-right direction with respect to the arm. A needle bar case (114) formed slidably on the needle bar, a plurality of needle bars are provided on the needle bar case, and the presser foot, the needle bar drive unit, and the presser foot drive unit are provided on the arm, The balance is provided in the arm, and has an arm-shaped balance arm portion (24) connected to the motor shaft provided in the left-right direction of the balance motor, and a balance arm portion at the tip of the balance arm portion with respect to the balance arm portion. And a balance tip portion (26) having a threading portion through which the upper thread is inserted. The balance tip portion is attached to the needle bar case corresponding to each needle bar of the plurality of needle bars. The needle bar case slides Tip selected is configuration balance connected to the arm portion, the balance motor is characterized in that the balance by rotating swings in the front-rear direction. As described above, it is possible to deal with an embroidery head provided with a plurality of needle bars, and only one balance motor needs to be provided in one embroidery head, and the number of parts can be reduced. .

  Fifth, in the fourth configuration, the upper thread tension applying mechanism portion is an upper thread tension applying mechanism main body having a pair of tension plates (132, 1132), and each needle bar in the plurality of needle bars. The upper thread tension applying mechanism main body (131, 1311) provided in the needle bar case and the upper thread tension applying drive unit that presses one of the pair of tension plates against the other, provided on the arm. And a pair of upper thread tension applying drive units in the upper thread tension applying mechanism main body (131, 1131) selected by sliding the needle bar case. The upper yarn between the tension plates is tensioned to prevent the upper yarn from being pulled out. As described above, it is possible to deal with an embroidery head provided with a plurality of needle bars, and only one solenoid constituting the upper thread tension applying mechanism portion is provided in one embroidery head. The score can be reduced.

  Sixth, in the fourth configuration, the upper thread tension applying mechanism portion includes a pair of tension plates (132, 1132) and a shaft portion in the front-rear direction perpendicular to the left-right direction. A support portion (136) for rotatably supporting a pair of tension plates on the shaft portion, and a spring for biasing the first tension plate on the front side of the pair of tension plates from the front side to the back side of the embroidery sewing machine A spring portion (138) in which the end portion on the front side of the spring portion is supported by the support portion, and a drive shaft (140) provided on the back side of the second tension plate on the back side of the pair of tension plates The upper thread tension applying mechanism main body (131) provided in the needle bar case corresponding to each needle bar in the plurality of needle bars, and provided at the position on the back side of the drive shaft (140) in the arm Shaft that protrudes to the front side when driven An upper thread tension applying drive section (142), and the upper thread tension applying drive section is driven in the upper thread tension applying mechanism main body (131, 1131) selected by sliding the needle bar case. Then, the second tension plate is pushed to the front side by the drive shaft, and tension is applied to the upper thread between the pair of tension plates to prevent the upper thread from being pulled out. As described above, it is possible to deal with an embroidery head provided with a plurality of needle bars, and only one solenoid constituting the upper thread tension applying mechanism portion is provided in one embroidery head. The score can be reduced.

  Seventhly, in the first configuration described above, the arm (112) constituting the housing of the embroidery head in the embroidery sewing machine and the front side which is one side surface of the arm are provided in the left-right direction. A needle bar case (114) formed slidably on the needle bar, a plurality of needle bars are provided on the needle bar case, and the presser foot, the needle bar drive unit, and the presser foot drive unit are provided on the arm, The balance is provided in the arm, and has an arm-shaped balance arm portion (24) connected to the motor shaft provided in the left-right direction of the balance motor, and a balance arm portion at the tip of the balance arm portion with respect to the balance arm portion. And a balance tip portion (26) having a threading portion through which the upper thread is inserted. The balance tip portion is attached to the needle bar case corresponding to each needle bar of the plurality of needle bars. The needle bar case slides The selected tip is connected to the arm to form a balance, and the balance motor swings in the front-rear direction when the balance motor rotates, so that the upper thread tension applying mechanism is substantially in the front-rear direction of the embroidery sewing machine. A pair of plate-like portions (186a, 188a) provided on the embroidery sewing machine so that the gap between the pair of plate-like portions becomes narrower from the front side to the back side of the embroidery sewing machine. Is characterized in that the upper thread is sandwiched between a pair of plate-like parts and the upper thread is prevented from being pulled out by the balance being on the top dead center side. Therefore, the balance swings back and forth between the bottom dead center passing through the threading portion and the top dead center opposite to the bottom dead center across the rotation center with the upper thread hanging. By using the points, the balance between the pair of plate-like parts becomes narrower from the front side to the back side of the embroidery sewing machine. The upper thread can be prevented from being pulled out by the thread being sandwiched between the pair of plate-like portions.

  Eighth, an embroidery sewing machine is a needle bar (22b) provided with a sewing needle, a presser foot (22c) for pressing the work cloth when the sewing needle is inserted into the work cloth, and a sewing needle. An upper thread passage through which the upper thread inserted through the first thread passage is connected, the first arc-shaped path, the second linear path, the first path and the second path are connected, and the diameter of the arc of the first path Having an upper thread passage composed of an arc-shaped third passage formed with a smaller diameter, having a cylindrical portion at the center position of the arc formed by the first passage, and centering on the central axis of the cylindrical portion The balance is the bottom dead center of the balance with the third passage on the lower side and the second passage facing the vertical direction along the upper thread, and the balance extends from the bottom dead center to the second passage upward. The state where the third passage has reached the upper side of the center of rotation and turned upward is the top dead center of the balance. When the balance is at the top dead center, the upper thread is connected to the peripheral surface of the cylindrical portion. A needle bar motor (32b) and a needle bar motor comprising a machine element group consisting of machine elements of a balance (200, 300) contacting the three paths and the first path, and a needle bar drive unit for driving the needle bar The needle bar drive mechanism for moving the needle bar up and down according to the rotational force of the needle bar, the needle bar drive unit having (150), and the presser foot drive unit for driving the presser foot, the presser foot motor (32c) and the presser foot motor A presser foot drive unit having a presser foot drive mechanism (160) that moves the presser foot up and down in accordance with the rotational force, a balance motor (32a) capable of forward and reverse rotation that swings the balance around the rotation center, and a needle bar A needle bar motor angle detector (34b) for detecting the angle of the work motor, a presser foot motor angle detecting part (34c) for detecting the angle of the presser foot motor, and a balance for detecting the angle of the balance motor. Motor angle detector (34a) and virtual spindle Needle bar angle correspondence data that defines the angle of the needle bar motor corresponding to the virtual spindle angle in the virtual spindle data that defines the angle of a virtual spindle every time, and the presser foot corresponding to the angle of the virtual spindle data Stored data corresponding to the angle of the presser foot corresponding to the angle of the presser foot, the angle corresponding to the angle of the balance motor corresponding to the angle of the virtual spindle data and the torque data A control unit that controls the operation of the needle bar and the balance in the order of the needle bar top dead center, the balance top dead center, and the needle bar bottom dead center. For the elements, in the operation control process, for each machine element, the virtual spindle data for each time in the virtual spindle data created corresponding to the embroidery data that is the stitch width and stitch direction data for each stitch. A reading process for reading motor angle data corresponding to an angle from the angle corresponding data, a speed data calculating process for calculating speed data by calculating a change amount per unit time of the angle data read in the reading process, and a speed Torque data calculation step for calculating torque data by detecting the amount of change per unit time of the speed data calculated in the data calculation step, angle data read in the reading step, and detected by the angle detection unit A position deviation calculation step for calculating a position deviation value from the motor angle data, the calculated position deviation value, the calculated speed data, and the motor angle detected by the angle detection unit per unit time. A speed deviation calculation step for calculating a speed deviation value from the amount of change in the speed, a calculated speed deviation value, calculated torque data, and a motor Control according to an operation control step comprising: a torque deviation calculation step for calculating a torque deviation value from a torque value based on the current value to be supplied; and a current supply step for supplying current to the motor according to the calculated torque deviation value. For the balance, the period from the top dead center of the balance to the bottom dead center of the needle bar or the period from the position where the balance is lowered during the period at least part of the period until the sewing needle is inserted into the work cloth In a specific period including the torque deviation calculation step, instead of the torque deviation calculation step, the torque deviation (second torque deviation) is calculated from the torque data in the balance angle correspondence data and the torque value based on the current value supplied to the motor. A control unit (40) that calculates a value, supplies current to the motor according to the calculated second torque deviation value, and controls according to the operation control step in a period other than the specific period. In a specific period, the upper thread is located at a position upstream from the upper thread balance inserted into the balance by contacting the peripheral surface of the cylindrical portion of the balance, the third passage, and the first passage. It is characterized by restricting the withdrawal of the paper.

  In the embroidery sewing machine of the eighth configuration, the control unit (40) controls the operation of the machine elements of the needle bar (22b), the presser foot (22c), and the balance (22a). The elements are controlled by controlling the operation of each motor through the reading step, speed data calculation step, torque data calculation step, position deviation calculation step, speed deviation calculation step, torque deviation calculation step, and current supply step. Control element behavior. On the other hand, for the balance, in the period from the top dead center of the balance to the bottom dead center of the needle bar or in a specific period that is at least a part of the period, torque data in the angle-corresponding data for the balance is used instead of the torque deviation calculating step. And the torque value based on the current value supplied to the motor, the value of the torque deviation (second torque deviation) is calculated, and the current is supplied to the motor according to the calculated second torque deviation value. In this period, control is performed according to the operation control process. In the specific period, the upper thread tension applying mechanism (130, 1130, 185) stops the upper thread drawing at a position upstream of the upper thread balance inserted into the balance. Therefore, when the sewing needle is inserted into the work cloth, the locking portion of the upper thread and the lower thread between the stitch being sewn and the stitch immediately before the stitch is tightened. Since the balance is torque-controlled, the amount of tension on the upper thread can be controlled, and the hardness of the embroidery finish such as a hard finish embroidery or a soft finish embroidery can be adjusted. In the balance of the present invention, the state where the third passage is on the lower side and the second passage is oriented vertically along the upper thread is defined as the bottom dead center of the balance, and the balance is moved from the bottom dead center to the second passage. The state in which the third passage reaches the upper side of the center of rotation by rotating upward is defined as the top dead center of the balance. At the top dead center position, the upper thread is the circumferential surface of the cylindrical portion. And the third passage and the first passage are in contact with each other, so that the upper thread is pulled up and can function as a balance in the sewing machine for embroidery. In addition, during a specific period, the upper thread is regulated at a position upstream from the upper thread balance inserted into the balance by contacting the peripheral surface of the cylindrical portion of the balance, the third groove portion, and the first groove portion. Therefore, when the needle bar and the balance are lowered, the upper thread is not unwound from the wound thread, and the tension control applied to the upper thread by controlling the torque of the balance is not hindered. For mechanical elements other than the balance such as a needle bar, the above-described operation control process, that is, control based on the motor angle, motor speed, and motor torque is performed. In addition, since torque control is performed in a specific period, even if a change in the rotation speed of the motor or a change in the rotation direction becomes frequent, there is no problem in responsiveness.

  According to the embroidery sewing machine according to the present invention, when the sewing needle is inserted into the work cloth, the engaging portion of the upper thread and the lower thread between the stitch being sewn and the stitch immediately before the stitch is tightened. However, in this case, the balance is torque controlled for a specific period, so the tension on the upper thread can be controlled, and the hardness of the embroidery finish such as hard embroidery or soft finish embroidery can be controlled. Can be adjusted. In addition, during a specific period, the upper thread tension applying mechanism stops the upper thread drawing at a position upstream of the upper thread balance inserted into the balance, so that the upper thread is not moved when the needle bar and the balance are lowered. It is not unwound from the wound yarn, and does not hinder the tension control applied to the upper yarn by controlling the torque of the balance. For mechanical elements other than the balance such as a needle bar, the above-described operation control process, that is, control based on the motor angle, motor speed, and motor torque is performed, and for the balance, the above normal control is performed in a non-specific period. In addition, since torque control is performed in a specific period, even if a change in the rotation speed of the motor or a change in the rotation direction becomes frequent, there is no problem in responsiveness.

