JP7459670B2 - sewing system - Google Patents

Description

The present invention relates to a sewing system.

A conventional sewing device includes a needle bar mechanism, a shuttle mechanism, and a moving mechanism. The needle bar mechanism has a needle bar to which a sewing needle can be attached at its lower end, and the needle bar can be moved up and down. The shuttle mechanism is disposed below the needle bar mechanism and has a shuttle. The moving mechanism moves the shuttle mechanism and the needle bar mechanism together in a first direction and a second direction that are parallel to the horizontal direction.

Japanese Patent Application Publication No. 2000-116975

When the sewing device finishes sewing one object to be sewn, the operator removes the already sewn object from the sewing device and places the next object to be sewn. After the sewing device moves to the sewing start position of the next object to be sewn, the sewing device repeats sewing of the next object to be sewn. Since the sewing device stops sewing when replacing the workpiece, a series of sewing operations takes time.

The present invention aims to provide a sewing system that can reduce the time that sewing is stopped for replacing the workpiece compared to conventional sewing systems.

The sewing system of claim 1 of the present invention comprises a needle bar mechanism having a needle bar to which a sewing needle can be attached at its lower end and capable of moving the needle bar up and down, a shuttle mechanism arranged below the needle bar mechanism and having a shuttle, a movement mechanism for moving the shuttle mechanism and the needle bar mechanism relative to the sewing workpiece in a first direction parallel to the horizontal direction and a second direction opposite to the first direction, and a feed mechanism for feeding a holding mechanism that holds the sewing workpiece in a third direction parallel to the horizontal direction and intersecting the first direction, and a fourth direction opposite to the third direction, the movement mechanism moves the shuttle mechanism and the needle bar mechanism relative to the holding mechanism in the first direction and the second direction, the feed mechanism feeds the holding mechanism in the third direction and the fourth direction, and the shuttle and the needle bar operate in synchronization with each other to sew the sewing workpiece. In the sewing system having a sewing device, the feed mechanism moves the holding mechanism arranged on the third direction side of the needle bar mechanism at a first height to the fourth direction side of the needle bar mechanism, and includes a first lifting mechanism located on the fourth direction side of the needle bar mechanism and raising and lowering the holding mechanism at the first height sent by the feed mechanism to a second height different from the first height, a return mechanism that sends the holding mechanism raised and lowered to the second height by the first lifting mechanism from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism along a path that at least a portion of which vertically overlaps the sewing device and is located at the second height, and a second lifting mechanism located on the third direction side of the needle bar mechanism and raising and lowering the holding mechanism at the second height sent by the return mechanism to the first height.

In the sewing system according to the first aspect, sewing is performed sequentially using a plurality of holding mechanisms, so that after the sewing device has sewn the workpiece held by one holding mechanism, the one holding mechanism is connected to the first elevating mechanism. , the second elevating mechanism, or the return mechanism, sewing can be performed on a workpiece held by another holding mechanism. A worker can perform work on one holding mechanism while sewing another holding mechanism. Therefore, the sewing device can reduce the time required to stop sewing when replacing the workpiece compared to the conventional sewing machine. In the sewing system, the planar space required for installing the return mechanism can be made smaller than when the path for returning the holding mechanism is arranged at a position that does not overlap vertically with the sewing device.

In the sewing system according to claim 2 of the present invention, the first height is higher than the second height. In the sewing system, maintenance of the return mechanism, the first lifting mechanism, and the second lifting mechanism is easier than when the first height is lower than the second height.

In the sewing system according to claim 3 of the present invention, the first lifting mechanism supports the holding mechanism so as to be able to move up and down, and the second lifting mechanism supports the holding mechanism so that the holding mechanism can be moved up and down; a second support part that can support the mechanism; and a first lift determination part that determines whether or not the first support part at the first height supports the holding mechanism sent to the feeding mechanism. In response to determining that the first support part supports the holding mechanism, the first lift determination part raises and lowers the first support part to raise the holding mechanism to the first height. a first lift control unit that moves up and down to the second height; and a second lift determination unit that determines whether or not the second support unit located at the second height supports the holding mechanism. , in response to determining that the second support part supports the holding mechanism, the second lift determination part raises and lowers the second support part to raise the holding mechanism to the second height. It further includes a second elevation control section that ascends and descends from the first height to the first height. The sewing system can avoid raising and lowering the first support part from the first height to the second height in a state where the first support part does not support the holding mechanism. The sewing system can avoid raising and lowering the second support part from the second height to the first height in a state where the second support part does not support the holding mechanism.

The sewing system according to claim 4 of the present invention includes a first return determination unit that determines whether or not the first support portion supporting the holding mechanism is at the second height; In response to determining that the first support part supporting the holding mechanism is at the second height, the determination part drives the return mechanism so that the first support part supports the holding mechanism. a first return control unit configured to start feeding the holding mechanism from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism; and a first return control unit that does not support the holding mechanism. a second return determination section that determines whether the second support section is at the second height; and a second return determination section that determines whether the second support section that does not support the holding mechanism is at the second height. a second return control unit, which drives the return mechanism in response to determining that the holding mechanism is at a second height to send the holding mechanism to a position where the second support unit supports the holding mechanism; Prepare more. The sewing system drives the return mechanism in each of a state in which the first support part is not at the second height and a state in which the first support part not supporting the holding mechanism is at the second height; It is possible to avoid sending the holding mechanism supported by the first support part. The sewing system drives the return mechanism and the holding mechanism in each of a state in which the second support part is not at the second height and a state in which the second support part supporting the holding mechanism is at the second height. It is possible to avoid sending the mechanism to a position where it is supported by the second support part.

