JP7011415B2 - sewing machine - Google Patents

Description

The present invention relates to a sewing machine suitable for sewing along a three-dimensional curve.

For example, when sewing a sewn object along a curved line, it has been conventional practice for an operator to hold the sewn object with his left hand, slide his right hand, and rotate his left hand around the center. It is done.
In the case of this sewing, there is a problem that skilled skill is required to sew along the trajectory of the target curve, and only a worker having excellent skill can sew.

Conventionally, there has been a high demand for sewing machines that can sew along the trajectory of such a target curve without relying on skill, and in order to achieve this, the axis of rotation is slanted with respect to the horizontal direction. A sewing machine that feeds a sewn object by using a wheel arranged in an inclined state and a spherical feeder that rotates has been proposed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-029337

However, in the above-mentioned conventional sewing machine, when the sewn object has an uneven three-dimensional shape or the thickness of each part is different, the spherical feed body is brought into a contact state due to a change in the contact position with the sewn object. Changes may occur, making it impossible to perform a stable feed operation along the curved edge of the sewn object.

An object of the present invention is to provide a sewing machine capable of satisfactorily feeding along a side end portion of a sewn object even if the sewn object has a three-dimensional shape or a change in thickness.

The invention according to claim 1 is a sewing machine.
Next to the needle drop position, the first feed mechanism that feeds the sewing material by the wheels arranged with the rotation axis tilted diagonally with respect to the horizontal direction,
A second feed mechanism, which is arranged on the upstream side in the feed direction with respect to the first feed mechanism and in contact with a rotating spherical feed body from above to feed the sewing material.
In a sewing machine including a control device for controlling a drive source of the first feed mechanism and a drive source of the second feed mechanism.
A height detecting unit for detecting the height of the upper surface of the sewn object is provided.
The second feed mechanism has a drive source for raising and lowering the feed body.
The control device controls the drive source for raising and lowering so that the height of the feed body of the second feed mechanism follows the height of the upper surface of the sewing object detected by the height detection unit. It is characterized by.

Further, the invention according to claim 1 is
In the control device, the feed body moves up and down while the height of the feed body of the second feed mechanism follows the height of the upper surface of the sewn object detected by the height detection unit, and the sewn object is sewn. It is characterized in that the drive source for raising and lowering is controlled so as to periodically separate and land on the upper surface of the above.

The invention according to claim 2 is the sewing machine according to claim 1 .
The feeder of the second feed mechanism is characterized in that the spherical portion is made of a silicon resin.

The present invention makes it possible to satisfactorily feed the sewn object along the side end portion of the sewn object even if the sewn object has a three-dimensional shape or a change in thickness due to the above configuration.

1 (A) is a plan view showing a sewing machine of the sewing machine according to the present embodiment, and FIG. 1 (B) is a cross-sectional view taken along the line AA of FIG. 1 (A). It is a perspective view of the sewing machine which concerns on this embodiment. It is a perspective view of the sewing machine seen from the direction different from FIG. It is a front view around the needle drop position in a sewing machine. It is a top view around the needle drop position in a sewing machine. It is a perspective view of the second feed mechanism of a sewing machine. 7 (A) is a bottom view of the feeder of the second feed mechanism, and FIG. 7 (B) is a side view. 8 (A) is a bottom view of another example of the feeder, and FIG. 8 (B) is a side view. It is a perspective view of the height detection part of a sewing machine. It is a perspective view of the edge detection part of a sewing machine. It is explanatory drawing which looked at the state which the irradiation light was projected from the lower part by the light projecting part to the sewn object and the first and second sewn objects on a needle plate, as seen from above. It is a top view of the guide member. It is a left side view of a guide member. It is explanatory drawing which shows the relationship between the feed locus of the edge portion of the sewn object which is required at the time of cloth feed, and the needle drop position. It is explanatory drawing which shows the function of the inclined surface of the rear end part of the support plate of a guide member. It is a top view which shows the other example of a guide member. 17 (A) is a sectional view taken along the line UU of FIG. 12, FIG. 17 (B) is a sectional view taken along the line VV of FIG. 12, and FIG. 17 (C) is a sectional view taken along the line VV of FIG. A cross-sectional view taken along the line, FIG. 17 (D) is a cross-sectional view taken along the line SS of FIG. It is a perspective view around the fabric tensioning mechanism. 19 (A) is a front view seen from the rotation center line direction of the sliding contact body of the fabric tensioning mechanism, and FIG. 19 (B) is a side view. FIG. 20 (A) is a front view of another example of the sliding contact body of the fabric tensioning mechanism as viewed from the direction of the rotation center line, and FIG. 20 (B) is a side view. It is a block diagram which shows the control system of a sewing machine. 22 (A) and 22 (B) are explanatory views showing the relationship between the edge portion of the sewn object and the reference line indicating the target position within the light projection range. It is a flowchart of feed control of a sewn object. 24 (A) and 24 (B) are operation explanatory views of the height control (1) of the feeder. FIG. 25 (A) is a diagram showing the correspondence between the height detected by the distance sensor of the height detection unit during the height control (1) of the feeder and the height command of the elevating motor. 25 (B) shows the correspondence between the height detected on the upper surface of the sewn object by the distance sensor of the height detection unit at the time of execution of the height control (2) of the feeder and the height command of the elevating motor. It is a diagram which shows. It is explanatory drawing which shows the state of the height fluctuation of a sewn object. 27 (A) is an explanatory diagram showing the contact range of the feeder during the upward movement, and FIG. 27 (B) is an explanatory diagram showing the contact range of the feeder during the downward movement.

[Target for sewing]
Hereinafter, the sewing machine 10 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 27.
1 (A) is a plan view showing the sewing machine H of the sewing machine 10, and FIG. 1 (B) is a cross-sectional view taken along the line AA of FIG. 1 (A).
The sewn product H is a cup material for a so-called brassiere, which is women's underwear. .. Note that FIG. 1A illustrates a state in which the front surface of the sewn object H faces the back side of the paper surface and the back surface of the sewn object H faces the front side of the paper surface.

As shown in the figure, the edge portion H1 of the sewn object H is formed in a curved shape, and the first sewn object J, which is a surface material, is sewn on the entire surface of the sewn object H to be sewn. A belt-shaped second sewn object K is sewn on the back surface of the object H along the edge portion H1.
The second sewn object K is a so-called stabilizer, and is a member that suppresses expansion and contraction of the end edge portion H1 of the sewn object H.

As shown in FIG. 1 (B), both the first sewn object J and the second sewn object K extend outward from the end edge portion H1 of the sewn object H.
Then, in the present embodiment, the sewing machine 10 maintains a constant distance d outward from the edge portion H1 along the edge portion H1 of the sewn object H, and the first sewn object J and the second sewn object. The case where K is sewn is illustrated.

[Overall configuration of sewing machine]
FIG. 2 is a perspective view showing a part of the sewing machine 10 omitted, and FIG. 3 is a perspective view seen from another direction.

The sewing machine 10 captures the needle rod 12 that holds the sewing needle 11 at the lower end, the needle rod vertical movement mechanism (not shown) that moves the needle rod 12 up and down, and the needle thread that has been passed through the sewing needle 11. A kettle mechanism (not shown) that entangles the bobbin thread, and a main feed mechanism (not shown) that feeds the sewn object along a predetermined straight direction by infesting the feed dog from the opening of the needle plate 13. The first feed mechanism 30 and the first feed mechanism 30 feed the sewing material by the wheels 31 arranged in an obliquely inclined state adjacent to the needle hole which is the needle drop position of the needle plate 13. A second feed mechanism 50, which is arranged on the upstream side of the feed direction and rotates a feed body 51 which is in contact with the sewn object on a spherical surface to feed the sewn object, and a direction orthogonal to the feed direction of the sewn object H. With respect to (Y-axis direction), an edge detection unit 17 that detects the position of the edge portion of the sewn object H at the needle drop position, and a guide member 80 that guides the sewn object H along the edge portion H1. , The fabric tensioning mechanism 70 that applies tension to the edge portion of the first sewn object J extending outward from the edge portion H1 of the sewn object H, the sewing machine frame 20 that mounts each of the above configurations, and each of the above. It is provided with a control device 90 for controlling the configuration.

The sewing machine frame 20 extends in parallel with the sewing machine bed portion 21 located at the lower part, the standing body portion (not shown) raised from the sewing machine bed portion 21, and the upper end portion of the standing body portion in parallel with the sewing machine bed portion 21. It is provided with a sewing machine arm portion 23.
The needle plate 13 described above is mounted on the upper surface of the sewing machine bed portion 21 on the one end side.
Hereinafter, the longitudinal direction of the sewing machine bed portion 21 and the sewing machine arm portion 23 in the horizontal direction is the Y-axis direction, and the horizontal direction orthogonal to the Y-axis direction is the X-axis direction, the X-axis direction, and the Y-axis direction. The vertical vertical direction orthogonal to is the Z-axis direction. The X-axis direction is parallel to the feed direction of the sewn object by the main feed mechanism. The downstream side of the feed direction is "front", the upstream side is "rear", and the left hand side is facing "front". Is "left" and the right hand side is "right".