FIG. 6 is an explanatory diagram illustrating a configuration of an embroidery sewing machine according to a first embodiment and a second embodiment. FIG. 3 is an explanatory diagram of a main part of an embroidery sewing machine according to a first embodiment and a second embodiment. FIG. 3 is an explanatory diagram of a main part of an embroidery sewing machine according to a first embodiment and a second embodiment. FIG. 3 is a side view of an essential part of the embroidery sewing machine according to the first embodiment. FIG. 6 is a perspective view of a main part of an embroidery sewing machine according to the first and second embodiments. It is principal part sectional drawing of the balance in Example 1 and Example 2. FIG. FIG. 3 is a side view of an essential part of the embroidery sewing machine according to the first embodiment. 1 is a cross-sectional view of a main part of an embroidery sewing machine in Embodiment 1. FIG. It is explanatory drawing which shows virtual spindle data. It is explanatory drawing which shows virtual spindle data. It is explanatory drawing which shows the data for balances. It is explanatory drawing which shows the data for needle bars. It is explanatory drawing which shows the data for cloth pressers. It is a flowchart which shows operation | movement of the sewing machine for embroidery. It is a flowchart which shows operation | movement of the sewing machine for embroidery. It is a flowchart which shows operation | movement of the sewing machine for embroidery. It is a functional block diagram which shows operation | movement about machine elements other than a balance. It is a functional block diagram which shows the operation | movement about a balance. It is explanatory drawing which shows operation | movement of the sewing machine for embroidery. It is explanatory drawing which shows operation | movement of the sewing machine for embroidery. FIG. 5 is a cross-sectional view of a main part of an embroidering machine according to another example in the first embodiment. FIG. 10 is a side view of a main part of an embroidery sewing machine according to a second embodiment. 5 is a cross-sectional view of a main part of an embroidering machine according to Embodiment 2. FIG. FIG. 10 is a perspective view of a main part of an embroidery sewing machine according to a second embodiment. FIG. 10 is an explanatory diagram illustrating a configuration of an embroidery sewing machine according to a third embodiment. FIG. 10 is a side view of a main part of an embroidery sewing machine according to a third embodiment. FIG. 10 is a perspective view of a main part of an embroidery sewing machine according to a third embodiment. It is a perspective view of the balance in Example 3. FIG. It is explanatory drawing which shows the structure of the balance in Example 3. FIG. It is explanatory drawing which shows operation | movement of the balance in Example 3. FIG. It is explanatory drawing which shows operation | movement of the balance in Example 3. FIG. 10 is a perspective view of another example of a balance in Embodiment 3. FIG. It is TT sectional drawing in FIG. 10 is a rear view of a balance of another example in Embodiment 3. FIG.

  In the present invention, there is no hindrance to responsiveness even if the rotation speed of the motor and the rotation direction change frequently, and the magnitude of the tension on the upper thread is controlled, especially when the balance is lowered. The object of providing an embroidery sewing machine that can control the magnitude of tension applied to the upper thread has been realized as follows. In the drawings, the Y1-Y2 direction is a direction perpendicular to the X1-X2 direction, and the Z1-Z2 direction is a direction perpendicular to the X1-X2 direction and the Y1-Y2 direction.

  The embroidery sewing machine 5-1 according to the present invention is configured as shown in FIGS. 1 to 13, and the embroidery heads 10-1 to 10-n, the shuttle 22d, and a sewing frame (a holding frame or an embroidery frame may be used). ) 22e, a hook motor 32d, a frame drive motor 32e, a computing device 50, and a storage device 60.

  Here, the embroidery heads 10-1 to 10-n are provided above a substantially flat sewing table (not shown), and each embroidery head in the embroidery heads 10-1 to 10-n has a predetermined interval. Are arranged in a substantially straight line. That is, a frame 100 (see FIG. 4) is provided upright from the upper surface of the sewing table, and each embroidery head is provided on the front side (Y1 side) of the frame 100.

  Since the embroidery heads in the embroidery heads 10-1 to 10-n have the same configuration, the embroidery head 10-1 will be configured as shown in FIGS. The machine element group 20, the control device 30, the case portion 110, the wound yarn 120, and the upper yarn tension applying mechanism portion 130 are provided.

  The machine element group 20 is a machine element driven by the embroidery head. The machine element is provided with a balance 22a, a needle bar 22b, and a cloth presser 22c.

  Here, the balance 22a is formed so as to be swingable about an axis in the left-right direction (X1-X2 direction) with respect to the case portion 110. That is, in the balance 22a, as shown in FIG. 4, the rotation shaft (motor shaft) 32a-1 of the balance motor 32a is inserted into the base end portion, and the balance 22a rotates around the rotation shaft 32a-1.

  That is, the balance 22a has a function of pulling the upper thread 122. As shown in FIGS. 5 and 6, the balance arm unit 24 attached to the rotary shaft 32a-1 of the balance motor 32a, The needle bar has a balance tip portion 26 provided corresponding to each needle bar, and the plurality of balance tip portions 26 are disposed in the needle bar case 114, and the needle bar case 114 slides in the left-right direction. Thus, the balance tip end portion 26 engaged with the balance arm portion 24 is supported by the balance arm portion 24 and rotated.

  That is, the balance arm portion 24 has an arcuate plate shape, and has a plate shape that is curved downward toward the tip. A hole portion is formed in the left and right direction at the base end portion of the balance arm portion 24, and the rotation shaft 32a-1 is inserted through and fixed to the rotation shaft 32a-1. That is, the hole provided in the base end part of the balance arm part 24 and the axis J1 of the rotating shaft 32a-1 face the left-right direction. Further, the distal end side of the balance arm portion 24 is formed so as to be engageable with the balance distal end portion 26, and is formed in a convex shape in a side view in the example of FIG.

  The balance motor 32 a is provided on the arm 112 side of the case unit 110. That is, the balance motor 32a and the balance arm portion 24 do not slide even if the needle bar case 114 slides in the left-right direction.

  Moreover, each balance tip part 26 in the plurality of balance tip parts 26 has the same configuration, and the balance tip part 26 has a threading part 26a and a connection part 26b formed integrally with the threading part 26a. ing.

  Here, the threading portion 26a has a substantially cylindrical shape, and a substantially columnar space is formed therein. The upper end and the lower end of the threading portion 26a are chamfered in an arc shape so that corner portions are not formed. Thereby, even if the upper thread contacts the upper end and the lower end of the threading part 26a, the thread breakage does not occur. The axis J2 of the threading portion 26a is formed at right angles to the axis J1 of the hole 24a, so that the axis J2 of the threading space inside the threading portion 26a is in the direction of the rotation shaft 32a-1 ( That is, it is formed at right angles to the direction of the axis J1.

  The connecting portion 26b is provided on the back side (Y2 side) of the threading portion 26a and is formed so as to be engageable with the balance arm portion 24. In the example of FIG. 5, the connecting portion 26b is formed in a concave shape in a side view. ing.

  The plurality of balance tip portions 26 are disposed on the support plate portion 116 provided in the left-right direction of the needle bar case 114 in a state where the plurality of balance tip parts 26 are not driven and driven by the balance arm part 24, and the needle bar case 114 is arranged in the left-right direction. By sliding, the balance distal end portion 26 engaged with the balance arm portion 24 rotates while being supported by the balance arm portion 24.

  Note that the balance in a normal embroidery sewing machine swings up and down, whereas in the case of this embodiment, the balance 22a swings in the front-rear direction as shown in FIGS. In the swing range of the balance 22a, at the position on the most front side, the upper thread 122 between the tension tray 132a and the tension tray 132b in the upper thread tension applying mechanism 130 is suspended vertically as it is. It is inserted through the threading portion 26a. That is, at the most front position in the swing range of the balance 22a (the position where the threading portion 26a is closest to the front), the upper thread 122 hangs down without being bent halfway, and the threading portion of the balance 22a. 26a is inserted. The position on the most front side in the swing range of the balance 22a is the bottom dead center. On the other hand, when the balance 22a is located at a position other than the bottom dead center, the upper thread 122 is bent at the position of the threading portion 26a of the balance 22a, and the position on the most back side in the swing range of the balance 22a ( The position where the threading portion 26a is located on the most back side), that is, the end position on the opposite side to the bottom dead center in the swing range is the top dead center of the balance 22a. That is, the top dead center is on the opposite side of the bottom dead center across the rotation center of the balance 22a. Further, when the balance 22a is at the top dead center position, the upper thread 122 is pulled by the balance 22a so as to detour in a substantially square shape in the vertical direction.

  The needle bar 22b is provided so as to be movable up and down, and a sewing needle 22b-1 (an upper thread is inserted into the needle hole 22b-2 of the sewing needle 22b-1) is fixed to the needle bar 22b at the lower end. A needle bar holder 22b-3 is fixedly provided at the upper end. The needle bar 22b is actually provided with a plurality of needle bars 22b in one embroidery head. The plurality of needle bars 22b are supported by the needle bar case 114 and slide the needle bar case 114 in the left-right direction. By doing so, the selected needle bar is driven to move up and down. That is, as shown in FIG. 4, the drive shaft 152 is provided on the motor shaft of the needle bar motor 32b, and the end of the connecting arm 154 is disposed at the end of the drive lever 152 opposite to the motor shaft. The needle bar drive member 156 is rotatably supported at the other end of the connecting arm 154. The drive lever 152 and the connecting arm 154 constitute a crank mechanism. The needle bar drive member 156 is inserted with a base needle bar 158 provided in the vertical direction, and the needle bar drive member 156 is formed to be movable up and down along the base needle bar 158. 3 to be engaged. That is, when the needle bar case 114 slides and a predetermined needle bar is selected, the needle bar holder 22b-3 of the needle bar engages with the needle bar driving member 156. As a result, when the needle bar motor 32b is driven, the drive lever 152 rotates, whereby the needle bar drive member 156 moves up and down via the connecting arm 154, whereby the needle bar 22b moves up and down. The drive lever 152, the connecting arm 154, the needle bar drive member 156, and the base needle bar 158 constitute a needle bar drive mechanism 150. Each part constituting the needle bar drive mechanism 150 is provided in the arm 112. The needle bar motor 32b and the needle bar drive mechanism 150 constitute the needle bar drive unit.

  As shown in FIG. 7, the presser foot 22c is fixed to the lower end of the lift rod 168, and the presser foot moves up and down as the lift rod 168 moves up and down. That is, as shown in FIG. 7, a drive lever 162 is provided on the motor shaft of the cloth presser motor 32c, and the end of the connecting arm 164 is located at the end of the drive lever 162 opposite to the motor shaft. The fixed member 166 is rotatably supported at the other end of the connecting arm 164, and the elevating rod 168 is fixed to the fixed member 166. The drive lever 162 and the connecting arm 164 constitute a crank mechanism. The lifting rod 168 is supported by a guide member (not shown) fixed to the arm 112 so as to be movable up and down. That is, the upper and lower sides of the lifting rod 168 are supported by the guide member. As a result, the presser foot 22c moves up and down as the presser foot motor 32c rotates. The presser foot drive mechanism 160 is configured by the drive lever 162, the connecting arm 164, the fixing member 166, the lifting rod 168, and the guide member. The presser foot drive mechanism 160 is provided adjacent to the needle bar drive mechanism 150 in the left-right direction. Further, the presser foot drive unit is configured by the presser foot motor 32c and the presser foot drive mechanism 160. One presser foot 22c is provided for each embroidery head.

  As shown in FIG. 2, the control device 30 includes a balance motor 32a, a needle bar motor 32b, a presser foot motor 32c, encoders 34a, 34b, 34c, and a control circuit 40. Yes.