The sewing system according to claim 5 of the present invention includes a return regulating member provided on the path located at the second height and capable of regulating movement of the holding mechanism in the third direction; a return switching unit that switches between a return retracted position evacuated from the path and a return restriction position disposed on the path on the fourth direction side with respect to the second support portion; In response to determining that the second support part that does not support the mechanism is at the second height, the return switching part is driven to return and retreat the return restriction member from the return restriction position. position, and the second lift determining unit drives the return switching unit in response to determining that the second support unit supporting the holding mechanism is at the second height. , further comprising a return switching control section that switches the return restriction member from the return retreat position to the return restriction position, and the second return control section is configured such that the second return determination section does not support the holding mechanism. In response to determining that the second support portion is at the second height and that the return regulating member is at the return retreat position, the return mechanism is driven to move the holding mechanism to the return position. It is sent to a position where it is supported by the second support part. By switching the position of the return regulating member, the sewing system drives the return mechanism in a state where the second support part is not at the second height, and makes it possible to send the holding mechanism to a position where the second support part supports it. It can definitely be avoided.

The feeding mechanism of the sewing system according to claim 6 of the present invention has a mounting part for removably mounting the holding mechanism, and the feeding mechanism is at the first height and the mounting position where the holding mechanism can be mounted. a mounting determination unit that determines whether or not a holding mechanism is present; and a mounting determination unit that determines whether or not a holding mechanism is present; an attachment control unit that switches from a release state in which the mechanism is released to an attachment state in which the holding mechanism is attached; an acquisition unit that acquires sewing data to be sewn in a sewing area; and the attachment control unit switches the retention mechanism into the attachment state. a sewing control section that drives the moving mechanism, the feeding mechanism, the hook mechanism, and the needle bar mechanism to sew in the sewing area according to the sewing data acquired by the acquisition section; a release determining section that determines whether the first supporting section that does not support the mechanism is at the first height; and a release determining section that determines whether the first supporting section that does not support the holding mechanism is at the first height. a release control section that switches the mounting section from the mounting state to the release state at a release position on the fourth direction side of the needle bar mechanism in response to determining that the needle bar mechanism is at the first height; Be prepared. The sewing system can automatically switch the mounting section from the released state to the mounting state when the mounting judgment section determines that the holding mechanism is placed in the mounting position while the mounting section is in the released state. The sewing system saves the worker the trouble of instructing when to switch the attachment part from the release state to the attachment state. The sewing system can automatically switch the mounting part from the mounted state to the released state in response to the mounting determination section determining that the first support part is at the first height. The sewing system saves the worker the trouble of instructing when to switch the attachment part from the attachment state to the release state. The sewing system can avoid switching the attachment part from the attachment state to the release state when the first support part is not at the first height.

The sewing system of claim 7 of the present invention further includes a first regulating member capable of regulating the movement of the holding mechanism supported by the first support part at an end part on the third direction side of the first support part in the third direction; a first switching unit that switches the first regulating member between a first regulating position that regulates the movement of the holding mechanism in the third direction and a first retracted position that does not regulate the movement of the holding mechanism in the third direction; and a first switching control unit that switches the first regulating member from the first retracted position to the first regulating position before the first support part supporting the holding mechanism rises or falls from the first height to the second height, and switches the first regulating member from the first regulating position to the first retracted position after the first support part supporting the holding mechanism rises or falls from the first height to the second height, and the release control unit switches the mounting part from the mounted state to the released state in the released position in response to the release determination unit determining that the first support part not supporting the holding mechanism is at the first height and the first regulating member is at the first retracted position. The sewing system uses the first restricting member to prevent the holding mechanism from moving in the third direction while the first support part is moving from the first height to the second height.

The sewing system according to claim 8 of the present invention includes an acceptance determination unit that determines whether or not the mounting unit of the sewing device is in an acceptable state in which it can hold the holding mechanism, and the holding mechanism supported by the second support unit. a mounting conveyance mechanism that transports the device to the mounting position; and an end portion of the second support portion on the fourth direction side that is capable of regulating movement in the fourth direction of the holding mechanism supported by the second support portion. a second regulating member; a second regulating position in which the second regulating member regulates movement of the holding mechanism in the fourth direction; and a second retracted position in which movement of the holding mechanism in the fourth direction is not restricted. and a second switching part that switches the second regulating member to the second retracted position before the second support part supporting the holding mechanism moves up and down from the second height to the first height. After the second support part supporting the holding mechanism moves up and down from the second height to the first height, the first restriction member is switched to the first restriction position. a second switching control unit that switches from to the first retracted position, and the acceptance determination unit determines that the acceptance is possible, and the second restriction member is in the second retraction position; , further comprising a transport control unit that drives the mounting transport mechanism to transport the holding mechanism to the mounting position. In this sewing system, the second regulating member can prevent the holding mechanism from moving in the fourth direction while the second support part is being raised and lowered from the second height to the first height. The sewing system can move the holding mechanism to the mounting position when the mounting section of the sewing device is in a receptive state capable of holding the holding mechanism.