The needle bar vertical movement mechanism includes a sewing machine motor 14, an upper shaft rotated by the sewing machine motor 14, and a crank mechanism that converts the rotational force of the upper shaft into a vertical movement driving force and applies it to the needle bar. Since it is the configuration of, detailed explanation is omitted.

The hook mechanism has a well-known configuration including a so-called full-rotation vertical hook, a hook shaft that supports the vertical hook, and a gear mechanism that transmits the rotation of the upper shaft to the hook shaft at double speed via a transmission mechanism. The explanation is omitted.

The main feed mechanism includes feed dogs that appear and disappear from the opening of the needle plate 13 and move forward when protruding from the opening to feed the sewing material to the front side, and vertical feed that swings in conjunction with the upper shaft. A feed that holds a shaft, a horizontal feed shaft that swings in conjunction with the upper shaft, and a reciprocating motion in the X-axis direction and a reciprocating motion in the Z-axis direction from the horizontal feed shaft and the vertical feed shaft. It is a well-known configuration equipped with a stand.
The reciprocating motion up and down and the reciprocating motion along the X-axis direction are transmitted to the feed table, and these are combined to form an oval motion along the XZ plane, and the feed dog is moved upward from the opening of the needle plate 13. When it protrudes, it also moves in the X-axis direction to feed the sewn object.
The feed direction of the sewn object by the feed dog of this main feed mechanism is a straight direction parallel to the X-axis direction.

A needle hole (not shown) is formed in the central portion of the plurality of openings where the feed dogs appear and disappear, and the sewing needle 11 drops the needle into the needle hole.
A cloth retainer 15 that presses the sewn object from above is arranged above the needle hole. The cloth retainer 15 is supported by the lower end portion of the cloth retainer rod 16 (see FIG. 4).
The cloth holding rod 16 is supported so as to be vertically movable inside the sewing machine arm portion 23, and is pressed downward by a spring. Therefore, the cloth retainer 15 can press the sewn object by this spring pressure.
Further, the sewing machine arm portion 23 is equipped with a holding lever (not shown), and the cloth holding 15 and the cloth holding rod 16 can be pulled upward against the spring by the rotation operation of the holding lever. There is.

[First feed mechanism]
As shown in FIG. 3, the first feed mechanism 30 can rotate the wheel 31 arranged in an obliquely inclined state adjacent to the needle hole of the needle plate 13 at the needle drop position T, and the wheel 31. A support arm 32 that supports the wheel 31, a first feed motor 33 that is a rotational drive source for the wheels 31, a main pulley 34 mounted on the output shaft of the first feed motor 33, and a sewing machine arm behind the main pulley 34. An intermediate pulley 35 rotatably supported by the portion 23, a driven pulley 36 rotatably mounted on the support arm 32 below the intermediate pulley 35, a bevel gear 37 coaxially connected to the driven pulley 36, and wheels. A bevel gear 38 coaxially connected to 31, a timing belt 39 hung on the main pulley 34 and the intermediate pulley 35, and a timing belt 351 hung on the intermediate pulley 35 and the driven pulley 36 (FIGS. 4 and 4). See FIG. 5, and shown in FIG. 3).

FIG. 4 is a front view of the configuration around the needle drop position T as viewed from the front, and FIG. 5 is a plan view of the periphery of the needle drop position T as viewed from above.
As shown in FIGS. 4 and 5, the wheel 31 has a rotation center line C parallel to the YZ plane and inclined downward to the left with respect to the Y-axis direction. Further, the rotation center line C of the wheel 31 is arranged to intersect the center line of the sewing needle 11.
The wheel 31 is made of a material having an elastic outer circumference, and is pressed against the sewn object on the needle plate 13 while causing some elastic deformation. Therefore, the contact area of the wheel 31 with respect to the sewn object has an arc shape that is convex toward the right side (needle drop position T side). Further, the radius of curvature of the arc in this contact region becomes smaller as the inclination angle with respect to the Y-axis direction becomes larger.

Then, the wheel 31 is applied with a rotational force in the clockwise direction when viewed from the left. Therefore, the first feed mechanism 30 acts to feed the sewn object in the direction of bending to the left while facing forward from the needle drop position T.
As described above, the main feed mechanism feeds the sewn object straight forward by the feed dog. Therefore, if the feed speed of the first feed mechanism 30 is lowered to lower the transport capacity of the sewn object, the influence of the main feed mechanism becomes relatively large, and the feed is performed in a direction close to the straight direction, and the first feed is performed. When the feed rate of the mechanism 30 is increased to increase the transport capacity of the sewn object, the influence of the main feed mechanism becomes relatively small, and the influence of the first feed mechanism 30 becomes large, which is close to the bending direction to the left. The feed is done.
The rotation speed of the wheel 31 is set in consideration of the balance with the main feed mechanism.

Further, the first feed motor 33 is supported by the sewing machine arm portion 23 so that the output shaft is parallel to the Y-axis direction, and the main pulley 34, the intermediate pulley 35 and the driven pulley 36 are also centered parallel to the Y-axis direction. It is rotatably supported around the line.
On the other hand, although the rotation center line C of the wheel 31 is inclined, the bevel gear 38 interlocked and rotatably connected to the wheel 31 and the bevel gear 37 interlocked and rotatably connected to the driven pulley 36 are both tooth tips. Is inclined with respect to the center of rotation, and by engaging these, a rotational force can be satisfactorily applied to the inclined wheel 31.

[Second feed mechanism]
As shown in FIG. 5, the second feed mechanism 50 abuts on the sewn object H from above at a position on the upstream side (rear side) of the needle drop position T in the feed direction and slightly to the left. The sewing material H is fed.
FIG. 6 is a perspective view showing a partial configuration of the second feed mechanism 50.
As shown in FIGS. 2, 3 or 6, the second feed mechanism 50 includes a feed body 51 that abuts on the sewing material on the needle plate 13 from above, and a support shaft 52 that supports the feed body 51. , The spline nut 54 through which the support shaft 52 is inserted, the support frame 55 that rotatably supports the spline nut 54, the second feed motor 53 that is the rotational drive source of the feeder 51, the transmission mechanism 56, and the transmission mechanism. A main pulley 57 that rotates via 56, a driven pulley 58 that is fixedly mounted on the upper end of a spline nut 54, a timing belt 59 that is hung between the main pulley 57 and the driven pulley 58, and a feed body 51. The elevating motor 60, which is the drive source for the elevating operation, the support block 61 that rotatably and vertically supports the support shaft 52, and the support shaft 52 are rotatably connected at the upper end of the support shaft 52. It includes a connecting body 62, a guide shaft 63 for guiding the vertical movement of the connecting body 62, a rack member 64 mounted on the connecting body 62, and a pinion gear 65 that meshes with the rack member 64.

The feed body 51 is a rotating body having a spherical contact surface 511 with a sewn object which is convex downward at the bottom thereof, and a support shaft 52 is connected to the center of rotation in a fixed state. Further, the center line of the support shaft 52 is fixed to the feeder 51 so as to pass through the center of the spherical contact surface 511.

7 (A) is a bottom view of the feeder 51, and FIG. 7 (B) is a side view.
In the feeder 51, at least a portion constituting the contact surface 511 is formed of an elastic material, for example, a silicon resin. As shown in the figure, the contact surface 511 of the feeder 51 has a plurality of convex portions 512 along the radial direction at uniform intervals in the circumferential direction.
The feed body 51 rotates around the support shaft 52 in a state where the contact surface 511 is in contact with the sewn object H from above, so that the feed body 51 is on the upstream side in the feed direction from the needle drop position T in the sewn object H. The (rear side) portion is swung left and right to enable the sewn object H to be fed while maintaining a constant distance along the curved edge portion H1.

Therefore, as shown in FIG. 7A, the following effects can be obtained by forming the plurality of convex portions 512 on the contact surface 511 of the feeder 51. For example, when the contact surface 511 of the feed body 51 has no convex portion 512 and is composed only of a spherical surface, the contact area with respect to the sewn object H becomes wider, so that the contact resistance increases and the sewn object H is upstream in the feed direction. The effect of shaking the part from side to side is reduced.
On the other hand, when the ridge portion 512 is formed on the contact surface 511 of the feed body 51 of the feed body 51, the ridge portion 512 comes into contact with the sewn object H exclusively, so that the contact area is reduced. It is possible to satisfactorily swing the portion of the sewn object H on the upstream side in the feed direction from side to side.

Further, as shown in the bottom view of FIG. 8A and the side view of FIG. 8B, the feeder 51 may form a plurality of circular recesses 513 on the contact surface 511 of the feeder 51. Also in this case, the contact area with respect to the sewn object H is reduced, and the portion of the sewn object H on the upstream side in the feed direction can be satisfactorily swung left and right.

The lower end of the support shaft 52 is fixedly connected to the upper surface of the feeder 51. The lower portion of the support shaft 52 and the portion above the feeder 51 is inserted and supported by the cylindrical spline nut 54, and the upper portion of the support shaft 52 is supported by the support block 61.
Both the support shaft 52 and the spline nut 54 are supported by the support frame 55 in a state along the Z-axis direction.
A spline structure (not shown) is formed between the outer peripheral surface of the support shaft 52 and the inner peripheral surface of the spline nut 54, and the support shaft 52 can slide along the Z-axis direction with respect to the spline nut 54. There is. Further, due to this spline structure, the support shaft 52 and the spline nut 54 perform interlocking rotation around the Z axis.