  Here, the balance motor 32a is a motor for swinging the balance 22a, and its rotation shaft rotates forward and backward, and the axis of the rotation shaft is directed in the left-right direction (X1-X2 direction). The needle bar motor 32b is a motor for moving the needle bar 22b up and down. The presser foot motor 32c is a motor for moving the presser foot 22c up and down. The encoders 34a, 34b, and 34c are for detecting the position (rotation direction position) of each motor, and the encoder (balance motor angle detector) 34a is connected to the balance motor 32a and is used for the balance. The position of the motor 32a is detected, and the encoder (needle bar motor angle detector) 34b is connected to the needle bar motor 32b, detects the position of the needle bar motor 32b, and the encoder (cloth presser motor angle detector). ) 34c is connected to the presser foot motor 32c and detects the position of the presser foot motor 32c.

  The control circuit 40 is a circuit that controls the operation of each of the balance motor 32a, needle bar motor 32b, and cloth presser motor 32c, and controls the operation of each motor in accordance with data from the arithmetic unit 50. That is, the control circuit 40 controls the operation of the balance motor 32a based on the virtual spindle data and the balance data (see FIG. 11) transmitted from the calculation device 50, and the virtual spindle data transmitted from the calculation device 50. And the needle bar data (see FIG. 12) to control the operation of the needle bar motor 32b, and based on the virtual spindle data and the cloth presser data (see FIG. 13) transmitted from the arithmetic unit 50, The operation of the presser motor 32c is controlled.

  Further, the control circuit 40 controls the operations of the hook motor 32d and the frame driving motor 32e. That is, the control circuit 40 controls the operation of the hook motor 32d based on the virtual spindle data and the hook data (not shown) transmitted from the calculation device 50, and the virtual spindle data transmitted from the calculation device 50. And the frame drive motor 32e are controlled based on the frame data (not shown).

  As shown in FIG. 3, the control circuit 40 includes a CPU 42, a PWM (Pulse Width Modulation) circuit 44, and a current sensor 46. Here, the CPU 42 outputs data on the current value supplied to the motor to the PWM circuit 44 based on the data from the arithmetic device 50. The PWM circuit 44 converts the amplitude of the current value from the CPU 42 into a pulse signal having a constant amplitude and supplies the pulse signal to the balance motor 32a. The current sensor 46 converts the pulse signal output from the PWM circuit 44 into a current value, calculates a torque value by multiplying the current value by a constant, and outputs the torque value to the CPU 42.

  More specifically, the control circuit 40 performs control as shown in the flowcharts shown in FIGS. 14 to 16 and the functional block diagrams shown in FIGS. 17 and 18. Details will be described later.

  The control circuit 40 also controls the operation of the upper thread tension applying mechanism 130, which will be described in detail later.

  The case portion 110 constitutes a housing of the embroidery head 10-1, and includes an arm 112 fixed to the frame 100 and a left-right direction (X1-X2 direction) with respect to the arm 112 provided on the front side of the arm 112. And a needle bar case 114 that slides on the needle bar. The balance motor 32 a, the needle bar motor 32 b, the cloth presser motor 32 c, the encoders 34 a to 34 c, and the control circuit 40 are provided in the arm 112.

  The wound thread 120 is configured by winding an upper thread, and is rotatably supported at the upper end of the case portion 110.

  Further, the upper thread tension applying mechanism 130 stops the pulling out of the upper thread 122 at a position upstream of the balance 22a of the upper thread 122 inserted through the balance 22a. As shown in FIG. -1 is provided above the balance 22a, and has an upper thread tension applying mechanism main body 131 and a solenoid (upper thread tension applying drive unit) 142.

  The upper thread tension applying mechanism main body 131 includes a tension plate group 132, a support portion 136, a spring portion 138, and a drive shaft 140, which are provided on the upper portion of the needle bar case 114. The upper thread tension applying mechanism main body 131 is provided for each needle bar.

  In the tension plate group 132, a tension plate 132a and a tension plate 132b are provided so as to face each other, and an upper thread can be sandwiched between a pair of tension plates 132a and 132b. That is, each of the tension plates 132a and 132b has a substantially circular plate shape (specifically, a shape in which the central portion of the circular plate shape protrudes outward) and has a hole portion through which the shaft portion 136c is inserted at the center. And a tension plate frame part 134 that is erected obliquely from the peripheral end of the main body 133, and the tension plate 132a and the tension plate 132b face each other so that the tension plate frame part 134 is on the outside. .

  Moreover, the support part 136 supports the tension plate group 132 rotatably, and has a plate-like part 136a, a rod 136b, and a shaft part 136c. That is, the plate-like portion 136a has a quadrangular plate shape (one side of which is larger than the diameter of the tension plates 132a and 132b), and the rod 136b has four corners of the plate-like portion 136a. The end of each rod 136b opposite to the plate-like portion 136a is fixed to the front side of the needle bar case 114. The shaft portion 136c is fixedly provided at a substantially central position on the back side of the plate-like portion 136a, and is formed in the front-rear direction (Y1-Y2 direction).

  The spring portion 138 is provided between the tension plate 132a and the plate-like portion 136a, and urges the tension plate 132a toward the tension plate 132b.

  The drive shaft 140 is provided on the same axis as the shaft portion 136c, and includes a shaft portion 136c, a connection end portion 140b, and an end portion 140c. The shaft portion 140a is inserted and supported through holes formed in the front side and the back side of the needle bar case 114, respectively. The shaft portion 140a is also inserted into the hole portion 112a formed in the arm 112. Since the needle bar case 114 slides in the left-right direction, the needle bar case 114 slides to cause the drive shaft 140 to move. The hole 112a is formed in the shape of a long hole in the left-right direction so that the hole 112a does not get in the way even if it slides. The connecting end portion 140b is slidably connected to the back end portion of the shaft portion 136c, and the circular plate-like portion 140b- sealing the cylindrical portion 140b-1 and the back side of the cylindrical portion 140b-1. 2 and the front side of the shaft part 140a is fixed to the back side of the circular plate-like part 140b-2. An end portion on the back side of the shaft portion 136c is disposed in the cylindrical portion 140b-1. In the state where the solenoid 142 is not driven, a gap is formed between the rear end portion of the shaft portion 136c and the circular plate portion 140b-2. The end portion 140c is fixed to the end portion on the back side of the shaft portion 140a and has a substantially circular plate shape.

  The solenoid 142 is supported inside the arm 112 and drives the solenoid 142 to move the shaft 142a of the solenoid 142 to the front side. Thereby, the drive shaft 140 is pushed to the front side, and the tension plate group 132 is pushed to the spring portion 138 side, whereby tension is applied to the upper thread between the pair of tension plates 132a and 132b. Of the plurality of upper thread tension applying mechanism bodies 131, the needle bar case 114 slides in the left-right direction, whereby the drive shaft 140 of the selected upper thread tension applying mechanism body 131 is pushed by the solenoid 142. . As described above, it is sufficient to provide only one solenoid 142 constituting the upper thread tension applying mechanism portion 130 in one embroidery head, and the number of parts can be reduced.

  In the upper thread tension applying mechanism 130 configured as described above, the upper thread 122 pulled out from the wound thread 120 is provided in a state of being sandwiched between a pair of tension plates 132a and 132b, and in a state where the solenoid 142 is not driven, the spring portion A tension is lightly applied to the upper thread between the pair of tension plates 132a and 132b by the biasing force of 138. On the other hand, when the solenoid 142 is driven, the drive shaft 140 pushes the tension plate group 132 toward the spring portion 138 against the urging force of the spring portion 138, so that the tension plate 132b strongly pushes against the tension plate 132a. Thus, the upper thread 122 is fixed between the tension plate 132a and the tension plate 132b. That is, in this state, the tension between the pair of tension plates 132a and 132b is set so that the balance 22a cannot pull the upper thread 122 from the wound thread 120.

  In the specific period described below in the control of the balance 22a, the solenoid 142 is driven to fix the upper thread 122 between the tension plate 132a and the tension plate 132b, and a period other than the specific period (hereinafter referred to as “non-specific period”). ”), The solenoid 142 is turned off. Control of the operation of the upper thread tension applying mechanism 130 is performed by the control circuit 40.

  Further, the case portion 110 is provided with a roller portion for smoothly pulling out the upper thread 122 at various places. That is, a roller 170a is provided between the wound yarn 120 at the upper end of the arm 112 and the upper yarn tension applying mechanism 130 (on the front side of the wound yarn 120 at the upper end of the arm 112), and the upper yarn tension is applied to the needle bar case 114. A roller 170b is provided between the mechanism unit 130 and the balance 22a, and a roller 170c is provided between the balance 22a and the needle bar 22b.

  The hook 22d is provided for each embroidery head at a position below the upper surface of the sewing machine table below the embroidery heads 10-1 to 10-n. Specifically, it is supported by a pot base (not shown) provided under the sewing machine table.

  The sewing frame 22e is a frame-like member for tensioning and holding the work cloth, and is provided above the sewing machine table (may be the upper surface).

  The shuttle motor 32d is a motor for driving the shuttle 22d, and is provided, for example, on a shuttle base that supports the shuttle 22d. The frame driving motor 32e is a motor for driving the sewing frame 22e. The hook motor 32d is connected to an encoder 34d for detecting the position of the hook motor 32d, and the frame driving motor 32e is connected to an encoder 34e for detecting the position of the frame driving motor 32e. Yes.

  The encoders 34a to 34e are connected to the control circuit 40, and position information detected by the encoders is sent to the control circuit.

  The computing device 50 creates virtual spindle data mainly according to the embroidery data stored in the storage device 60. As shown in FIG. 9, this virtual spindle data is data indicating the correspondence between time and the spindle angle. Unlike the conventional embroidery sewing machine 5-1, the embroidery sewing machine 5-1 of this embodiment is not provided with one main shaft mechanically connected to the machine elements in each embroidery head, but the operation of each machine element is not provided. Prepare spindle data as a virtual spindle and synchronize the virtual spindle data with the corresponding data corresponding to the machine element (for example, balance data, needle bar data, and presser foot data). It controls the operation. Here, the main shaft angle indicates the angle of the virtual main shaft, that is, the position in the rotation direction.

  The storage device 60 stores embroidery data for performing embroidery. In this embroidery data, for example, data on the stitch width, stitch direction, and thread type is provided for each stitch. Further, in this storage device 60, for each machine element, angle correspondence data (may be position pattern data) that defines the correspondence between the spindle angle and the angle of the machine element (for example, balance data, needle bar data) Data, data for presser foot).

  For example, in the balance data (balance angle correspondence data) (FIG. 11), the spindle angle and the balance angle corresponding to the spindle angle are defined. Here, the balance angle indicates the position in the rotation direction of the balance motor 32a. In the balance data, as will be described later, since torque control is performed during a specific period, which is a predetermined section, during operation of the balance, torque information for that purpose is provided. That is, torque data is stored according to the spindle angle. The torque data is determined in accordance with the main shaft angle. However, since the balance angle is also determined in correspondence with the main shaft angle, it can be said that the torque data is determined in correspondence with the balance angle. .

  Further, in the needle bar data (needle bar angle correspondence data) (FIG. 12), a main shaft angle and a needle bar angle corresponding to the main shaft angle are defined. The needle bar angle here indicates the position of the needle bar motor 32b in the rotational direction.

  Also, in the presser foot data (cloth presser angle correspondence data) (FIG. 13), the main shaft angle and the presser foot angle corresponding to the main shaft angle are defined. The presser foot angle here indicates the position in the rotational direction of the presser foot motor 32c.

  Although not shown, the hook data (the data defining the main shaft angle and the hook angle corresponding to the main shaft angle, the hook angle indicates the position in the rotational direction of the hook motor 32d. Is also stored in the storage device 60.