The sewing system according to claim 9 of the present invention is a grip change control section that changes a protrusion held by the mounting section among a plurality of protrusions included in the holding mechanism and arranged in the third direction, After the mounting control section switches the mounting section from the released state to the mounting state and holds any of the plurality of protrusions, the mounting control section moves the mounting section from the mounting position in the fourth direction, and performs the mounting. After moving the part from the mounting position in the fourth direction, the mounting part is switched from the mounting state to the release state to release the holding of the protrusion, and after releasing the holding of the projection, the mounting part is moved from the mounting position to the fourth direction. after moving the mounting section in the third direction and moving the mounting section in the third direction, changing the mounting section from the released state to the mounting state, The apparatus further includes a grip change control section that holds the protrusion. In the sewing system, the size of the sewing device in the third direction can be made smaller than the movable range in the third direction of the holding mechanism relative to the needle bar mechanism and the shuttle mechanism, compared to a system that does not include a grip change control section.

FIG. FIG. (A) is a plan view of the mounting portion 96 in a held state, and (B) is a plan view of the mounting portion 96 in a released state. (A) is a right side view of the sewing system 300 when the first support portion 247 of the first lifting mechanism 241 is at the second height H2 and the second support portion 257 of the second lifting mechanism 251 is at the first height H1; (B) is a right side view of the sewing system 300 when the first support portion 247 of the first lifting mechanism 241 is at the first height H1 and the second support portion 257 of the second lifting mechanism 251 is at the first height H1; (C) is a right side view of the sewing system 300 when the first support portion 247 of the first lifting mechanism 241 is at the first height H1 and the second support portion 257 of the second lifting mechanism 251 is at the second height H2. FIG. 2 is a block diagram showing an electrical configuration of the sewing system 300. Flow diagram of sewing process. Flowchart of front side device processing. Flowchart of regripping processing. 13 is a flow chart of a return mechanism process. Flowchart of rear device processing. 5 is an explanatory diagram of transitions in output values of detectors 211 to 218, 221 to 214, and 231 to 236 of the sewing system 300 when the process of the specific example is executed. 11A and 11B are explanatory diagrams of signals output by the sewing system 300, driving states of the conveying rollers 242, 243, 252 to 255, and 261 to 264, and the up-down positions of the lifting mechanisms 241 and 251 when the processing of the specific example is being executed. 1 is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B at time A1. FIG. 3 is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B of timing B1. FIG. 3 is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B at timing C1. FIG. 3 is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B at timing D1. 1 is a perspective view of the sewing system 300 and the holding mechanisms 8A and 8B at time E1. 13 is a perspective view of the sewing system 300 and the holding mechanisms 8A and 8B at timing F1. FIG.

The physical configuration of a sewing system 300 according to one embodiment of the present invention will be described. In the following description, the left/right, front/back, up/down, X-axis, and Y-axis are used, as indicated by arrows in the figures. As shown in Figures 1 to 4, the sewing system 300 comprises a gate-shaped sewing device 1, a rear device 240, a front device 250, a return mechanism 260, and a Programmable Logic Controller (PLC) 200 (see Figure 5). The sewing device 1 comprises a bed section 2, leg columns 3 and 4, a beam section 5, a needle bar mechanism 6, a vertical mechanism 66, a shuttle mechanism 7, a holding mechanism 8, a moving mechanism 9 (see Figure 5), a feed mechanism 10 (see Figure 5), a detector 37, and an operation section 14.

The bed section 2 includes a base 21, a mounting section 22, openings 24, 25, bellows 26, 27, a frame 28, a lower rail 29 (see FIG. 2), and a pair of rails (not shown). The base 21 is substantially rectangular. The mounting section 22 is a plate that forms the upper surface of the base 21 and extends parallel to the horizontal plane. The mounting section 22 includes an opening 23 that extends in the left-right direction. The front end of the mounting section 22 is connected to the front device 250. The rear end of the mounting section 22 is connected to the rear device 240. The opening 24 extends in the front-rear direction near the left end of the mounting section 22. The opening 25 extends in the front-rear direction near the right end of the mounting section 22. The openings 24, 25 each extend in a rectangular shape in a plan view between the front end and rear end of the mounting section 22, and are portions that open upward. The bellows 26, 27 cover the openings 24, 25, respectively. The frame 28 is a lattice-shaped structure that supports the base 21 from below. The lower rail 29 extends in the left-right direction below the mounting portion 22. The lower rail 29 supports the shuttle mechanism 7 so that it can move left and right. The bed portion 2 has a lower belt 94, a lower spline shaft 34, and the shuttle mechanism 7 (described below) arranged below the mounting portion 22. The pair of rails are provided below the bellows 26, 27. The pair of rails support the connecting portions 78, 79 of the feed mechanism 10 so that they can move forward and backward.