The support frame 55 rotatably supports the upper end and the lower end of the spline nut 54 around the Z axis by bearings (not shown), and the support frame 55 itself is fixedly mounted on the sewing machine arm portion 23.
Therefore, the spline nut 54 and the support frame 55 allow the support shaft 52 and the feeder 51 to move up and down along the Z-axis direction and rotate around the Z-axis with respect to the sewing machine arm portion 23.

A driven pulley 58 is fixedly mounted on the upper end of the spline nut 54 concentrically with the spline nut 54. Torque is input to the driven pulley 58 from the second feed motor 53 via the main pulley 57, the transmission mechanism 56, and the timing belt 59, whereby the feed body 51 and the support shaft 52 are connected to the Z-axis together with the spline nut 54. It can be driven to rotate around.

The second feed motor 53 is mounted on the front side of the sewing machine arm portion 23 with its output shaft parallel to the Y-axis direction and its tip end facing to the left.
The transmission mechanism 56 converts the output torque of the second feed motor 53 from around the Y axis to around the Z axis. That is, the transmission mechanism 56 includes an input shaft connected to the output shaft of the second feed motor 53 and parallel to the Y-axis direction, and an output shaft connected to the main pulley 57 and parallel to the Z-axis direction. .. A bevel gear, a crown gear, a screw gear, a worm gear, or the like is provided between the input shaft and the output shaft to transmit torque between two orthogonal shafts.
As a result, the main pulley 57 provided on the output shaft of the transmission mechanism 56 rotates around the Z axis, and the torque around the Z axis is transmitted to the driven pulley 58 via the timing belt 59.

The support block 61 that supports the upper part of the support shaft 52 is fixedly mounted on the upper part of the left surface of the sewing machine arm portion 23. The support block 61 supports the support shaft 52 via a slide bearing (not shown), and the support shaft 52 can move up and down and rotate with respect to the support block 61.
The support shaft 52 extends above the upper surface of the support block 61, and a connecting body 62 is provided at the upper end thereof. A rolling bearing (not shown) is interposed between the connecting body 62 and the supporting shaft 52, and the supporting shaft 52 can rotate with respect to the connecting body 62. However, the support shaft 52 and the connecting body 62 are connected so as to perform an ascending / descending operation in conjunction with each other in the vertical direction.

The upper end portion of the guide shaft 63 in a state of being attached to the support shaft 52 is fixed to the connecting body 62. The guide shaft 63 is also supported by the support block 61 so as to be able to move up and down in a state parallel to the Z-axis direction. The guide shafts 63 are arranged behind the support shaft 52, and move up and down together when the support shaft 52 and the connecting body 62 move up and down, and when the support shaft 52 is rotated by the second feed motor 53, the guide shafts 63 move up and down. The coupling body 62 functions as a detent so as not to rotate together with the support shaft 52.

The rack member 64 has a round bar shape parallel to the Z-axis direction, and its upper end is fixed to the connecting body 62 in a state of being attached to the front side of the support shaft 52. Rack teeth arranged in the vertical direction are formed on the outer peripheral surface of the rack member 64.
The elevating motor 60 is supported on the left side of the sewing machine arm portion 23 in a state where the output shaft is parallel to the Y-axis direction and the tip portion thereof faces to the right.
The output shaft of the elevating motor 60 is equipped with a pinion gear 65, and the pinion gear 65 meshes with the rack teeth of the rack member 64.
As a result, when the elevating motor 60 is driven, the support shaft 52 can be elevated via the pinion gear 65 and the rack member 64.
As described above, the support shaft 52 is input to rotate around the Z axis via the spline nut 54, so that the support shaft 52 and the feeder 51 move up and down along the Z axis direction and rotate around the Z axis. Can be performed in parallel with the rotation operation of.

[Height detector]
FIG. 9 is a perspective view of the height detection unit 40.
As shown in the figure, the height detection unit 40 includes a detection member 41 that abuts on the upper surface of the sewn object H (or the second sewn object K) and a support member 42 that rotatably supports one end of the detection member 41. The elevating body 43 that moves up and down according to the rotation of the detection member 41, the connecting link 44 that connects the detection member 41 and the elevating body 43, and the elevating body 43 are supported so as to be able to move up and down along the Z-axis direction. Step screw 49, a guide shaft 45 that penetrates the elevating body 43 along the Z-axis direction, a pressing spring 46 as an elastic body that presses the elevating body 43 downward, and a distance for detecting the height of the elevating body 43. It includes a sensor 47 and a support plate 48 fixed to the sewing machine arm portion 23 and supporting the entire height detecting portion 40.

The base end portion of the detection member 41 is rotatably supported around the Y axis by the support member 42, and the support member 42 is fixedly mounted on the support plate 48. Then, the rotating end portion of the detection member 41 extends downward, and the tip portion thereof abuts on the upper surface of the sewn object H (or the second sewn object K) from above. The contact position (detection position) of the tip of the detection member 41 is near the rear (upstream side in the feed direction) of the feed body 51 of the second feed mechanism 50.

The elevating body 43 is long along the Z-axis direction, and an elongated hole 431 along the Z-axis direction is formed. The elevating body 43 is movably supported by the two step screws 49 inserted into the elongated holes 431 with respect to the support plate 48 in the Z-axis direction.
Further, the upper end of the connecting link 44 is rotatably connected to the upper part of the elevating body 43 around the Y axis, and the detected plate 432 for the distance sensor 47 is provided in the lower part. The detected plate 432 has a smooth surface along the XY plane.
Further, a through hole through which the guide shaft 45 penetrates is formed in the left portion of the elevating body 43.

As described above, the connecting link 44 has its upper end rotatably connected to the elevating body 43 around the Y axis, and its lower end rotatably around the Y axis near the rotating end of the detection member 41. It is connected. The connecting link 44 is oriented in a direction substantially along the Z-axis direction.
As a result, when the tip end portion of the detection member 41 on the rotating end side moves up and down according to the thickness of the sewn object H, the elevating body 43 has substantially the same amount of elevating operation amount of the detection member 41 via the connecting link 44. The ascending / descending motion is performed according to the amount of motion.

The guide shaft 45 is fixedly supported by the support plate 48 along the Z-axis direction while being inserted into the through hole of the elevating body 43. The guide shaft 45 is also inserted into a pressing spring 46, which is a coil spring. The pressing spring 46 is arranged in a compressed state on the upper side of the elevating body 43. Therefore, the lower end of the pressing spring 46 is in close contact with the elevating body 43 and presses the elevating body 43 downward.

The distance sensor 47 is an optical distance detection means that irradiates the detection light and detects the distance from the reflected light, and irradiates the detection plate 432 of the elevating body 43 with the detection light from above along the Z-axis direction. It is supported by the support plate 48 so as to do so.
That is, the distance to the detected plate 432 when there is no sewn object H on the needle plate 13 is set as the origin, and the sewn object H (first and second sewn objects J) is obtained from the difference in the detected distance with respect to the distance to the origin. , K) can be detected.

[Edge detection unit]
FIG. 10 is a perspective view of the edge detection unit 17.
As shown in FIG. 10, the edge detection unit 17 is a camera that captures an image of the sewn object H (including the first and second sewn objects J and K) on the needle plate 13. The edge detection unit 17 includes a two-dimensional image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and can acquire two-dimensional captured image data.
The edge detection unit 17 is fixedly supported by the support plate 48 by the support member 171 in a state where the line of sight is inclined slightly forward and diagonally downward with respect to the vertical downward direction, and is sewn from above with respect to the needle plate 13. The object H is imaged.
The center position of the imaging range of the edge detection unit 17 is on the upstream side (rear side) in the feed direction with respect to the needle drop position T.

Further, at the imaging position of the edge detection unit 17 on the needle plate 13, a light projecting unit 172 that irradiates the irradiation light upward from the needle plate 13 side is provided. The light projecting portion 172 is a light source (not shown) arranged below the rectangular floodlight window portion 131 formed on the needle plate 13, and is provided so as not to protrude from the upper surface of the needle plate 13. It consists of a diffuser.
The light source of the light projecting unit 172 emits light with sufficient light intensity to pass through most of the fibrous fabrics, and the irradiation light passing through the diffuser plate becomes diffused light and is projected upward from the light projecting window unit 131. The light source.

FIG. 11 is an explanatory view of a state in which irradiation light is projected from below by the light projecting unit 172 with respect to the sewn object H and the first and second sewn objects J and K on the needle plate 13 as viewed from above. be.
In FIG. 11, the range shown by the alternate long and short dash line indicates the light projecting range L of the irradiation light by the light projecting unit 172. This light projection range L is included in the imaging range of the edge detection unit 17. Further, as shown in FIG. 11, the light projection range L is a range including a portion scheduled to pass through the needle drop position T in the Y-axis direction, and is upstream in the transport direction from the needle drop position T in the X-axis direction (in the X-axis direction). It is located at the rear) position.