  The angle data in the virtual spindle data actually stores numerical values corresponding to the angle, and the angle data in the angle correspondence data (balance data, needle bar data, presser foot data, shuttle data) Actually, a numerical value corresponding to the angle is stored. The balance data, needle bar data, presser foot data, and shuttle data are all created based on a predetermined rotation speed (for example, 1000 rotations).

  Next, the operation of the embroidery sewing machine 5-1 having the above configuration will be described with reference to FIGS. Note that the flowcharts shown in FIGS. 14 and 15 are applied to mechanical elements other than the balance 22a (needle bar, cloth presser, shuttle, etc.), and the balance is shown in the flowchart of FIG. 14 and step S21 in the flowchart of FIG. Steps up to S25 and the flowchart shown in FIG. 16 are applied. FIGS. 17 and 18 are functional block diagrams. FIG. 17 is applied to machine elements other than the balance (needle bar, cloth presser, shuttle, etc.), and FIG. 18 is applied to the balance. .

  In addition, from step S11 shown in FIG. 14 to step S25 shown in FIG. 15, since the same control is performed for mechanical elements other than the balance and the balance, a description will be given below. Further, the control method described below is naturally performed for each machine element.

  First, the computing device 50 creates virtual spindle data according to the embroidery data stored in the storage device 60. The storage device 60 stores information such as stitch width, stitch direction, and thread type for each stitch of the embroidery to be created, so virtual spindle data is created according to the stitch width, stitch direction, and thread type of each stitch. To do. This virtual spindle data is data of the virtual spindle angle for each time. For example, when the stitch width is large, the virtual spindle angle change is reduced, and when the stitch width is small, the virtual spindle angle change is performed. Enlarge. Further, when the direction of the stitch is opposite to the direction of the previous stitch, the angle change of the virtual main axis is reduced.

  The virtual spindle data by the arithmetic device 50 is created by creating virtual spindle data several stitches before stitches that are actually subjected to embroidery stitching by each machine element (needle bar, balance, shuttle, cloth presser, etc.) Actual embroidery sewing is performed while creating virtual spindle data. Note that virtual spindle data may be created for the entire embroidery data by the arithmetic device 50 in advance.

  An example of the virtual spindle data is shown in FIG. The virtual spindle data shown in FIG. 10 continues to rotate at a constant speed. However, when the stitch widths of the stitches are the same and the stitch angles are also in the same direction, such virtual spindle data is used. Good. When the stitch width of a certain stitch is large, the time for one stitch is lengthened, and when the stitch width is small, the time for one stitch is shortened.

  When the virtual spindle data is created, the rotation speed of the virtual spindle is detected (S11 in FIG. 14). That is, the virtual spindle data is differentiated at each time, and the rotation speed at each time is detected.

  Next, a rotation speed ratio is calculated based on the detected rotation speed of the virtual spindle (S12 in FIG. 14). In other words, the data that defines the correspondence between the spindle angle and the angle of each motor (balance data, needle bar data, presser foot data, hook data) is created based on a predetermined rotational speed. The ratio between the detected rotational speed and a predetermined rotational speed is calculated.

  Next, angle data (which may be position data) is read from the angle correspondence data (S13 in FIG. 14, S13 in FIG. 17, and S13 in FIG. 18, reading step). That is, in the virtual spindle data, an angle corresponding to the angle (spindle axis angle) corresponding to the time to be processed is detected from each angle correspondence data, and the data of the angle is read. For example, in the balance data, the balance angle corresponding to the angle (spindle angle) corresponding to the time to be processed in the virtual spindle data is read.

  Next, speed data is calculated by detecting the amount of change per unit time of the angle data detected from the angle correspondence data (S14 in FIG. 14, S14 in FIG. 17, S14, speed data calculation step). That is, the speed data is calculated by dividing the change amount of the angle data by the time. For example, when calculating speed data at time t1, the angle of time t0 in the virtual spindle data is a0, the angle of time t1 is a1, the balance angle corresponding to the spindle angle a0 is b0, and the spindle angle a1. When the balance angle is b1, (b1-b0) / (t1-t0) is calculated. In addition, you may calculate by the variation | change_quantity of the time distant in time instead of the variation | change_quantity of the time adjacent as mentioned above. As described above, the velocity data is calculated by differentiating the angle data.

  Next, torque data is calculated by detecting the amount of change per unit time in the speed data (S15 in FIG. 14, S15 in FIG. 17, and FIG. 18, torque data calculating step). That is, torque data is calculated by dividing the amount of change in speed data by time. For example, when the speed data calculated immediately before is s1 and the speed data calculated immediately before is s0, the torque data is calculated by (s1-s0) / 1. In addition, you may calculate by the variation | change_quantity of the time distant in time instead of the variation | change_quantity of the time adjacent as mentioned above. As described above, the speed data is calculated by differentiating the speed data. Note that the CPU 42 holds speed data necessary for calculating the amount of change in speed in advance.

  Next, speed compensation data is calculated by multiplying the speed data calculated in step S14 by the rotation speed ratio calculated in step S12 (S16 in FIG. 14, S16 in FIG. 17, and FIG. 18).

  Next, torque compensation data is calculated from the torque data calculated in step S15 (S17 in FIG. 14, S17 in FIG. 18, and FIG. 18). That is, the torque data is multiplied by the inertia ratio (S17-1 in FIGS. 17 and 18), and the value obtained by multiplying the inertia ratio is multiplied by the rotational speed ratio (S17-2 in FIGS. 17 and 18). The torque compensation data is calculated by adding the torque based on the mechanical loss to the value obtained by multiplying the rotation speed ratio (S17-3 in FIGS. 17 and 18). Here, the inertia ratio is a constant determined in advance according to the mass or the like of each machine element, and the rotation speed ratio is the value calculated in step S12. The torque based on the mechanical loss is a value determined in advance according to each machine element.

  Next, the data (encoder count value) from the encoder 34a or the like is subtracted from the angle data read in step S13 (S21 in FIG. 15, S21 in FIG. 17, FIG. 18, and position deviation calculation step). The value calculated in step S21 can be said to be a position deviation value. Of course, the encoder is an encoder corresponding to the machine element to be controlled. For example, in the case of a balance, data from the encoder 34a is used.

  Next, the speed value is calculated by multiplying the calculated value calculated in step S21 by a predetermined constant (S22 in FIG. 15, S22 in FIG. 17, and FIG. 18).

  Next, the motor current speed value is calculated by differentiating the output from the encoder 34a etc. (S23 in FIG. 15, S23 in FIG. 17, and FIG. 18). That is, the amount of change per unit time of the count value of the encoder is calculated, and the current motor speed value is calculated.

  Next, the motor current speed value calculated in step S23 is subtracted from the speed value calculated in step S22, and the speed compensation data calculated in step S16 is added (S24 in FIG. 15, FIG. 17, FIG. 17). 18 S24, speed deviation calculation step). It can be said that the value calculated in step S24 is the value of the speed deviation.

  Next, the torque value is calculated by multiplying the calculated value calculated in step S24 by a predetermined constant (S25 in FIG. 15, S25 in FIG. 17, and FIG. 18).

  The processes after step S25 will be described separately for mechanical elements other than the balance 22a and the balance 22a.

  First, for mechanical elements other than the balance, the torque value from the current sensor 46 is subtracted from the torque value calculated in step S25, and the torque compensation data calculated in step S17 is added (S26 in FIG. 15). FIG. 17 S26, torque deviation calculation step). It can be said that the value calculated in step S26 is a torque deviation value.

  Next, the calculated value calculated in step S26 is multiplied by a predetermined constant to calculate a voltage value (voltage command to the PWM circuit) output to the PWM circuit 44 (S27 in FIG. 15). 17 (S27 in FIG. 17), the data is output to the PWM circuit 44 (S28 in FIG. 15, S28 in FIG. 17).

  The PWM circuit 44 outputs a pulse signal as a voltage signal based on the input signal and supplies a current to each of the motors 32b to 32e (S29 in FIG. 15, S29 in FIG. 17, current supply step).

  On the other hand, in the case of the balance 22a, it is determined whether or not it is a specific period (may be a specific section or a specific range) (S30 in FIG. 16). Here, the specific period is a period from the top dead center of the balance 22a to the bottom dead center of the needle bar 22b. In a normal embroidery sewing machine, in a period in which the balance is directed from the top dead center to the bottom dead center, Since the needle bar has already been lowered toward the bottom dead center and the bottom dead center of the needle bar reaches before the balance reaches the bottom dead center, the balance from the top dead center to the bottom dead center of the needle bar is reached. Let the period be a specific period. As a method for determining the specific period, it is determined that the specific period has been entered when the balance angle according to the spindle angle has changed from increase to decrease, and the needle bar angle according to the spindle angle has changed from decrease to increase. It is determined that the specific period has passed. In addition, the balance angle value in the case of the top dead center and the needle bar angle value in the case of the bottom dead center of the needle bar are determined in advance. It may be determined that the specific period is over when the needle bar angle reaches that value while decreasing. The reason that “the angle is decreasing” is sometimes set while the angle is increasing, but in this case, it is irrelevant to the start point and end point of the specific period.

  In addition, it is good also considering a part period in the area from the top dead center of the balance to the bottom dead center of the needle bar (at least a period until the sewing needle 22b-1 is inserted from the position where the balance is lowered) as the specific period. . In this case, the angle of the machine element that is the starting point of the specific period (for example, the balance angle or the needle bar angle) and the angle of the machine element that is the end point of the specific period (for example, the balance angle or the needle bar angle) are determined in advance. Alternatively, it may be determined that the specific period has been entered when the balance angle reaches that value while decreasing, and it may be determined that the specific period has been removed when the needle bar angle reaches that value while decreasing.

  Then, in a period other than the specific period, that is, in the non-specific period, the torque compensation data calculated in step S17 is added to the torque value calculated in step S25 as in the case of other machine elements ( 16 (S31 in FIG. 16, S31 in FIG. 18), and further, the torque value from the current sensor 46 is subtracted (S32 in FIG. 16, S32 in FIG. 18). That is, as with other machine elements, torque value + torque compensation data−motor torque value is calculated.

  On the other hand, when it is the specific period, torque data (balance torque data) in the balance data is read (S33 in FIG. 16, S33 in FIG. 18) (that is, torque data corresponding to the spindle angle in the balance data is obtained). The torque value from the current sensor 46 is subtracted from the torque data value (S34 in FIG. 16, S34 in FIG. 18).

  Next, the calculation value calculated in step S32 or the calculation value calculated in step S34 is multiplied by a predetermined constant (that is, if it is not a specific period, the calculation calculated in step S32). The value is multiplied by a constant, and if it is a specific period, the calculated value calculated in step S34 is multiplied by the constant), and the voltage value output to the PWM circuit 44 is calculated (S35 in FIG. 16). , S35 in FIG. 18), and outputs to the PWM circuit 44 (S36 in FIG. 16, S36 in FIG. 18). Thereafter, the PWM circuit 44 supplies current to the balance motor 32a according to the input voltage value (S37 in FIG. 16, S37 in FIG. 18).

  The above processing (steps S11 to S29 in the case of a machine element other than the balance, and S11 to S25 and S30 to S37 in the case of a balance) is repeatedly performed every time specified in the virtual spindle data. It will be. That is, a series of processes of steps S11 to S29 (in the case of a balance, S11 to S25, S30 to S37) are repeatedly performed every time specified in the virtual spindle data.

  As described above, in the balance control, the control based on the motor angle, the motor speed, and the motor torque (hereinafter referred to as “normal control”) is performed in a period other than the specific period, and the motor torque is controlled in the specific period. Based on the control, that is, torque control is performed. This series of normal control steps corresponds to the “operation control step” in the claims.

  In the specific period of the balance control, the solenoid 142 of the upper thread tension applying mechanism 130 is turned on to drive the solenoid 142, and the upper thread 122 is fixed between the tension tray 132a and the tension tray 132b. In the case other than the specific period, the solenoid 142 is turned off.