The pillars 3 and 4 are each substantially rectangular pillar-shaped. The pillar 3 extends upward from the front of the center of the left end of the bed 2 in the front-rear direction. The pillar 4 extends upward from the front of the center of the right end of the bed 2 in the front-rear direction. The pillars 3 and 4 are separated in the left-right direction with the placement part 22 between them. The synchronization mechanism 31 is a mechanism for synchronously driving the needle bar mechanism 6 and the shuttle mechanism 7, and includes a sewing machine motor 32 (see FIG. 5), an upper spline shaft 33, a lower spline shaft 34, and a transmission mechanism. The sewing machine motor 32 is supported by the pillar 3. The upper spline shaft 33 and the lower spline shaft 34 extend in the left-right direction between the pillars 3 and 4. The transmission mechanism of the synchronization mechanism 31 is housed in the pillar 3 and transmits the power of the sewing machine motor 32 to the upper spline shaft 33 and the lower spline shaft 34. The moving mechanism 9 can move the shuttle mechanism 7 and the needle bar mechanism 6 in a left-right direction parallel to the horizontal direction relative to the sewing workpiece, and is equipped with an upper belt 93, a lower belt 94, an X-motor 95, and a transmission mechanism, which will be described later. In the sewing device 1 of this example, the holding mechanism 8 holds the sewing workpiece. The X-motor 95 is a pulse motor, and is supported by the column portion 4. The transmission mechanism of the moving mechanism 9 is housed in the column portion 4, and transmits the power of the X-motor 95 to the upper belt 93 and the lower belt 94. The upper belt 93 is fixed to the back of the needle bar mechanism 6. The lower belt 94 is fixed to the back of the shuttle mechanism 7. The shuttle mechanism 7 and the needle bar mechanism 6 move left and right in response to the rotation of the X-motor 95.

The beam 5 is installed between the leg pillars 3 and 4. The beam 5 supports the needle bar mechanism 6 on the rear side so that the needle bar mechanism 6 can move in the left-right direction parallel to the horizontal direction. The beam 5 extends in the left-right direction between the leg pillars 3 and 4. The beam 5 includes a housing 51, a bellows 52, and an upper rail 53. The housing 51 extends between the upper end and rear end of each of the leg pillars 3 and 4. The bellows 52 is installed on the front end of each of the leg pillars 3 and 4 and the housing 51, and on both the left and right ends of the needle bar mechanism 6 described below. The upper rail 53 is a rod-shaped rod that extends in the left-right direction and is installed between the leg pillars 3 and 4. The upper rail 53 supports the needle bar mechanism 6 so that it can move in the left-right direction. The housing 51 covers the upper rail 53 and the upper and rear sides of the upper spline shaft 33 of the synchronization mechanism 31. The bellows 52 covers the front side of the upper rail 53 and the upper spline shaft 33. The bellows 52 expands and contracts in response to the left and right movement of the needle bar mechanism 6.

The needle bar mechanism 6 is provided in front of the beam 5. The needle bar mechanism 6 includes a housing 60, an upper shaft 61, a transmission mechanism 62, a needle bar 63, a presser foot 64, and a presser motor 68 (see FIG. 5), and can move the needle bar 63 up and down. The housing 60 is box-shaped and houses the upper shaft 61. The rear of the housing 60 is connected to the upper belt 93, and the housing 60 is supported by the upper rail 53. The needle bar mechanism 6 can move left and right along the upper rail 53 in the beam 5 by driving the movement mechanism 9. The upper shaft 61 extends in the left and right direction. The transmission mechanism 62 transmits the power of the upper spline shaft 33 to the upper shaft 61. The needle bar 63 extends in the up and down direction, and a sewing needle 65 can be attached to the lower end. The needle bar 63 is connected to the upper shaft 61, and moves up and down by driving the sewing machine motor 32. The presser foot 64 has a through hole through which the sewing needle 65 passes in response to the up and down movement of the needle bar 63, and intermittently presses down the sewing material from above. The presser motor 68 is a pulse motor fixed to the housing 60, and moves the presser foot 64 up and down in synchronization with the up and down movement of the needle bar 63.

The vertical mechanism 66 can move the needle bar mechanism 6 between a lower position and an upper position. The vertical mechanism 66 includes an air cylinder 67 (see FIG. 5), and uses the air cylinder 67 as a driving source to move the needle bar mechanism 6 up and down. When the needle bar mechanism 6 is in the lower position, the sewing needle 65 can pass through the needle hole 75 when the needle bar 63 moves up and down, and can sew onto the object to be sewn. When the needle bar mechanism 6 is in the upper position, the needle bar 63 does not move up and down, and the lower end of the sewing needle 65 and the lower end of the presser foot 64 are located above the holding mechanism 8, which will be described later. The sewing device 1 changes the vertical position of the needle bar mechanism 6 before and after disposing the needle bar mechanism 6 from the outside to the inside of the holding mechanism 8, or from the inside to the outside of the holding mechanism 8, depending on the thickness of the holding mechanism 8.