When the irradiation light is not projected, the edge portion H1 of the sewn object H is hidden behind the second sewn object K and cannot be visually recognized. However, since the irradiation light passes through the first and second stitches J and K within the projection range of the irradiation light by the projection unit 172, the sewn object H is transmitted in the projection range of the irradiation light by the projection unit 172. The edge portion H1 of the light appears as a shadow and can be visually recognized.
Therefore, by imaging the end edge portion H1 of the sewn object H to which the irradiation light is projected by the light projecting unit 172 by the edge detection unit 17, another sewn object or the like (here, the second sewn object K). It is possible to accurately detect the position of the edge portion H1 of the sewn object H shielded by the light in the Y-axis direction.

[Guide member]
The sewing machine 10 includes a guide member 80 that guides the right end edge portion H1 of the curved shape of the sewn object H on the needle plate 13 along the curved shape.
12 is a plan view of the guide member 80, and FIG. 13 is a left side view.
As shown in the figure, the guide member 80 is integrally mounted on the rear end portion of the cloth retainer 15. The guide member 80 is not shown except in FIGS. 5, 12, and 13.

The guide member 80 is arranged along the curve of the edge portion H1 of the sewn object H, and includes the first and second guide bodies 81 and 82 as concave openings opened on the sewn object H side. A support plate 83 for fixing and supporting these guide bodies 81 and 82 is provided.

The support plate 83 has a long plate shape, and is fixedly supported in a state in which the longitudinal direction thereof is substantially along the X-axis direction and in a state of extending rearward from the rear end portion of the cloth retainer 15.
The support plate 83 stands upright so that its plate surface is along the Z-axis direction, and its plan view shape is rearward so as to follow a curve along the right edge portion H1 of the sewn object H. It curves to the left toward.
As shown in FIG. 14, at the time of sewing, the sewn object H has a straight line L1 parallel to the X-axis direction separated from the needle drop position T by a distance d on the left side as a tangent line (reference line) from the needle drop position T. It is also required that the feed is performed so that the point P1 separated by a distance d on the left side becomes the contact point between the straight line L1 and the edge portion H1. The distance d is the target distance of the edge portion H1 with respect to the needle drop position T.
FIG. 12 shows the end edge portion H1 of the sewn product H sent according to the above requirements by a two-dot chain line. As shown in FIG. 12, the left side surface of the support plate 83 is curved so that the entire length of the support plate 83 is close to the end edge portion H1 of the sewn object H in a plan view, except for the rear end portion. ..

The first and second guide bodies 81 and 82 are fixedly supported on the left side surface of the support plate 83. Each of these guide bodies 81 and 82 has a concave cross section when viewed from the X-axis direction, and the opening is directed to the left side (feeder 51 side), and the sewn object H is inward from the opening. The sewn object H is guided in the state of being inserted.

Further, the second guide body 82 is fixedly supported on the left side surface of the support plate 83 on the upstream side in the feed direction from the needle drop position T, and the first guide body 81 is further in the feed direction than the second guide body 82. It is fixedly supported near the rear end of the left side surface of the support plate 83 on the upstream side.
As described above, the left side surface of the support plate 83 is arranged close to the feed locus of the end edge portion H1 of the sewn object H required for cloth feed, and is arranged with the first guide body 81 and the second guide body 81. The guide body 82 and the guide body 82 are arranged in front of and behind the left side surface of the support plate 83.
Therefore, by guiding the first and second guide bodies 81 and 82 from the left opening side to the deepest part on the right side or to the vicinity of the deepest part with the end edge portion H1 of the sewn object H inserted. The edge portion H1 of the sewn object H can be guided along the required appropriate feed locus. Further, the edge portion H1 of the sewn object H can be guided so as not to be displaced in the vertical direction.

Further, as shown in FIG. 1 (A), the first sewn object J is sewn in advance on the surface of the sewn object H (which becomes the lower side at the time of sewing), and the first sewn object J is sewn at both ends of the edge portion H1. A flip-up portion J1 is formed in which the end portion of the one-sewn object J is flipped upward.
Then, the flip-up portion J1 of the end portion on the upstream side in the feed direction of the end edge portion H1 may be caught when passing under the rear end portion of the support plate 83 at the time of sewing.
Therefore, as shown in FIG. 15, at the rear end portion of the support plate 83, an inclined surface 831 is formed in which the left side surface thereof is gradually deformed to face downward and is inclined in an upward direction toward the rear. ing. As a result, the flip-up portion J1 at the end upstream of the feed direction of the end edge H1 is laid flat according to the inclined surface 831 and is smoothly guided to the lower side of the rear end of the support plate 83 to be caught. Occurrence can be effectively reduced.

The guide member 80 is not limited to the configuration having the two guide bodies 81 and 82, and more guide bodies can be provided along the feed locus of the end edge portion H1 of the sewn object H required for cloth feeding. It may be configured to have.
Alternatively, as shown in FIG. 16, the support plate 83 supports one guide body 81A having a sufficient length along the curve of the feed locus of the end edge portion H1 of the sewn object H required for cloth feeding. The guide member 80A provided in the above may be used. With this configuration, it is possible to effectively guide the sewn object H and to reduce the number of parts.

[Air nozzle around the guide member]
As described above, the sewing machine 10 can sew the ends extending to the right of the lower first sewing machine J and the upper second sewing machine K to be sewn to each other. In this stitching, the end portion of the second sewn object K is the guide body of the guide member 80 described above together with the right end edge portion H1 of the sewn object H (particularly, the second guide closest to the needle drop position T). If it gets inside the body 82), the end of the second sewn K cannot be extended to the right at the needle drop position T, and the end of the second sewn K and the second sewn K cannot be extended to the right. It becomes impossible to sew well with the one-sewn kimono J.
Therefore, as shown in FIG. 12, when the sewn object H is guided by the guide member 80, the end portion of the first sewn object J and the end portion of the second sewn object K are connected to the second guide body. First to third air nozzles 84, 85, 86 that appropriately guide the inside of the 82 so as not to enter the inside of the 82 are arranged around the guide member 80. These first to third air nozzles 84, 85, 86 are arranged in order from the upstream side (rear side) in the feeding direction.
These first to third air nozzles 84, 85, 86 are connected to a fan or compressed air source (not shown), and the first to third air nozzles 84, 85, 86 are controlled by the control device 90. Air blowing starts at the same time, and air blowing ends at the same time.
The first to third air nozzles 84, 85, 86 may be configured so that air blowing can be executed and stopped individually.

As shown in FIG. 12, the first air nozzle 84 is on the upstream side (rear side) in the feed direction from the second guide body 82, and is outside (right side) from the curved end edge portion H1 of the sewn object H. The end edge portion of the second sewn object K extending to the above is sprayed on the feed body 51 side (left side) of the second feed mechanism 50.
The first air nozzle 84 is arranged substantially horizontally and substantially to the left on the right side of the support plate 83, and through the through hole 832 formed in the support plate 83, the sewn object H on the left side of the support plate 83 and The second sewing material K is sprayed.

That is, as shown in FIG. 17A, which is a cross-sectional view taken along the line UU of FIG. 12, when air is blown horizontally to the left, the second stitch located on the workpiece H is sewn. The extended end edge of the kimono K is rolled up to the upper left, and the end edge of the second sewn K is inside the recess of the second guide body 82 located on the downstream side in the feeding direction. It is possible to prevent the part from being involved.

The second air nozzle 85 is on the upstream side in the feed direction from the needle drop position T, and on the downstream side (front side) in the feed direction of the first air nozzle 84, the second feed mechanism 50 is provided by the first air nozzle 84. The end edge portion of the second stitched object K sprayed on the feed body 51 side of the second feed mechanism 50 is sprayed on the opposite side (right side) of the feed body 51 of the second feed mechanism 50.

That is, as shown in FIG. 17B, which is a cross-sectional view taken along the line VV of FIG. 12, the second air nozzle 85 refers to the second sewn object K that has reached the second guide body 82. Then, air is blown from the diagonally upper left rear to the diagonally lower right front, and the end edge of the second sewn K, which is rolled up to the upper left by the air of the first air nozzle 84, is extended to the right. Push it back to the state it was put out.
As a result, the end edge portion of the second sewn object K is placed on the second guide body 82, and only the end edge portion H1 of the sewn object H is inserted into the second guide body 82. Can be in a state of being.

The third air nozzle 86 is on the upstream side in the feed direction from the needle drop position T and on the downstream side in the feed direction of the second air nozzle 85. Spraying is performed on the needle plate 13 side with respect to the end edge portion of the second stitched object K sprayed on the opposite side (right side) of 51.