  FIG. 19 is an example showing a motion diagram of a scale, a needle bar, and a hook for one stitch period, and an upper thread consumption amount per stitch, between the top dead center of the balance and the bottom dead center of the needle bar. During the period, torque control is performed.

  FIG. 20 schematically shows the operation for a period of one stitch. The needle bar 22b (particularly, the needle hole 22b-2 of the sewing needle 22b-1), the shuttle 22d, the upper thread 122, The state of the lower thread 124 is shown. In FIG. 20, the needle hole 22b-2 is indicated by a dot. In FIG. 20 (a), the hook 22d pulls the upper thread 122 and rotates to be at the bottom dead center, and the hook 22d pulls the upper thread 122 in this way and passes through the upper thread tension applying mechanism 130. Then, the upper thread 122 is pulled out from the wound thread 120. Further, in the state shown in FIG. 20A, the balance is also substantially at the bottom dead center. FIG. 20 (a) shows a state around 290 degrees at which the hook becomes the bottom dead center in FIG. 19. In this case, since it is a non-specific period, the upper thread tension applying mechanism 130 Since the solenoid 142 is not driven, the upper thread 122 can be pulled out through the tension plates 132a and 132b. Further, since the balance control is also in a non-specific period, the normal control is performed.

  20 (b), the upper thread 122 is removed from the hook 22d, and the upper thread 122 is actively pulled upward by the needle bar 22b and the balance 22a. FIG. 20 (b) is 330 degrees in FIG. This is a win-win situation.

  In FIG. 20C, the needle bar 22b is lowered from the top dead center, and the balance 22a is at the top dead center. FIG. 20C shows the state per 70 degrees in FIG. Yes. Since the balance 22a is at the top dead center, a specific period starts from here and the control is switched to torque control. 20D, the balance 22a is rotating toward the bottom dead center, and the needle bar 22b is descending. FIG. 20D shows the state per 110 degrees in FIG. Show. In this case, since it is in a specific period, torque control is performed as described above.

  FIG. 20E shows a state immediately before the sewing needle 22b-1 inserts into the work cloth N and the needle bar 22b reaches the bottom dead center. The shuttle 22d pulls the upper thread 122. The state immediately before is shown, and the state per 170 degrees in FIG. 19 is shown. In this case, since it is in a specific period, torque control is performed as described above. Thereafter, when the needle bar 22b reaches the bottom dead center, the specific period ends, and the torque control is switched to the normal control. In FIG. 20, reference numeral 7 denotes a needle plate which is disposed on the upper surface of the sewing machine table and has a hole through which a sewing needle passes.

  The sewing frame 22e is feed-controlled during a section where the sewing needle 22b-1 is not inserted into the work cloth (for example, a section of 265 degrees to 70 degrees).

  When the specific period is completed, the control is switched to the normal control. At this time, the following smoothing process is performed to smooth the operation of the balance 22a at the time of switching. That is, in step S21, instead of the angle data read in step S13, the count value (that is, the current value) of the encoder 34a is used, and the current value minus the current value (= 0) is used as the calculated value. In the next step S21 (step S21 of a series of processes at the next time in the virtual spindle data), instead of the angle data read in step S13, a current value + (read angle data−current value). As a value calculated by the alternative angle data calculation formula of / 2 (= alternative angle data), the alternative angle data-current value is the calculated value in step S21, and the read angle data-current value is equal to or less than a predetermined value. Until this time, the processing based on the alternative angle data calculation formula (alternative angle data—processing using the current value as the calculated value in step S21) is repeated.

  By doing so, the operation of the balance can be controlled smoothly. In other words, when switching from torque control to normal control, the balance is controlled by torque control until then, so there may be a large difference between the read angle data and the current value. If the switch is switched, the operation of the balance may not be smooth.In particular, the larger the position deviation, the smoother the operation. However, when the smoothing process is performed as described above, the balance is switched when switching from torque control to normal control. Can be performed smoothly.

  Note that when switching from normal control to torque control, the above-described problem does not occur, so the smoothing process as described above is not performed.

  In this embodiment, as shown in FIGS. 20D to 20E, when the sewing needle 22b-1 is inserted into the work cloth N, the stitch W1 during the sewing operation and the stitch W2 immediately before the stitch W1 are stitched. In this case, the upper thread 122 and the lower thread 124 are fastened with the locking portion 125. At that time, torque control is performed on the balance as a specific period, so that the tension on the upper thread can be controlled. Thus, for example, by increasing the torque applied to the balance during the specific period, the tension applied to the upper thread can be increased to make a hard finish embroidery, while By reducing the applied torque, the tension applied to the upper thread can be reduced to make the embroidery with a soft finish.

  Further, during the specific period, the solenoid 142 in the upper thread tension applying mechanism 130 is driven to restrict the withdrawal of the upper thread 122, so that the upper thread 122 is moved when the needle bar 22b and the balance 22a are lowered. It is not unwound from the wound yarn 120 and does not hinder the tension control applied to the upper yarn by controlling the torque of the balance 22a. That is, in the torque control in the specific period, the balance 22a also rotates to the bottom dead center side (that is, the front side) when the needle bar 22b is lowered, but moves downward as the needle bar 22b is lowered. The balance 22a applies tension to the upper thread 122 according to the torque value calculated as described above against the upper thread 122 pulling the balance 22a. At that time, if the upper thread 122 is not restricted from being drawn out from the wound thread 120, it is impossible to apply tension to the upper thread 122 according to a predetermined torque value, so that the upper thread 122 is prevented from being drawn out from the wound thread 120. is there. Even if the upper thread tension applying mechanism 130 is driven to stop feeding the upper thread 120, the upper thread 122 is pulled out to the back side when the balance 22a is at the top dead center. Even if the upper thread 122 descends as it descends, the length of the upper thread 122 to descend does not become insufficient.

  In the embroidery sewing machine according to the present embodiment, as described above, the mechanical elements other than the balance such as the needle bar are subjected to the normal control, that is, the control based on the motor angle, the motor speed, and the motor torque. For the balance, the above normal control is performed in the non-specific period, and the torque control is performed in the specific period. Therefore, the responsiveness should not be hindered even if the rotation speed of the motor or the rotation direction changes frequently. be able to.

  Further, instead of the upper thread tension applying mechanism part 130, an upper thread tension applying mechanism part 1130 shown in FIG.

  The upper thread tension applying mechanism 1130 is provided above the balance 22a in the embroidery head 10-1, and includes an upper thread tension applying mechanism main body 1131 and a solenoid (upper thread tension applying drive) 1142. Yes.

  The upper thread tension applying mechanism main body 1131 includes a tension plate group 1132, a support portion 1136, and a drive shaft 1140, which are provided on the upper portion of the needle bar case 114. The upper thread tension applying mechanism main body 1131 is provided for each needle bar.

  The tension plate group 1132 is provided with a tension plate 1132a and a tension plate 1132b facing each other so that an upper thread can be sandwiched between a pair of tension plates 1132a and 1132b. In other words, the tension plates 1132a and 1132b are both substantially circular plate-shaped (specifically, a shape in which the central portion of the circular plate protrudes outward) and stands obliquely from the peripheral edge of the main body 1133. The tension plate 1132a and the tension plate 1132b are opposed to each other so that the tension plate frame 1134 is on the outside.

  The support portion 1136 supports the tension plate group 1132 and has a plate-like portion 1136a and a rod 1136b. That is, the plate-like portion 1136a has a plate shape of a square shape (one side of which is larger than the diameter of the tension plates 1132a and 1132b). The tension plate 1132a is fixed to the back side of the plate-like portion 1136a. That is, in this example, the tension plate 1132a is not attached to rotate. The rod 1136b is fixedly provided at each of the four corners of the plate-like portion 1136a, and the end of each rod 1136b opposite to the plate-like portion 1136a is fixed to the front side of the needle bar case 114. ing.

  Further, the drive shaft 1140 has a shaft portion 1140a, a connection end portion 1140b, and an end portion 1140c. The shaft portion 1140a is supported by being inserted through holes formed respectively on the front side and the back side of the needle bar case 114, and in the front view or the back view, the axis of the shaft portion 1140a and the centers of the tension plates 1132a, 1132b Are substantially matched. The shaft portion 1140a is also inserted through the hole portion 112a formed in the arm 112. Since the needle bar case 114 slides in the left-right direction, the needle bar case 114 slides to cause the drive shaft 1140 to move. The hole 112a is formed in the shape of a long hole in the left-right direction so that the hole 112a does not get in the way even if it slides. The connection end portion 1140b is fixed to the front end portion of the shaft portion 1140a, has a substantially circular plate shape, and is fixed to the main body portion 1133 of the tension plate 1132b. Further, the end portion 1140c is fixed to the end portion on the back side of the shaft portion 1140a and has a substantially circular plate shape.

  The solenoid 1142 is supported inside the arm 112 and drives the solenoid 1142 to move the shaft portion 1142a of the solenoid 1142 to the front side. Thereby, the drive shaft 1140 is pushed to the front side, and the tension plate 1132b is pushed to the tension plate 1132a side, whereby tension is applied to the upper thread between the pair of tension plates 1132a and 1132b. Of the plurality of upper thread tension applying mechanism bodies 1131, the needle bar case 114 slides in the left-right direction, whereby the drive shaft 1140 of the selected upper thread tension applying mechanism body 1131 is pushed by the solenoid 1142. .

  In the upper thread tension applying mechanism 1130 having the above-described configuration, the upper thread 122 drawn from the wound thread 120 is provided in a state of being sandwiched between a pair of tension plates 1132a and 1132b, and when the solenoid 1142 is not driven, No tension is applied to the upper thread between the tension plates 1132a and 1132b. On the other hand, when the solenoid 1142 is driven, the drive shaft 1140 pushes the tension plate 1132b toward the tension plate 1132a, so that the upper thread 122 is fixed between the tension plate 1132a and the tension plate 1132b. That is, in this state, the tension between the pair of tension plates 1132a and 1132b is set so that the balance 22a cannot pull out the upper thread 122 from the wound thread 120.

  Next, the embroidery sewing machine according to the second embodiment will be described. The embroidery sewing machine 5-2 of the second embodiment is configured as shown in FIGS. 22 to 24 and has the same configuration as the embroidery sewing machine 5-1 of the first embodiment, but the upper thread tension applying mechanism portion 130. The configuration of is different.

  That is, the upper thread tension applying mechanism 180 in the second embodiment is provided on the front side of the upper portion of the needle bar case 114, and includes a tension tray mechanism 181 and a tension controller 185.

  The tension plate mechanism 181 rotatably supports a pair of tension plates, and includes a tension plate group 182 and a support unit 184 that supports the tension plate group 182 as shown in FIG. Yes.

  The tension plate group 182 includes a tension plate 182a and a tension plate 182b facing each other so that an upper thread can be sandwiched between the pair of tension plates 182a and 182b. Since the configuration of the tension plates 182a and 182b is the same as that of the tension plates 132a and 132b in the first embodiment, detailed description thereof is omitted.

  The support portion 184 includes a shaft portion 184a having a head portion 184b formed on the front side, and a ring-shaped restriction portion 184c that restricts the movement of the tension plate group 182 in the front-rear direction between the head portion 184b. The tension plate group 182 is rotatably supported by the shaft portion 184a.

  Further, the tension control unit 185 has a configuration in which the pair of plate-like portions are opposed to each other, and the interval between the pair of plate-like portions becomes narrower from the front side to the back side. And a substantially L-shaped plate-shaped portion 188. The substantially L-shaped plate-shaped portion 186 includes a square-shaped plate-shaped portion 186a and a rectangular-shaped plate-shaped portion 186b, and the plate-shaped portion 186a and the plate-shaped portion 186b are substantially at right angles (strictly speaking, from a right angle). Is also a small angle). Similarly, the substantially L-shaped portion 188 has a rectangular plate-shaped portion 188a and a rectangular plate-shaped portion 188b, and the plate-shaped portion 188a and the plate-shaped portion 188b are substantially perpendicular (strictly speaking, a right angle). Smaller angle). A hole 186a-1 for inserting the screw part 189a is provided at a position on the back side of the plate-like part 186a, and a position on the back side of the plate-like part 188a (a position corresponding to the hole part 186a-1). Also, a hole (not shown) for inserting the screw portion 189a is provided.