The hook mechanism 7 is arranged below the needle bar mechanism 6 and inside the bed section 2. The hook mechanism 7 includes a housing 70, a lower shaft 71, a transmission mechanism 72, and a hook 73. The housing 70 is box-shaped and includes a throat plate 74 at the upper left end. The throat plate 74 has a needle hole 75 through which the sewing needle 65 can be inserted. The needle hole 75 is located below the needle bar 63. The back surface of the housing 70 is connected to the lower belt 94. The lower spline shaft 34 is inserted into the housing 70 . The housing 70 is supported by the lower rail 29. The hook mechanism 7 can be moved left and right along the lower rail 29 in synchronization with the needle bar mechanism 6 by driving the moving mechanism 9. The transmission mechanism 72 transmits the power of the lower spline shaft 34 to the lower shaft 71. The hook 73 is connected to the lower shaft 71 and rotated by the sewing machine motor 32 in synchronization with the vertical movement of the needle bar 63.

The holding mechanism 8 can hold the object to be sewn. The holding mechanism 8 includes an outer frame 80, an upper plate 81, a lower plate, four sets of protrusions 84, and holes 87, and holds the workpiece by sandwiching it between the upper plate 81 and the lower plate. The holding mechanism 8 is symmetrical with respect to the center in the left-right direction. The outer frame 80 has a rectangular frame shape that is long in the left-right direction. The inside of the outer frame 80 is connected to the outer periphery of a rectangular plate-shaped lower plate that is long in the left-right direction. The upper plate 81 and the lower plate overlap vertically inside the outer frame 80. The upper plate 81 has a rectangular plate shape that is long in the left-right direction. The upper plate 81 has a hole 87 penetrating vertically, and the lower plate has a hole penetrating vertically. The hole 87 and the hole in the lower plate are in the same plane position and overlap vertically. During sewing, the lower plate is located above the mounting section 22. The hole 87 and the hole in the lower plate are provided in a rectangular sewing area within the outer frame 80 of the holding mechanism 8, and the sewing device 1 forms stitches inside the hole 87 and the hole in the lower plate according to the sewing data.

The four sets of protrusions 84 are of the same shape, and are cylindrical and protrude upward. Each set of protrusions 84 is a pair of left and right protrusions 84 consisting of a protrusion 84 arranged on the left side of the outer frame 80 and a protrusion 84 arranged on the right side of the outer frame 80. The four sets of protrusions 84 are arranged at approximately equal intervals in the longitudinal direction (front-to-back direction) of the holding mechanism 8. When the four sets of protrusions 84 are referred to collectively or when no particular one is specified, they are also simply referred to as protrusions 84.

The feed mechanism 10 can move the holding mechanism 8 holding the sewing material back and forth relative to the needle bar mechanism 6 and the shuttle mechanism 7. The feed mechanism 10 has connecting parts 78, 79 and a pair of mounting parts 96. The lower left end of the connecting part 78 is placed on the rail of the opening 24 of the bed part 2. The lower right end of the connecting part 79 is placed on the rail of the opening 25 of the bed part 2. The pair of mounting parts 96 are provided at the front ends of the connecting parts 78, 79. When the pair of mounting parts 96 is referred to collectively or when one is not specified, it is also simply called the mounting part 96. The mounting part 96 has a pair of left and right clamping members 98 and an air cylinder 91. The pair of left and right clamping members 98 have a symmetrical configuration with each other and have recesses 99 on their opposing surfaces. The recesses 99 are tapered so that the width in the front-to-back direction becomes narrower as the sides move away from each other. The lower surface of the air cylinder 91 is connected to a pair of left and right clamping members 98 of the mounting part 96, and the pair of clamping members 98 of the mounting part 96 can move toward each other and away from each other by the power of the air cylinder 91. As shown in Fig. 3A, the pair of clamping members 98 move toward each other, so that the mounting part 96 can clamp the protrusion 84 of the holding mechanism 8 in the left-right direction. When the pair of clamping members 98 clamp the protrusion 84 in the left-right direction, the front left and rear left parts of the protrusion 84 abut against the recesses 99 of one of the clamping members 98, and the front right and rear right parts of the protrusion 84 abut against the recesses 99 of the other clamping member 98. As shown in Fig. 3B, the pair of clamping members 98 of the mounting part 96 move away from each other, so that the mounting part 96 can release the clamping of the protrusion 84 of the holding mechanism 8. When the pair of clamping members 98 release the clamping of the protrusion 84, the left-right distance between the pair of clamping members 98 is greater than the diameter of the protrusion 84. The mounting part 96 clamps the protrusion 84, so that the sewing device 1 mounts the holding mechanism 8, and when the mounting part 96 releases the clamping of the protrusion 84, the operator can remove the holding mechanism 8 from the sewing device 1. When the holding mechanism 8 is mounted on the mounting part 96, the sewing device 1 can form stitches in the sewing area within the outer frame 80 of the holding mechanism 8. In the following, the state in which the pair of clamping members 98 of the mounting part 96 shown in FIG. 3(A) move in a direction approaching each other is referred to as the held state, and the state in which the pair of clamping members 98 of the mounting part 96 shown in FIG. 3(B) move in a direction away from each other is referred to as the released state.