That is, as shown in FIG. 17 (C), which is a cross-sectional view taken along the WW line of FIG. 12, the third air nozzle 86 is a second guide body on the upstream side in the feed direction from the cloth retainer 15. The second sewn cloth K that has passed through 82 is blown with air from diagonally upper left rear to diagonally lower right front, and is pushed back to the right by the air of the second air nozzle 85. Press the edge of K downward.
The third air nozzle 86 is directed in a direction in which the downward gradient of the tip portion of the second air nozzle K is larger than that of the second air nozzle 85 with respect to the second sewn object K. When air is blown from the third air nozzle 86, the end edge portion of the second sewn object K extending to the right is pressed downward and is in close contact with the first sewn object J. ..
As a result, the first sewn object J and the end edge portion of the second sewn object K can be fed to the lower side of the cloth retainer 15 in a state of being in close contact with each other.
The first sewn object J and the second sewn object K pass through the notch 833 formed in the support plate 83 and are sent to the lower side of the cloth retainer 15.

[Fabric tension mechanism]
When the sewing material H is fed to the needle drop position T by using the guide member 80, the second sewing material K can be appropriately handled by the first to third air nozzles 84 to 86. However, it is also necessary to maintain a state in which the first sewn object J is extended in a direction away from the end edge portion H1 of the sewn object H to the right.
Therefore, as shown in FIG. 12, a fourth air nozzle 87 is arranged below the needle plate 13, and air is aired from the opening of the needle plate 13 toward the side opposite to the feeder 51 of the second feed mechanism 50. The first sewn object J is extended to the right by ejecting.
The fourth air nozzle 87 is connected to a fan or a compressed air source (not shown), and under the control of the control device 90, air blowing is started at the same time as the first to third air nozzles 84, 85, 86. Then, the air blowing is finished at the same time.
That is, as shown in FIG. 17D, which is a cross-sectional view taken along the line SS of FIG. 12, the fourth air nozzle 87 is on the upstream side of the cloth retainer 15 in the feeding direction and is the third air. On the downstream side in the feed direction from the nozzle 86, air is blown from the diagonally lower left front to the diagonally upper right rear to the right of the first sewn object J, and the right end edge of the first sewn object J is turned to the right. Postpone.
However, it may not be possible to completely extend to the end of the first sewn object J only by blowing air with the fourth air nozzle 87.
Therefore, as shown in FIG. 5, the sewn object is on the opposite side (right side) of the feed body 51 of the second feed mechanism 50 with respect to the needle drop position T and on the upstream side (rear side) in the feed direction. A sliding contact body 71 that applies tension to the end edge portion of the first stitched object J extending outward from the edge portion H1 of H to the side opposite to the feed body 51 of the second feed mechanism 50. Is provided on the needle plate 13.

FIG. 18 is a perspective view of the periphery of the fabric tensioning mechanism 70.
As shown in FIGS. 5 and 18, the fabric tensioning mechanism 70 includes a sliding contact body 71 that is in sliding contact with the upper surface of the first stitched object J, and a fabric tensioning motor 72 as a drive source for rotating the sliding contact body 71. It includes a motor bracket 73 that supports the fabric tension motor 72, and the above-mentioned fourth air nozzle 87 (see FIG. 12).

In the fabric tensioning mechanism 70, the sliding contact body 71 is in sliding contact with the upper surface of the first stitched object J at a position where the sliding contact body 71 is on the right side of the needle drop position T and is on the upstream side (rear side) in the feed direction, and the sliding contact body 71 of the sliding contact body 71. Arranged in the direction of pulling the first sewn object J toward the composite direction of the cloth feed direction (front) and the direction in which the first sewn object J extends from the sewn object H (right side) due to the sliding contact during rotation. Has been done.
The sliding contact body 71 is a cylindrical rotating body fixedly mounted on the output shaft of the fabric tensioning motor 72, and the rotation center lines of the sliding contact body 71 and the fabric tensioning motor 72 are parallel to the XY plane. , The fabric tensioning motor 72 is a motor in a direction orthogonal to the diagonally right forward direction, which is the combined direction of the cloth feed direction and the direction in which the first sewn object J is extended from the sewn object H, that is, so as to face diagonally forward to the left. It is supported by the bracket 73.
The output shaft of the fabric tensioning motor 72 faces diagonally forward to the left, and the sliding contact body 71 slides into contact with the first sewing object J at the lower portion thereof. Then, the fabric upholstery motor 72 stretches the first sewn object J diagonally to the right front side by rotationally driving the fabric upholstery motor 72 in the counterclockwise direction when viewed from the direction in which the output shaft extends from the fabric upholstery motor 72. Can be in a state.

19 (A) is a front view seen from the rotation center line direction of the sliding contact body 71, and FIG. 19 (B) is a side view.
The sliding contact body 71 is provided with a plurality, for example, three sliding contact portions 74 that are in sliding contact with the first sewn object J on a cylindrical outer peripheral surface.
As shown in FIG. 19A, the sliding contact portions 74 are arranged on the outer peripheral surface of the sliding contact body 71 so as to be separated from each other so as not to overlap with each other in the circumferential direction when viewed from the central axis direction. Further, as shown in FIG. 19B, each sliding contact portion 74 is arranged diagonally with respect to the center line direction and the circumferential direction so as to draw a spiral, and each sliding contact portion 74 is a rotation center. They are arranged at the same position in the line direction.
Further, each sliding contact portion 74 is formed of a material that is elastically deformed and contacts the first sewn object J, for example, a brush, a sponge, or a rubber material that is highly elastically deformable. As the sliding contact portion 74, a sponge or a brush whose tip portion is easily deformed is particularly suitable.

Since each sliding contact portion 74 is provided in an oblique direction, it can be slidably contacted with and attracted to the first stitched object J in a wide range in the rotation center line direction, but the present invention is not limited to this.
For example, as shown in FIGS. 20A and 20B, each sliding contact portion 74 is arranged along the circumferential direction on the outer peripheral surface of the sliding contact portion 71, and each sliding contact portion 74 is arranged. May be displaced so that the arrangements do not all match in the direction of the rotation center line.
Also in this case, the sliding contact body 71 can be in a state where the first sewing object J is stretched by sliding contact with the first sewing object J widely in the direction of the rotation center line.
In addition, all the sliding contact portions may be arranged along the central axis direction at uniform intervals in the circumferential direction.

When the sliding contact body 71 is rotated by the fabric tensioning motor 72, each sliding contact portion 74 slides in turn with respect to the first sewing object J, and the sliding friction at that time pulls the first sewing object J diagonally to the front right. be able to. At the time of sewing, the first sewn object J is sent forward together with the sewn object H, so that the first sewn object J is relatively pulled to the right with respect to the sewn object H, and the end edge portion of the sewn object H. It is possible to maintain a good state of extension from H1 to the outside.
The fabric tensioning mechanism 70 may be configured to selectively contact and separate from the first kimono J to adjust or release the acting force according to the cloth thickness and rigidity of the first kimono J.

[Sewing machine control system]
As shown in FIG. 21, the control device 90 of the sewing machine 10 includes a CPU 91 that performs various controls and a memory 92 in which a control program for executing operation control of the sewing machine 10 is written.
Then, the control device 90 is input with a display panel 94 for displaying various settings related to sewing and the current state of the sewing machine, and screen selection, commands, and numerical values for performing various settings attached to the display panel 94. A setting switch 95 as a setting input means for performing the sewing and a start switch 98 for inputting the start of sewing are connected via an interface (not shown).

The start switch 98 is a means for inputting a drive command for sewing operation to the control device 90 by an input operation. That is, when the input of the start switch 98 is performed, the control device 90 controls the operation to start sewing.

From the setting switch 95, the basic feed speed by the first feed mechanism 30 (basic rotation speed of the first feed motor 33) and the basic feed speed by the second feed mechanism 50 (basic rotation speed of the second feed motor 53). ) Etc. are input by the operator.

Further, in the control device 90, the sewing machine motor 14, the first feed motor 33, the second feed motor 53, the elevating motor 60, and the fabric tensioning motor 72, which are the objects of control thereof, are driven circuits 14a, 33a, 53a, respectively. They are connected via 60a and 72a.
Further, the control device 90 has an electromagnetic wave for switching between supply and stop of compressed air to the first to fourth air nozzles 84, 85, 86, 87 for handling the first or second sewn objects J, K of the sewn object H. Valves 841,851,861,871 are connected via drive circuits 841a, 851a, 861a, 871a.
Further, the distance sensor 47 of the height detection unit 40 is connected to the control device 90.
Further, the edge detection unit 17 is connected to the control device 90 via the image processing device 173.
Further, the drive circuits 14a, 33a, 53a, 60a, 72a, 841a, 851a, 861a, 871a, the distance sensor 47, and the image processing device 173 are connected to the control device 90 via an interface (not shown).

The image processing device 173 is based on captured image data of the sewn object H, the first sewn object J, and the second sewn object K in a state where the irradiation light is projected from below, which is imaged by the edge detection unit 17 composed of a camera. , The projection range L is extracted from the difference in brightness value from the surroundings (see FIG. 11).
Further, the image processing apparatus 173 extracts from the extracted image of the light projection range L a line along the edge where the difference in luminance value is generated by the edge detection process as the edge portion H1 of the sewn object H.

Further, the image processing device 173 detects the end of the sewn object H passing through the light projection range L. When the sewn object H passes through the light projection range, the obstruction disappears and the brightness of the entire light projection range L increases. Therefore, the sewn object H can detect the end from the total value of the brightness values of the entire light projection range L.