  The plate-like portion 186 b is provided with a hole 186 b-1 for inserting a screw portion 190 a for attaching to the needle bar case 114, and the plate-like portion 188 b is provided with a screw for attaching to the needle bar case 114. A hole 188b-1 for inserting the portion 191a is provided.

  The substantially L-shaped portion 186 and the approximately L-shaped portion 188 are opposed to each other with the plate-shaped portion 186b and the plate-shaped portion 188b facing each other, the screw portion 189a is inserted into the hole portion 186a-1, etc., and the bolt 189b The plate portion 186b is attached to the needle bar case 114 with the screw portion 190a and the bolt 190b, and the plate portion 188b is attached to the needle bar case 114 with the screw portion 191a and the bolt 191b. The gap between the plate-like portion 186a and the plate-like portion 188a is formed narrower from the front side to the back side. As a result, by passing the upper thread 122 between the plate-shaped portion 186a and the plate-shaped portion 188a, when the balance 22a is on the bottom dead center side, no tension is applied to the upper thread 122, and the balance 22a is top dead. When it is on the point side, the gap between the plate-like portions 186a and 188a becomes narrower, tension is applied to the upper thread 122, and the closer the balance 22a is to the top dead center side, the narrower the gap between the plate-like portions 186a and 188a becomes. Tension increases. Specifically, a gap between the plate-like portions 186a and 188a is set so that the upper thread 122 cannot be pulled out during the specific period in FIG. 19, and the specific period is about 70 degrees (the top dead center on the balance according to FIG. 19). ) To about 180 degrees (bottom dead center of the needle bar), and the top dead center of the balance 22a is at a position of about 70 degrees. Therefore, the range of about 110 degrees across the position where the balance 22a becomes the top dead center. The gap between the plate-like portions 186a and 188a is adjusted so that the upper thread 122 cannot be pulled out when it is in the range of about 320 degrees to about 180 degrees.

  When the specific period is a part of the section from the top dead center of the balance to the bottom dead center of the needle bar, the upper thread 122 cannot be pulled out in the partial section between the plate-like portions 186a and 188a. Adjust the gap. That is, when the position of the lowest point of the needle bar in a part of the specific period in FIG. 19 is α degrees, the range between the angle of the position of the top dead center of the balance and α degrees is the position of the top dead center of the balance. The upper thread 122 cannot be pulled out over the front and rear sections as the center. For example, when α degree is set to 140 degrees, the dead center on the balance is set to 70 degrees, and the upper thread 122 cannot be pulled out in the range of 0 degrees to 140 degrees.

  In the present embodiment, since the balance 22a swings in the front-rear direction, by reducing the gap between the plate-like portions 186a and 188a toward the back side, the balance 22a is closer to the top dead center (back side). ), The upper thread 122 is sandwiched between the plate-like portions 186a and 188a so that it cannot be pulled out.

  The tension control unit 185 is provided for each needle bar, and the needle bar case 114 is provided with a plurality of tension control units 185 corresponding to the plurality of needle bars.

  Since the configuration and operation other than those described above are the same as those of the first embodiment, detailed description thereof is omitted. Note that, as in the first embodiment, the balance is subjected to torque control in a specific period, so that the tension on the upper thread can be controlled. In addition, for mechanical elements other than the balance such as a needle bar, the above normal control, that is, control based on the motor angle, motor speed and motor torque is performed, and for the balance, the above normal control is performed in a non-specific period, Since the torque control is performed during the specific period, the response can be prevented from being hindered even if the rotation speed or the rotation direction of the motor changes frequently.

  In the present embodiment, the upper thread tension applying mechanism section 180 can perform the same function as the upper thread tension applying mechanism section 130 in the first embodiment, and can apply tension to the upper thread 122 in a specific period with a simple configuration. Can be done.

  Unlike the first embodiment, the needle bar case 114 is not provided with the roller 170b.

  Next, an embroidery sewing machine according to the third embodiment will be described. The embroidery sewing machine 5-3 of the third embodiment has substantially the same configuration as the embroidery sewing machine 5-1 of the first embodiment, but has a different balance configuration and an upper thread tension applying mechanism 130 in the first embodiment. The difference is that is not provided.

  That is, the embroidery sewing machine 5-3 is configured as shown in FIGS. 25 to 28, and the embroidery heads 10-1 to 10-n, the shuttle 22d, the sewing frame (may be a holding frame or an embroidery frame) 22e. And a hook motor 32d, a frame drive motor 32e, an arithmetic device 50, and a storage device 60.

  Here, the configuration of the embroidery heads 10-1 to 10-n is substantially the same as that of the embroidery heads 10-1 to 10-n in the first embodiment. The apparatus 30, the case unit 110, and the wound thread 120 are included.

  The mechanical element group 20 includes a balance 200, a needle bar 22b, and a cloth presser 22c, and the configuration of the balance 200 is different from the balance 22a in the first embodiment.

  Here, as shown in FIGS. 26 to 29, the balance 200 has a substantially semicircular plate shape, and a groove portion with which the upper thread 122 abuts is provided around the balance.

  That is, the details of the balance 200 will be described with reference to FIG. 28 and FIG. 29. The balance 200 is a generally semicircular plate with a semicircular linear portion projecting in a small semicircular shape at the center. The main body 202 and the cylindrical part 220 are formed. That is, the portion other than the cylindrical tube portion 220 in the balance 200 becomes the main body portion 202, and the shape of the main body portion 202 is as viewed from the side (as viewed from the X1 side or the X2 side in FIG. Considering the state in which 200 is attached to the needle bar case 114, the side on which the plane is formed (X1 side, X2 side) is the side surface, and the side on which the cylindrical portion 200 is provided (Y1) is the front surface. In this case, a semicircular recess is formed at the center of the semicircular straight line portion.

  A groove portion 210 is formed around the main body portion 202. As shown in FIG. 29, the groove portion 210 is a groove portion having a substantially V-shaped cross section, and a groove portion (first passage) 210a formed in an arc shape along the arc-shaped outer periphery of the main body portion 202, and the main body portion. A groove portion (second passage) 210c formed linearly along the substantially straight outer periphery in 202, and a lower connection portion (Z1 side) of a pair of connection portions of the groove portion 210a and the groove portion 210c. The groove portion 210a and the groove portion 210c are both groove portions having a substantially right section, and the groove portion 210b is not shown in the figure, but is also a groove portion having a substantially right section. It has become.

  In addition, although the groove part 210a is formed in the cross-sectional substantially V shape from the edge part of the circumferential direction of the main-body part 202, in the groove part 210b and the groove part 210c, from the circumferential edge part of the main-body part 202 to the bottom part of a groove part. Is deeper than the groove portion 210a, the front side (circumferential end portion side) of the groove portion having a substantially V-shaped cross section is formed in a substantially quadrangular cross section, and plate-like portions 212 are formed on both side surfaces thereof. Is formed. As for the groove portion 210c, the groove portion 210c is closed by the tubular portion 220 at the location of the tubular portion 220. Therefore, as shown in FIG. Is in an open state.

  The cylindrical portion 220 is formed integrally with the main body portion 202 at the position of the concave portion on the front side of the main body portion 202, is formed in a substantially cylindrical shape, and has a substantially columnar through hole 222 formed inside. Yes. That is, the through-hole 222 has a cylindrical through-hole main body 222a and engagement grooves 222b and 222c having a substantially U-shaped vertical cross section formed at opposite positions on the inner peripheral surface of the through-hole main body 222a. It has the shape. In other words, the shaft portion (output shaft) 32a-1 of the balance motor 32a is inserted into the through hole 222. As shown in FIG. 27, a pair of protrusions 33a, 33b, one of the protrusions 33a, 33b is removably engaged with one of the engagement grooves 222b, 222c, and the other of the protrusions 33a, 33b is inserted into the other of the engagement grooves 222b, 222c. It is designed to be removably engaged. The length in the axial direction (X1-X2 direction) of the shaft portion 32a-1 of the protrusions 33a, 33b is formed to be equal to or less than the width of the one balance 200 in the same direction. As a result, the needle bar case 114 slides in the left-right direction, so that one balance 200 in which the protrusions 33a and 33b are fitted in the engagement grooves 222b and 222c rotates as the shaft portion 32a-1 rotates. It has become. The balance motor 32 a is provided on the arm 112 side and is not provided on the needle bar case 114. The balance 200 is configured not to move in the left-right direction by a regulating member (not shown) provided on the needle bar case 114. As this restricting member, a member that restricts movement in the left-right direction by contacting both sides of the balance 200 in the left-right direction can be considered.

  By forming the groove portion 210 as described above, the upper thread 122 is pulled out along the groove portion 210.

  Since the configuration of the machine element group 20 other than the balance 200 is the same as that of the first embodiment, detailed description thereof is omitted.

  In the embroidery heads 10-1 to 10-n, as shown in FIG. 26, a balance 200 is provided in the case 110 instead of the balance 22a of the first embodiment, and as shown in FIG. When the groove part 210c is in the vertical direction, the upper thread 122 drawn from the wound thread 120 hangs down along the groove part 210c. In particular, the upper thread 122 passes between the groove part 210c and the cylindrical part 220. Is provided. In the balance 200, as shown in FIG. 30 (a), the state in which the groove portion 210c is in the vertical direction is the bottom dead center, and the groove portion 210b is directed upward as shown in FIG. 30 (c). (The state rotated 150 to 170 degrees with respect to the bottom dead center) is the top dead center.

  Unlike the case of the first embodiment, the upper thread tension applying mechanism 130 is not provided above the balance 200. This is because the balance 200 can perform the same function as the upper thread tension applying mechanism 130.

  Further, the case portion 110 is provided with a roller portion for smoothly pulling out the upper thread 122 at various places, and a roller 170a is provided on the front side of the wound yarn 120 at the upper end of the arm 112, and a needle A roller 170b is provided above the balance 200 in the rod case 114, and the upper thread 122 from the roller 170a is guided vertically to the balance 200 by the roller 170b. A roller 170 c is provided between the balance 200 and the needle bar 22 b in the needle bar case 114. When the balance 200 is in the state shown in FIG. 30 (a), the rollers 170b and 170c are disposed so as to reach the needle bar 22b with the upper thread 122 suspended from above as it is, When the balance 200 is in the state shown in FIG. 30A, the upper thread 122 that hangs down from above is not bent by the roller 170b or the roller 170c.

  Further, since the configurations of the control device 30, the hook 22d, the sewing frame 22e, the hook motor 32d, the frame driving motor 32e, the arithmetic device 50, and the storage device 60 are the same as those in the first embodiment, they are described in detail. Description is omitted.

  Unlike the first embodiment, since the upper thread tension applying mechanism 130 is not provided, the control circuit 40 in the control device 30 does not have a function of controlling the operation of the upper thread tension applying mechanism 130.

  The operation of the embroidery sewing machine 5-3 of the third embodiment is substantially the same as that of the embroidery sewing machine 5-1 of the first embodiment, and the mechanical elements other than the balance 200 (needle bar, cloth presser, shuttle, etc.) 14 and FIG. 15, and the balance 200 is controlled according to steps S <b> 21 to S <b> 25 in the flowcharts of FIGS. 14 and 15 and the flowchart shown in FIG. 16. Moreover, the functional block diagram shown in FIG. 17 is applied to mechanical elements other than the balance 200, and the functional block diagram shown in FIG. 18 is applied to the balance 200.