The feed mechanism 10 is equipped with a Y motor 101 (see FIG. 5), a transmission mechanism, and a pair of belts below the placement section 22. The Y motor 101 is a pulse motor. The transmission mechanism of the feed mechanism 10 transmits the Y motor 101 to a pair of belts fixed to the connecting sections 78 and 79. The mounting section 96 moves back and forth along a pair of rails of the bed section 2 in response to the rotation of the Y motor 101. Of the movement directions (Y direction) of the mounting section 96, the side of the needle bar mechanism 6 relative to the beam section 5 is called the return direction (forward), and the opposite side of the needle bar mechanism 6 relative to the beam section 5 is called the feed direction (rearward).

The detector 37 detects whether the holding mechanism 8 is in the mounting position and can output the detection result to the control unit 15 (see FIG. 5). The detector 37 is a magnetic sensor provided near the mounting part 96 of the sewing device 1. Specifically, it is arranged on the rear side of the connecting parts 78 and 79. The mounting position of the mounting part 96 is a predetermined position where the mounting part 96 is located rearward of the beam part 5, and is a position where the mounting part 96 can mount the holding mechanism 8 in the mounting position. When the mounting part 96 is in a position corresponding to the mounting position, the detector 37 outputs an ON signal when the holding mechanism 8 is in the mounting position and outputs an OFF signal when the holding mechanism 8 is not in the mounting position. The operation unit 14 is supported on the front left part of the sewing device 1. The operation unit 14 includes a switch group 12 and a display unit 13. The switch group 12 inputs various instructions in response to the operation of the operator. The display unit 13 is a liquid crystal display and can display various images.

The rear device 240 is provided at the rear of the sewing device 1. The rear device 240 can raise and lower the holding mechanism 8 from the first height H1 to the second height H2. The rear device 240 includes a frame 281, a first lifting mechanism 241, a first support section 247, detectors 217, 218, first conveyance rollers 242, 243, a first regulating member 249, a solenoid valve 244, and detectors 221, 222. , 231, 232 (see FIG. 5). The frame body 281 is a lattice-like structure and supports the first elevating mechanism 241 from below.

The first lifting mechanism 241 is located behind the needle bar mechanism 6 and lifts the holding mechanism 8 at the first height H1 sent by the feed mechanism 10 to a second height H2 different from the first height H1. The first lifting mechanism 241 is a known lifting device that can lift and lower the desk 237 having a surface parallel to the horizontal plane in response to a control signal from the PLC 200. The drive method of the first lifting mechanism 241 may be any method such as an electric hydraulic type, a manual hydraulic type, or an electric ball screw type. The first height H1 in this embodiment is a height at which the lower surface of the holding mechanism 8 is at the same height as the upper surface of the placement part 22 of the sewing device 1. The first height H1 in this embodiment is higher than the second height H2. The second height H2 is a height at which the upper end of the holding mechanism 8 supported by the first support part 247 is lower than the lower end of the base part 21 of the sewing device 1. The first lifting mechanism 241 supports the first support part 247 from below.

The first support portion 247 can support the holding mechanism 8 from below. The size of the plane of the first support portion 247 is larger than the size of the plane of the holding mechanism 8. The first support portion 247 includes a plurality of rod members 248, a plurality of rollers 239, and a plurality of plate portions 226. The plurality of rod members 248 are arranged in a frame shape as a whole. The plurality of rod members 248 are fixed to the upper surface of the desk 237. The first support portion 247 can support both left and right ends of the holding mechanism 8 while maintaining a posture in which the extension surface of the holding mechanism 8 is approximately horizontal. The plurality of rollers 239 are lined up in the front-rear direction at each of the left end and right end of the first support portion 247. The rotation axis of each roller 239 faces the left-right direction. Each roller 239 rotates around the rotation axis to assist the holding mechanism 8 in moving to a position (first position) where the first support portion 247 supports the holding mechanism 8. When the first support portion 247 supports the holding mechanism 8, the outline of the extension range of the first support portion 247 in a plane parallel to the horizontal plane surrounds the outline of the extension range of the holding mechanism 8. When the first support portion 247 supports the holding mechanism 8, the multiple rod members 248 restrict the rearward movement of the holding mechanism 8. The multiple plate portions 226 are provided at the left end and the right end of the first support portion 247, respectively, and are plate-shaped and arranged in the front-rear direction. The upper end of each plate portion 226 is located above the upper end of each roller 239 and the upper end of each rod member 248. When the first support portion 247 supports the holding mechanism 8, the multiple plate portions 226 restrict the left-right movement of the holding mechanism 8.

The detectors 217 and 218 can output detection signals to the PLC 200 depending on whether the first support portion 247 supports the holding mechanism 8 or not. Detectors 217 and 218 are known proximity sensors or photoelectric sensors. The detector 217 is provided at the front right portion of the first support portion 247 and can detect the front end portion of the holding mechanism 8 in the first position. The detector 218 is provided at the right rear portion of the first support portion 247 and can detect the rear end portion of the holding mechanism 8 in the first position. When the first support part 247 supports the holding mechanism 8, that is, when the holding mechanism 8 is in the first position, the detectors 217 and 218 output an ON signal. When the first support part 247 does not support the holding mechanism 8, that is, when the holding mechanism 8 is not in the first position, at least the detector 218 of the detectors 217 and 218 outputs an OFF signal.