[Drive control of the second feed mechanism by the control device]
The drive control of the second feed mechanism 50 for feeding the sewn object H, the first sewn object J, and the second sewn object K by the control device 90 will be described.
Here, the first sewn object J and the second sewn object are maintained at a constant distance d (see FIG. 1 (B)) outward from the edge portion H1 along the edge portion H1 of the sewn object H. An example will be given of feed control when K is sewn together.
At the time of sewing, the edge detection unit 17 images the sewn object H, the first sewn object J, and the second sewn object K on the upstream side in the feed direction from the needle drop position T, and the captured image is the image processing device 173. The line as the edge portion H1 of the sewn object H within the floodlight range L of the floodlight portion 172 is extracted.

22 (A) and 22 (B) show the relationship between the line of the edge portion H1 of the sewn object H in the light projection range L and the reference line L1 separated from the needle drop position T on the left side by a distance d. It is explanatory drawing which shows.
The target distance d from the edge portion H1 of the sewn object H to the needle drop position T can be arbitrarily set by the setting switch 95.
The control device 90 determines the reference line L1 indicating the target position P1 in the Y-axis direction of the edge portion H1 of the sewn object H within the projection range L based on the set value of the target distance d.
Then, the position of the line of the edge portion H1 acquired from the image processing device 173 is compared with the reference line L1 to calculate how much the line is shifted to the left or right. Then, the operation control for correcting the position of the sewn object H is executed based on the calculated left-right deviation amount.
When the line of the edge portion H1 in the light projection range L is inclined with respect to the X-axis direction, the positions in the Y-axis direction are averaged over the entire length to form a line parallel to the X-axis direction. Alternatively, the line parallel to the X-axis direction may be obtained at the position of the intermediate point in the X-axis direction of the line of the edge portion H1 in the Y-axis direction.

As shown in FIG. 5, the feeder 51 of the second feed mechanism 50 is arranged on the upstream side in the feed direction and to the left with respect to the needle drop position T. Then, in the above arrangement, the feed body 51 imparts a turning motion centered on the feed body 51 to the sewn object H.
When the edge portion H1 is curved in a shape convex to the right as in the sewn object H, and the line of the edge portion H1 of the sewn object H deviates from the reference line L1. , The turning motion of the feed body 51 is applied to the sewn object H, and the curved end edge portion H1 is conveyed along the reference line L1. When the line of the edge portion H1 of the sewn object H coincides with the reference line L1, the feed body 51 does not perform the turning operation.

When the sewn object H has a flat shape and the line of the edge portion H1 of the sewn object H is located on the right side of the reference line L1 as shown in FIG. 22 (A), the sewn object H is located on the right side of the reference line L1. The control device 90 "left feed rotation" of the second feed motor 53 of the second feed mechanism 50, that is, the end edge portion H1 of the sewn object H is left at the needle drop position T due to the rotation of the feed body 51. The correction control is executed so as to drive in the direction of moving to.
Similarly, as shown in FIG. 22B, when the line of the edge portion H1 of the sewn object H is located on the left side of the reference line L1, the control device 90 is the second feed mechanism 50. Correction control is executed so that the second feed motor 53 is driven by "right feed rotation", that is, by turning the feed body 51 in the direction in which the end edge portion H1 of the sewn object H moves to the right at the needle drop position T. do.
In the above "left feed rotation", the second feed motor 53 is driven in either the clockwise direction or the counterclockwise direction, and in the "right feed rotation", the second feed motor 53 is counterclockwise. Which direction to drive in the clockwise direction is determined based on the rotation direction switching control (see FIG. 27) of the feeder, which will be described later.

The feed control of the sewn object will be described with reference to the flowchart of FIG.
When the start switch 98 is operated, the CPU 91 of the control device 90 starts driving the sewing machine motor 14 and starts sewing (step S1).
Further, when the driving of the sewing machine motor 14 is started, the first feed motor 33 is started to be driven in the specified rotation direction at a predetermined basic rotation speed (step S3), and the drive control of the second feed motor 53 is started. (Step S5).
Further, the driving of the fabric tensioning motor 72 is started to execute the fabric tensioning to the right front with respect to the first stitched object J.
Further, the solenoid valves 841,851,861,871 of the first to fourth air nozzles 84,85,86,87 are opened to start the handling of the first sewn object J and the second sewn item K by blowing air. ..

Further, the CPU 91 starts the light projection to the sewn object H by the light projecting unit 172 and the imaging by the edge detection unit 17, and the edge detection process by the image processing device 173 causes the edge portion H1 of the sewn object H to start imaging. Line is extracted (step S7).
As a result, when the position of the line of the edge portion H1 of the sewn object H is acquired, the CPU 91 determines whether the position of the line is on the reference line L1 (step S9).
Then, when the position of the line of the edge portion H1 of the sewn object H coincides with the reference line L1 (step S9: YES), the second feed motor 53 maintains the stopped state (step S11). The process proceeds to step S19.

On the other hand, when the position of the line of the edge portion H1 of the sewn object H does not match the reference line L1 (step S9: NO), the position of the line of the end edge portion H1 of the sewn object H is from the reference line L1. It is determined whether or not it is shifted to the right (step S13).
As a result, when the position of the line of the edge portion H1 of the sewn object H deviates to the right from the reference line L1 (step S13: YES), "left feed rotation" with respect to the second feed motor 53. (Step S15), and the process proceeds to step S19.
If the position of the line of the edge portion H1 of the sewn object H does not deviate to the right from the reference line L1 (step S13: NO), the position of the line of the edge portion H1 of the sewn object H is the reference. It is considered that the line L1 is deviated to the left, and the second feed motor 53 is controlled to execute "right feed rotation" (step S17), and the process proceeds to step S19.

In step S19, the CPU 91 detects the end of the sewn object H by the image processing device 173, and if the end of the sewn object H is not detected (step S19: NO), returns the process to step S7 and ends. The image pickup by the edge detection unit 17 and the extraction of the line of the edge portion H1 of the sewn object H are executed.

If the end of the sewn object H is detected in step S19 (step S19: YES), wait for the elapse of the feed arrival time from the image pickup position by the edge detection unit 17 to the needle drop position T. (Step 21), the driving of the sewing machine motor 14, the first feed motor 33, the second feed motor 53, and the fabric upholstery motor 72 is stopped, and the air by the first to fourth air nozzles 84, 85, 86, 87 is stopped. The spraying of the sewing machine is stopped, the light projecting by the light projecting unit 172 is stopped (step S23), and the feed control of the sewn object is terminated.

[Feeder height control by control device (1)]
The height control of the feeder 51 of the second feed mechanism 50 by the control device 90 will be described.
There are two types of height control of the feeder 51, height control (1) and (2) of the feeder, which can be selected in advance by the setting switch 95. Both of these feed height controls (1) and (2) are executed in parallel with the feed control when the feed control of the sewn object described above is executed.

Since the sewn object H has a three-dimensional shape having irregularities in the front and back directions, it may be in a floating state with respect to the needle plate 13 at the time of feeding, or the thickness may differ depending on each part. If the height of the feed body 51 of the second feed mechanism 50 is fixed to be constant during feeding during sewing, the contact pressure between the feed body 51 and the object to be sewn H may change. When the contact pressure of the feed body 51 with the sewn object changes, the correction force in the feed direction with respect to the sewn object H may change or the friction may increase, which may hinder proper feed.
Feeder height control (1) and (2) are controls for eliminating the above causes and performing proper feeding.
First, the height control (1) of the feeder will be described.

24 (A) and 24 (B) are operation explanatory views of the height control (1) of the feeder, and FIG. 25 (A) is the height detection unit 40 at the time of execution of the height control (1) of the feeder. It is a diagram which shows the correspondence relation between the detected height of the upper surface of the sewn object H by the distance sensor 47, and the height command of the elevating motor 60 which follows this.
In the height control (1) of the feed body, the control device 90 detects the height of the upper surface of the sewn object H by the distance sensor 47 from the height of the tip portion of the detection member 41 that abuts on the upper surface of the sewn object H. At predetermined sampling intervals, as shown in FIG. 25A, the elevating motor 60 is controlled to follow the height of the feeder 51 so as to match the height of the detected upper surface of the sewing material H. ..
For example, when the height of the sewn object H rises from the state of FIG. 24 (A), the feeder 51 also moves up so as to match the height of the upper surface of the sewn object H as shown in FIG. 24 (B). Will be done.

In this way, when the height of the feed body 51 is controlled so as to follow the height of the upper surface of the sewn object H by the distance sensor 47, the shape change or the thickness change of the sewn object H occurs. However, it is possible to reduce the change in the contact pressure of the feed body 51, maintain a constant correction force in the feed direction with respect to the sewn object H, suppress an increase in friction, and feed the sewn object stably and appropriately. can.

[Feeder height control by control device (2)]
Next, the height control (2) of the feeder will be described with reference to FIG. 25 (B). FIG. 25B shows the detection height of the upper surface of the sewn object H by the distance sensor 47 of the height detection unit 40 at the time of executing the height control (2) of the feeder, and the height command of the elevating motor 60 that follows the detection height. It is a diagram which shows the correspondence relationship with.