  As in the case of the first embodiment, the balance 200 performs torque control during a specific period, and performs the normal control during a non-specific period. The specific period is the period from the top dead center of the balance 200 to the bottom dead center of the needle bar 22b, as in the case of the first embodiment, but the bottom dead center of the balance 200 to the bottom dead center of the needle bar 22b. It is good also considering a part of period in the area to a point as a specific period.

  As an example of the motion diagram of the balance, the needle bar, and the hook for a period of one stitch, and the amount of upper thread consumed in one stitch, the one shown in FIG. FIG. 20 schematically showing the operation during this period is also applied to the third embodiment.

  The specific operation of the balance 200 will be described with reference to FIGS. 30 and 31. When the shuttle 22d is substantially at the bottom dead center, the balance 200 is at the bottom dead center as shown in FIG. When the balance 200 is at the bottom dead center, the groove portion 210c is substantially parallel to the upper thread 122 suspended in the vertical direction. Then, the upper thread 122 hardly comes into contact with the groove part 210, and the upper thread 122 is not tensioned by the groove part 210. Therefore, when the hook 22d pulls the upper thread 122, the upper thread 122 can be pulled out without any trouble. It can be said that the state shown in FIG. 30A corresponds to the state shown in FIG. In the state of FIG. 30A, the normal control is performed because it is a non-specific period.

  Further, in a state where the upper thread 122 is removed from the hook 22d and the upper thread 122 is actively pulled up by the needle bar 22b and the balance 22a, the lower end of the balance 200 rotates to the front side as shown in FIG. As a result, the upper thread 122 is in contact with the outer peripheral surface of the cylindrical portion 220 and a part of the groove portion 210 (particularly, the groove portion 210b). FIG. 30B shows a state per 330 degrees in FIG. 19 and corresponds to FIG. 20B of the first embodiment.

  Further, when the needle bar 22b is lowered from the top dead center and the balance 22a is at the top dead center, the state shown in FIG. 30 (c) is obtained, and the upper thread 122 is connected to the outer peripheral surface of the cylindrical portion 220. It is in the state which contacted a part of groove part 210 (especially groove part 210b and groove part 210a). FIG. 30C shows a state per 70 degrees in FIG. 19 and corresponds to FIG. 20C of the first embodiment. Since the balance 200 is at the top dead center, a specific period starts from here and the control is switched to torque control. When the balance 200 is at the top dead center position, the upper thread 122 is in contact with the peripheral surface of the cylindrical portion 220 along the groove portion 210b and the groove portion 210a, so that the upper thread 122 is pulled up. It can function as a balance.

  Further, when the balance 200 is rotating toward the bottom dead center and the needle bar 22b is descending, the state shown in FIG. 31 (d) is obtained, and the upper thread 122 has an outer circumferential surface and a groove portion of the cylindrical portion 220. It is in the state which contacted a part of 210 (especially the groove part 210b and the groove part 210a). FIG. 31D shows a state per 110 degrees in FIG. 19 and corresponds to FIG. 20D of the first embodiment. In this case, since it is in a specific period, torque control is performed as described above.

  Further, in a state immediately before the sewing needle 22b-1 is inserted into the work cloth N and the needle bar 22b reaches the bottom dead center, the state shown in FIG. 220 is in contact with a part of the outer peripheral surface 220 and a part of the groove part 210 (in particular, the groove part 210b and the groove part 210a). FIG. 31 (e) shows the state per 170 degrees in FIG. 19, and corresponds to FIG. 20 (e) of the first embodiment. In this case, since it is in a specific period, torque control is performed as described above. Thereafter, when the needle bar 22b reaches the bottom dead center, the specific period ends, and the torque control is switched to the normal control.

  When the balance 200 is close to the bottom dead center, the state shown in FIG. 31 (f) is obtained, and the upper thread 122 is in contact with the outer peripheral surface of the cylindrical portion 220 and a part of the groove portion 210 (particularly, the groove portion 210b). It has become. FIG. 31F shows a state per 250 degrees in FIG.

  As described above, in the specific period, as shown in FIGS. 30 (c), 31 (d), and 31 (e), the length of the upper thread 122 that contacts the groove portion 210 of the balance 200 is long. The tension can be applied to the upper thread 122, the withdrawal of the upper thread 122 can be restricted, and the same function as the upper thread tension applying mechanism portion 130 can be achieved in the first embodiment.

  In this embodiment, as shown in FIGS. 20D to 20E, when the sewing needle 22b-1 is inserted into the work cloth N, the stitch W1 during the sewing operation and the stitch W2 immediately before the stitch W1 are stitched. The upper thread 122 and the lower thread 124 between the upper thread 122 and the lower thread 124 are tightened. At that time, the balance is subjected to torque control as a specific period, so that the tension on the upper thread can be controlled. Thus, for example, by increasing the torque applied to the balance during the specific period, the tension applied to the upper thread can be increased to make a hard finish embroidery, while By reducing the applied torque, the tension applied to the upper thread can be reduced to make the embroidery with a soft finish.

  In addition, in a specific period, the length of the upper thread 122 that contacts the groove portion 210 of the balance 200 becomes longer, tension can be applied to the upper thread 122, and the withdrawal of the upper thread 122 can be regulated, Since the same function as the upper thread tension applying mechanism portion 130 can be achieved in the first embodiment, the upper thread 122 is not unnecessarily drawn out when the needle bar 22b and the balance 200 are lowered, and the balance is torqued. Controlling the tension applied to the upper thread is not hindered.

  In the embroidery sewing machine according to the present embodiment, as described above, the mechanical elements other than the balance such as the needle bar are subjected to the normal control, that is, the control based on the motor angle, the motor speed, and the motor torque. For the balance, the above normal control is performed in the non-specific period, and the torque control is performed in the specific period. Therefore, the responsiveness should not be hindered even if the rotation speed of the motor or the rotation direction changes frequently. be able to.

  Instead of the balance 200, a balance 300 shown in FIGS. 32 to 34 may be used. The balance 300 has substantially the same configuration as the balance 200, but improves the frictional force on the upper thread by alternately arranging plate-like portions 310a and 310b in which the arc-shaped peripheral edge of the balance is bent. It has been made.

  That is, the balance 300 includes a main body 302 and a cylindrical portion 320. The main body 302 includes a base end 304, fan-shaped portions 306a and 306b, frame portions 308a and 308b, and a bent plate-shaped portion. 310a, 310b and a columnar portion 312 are provided.

  Here, the base end portion 304 has a shape having a concave portion for providing the cylindrical portion 320 in a part of a semicircular plate shape. Further, a V-shaped groove 304 a is formed on the front side (Y1 side) of the base end portion 304, and has a hole shape at the position of the cylindrical portion 320.

  The fan-shaped portion 306a is a plate-like member provided continuously above and below the end portion on the right side (X2 side) in front view of the base end portion 304, and the side portion on the front side (Y1 side) is the base end portion 304. It is on the extension line of the surface on the front side. The fan-shaped portion 306b is a plate-like member that is formed symmetrically with the fan-shaped portion 306a and is continuously provided above and below the end of the base end portion 304 on the left side (X1 side) when viewed from the front. The side portion is on an extension line of the front side surface of the base end portion 304.

  The frame portion 308a is an elongated plate-like member formed in an arc shape, and is provided between the pair of fan-shaped portions 306a. Similarly, the frame portion 308b is an elongated plate-like member formed in an arc shape, and is provided between the pair of fan-shaped portions 306b. As shown in FIG. 33, the frame portion 308a and the frame portion 308b are provided to be inclined so that the distance from each other increases as they go outward.

  Further, the bent plate-like portion 310 a is provided continuously from the end portion on the right side when viewed from the front at the arcuate periphery of the base end portion 304, and the flat plate portion 310 a-1 provided continuously from the base end portion 304 and the flat plate portion 310 a. -1 and a flat plate portion 310a-2 provided continuously from the end portion. The flat plate portion 310a-1 is inclined to the left side (X1 side) when viewed from the front, and the flat plate portion 310a-2 is inclined to the right side (X2 side) when viewed from the front. The end of the flat plate portion 310a-2 opposite to the flat plate portion 310a-1 is connected to the frame portion 308a. Further, the bent plate-like portion 310b is provided continuously from the left end portion of the arcuate periphery of the base end portion 304 when viewed from the front, and the flat plate portion 310b-1 provided continuously from the base end portion 304 and the flat plate portion 310b. -1 and a flat plate portion 310b-2 continuously provided from the end portion. The flat plate portion 310b-1 is inclined to the right side (X2 side) in front view, and the flat plate portion 310b-2 is inclined to the left side (X1 side) in front view. The end of the flat plate portion 310b-2 opposite to the flat plate portion 310b-1 is connected to the frame portion 308b. The bent plate portions 310 a and the bent plate portions 310 b are alternately arranged along the periphery of the base end portion 304.

  The boundary position between the flat plate portion 310a-1 and the flat plate portion 310a-2 in the bent plate portion 310a is closer to the X1 side than the boundary position between the flat plate portion 310b-1 and the flat plate portion 310b-2 in the bent plate portion 310b. As shown in FIG. 33, the flat plate portion 310a-2 and the flat plate portion 310b-2 cross each other. As a result, a groove portion M is formed by the flat plate portion 310a-2 and the flat plate portion 310b-2, and it is possible to apply a frictional force to the upper yarn by placing the upper yarn along the groove portion M.

  Further, the columnar portion 312 is provided between the fan-shaped portion 306a and the fan-shaped portion 306b provided on the lower side (Z1 side), and is used for causing the upper thread to be curved. The cylindrical portion 312 performs the same function as the arc-shaped groove portion 210b.

  Further, the cylindrical portion 320 is formed integrally with the base end portion 304 at the position of the concave portion on the front side of the base end portion 304, is formed in a substantially cylindrical shape, and a substantially columnar through hole 322 is formed inside. Has been. The configuration of the through-hole 322 is the same as that of the through-hole 222, and a cylindrical through-hole main body 322a and a substantially U-shaped vertical cross section formed at an opposite position on the inner peripheral surface of the through-hole main body 322a. And engaging grooves 322b and 322c.

  Since the operation and effect of the balance 300 having the above-described configuration are the same as the operation and effect of the balance 200, detailed description thereof is omitted. In the balance 300, the bent plate-like portions 310a and the bent plate-like portions 310b are alternately arranged, whereby the frictional force with the upper thread can be increased, and the bent plate-like portions 310a. , 310b can be increased when the upper thread is present in the region where 310b is formed.