The first conveyance rollers 242 and 243 are fixed to one of the plurality of rod members 248 located in front of the center of the first support portion 247 in the front-rear direction. The first conveyance rollers 242 and 243 are arranged in the left-right direction between the left end and the right end of the first support section 247. The first conveyance rollers 242 and 243 can rotate forward or backward according to a control signal from the PLC 200. In this specification, forward rotation refers to rotation in the rotation direction when the holding mechanism 8 is sent in the feeding direction (clockwise when viewed from the right side), and reverse rotation refers to rotation in the rotation direction when sending the holding mechanism 8 in the return direction (right side view). It refers to rotation (counterclockwise when viewed from the surface). The driving source for the first conveyance rollers 242 and 243 is, for example, a pulse motor. The first conveying rollers 242 and 243 feed the holding mechanism 8 placed at the release position in the feeding direction to the first position in response to a control signal from the PLC 200. The release position is a position where the rear end of the holding mechanism 8 is located behind the first conveyance rollers 242 and 243. The first transport rollers 242 and 243 send the holding mechanism 8 in the first position in the return direction in response to a control signal from the PLC 200.

The first stop member 249 is a plate-shaped member capable of restricting the forward movement of the holding mechanism 8 supported by the first support portion 247 at the front end of the first support portion 247. The first stop member 249 is fixed to the frontmost rod member 248 of the multiple rod members 248 at approximately the center in the left-right direction of the first support portion 247. The solenoid valve 267 switches the first stop member 249 between a first stop position that restricts the forward movement of the holding mechanism 8 and a first retracted position that does not restrict the movement of the holding mechanism 8 in response to a control signal from the PLC 200. The upper end of the first stop member 249 in the first stop position is higher than the upper end of the first stop member 249 in the first retracted position. That is, the solenoid valve 267 raises and lowers the first stop member 249 to the first stop position and the first retracted position in response to a control signal from the PLC 200.

The detector 221 can output a detection signal to the PLC 200 according to whether the first support portion 247 is at the first height H1. The detector 222 can output a detection signal to the PLC 200 according to whether the first support portion 247 is at the second height H2. The detectors 221 and 222 are known proximity sensors or photoelectric sensors. The detector 221 is attached to a portion of the frame 281 that corresponds to the first height H1. The detector 222 is attached to a portion of the frame 281 that corresponds to the second height H2. When the first support portion 247 is at the first height H1, the detector 221 outputs an ON signal, and when the first support portion 247 is not at the first height H1, the detector 221 outputs an OFF signal. When the first support portion 247 is at the second height H2, the detector 222 outputs an ON signal, and when the first support portion 247 is not at the second height H2, the detector 222 outputs an OFF signal.

The detectors 231 and 232 are cylinder sensors attached to the solenoid valve 267 that raises and lowers the first stop member 249, and detect the position of the first stop member 249 using magnetism. The detector 231 can output a detection signal to the PLC 200 according to whether the first stop member 249 is in the first stop position. The detector 232 can output a detection signal to the PLC 200 according to whether the first stop member 249 is in the first retracted position. When the first stop member 249 is in the first stop position, the detector 231 outputs an ON signal, and when the first stop member 249 is not in the first stop position, the detector 231 outputs an OFF signal. When the first stop member 249 is in the first retracted position, the detector 232 outputs an ON signal, and when the first stop member 249 is not in the first retracted position, the detector 232 outputs an OFF signal.

The front device 250 is provided in front of the beam portion 5 of the sewing device 1. The front device 250 can raise and lower the holding mechanism 8 from the second height H2 to the first height H1. The front device 250 includes a frame 282, a second elevating mechanism 251, a second support section 257, detectors 211 to 213, a mounting conveyance mechanism 294, a second regulating member 259, a solenoid valve 256, and detectors 223, 224, 233, 234. (See FIG. 5). The frame body 282 is a lattice-like structure and supports the second elevating mechanism 251 from below. The frame body 282 includes an activation switch 285 above the second elevating mechanism 251 that receives instructions from the operator. The second lifting mechanism 251 is located in front of the needle bar mechanism 6, and lifts and lowers the holding mechanism 8 from the second height H2 sent by the return mechanism 260 to the first height H1. Similar to the first elevating mechanism 241, the second elevating mechanism 251 is a known elevating device that can raise and lower the desk 238 having a surface parallel to the horizontal surface according to a control signal from the PLC 200. The second lifting mechanism 251 supports the second support section 257 from below. In the front-rear direction, the distance between the second lifting mechanism 251 and the beam portion 5 is longer than the distance between the first lifting mechanism 241 and the beam portion 5.