In the height control (2) of the feeder, the control device 90 detects the height of the upper surface of the sewn object H by the distance sensor 47 at a predetermined sampling interval, and as shown in FIG. 25 (B), the height is detected. The elevating motor 60 is controlled so that the feed body 51 periodically moves up and down to move away from and land on the upper surface of the sewn object H while following the detected height of the upper surface of the sewn object H.

In this height control (2), the value of the function whose value increases / decreases periodically with respect to the detected height (for example, the value is raised so that the minimum value becomes 0 with respect to the value of the sine curve of the trigonometric function). The height of the feeder 51 is controlled by setting the height obtained by adding the values) as the target height of the feeder 51. The addition value is not limited to trigonometric functions, and may be any value as long as it periodically increases or decreases with 0 as the minimum value.
As a result, even if the height of the upper surface of the sewn object H changes, the feed piece 51 follows the change and periodically separates from the upper surface of the sewn object H and lands on the sewn object. A correction force can be applied to the feed direction of H.

In this way, the shape of the sewn object H is changed by controlling the height of the feeder 51 so as to periodically separate and land while following the height of the upper surface of the sewn object H by the distance sensor 47. Even if there is a change in thickness or thickness, the change in the contact pressure of the feed body 51 is reduced, the correction force in the feed direction with respect to the sewing material H is kept constant, the increase in friction is suppressed, and the covering is stable and appropriate. It is possible to feed the sewn material.
Further, since a correction force is applied to the feed direction of the sewn object H by the periodic separation and landing of the feed body 51, the end of the sewn object H by the feed body 51 is compared with the case where the feed body 51 is continuously landed. It is possible to reduce the restraint of the movement of the edge portion H1 and to feed the sewn material more stably and appropriately along the curved direction.

[Control to switch the rotation direction of the feeder by the control device]
Next, the rotation direction switching control of the feeder will be described with reference to FIGS. 26 and 27. FIG. 26 is an explanatory view showing a state of height fluctuation of the sewn object H, FIG. 27 (A) is an explanatory view showing a contact range of the feeder 51 during upward movement, and FIG. 27 (B) is an explanatory view showing a downward movement. It is explanatory drawing which shows the contact range of a feed body 51.

In the feed control of the sewn object H described above, "left feed rotation" and "right feed rotation" are performed according to the direction in which the line of the edge portion H1 of the sewn object H is displaced from the reference line L1 to the left and right. Although the correction is performed, the rotation direction switching control of the feeder is a control for changing the setting of the rotation direction of the second feed motor 53 in these "left feed rotation" and "right feed rotation". Therefore, it is premised that the rotation direction switching control of the feed body is executed in parallel during the execution of the feed control of the sewn object.

As described above, since the sewn object H has a three-dimensional shape having irregularities in the front and back directions, it may be in a floating state with respect to the needle plate 13 at the time of feeding, or the thickness may differ depending on each part. It's a street.
Then, as shown in FIG. 26, when there is a thickness variation or the like in each part of the sewn object H, the feed body 51 is in contact with the upslope on the upper surface of the sewn object H (shown on the right side of the paper in FIG. 26). There are cases where the feed is 51) and cases where the feed is in contact with the downward slope (feeder 51 shown on the left side of the paper in FIG. 26).
When passing through these gradients, the entire circumference of the feed body 51 does not come into contact with the upper surface of the sewn object H, and the contact region S between the feed body 51 and the sewn object H may be biased. be.
For example, as shown in FIG. 27 (A), in the case of an uphill slope in which the upper surface of the sewn object H becomes higher toward the rear, the contact region S with the sewn object H on the bottom surface of the feeder 51 is the same. It is unevenly distributed behind the center of rotation.
Further, as shown in FIG. 27 (B), in the case of a downward slope in which the upper surface of the sewn object H becomes lower toward the rear, the contact region S with the sewn object H on the bottom surface of the feeder 51 rotates. It is unevenly distributed in front of the center.
As a result, as shown by the white arrows in FIGS. 27 (A) and 27 (B), even when the feeder 51 rotates in the same direction on the uphill slope and the downhill slope, the sewn object H is subjected to the same direction. The given movement direction is exactly the opposite.

Therefore, in this rotation direction switching control of the feeder, the detection of the height detecting unit 40 may indicate an increase in the height of the upper surface of the sewn object H or a decrease in the height of the upper surface of the sewn object H. , The second feed motor 53 is controlled so as to switch the rotation direction of the feed body 51.
Specifically, when the height of the upper surface of the sewn object H is detected by the distance sensor 47, the state in which the height is increased is defined by comparing the latest detected height with the immediately preceding detected height. If the number of detections is continuous, it is determined that the slope is uphill, and in the "left feed rotation" (rotation that corrects the sewn object H to the left) in the feed control of the sewn object, the feeder 51 is clocked in a plan view. It is rotated in the direction, and in the "right feed rotation" (rotation that corrects the sewing object H to the right), the second feed motor 53 is driven and controlled so that the feed body 51 is rotated counterclockwise in a plan view.
Further, when the state in which the height of the sewn object H is lowered continues for a predetermined number of detections, it is determined that the sewn object H has a downward gradient, and the feed element 51 is used in the "left feed rotation" in the feed control of the sewn object. Is rotated counterclockwise in plan view, and in "right feed rotation" (rotation that corrects the sewn object H to the right), the second feed motor 53 is rotated clockwise in plan view. Is driven and controlled.

If neither the upslope nor the downslope is applicable, the feedr 51 is driven in the rotation direction defined as the basic operation.

In this rotation direction switching control, it is detected that the height of the upper surface of the sewn object H is an upslope or a downslope, and the rotation direction of the feed body 51 is determined. Even if it has a certain three-dimensional shape or the thickness differs depending on each part, it is possible to perform an appropriate feeding operation by the feeder 51.

[Technical Effect of Embodiment of the Invention]
The sewing machine 10 includes a light projecting unit 172 that irradiates the sewn object H with irradiation light, and the edge detecting unit 17 is the end of the sewn object H from the transmitted light transmitted through the sewn object H by the irradiation of the irradiation light. The position of the edge portion H1 is detected.
Therefore, even when the sewn objects J, K, etc. are sewn to the sewn object H in advance and the edge portion H1 which is the reference of the needle drop position is shielded, the position of the edge portion H1 is accurately performed. Can be detected, and sewing can be performed with high sewing quality.

Further, since the sewing machine 10 is a camera in which the edge detection unit 17 captures the sewn object H, captured image data can be obtained, and image processing is added to detect the edge portion H1 more accurately. It is possible.

Further, since the light projecting portion 172 of the sewing machine 10 irradiates the irradiation light upward from the needle plate 13 side, it is possible to accurately detect the position of the edge portion H1 and also from the sewing machine user. It is possible to easily recognize the position of the edge portion H1.

Further, since the edge detection portion 17 of the sewing machine 10 detects the position of the edge portion H1 of the sewing machine H from above, it is necessary to install the edge detection portion 17 in a narrow region below the needle plate 13. It is possible to install the edge detection unit 17 with a high degree of freedom.
This makes it easy to attach the edge detection unit 17 to the existing sewing machine later.

Further, since the spherical portion of the feed body 51 of the second feed mechanism 50 of the sewing machine 10 is made of silicon resin, the edge portion H1 does not give too much resistance to the sewn object H due to appropriate flexibility. It is possible to perform a good feed operation along the curve.

Further, the sewing machine 10 guides the curved end edge portion H1 of the sewn object H along the curved shape, and guides the sewing machine 10 as an opening having a concave cross section that opens toward the feeder 51 side of the second feed mechanism 50. The guide member 80 having the bodies 81 and 82 is provided.
Therefore, even if the feed along the curved shape of the sewn object H is disturbed due to the influence of disturbance or the like, the guide member 80 guides the sewn object H and maintains the feed direction, which is high. It is possible to maintain the sewing quality.
Further, since the guide member 80 includes the first and second guide bodies 81 and 82 arranged along the curved line, it is possible to eliminate the need for the member along the curved shape and facilitate the manufacture of parts. It becomes.

Further, the sewing machine 10 is on the upstream side in the feed direction from the needle drop position T with respect to the edge portion of the second sewn object K extending outward from the curved edge portion H1 of the sewn object H. A first air nozzle 84 for blowing toward the feeder 51 side of the second feed mechanism 50 is provided.
Therefore, it becomes easy to prevent the second sewn object K from being sandwiched by the second guide body 82 together with the sewn object H, and it becomes possible to improve the reliability of sewing.

Further, the sewing machine 10 is on the upstream side in the feed direction from the needle drop position T, and the end edge of the second stitched object K sprayed by the first air nozzle 84 toward the feeder 51 side of the second feed mechanism 50. The portion is provided with a second air nozzle 85 that blows toward the side opposite to the feed body 51 of the second feed mechanism 50.
Therefore, the second sewn object K, which avoids being sandwiched by the second guide body 82 together with the sewn object H, can be extended to the needle drop position side, which is good while maintaining high sewing reliability. It becomes possible to perform sewing.