5-1, 5-2, 5-3 Embroidery sewing machine 10-1 to 10-n Embroidery head 20 Machine element group 22a, 200, 300 Balance 22b Needle bar 22c Work clamp 22d Hook 22e Sewing frame 24 Balance arm section 26 Balance Tip portion 30 Control device 32a Balance motor 32b Needle bar motor 32c Fabric presser motor 32d Hook motor 32e Frame drive motor 40 Control circuit 42 CPU
44 PWM circuit 46 Current sensor 50 Computing device 60 Storage device 100 Frame 110 Case portion 112 Arm 114 Needle bar case 120 Winding yarn 122 Upper yarn 130, 1130, 180 Upper yarn tension applying mechanism 131, 1311, Upper yarn tension applying mechanism main body 132 , 182, 1132 Tension plate group 136, 184, 1136 Support portion 138 Spring portion 140, 1140 Drive shaft 142, 1422 Solenoid 181 Tension plate mechanism portion 185 Tension control portion 186, 188 Substantially L-shaped plate portion 186 a, 186 b, 188 a, 188b Plate-like part 200, 300 Balance 202 Body part 220 Cylindrical part

Claims (8)

An embroidery sewing machine,
A needle bar (22b) with a sewing needle, a presser foot (22c) that presses the work cloth when the sewing needle is inserted into the work cloth, and a threading part for inserting the upper thread that is passed through the sewing needle This is a balance that swings around the center of rotation.It swings between the bottom dead center that passes through the threading part and the top dead center opposite to the bottom dead center in the swing range with the upper thread hanging. A mechanical element group consisting of mechanical elements of the balance (22a) for pulling the upper thread so as to detour in the vertical direction at the position of the top dead center;
A needle bar drive unit that drives the needle bar, a needle bar drive unit that moves the needle bar up and down according to the rotational force of the needle bar motor (32b) and the needle bar motor;
A presser foot drive unit that drives the presser foot, and includes a presser foot drive motor (32c) and a presser foot drive mechanism (160) that moves the presser foot up and down according to the rotational force of the presser foot motor;
A forward / reverse rotatable balance motor (32a) for swinging the balance around the rotation center;
A needle bar motor angle detector (34b) for detecting the angle of the needle bar motor;
A presser foot motor angle detector (34c) for detecting the presser foot motor angle;
A balance motor angle detector (34a) for detecting the angle of the balance motor;
Needle bar angle correspondence data that defines the angle of the needle bar motor corresponding to the virtual spindle angle in the virtual spindle data that defines the virtual spindle angle for each virtual time, and the angle of the virtual spindle data Data corresponding to the angle of the presser foot corresponding to the angle, data corresponding to the angle of the presser foot corresponding to the angle of the balance motor corresponding to the angle of the virtual spindle data and torque data A storage unit (60) in which is stored,
A control unit that controls the operation of each machine element and performs the operation of the needle bar and the balance in the order of needle bar top dead center, scale top dead center, needle bar bottom dead center,
For machine elements other than the balance, it is an operation control process,
For each machine element, motor angle data corresponding to the angle of the virtual spindle for each time in the virtual spindle data created corresponding to the embroidery data which is the stitch width and stitch direction data for each stitch is read from the angle correspondence data. A reading process;
A speed data calculating step for calculating speed data by calculating a change amount per unit time of the angle data read in the reading step;
A torque data calculation step of calculating torque data by detecting a change amount per unit time of the speed data calculated in the speed data calculation step;
A position deviation calculating step of calculating a position deviation value from the angle data read in the reading step and the motor angle data detected by the angle detector;
A speed deviation calculating step of calculating a value of the speed deviation from the calculated position deviation value, the calculated speed data, and the amount of change per unit time of the motor angle detected by the angle detection unit;
A torque deviation calculating step of calculating a torque deviation value from the calculated speed deviation value, the calculated torque data, and a torque value based on a current value supplied to the motor;
Control is performed according to an operation control process consisting of a current supply process for supplying current to the motor according to the calculated torque deviation value,
For the balance, the period includes the period from the top dead center of the balance to the bottom dead center of the needle bar, or the period from the position where the balance is lowered in at least part of the period until the sewing needle is inserted into the work cloth In a specific period, instead of the above torque deviation calculation step, the torque deviation (second torque deviation) value is calculated from the torque data in the balance angle correspondence data and the torque value based on the current value supplied to the motor. A controller (40) that supplies current to the motor in accordance with the calculated value of the second torque deviation, and performs control according to the operation control step in a period other than the specific period;
An upper thread tension applying mechanism (130, 1130, 185) for stopping the upper thread drawing at a position upstream of the upper thread balance inserted into the balance during the specific period;
An embroidery sewing machine characterized by comprising: The upper thread tension applying mechanism section has an upper thread tension applying mechanism main body (131, 1131) having a pair of tension plates (132, 1132) and an upper thread tension applying device that presses one of the pair of tension plates against the other. Drive section (142, 1422), and the upper thread tension applying drive section presses one of the pair of tension plates to apply tension to the upper thread between the pair of tension plates to prevent the upper thread from being pulled out. The sewing machine for embroidery according to claim 1. An arm (112) constituting a housing of the embroidery head in the embroidery sewing machine, and a needle bar case (114) provided on the front side which is one side surface of the arm and slidable in the left-right direction with respect to the arm A plurality of needle bars are provided in the needle bar case, and the upper thread tension applying mechanism main body (131, 1311) is provided in the needle bar case corresponding to each needle bar in the plurality of needle bars, The thread tension applying drive section is provided on the arm, and the upper thread tension applying drive section in the upper thread tension applying mechanism main body (131, 1311) selected by sliding the needle bar case causes the upper thread between the pair of tension plates. The embroidery sewing machine according to claim 2, wherein tension is applied to the sewing machine. An arm (112) constituting a housing of the embroidery head in the embroidery sewing machine, and a needle bar case (114) provided on the front side which is one side surface of the arm and slidable in the left-right direction with respect to the arm A plurality of needle bars are provided in the needle bar case, and the presser foot, the needle bar drive unit and the presser foot drive unit are provided in the arm, and the balance is provided in the arm, An arm-shaped balance arm portion (24) connected to the motor shaft provided in the left-right direction, and a threader that is detachably formed at the tip of the balance arm portion with respect to the balance arm portion and through which the upper thread is inserted A balance tip portion (26) having a portion, the balance tip portion being arranged in the needle bar case corresponding to each needle bar in the plurality of needle bars, and being selected by sliding the needle bar case Connect the tip of the Embroidery sewing machine according to claim 1, but is configured, the balance motor, characterized in that the balance by rotating swings in the front-rear direction. The upper thread tension applying mechanism section is an upper thread tension applying mechanism main body having a pair of tension plates (132, 1132), and an upper thread tension provided in a needle bar case corresponding to each needle bar in a plurality of needle bars. An applying mechanism main body (131, 1311) and an upper thread tension applying drive unit (142, 1422) provided on the arm, which is an upper thread tension applying drive unit that presses one of the pair of tension plates against the other; In the upper thread tension applying mechanism main body (131, 1311) selected by sliding the needle bar case, tension is applied to the upper thread between the pair of tension plates by the upper thread tension applying drive unit. The embroidery sewing machine according to claim 4, wherein the upper thread is prevented from being pulled out. The upper thread tension applying mechanism has a pair of tension plates (132, 1132) and a shaft portion in the front-rear direction perpendicular to the left-right direction, and the pair of tension plates are rotatably supported on the shaft portion. And a spring portion for urging the first tension plate on the front side of the pair of tension plates from the front side to the back side of the embroidery sewing machine, and the end portion on the front side of the spring portion is the support portion And a drive shaft (140) provided on the back side of the second tension plate on the back side of the pair of tension plates. Correspondingly, an upper thread tension applying mechanism main body (131) provided in the needle bar case and an upper thread having a shaft portion provided at a position on the back side of the drive shaft (140) in the arm and projecting to the front side during driving. Tension applying drive (14 In the upper thread tension applying mechanism main body (131, 1311) selected by sliding the needle bar case, the second tension plate is moved by the drive shaft when the upper thread tension applying drive section is driven. 5. The embroidery sewing machine according to claim 4, wherein the sewing machine is pushed to the front side, and tension is applied to the upper thread between the pair of tension plates to prevent the upper thread from being pulled out. An arm (112) constituting a housing of the embroidery head in the embroidery sewing machine, and a needle bar case (114) provided on the front side which is one side surface of the arm and slidable in the left-right direction with respect to the arm A plurality of needle bars are provided in the needle bar case, and the presser foot, the needle bar drive unit and the presser foot drive unit are provided in the arm, and the balance is provided in the arm, An arm-shaped balance arm portion (24) connected to the motor shaft provided in the left-right direction, and a threader that is detachably formed at the tip of the balance arm portion with respect to the balance arm portion and through which the upper thread is inserted A balance tip portion (26) having a portion, the balance tip portion being arranged in the needle bar case corresponding to each needle bar in the plurality of needle bars, and being selected by sliding the needle bar case Connect the tip of the There is configured to swing in the direction balance the front and rear by the balance motor rotates,
The upper thread tension applying mechanism has a pair of plate-like portions (186a, 188a) provided substantially in the front-rear direction of the embroidery sewing machine, and the gap between the pair of plate-like portions is the front side of the embroidery sewing machine. In such a specific period, the balance is on the top dead center side and the upper thread is sandwiched between a pair of plate-like parts to prevent the upper thread from being pulled out. The sewing machine for embroidery according to claim 1. An embroidery sewing machine,
A needle bar (22b) having a sewing needle, a presser foot (22c) for pressing the work cloth when the sewing needle is inserted into the work cloth, and an upper thread passage through which the upper thread inserted through the sewing needle is aligned. An arc-shaped first passage, a linear second passage, an arc-shaped third passage formed between the first passage and the second passage and having a diameter smaller than the diameter of the arc of the first passage. A balance that has a cylindrical portion at the center of the arc formed by the first passage, and swings about the central axis of the cylindrical portion, with the third passage on the lower side. The second passage is oriented vertically along the upper thread as the bottom dead center of the balance, the balance rotates from the bottom dead center so that the second passage faces upward, and the third passage is closer to the center of rotation. When the balance reaches the top dead center, and the balance is at the top dead center, the upper thread is in contact with the peripheral surface of the cylindrical portion, along the third passage and the first passage ( And machine element group consisting of the mechanical elements of 00,300),
A needle bar drive unit that drives the needle bar, a needle bar drive unit that moves the needle bar up and down according to the rotational force of the needle bar motor (32b) and the needle bar motor;
A presser foot drive unit that drives the presser foot, and includes a presser foot drive motor (32c) and a presser foot drive mechanism (160) that moves the presser foot up and down according to the rotational force of the presser foot motor;
A forward / reverse rotatable balance motor (32a) for swinging the balance around the rotation center;
A needle bar motor angle detector (34b) for detecting the angle of the needle bar motor;
A presser foot motor angle detector (34c) for detecting the presser foot motor angle;
A balance motor angle detector (34a) for detecting the angle of the balance motor;
Needle bar angle correspondence data that defines the angle of the needle bar motor corresponding to the virtual spindle angle in the virtual spindle data that defines the virtual spindle angle for each virtual time, and the angle of the virtual spindle data Data corresponding to the angle of the presser foot corresponding to the angle, data corresponding to the angle of the presser foot corresponding to the angle of the balance motor corresponding to the angle of the virtual spindle data and torque data A storage unit (60) in which is stored,
A control unit that controls the operation of each machine element and performs the operation of the needle bar and the balance in the order of needle bar top dead center, scale top dead center, needle bar bottom dead center,
For machine elements other than the balance, it is an operation control process,
For each machine element, motor angle data corresponding to the angle of the virtual spindle for each time in the virtual spindle data created corresponding to the embroidery data which is the stitch width and stitch direction data for each stitch is read from the angle correspondence data. A reading process;
A speed data calculating step for calculating speed data by calculating a change amount per unit time of the angle data read in the reading step;
A torque data calculation step of calculating torque data by detecting a change amount per unit time of the speed data calculated in the speed data calculation step;
A position deviation calculating step of calculating a position deviation value from the angle data read in the reading step and the motor angle data detected by the angle detector;
A speed deviation calculating step of calculating a value of the speed deviation from the calculated position deviation value, the calculated speed data, and the amount of change per unit time of the motor angle detected by the angle detection unit;
A torque deviation calculating step of calculating a torque deviation value from the calculated speed deviation value, the calculated torque data, and a torque value based on a current value supplied to the motor;
Control is performed according to an operation control process consisting of a current supply process for supplying current to the motor according to the calculated torque deviation value,
For the balance, the period includes the period from the top dead center of the balance to the bottom dead center of the needle bar, or the period from the position where the balance is lowered in at least part of the period until the sewing needle is inserted into the work cloth. In a specific period, instead of the above torque deviation calculation step, the torque deviation (second torque deviation) value is calculated from the torque data in the balance angle correspondence data and the torque value based on the current value supplied to the motor. A controller (40) that supplies current to the motor in accordance with the calculated value of the second torque deviation, and performs control according to the operation control step in a period other than the specific period;
Have
During a specific period, the upper thread is in contact with the peripheral surface of the cylindrical portion of the balance, the third passage, and the first passage, thereby restricting the withdrawal of the upper thread at a position upstream of the upper thread balance inserted through the balance. A sewing machine for embroidery.

Images