Further, the sewing machine 10 is located on the upstream side in the feed direction from the needle drop position T, and is the end of the second stitched object K sprayed by the second air nozzle 85 on the opposite side of the feed body 51 of the second feed mechanism 50. A third air nozzle 86 that blows toward the needle plate 13 side is provided on the edge portion.
Therefore, the second sewn K that extends to the needle drop position side can be brought closer to the first sewn J side and brought into close contact with each other, and the sewn J and K are good while maintaining high sewing reliability. It is possible to perform various sewing.

Further, the sewing machine 10 extends outward from the curved end edge portion H1 of the sewn object H on the opposite side of the feed body 51 of the second feed mechanism 50 with respect to the needle drop position T. A fabric tensioning mechanism 70 for applying tension to the end edge portion of the sewn object J on the side opposite to the feed body 51 of the second feed mechanism 50 is provided.
Therefore, the sewn object H can be sent in a state where the first sewn object J is pulled out from the end edge portion H1 of the sewn object H, and the sewn object H can be sent while maintaining high sewing reliability. It is possible to perform good sewing.

Further, since the fabric tensioning mechanism 70 of the sewing machine 10 applies tension to the end edge portion of the first sewn object J by the rotation of the sliding contact body 71, the first sewn object does not interfere with the feeding of the sewn object H. It is possible to put J in the stretched state.
Further, the sliding contact body 71 of the fabric tensioning mechanism 70 applies tension to the end edge portion of the first sewn object J by the sliding contact of the plurality of sliding contact portions 74 provided on the outer periphery, and each of the plurality of sliding contact portions 74. Are arranged on the outer periphery of the sliding contact body 71 so as to be separated from each other in the circumferential direction.
Therefore, since the plurality of sliding contact portions 74 intermittently slide and contact the first sewn object J, the curved end edge portion H1 of the sewn object H is not given excessive resistance to the first sewn object J. It is possible to perform a good feed operation along the line.
Further, since the plurality of sliding contact portions 74 are made of a brush or a sponge, the tip portion to be sliding contact is appropriately elastically deformed, and the feed operation is performed along the curved end edge portion H1 of the sewn object H. It is possible to appropriately apply tension to the end edge portion of the first sewn object J without disturbing.
Further, since it is provided with a fourth air nozzle that blows from below the needle plate 13 to the end edge portion of the first stitched object J on the opposite side of the feed body 51 of the second feed mechanism 50, it is slidably contacted. In cooperation with the body 71, the first sewn object J can be brought into a better stretched state.

Further, the sewing machine 10 includes a height detecting unit 40 that detects the height of the upper surface of the sewing machine H, and the second feed mechanism 50 uses an elevating motor 60 as a driving source for elevating and lowering the feed body 51. The control device 90 controls the elevating motor 60 so that the height of the feed body 51 of the second feed mechanism 50 follows the height of the upper surface of the sewn object H detected by the height detection unit 40. There is.
Therefore, even when the shape or thickness of the sewn object H changes, the change in the contact pressure of the feed body 51 is reduced, the correction force in the feed direction with respect to the sewn object H is kept constant, and the friction is reduced. It is possible to suppress the rise and to feed the sewn material in a stable and good manner.

Further, the control device 90 of the sewing machine 10 moves the feed body 51 of the second feed mechanism 50 up and down while following the height of the upper surface of the sewn object H detected by the height detecting unit 40, and the sewn object H is moved up and down. The elevating motor 60 is controlled so as to periodically separate and land on the upper surface.
Therefore, as compared with the case where the landing is continuously performed, the restraint of the movement of the edge portion H1 of the sewn object H by the feed body 51 is reduced, and the covering is more stable and properly applied along the curved direction. It is possible to feed the sewn material.

Further, the sewing machine 10 includes a height detecting unit 40 for detecting the height of the upper surface of the sewn object H, and the control device 90 detects the height detecting unit 40 to increase the height of the upper surface of the sewn object H. The switching control for switching the rotation direction of the feed body 51 is performed on the second feed motor 53 of the second feed mechanism 50 in the case of showing and the case of showing the lowering of the height of the upper surface of the sewn object H.
For this reason, the contact region S of the feeder 51 is biased in the upslope and the downslope formed due to the fact that the sewn object H has a three-dimensional shape having irregularities in the front and back directions and the thickness differs depending on each part. Even if it occurs, it is possible to suppress fluctuations in the feeding direction of the sewn object H, and it is possible to perform an appropriate feeding operation with respect to the sewn object H.

Further, the control device 90 determines that the edge portion H1 of the sewn object H is at a constant distance d from the needle drop position T based on the position of the edge portion H1 of the sewn object H detected by the edge detection unit 17. Since the rotation direction switching control of the feed body 51 of the second feed mechanism 50 is executed in parallel with the feed control of the sewn object H so that the cloth is fed while maintaining the above, the edge portion of the sewn object is executed. The H1 can be properly maintained, and the sewing quality can be further improved.

Further, when the switching control for switching the rotation direction of the feed body 51 is performed, the control device 90 continuously raises or continuously raises the height of the upper surface of the sewn object H detected by the height detecting unit 40 by a predetermined number of detections. When it is descending, it is determined that the height of the upper surface of the sewn object H is an upslope or a downslope, and the rotation direction of the feed body 51 is switched, so that the influence of the uneven shape of the sewn object can be suppressed. It is possible to perform switching control more stably and better.

[others]
Although the guide member 80 described above is integrally formed with the cloth retainer 15, the cloth retainer 15 can be attached to and detached from the cloth retainer rod 16 so that the cloth retainer having no guide member 80 can be replaced. It is desirable to do.
For example, if it is possible to sufficiently feed the sewn object H along the curved end edge portion by the above-mentioned feed control of the sewn object, sewing is performed with a cloth presser having no guide member 80. You may go.

Further, in the above embodiment, the case where the sewing machine 10 performs sewing of the first and second sewn objects J and K is exemplified, but the first or second sewn object J is sewn along the edge portion H1 of the sewn object H. , K is sewn, it can be done for any sewing that feeds the object to be sewn along any other curve.

Further, in the above embodiment, the edge detection unit 17 detects the position of the edge portion H1 of the sewn object H, and drives and controls the second feed motor 53 according to the detected position of the edge portion H1. However, not limited to this, the sewn object H is always fed so as to be directed toward the guide member 80 by driving the second feed motor 53, so that the sewn object H is aligned with the guide member 80. Control to perform feeding may be performed.
Further, the rotation direction switching control of the feed body described above is also performed when the above-mentioned control of always feeding the workpiece toward the guide member 80 side by driving the second feed motor 53 is performed. The rotation direction switching control is effective.

Further, in the above embodiment, the case where the edge detection unit 17 is a camera is illustrated, but it is provided along the Y-axis direction in an arrangement facing the sewn object H and the first and second sewn objects J and K. It is also possible to use a line sensor.
Further, the light projecting unit 172 is arranged on the lower side and the edge detection unit 17 is arranged on the upper side with the sewn object H and the first and second sewn objects J and K interposed therebetween, but the light projecting unit 172 is on the upper side. The edge detection unit 17 may be arranged on the lower side.

10 Sewing machine 11 Sewing needle 12 Needle bar 13 Needle plate 14 Sewing machine motor 15 Cloth retainer 16 Cloth retainer rod 17 Edge detection unit 20 Sewing machine frame 30 First feed mechanism 31 Wheel 32 Support arm 33 First feed motor (first) Drive source of feed mechanism)
40 Height detector 47 Distance sensor 50 Second feed mechanism 51 Feeder 52 Support shaft 53 Second feed motor (Drive source of the second feed mechanism)
60 Elevating motor (driving source for elevating)
70 Fabric tensioning mechanism 71 Sliding contact body 74 Sliding contact part 80, 80A Guide member 81 First guide body 82 Second guide body 81A Guide body 83 Support plate 84 First air nozzle 85 Second air nozzle 86 Third Air nozzle 87 Fourth air nozzle 90 Control device 91 CPU
95 Setting switch 172 Floodlight 831 Inclined surface H Sewing material H1 Edge edge J First sewing material K Second sewing material T Needle drop position

Claims (2)

Next to the needle drop position, the first feed mechanism that feeds the sewing material by the wheels arranged with the rotation axis tilted diagonally with respect to the horizontal direction,
A second feed mechanism, which is arranged on the upstream side in the feed direction with respect to the first feed mechanism and in contact with a rotating spherical feed body from above to feed the sewing material.
In a sewing machine including a control device for controlling a drive source of the first feed mechanism and a drive source of the second feed mechanism.
A height detecting unit for detecting the height of the upper surface of the sewn object is provided.
The second feed mechanism has a drive source for raising and lowering the feed body.
The control device controls the drive source for raising and lowering so that the height of the feed body of the second feed mechanism follows the height of the upper surface of the sewing object detected by the height detection unit .
In the control device, the feed body moves up and down while the height of the feed body of the second feed mechanism follows the height of the upper surface of the sewing machine detected by the height detection unit, and the sewing machine moves up and down. A sewing machine characterized in that the drive source for raising and lowering is controlled so as to periodically separate and land on the upper surface of the sewing machine. The sewing machine according to claim 1 , wherein the feeder of the second feed mechanism has a spherical portion made of a silicon resin.

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