The second support portion 257 has a configuration similar to that of the first support portion 247 and can support the holding mechanism 8. The size of the plane of the second support portion 257 is larger than the size of the plane of the holding mechanism 8. The second support portion 257 has a configuration similar to that of the first support portion 247 and includes a plurality of rod members 258, a plurality of rollers 239, and a plurality of plate portions 227. The plurality of rod members 258 are arranged in a frame shape as a whole. The plurality of rod members 258 are fixed to the upper surface of the desk 238. When the second support portion 257 supports the holding mechanism 8, the plurality of rod members 258 restrict the forward movement of the holding mechanism 8. The second support portion 257 can support both left and right ends of the holding mechanism 8 while maintaining a posture in which the extension surface of the holding mechanism 8 is approximately horizontal. The plurality of plate portions 227 are provided at each of the left end and right end of the second support portion 257 and are plate-shaped arranged in the front-rear direction. The upper end of each plate portion 227 is located above the upper end of each roller 239 and the upper end of each rod member 258. When the holding mechanism 8 is in a position supported by the second support portion 257 (second position), the outline of the extension range of the second support portion 257 in a plane parallel to the horizontal plane surrounds the outline of the extension range of the holding mechanism 8, and the multiple plate portions 227 restrict the left-right movement of the holding mechanism 8.

The detectors 211 and 212 can output detection signals to the PLC 200 depending on whether the second support part 257 supports the holding mechanism 8 or not. The detector 213 can output a detection signal to the PLC 200 depending on whether a mounting support section 293 (described later) supports the holding mechanism 8 or not. Detectors 211 to 213 are known proximity sensors or photoelectric sensors. The detector 211 is provided at the right front part of the second support part 257 and can detect the front end of the holding mechanism 8 in the second position. The detector 212 is provided at the right rear portion of the second support portion 257 and can detect the rear end portion of the holding mechanism 8 in the second position. The detector 213 is provided at the right rear part of the mounting support section 293. When the second support part 257 supports the holding mechanism 8, that is, when the holding mechanism 8 is in the second position, the detectors 211 and 212 output an ON signal. When the second support part 257 does not support the holding mechanism 8, that is, when the holding mechanism 8 is not in the second position, at least the detector 211 of the detectors 211 and 212 outputs an OFF signal.

The mounting transport mechanism 294 transports the holding mechanism 8 supported by the second support portion 257 to the mounting position. The mounting transport mechanism 294 includes a mounting support portion 293, transport rollers 252 to 254, and a rod member 292. The mounting support portion 293 has the same configuration as the second support portion 257, and includes multiple rod members 292, multiple rollers 239, and multiple plate portions 228. The mounting support portion 293 is disposed between the placement portion 22 of the sewing device 1 and the second lifting mechanism 251 in the front-rear direction. The mounting support portion 293 is fixed to the frame body 281 at the same height as the second support portion 257 at the first height H1 and at the same left-right position. The rear end of the mounting transport mechanism 294 is located rearward of the front end of the sewing device 1. The rear end of the mounting transport mechanism 294 is disposed between the openings 24 and 25 of the bed portion 2 of the sewing device 1 in the left-right direction.

The second front conveying rollers 252, 253 are fixed to the rod member 258 of the second lifting mechanism 251 that is rearward of the center of the second support portion 257 in the front-rear direction. The second front conveying rollers 252, 253 are aligned in the left-right direction between the left and right ends of the second support portion 257. The second front conveying rollers 252, 253 feed the holding mechanism 8 from the second position toward the mounting position in response to a control signal from the PLC 200. The mounting position is, for example, a position where the rear end of the holding mechanism 8 is below the beam portion 5. The second front conveying rollers 252, 253 feed the holding mechanism 8 in the second position in the feed direction in response to a control signal from the PLC 200.

The second rear conveying rollers 254, 255 are fixed to a rod member 292. The rod member 292 extends in the left-right direction and is fixed to the lower end of the mounting support part 293 forward of the center of the mounting support part 293 in the front-rear direction. The second rear conveying rollers 254, 255 are aligned in the left-right direction between the mounting support parts 293. The second rear conveying rollers 254, 255 feed the holding mechanism 8 in the feed direction toward the mounting position in response to a control signal from the PLC 200. The driving source for the conveying rollers 252 to 255 is, for example, a pulse motor.

The second regulating member 259 is a plate-shaped member that can regulate rearward movement of the holding mechanism 8 supported by the second supporting portion 257 at the rear end portion of the second supporting portion 257 . The second regulating member 259 is fixed to the rearmost bar member 258 of the plurality of bar members 258 at approximately the center in the left-right direction of the second support portion 257 . The solenoid valve 256 moves the second regulating member 259 into a second regulating position where the rearward movement of the holding mechanism 8 is restricted and a second retracted position where the movement of the holding mechanism 8 is not restricted in response to a control signal from the PLC 200. Switch. The upper end of the second regulating member 259 in the second regulating position is located above the upper end of the second regulating member 259 in the second retracted position. That is, the solenoid valve 256 moves the second regulating member 259 up and down to the second regulating position and the second retracted position in response to a control signal from the PLC 200.

The detector 223 can output a detection signal to the PLC 200 according to whether the second support 257 is at the first height H1. The detector 224 can output a detection signal to the PLC 200 according to whether the second support 257 is at the second height H2. The detectors 223 and 224 are known proximity sensors or photoelectric sensors. The detector 223 is attached to a portion of the frame 282 that corresponds to the first height H1. The detector 224 is attached to a portion of the frame 282 that corresponds to the second height H2. When the second support 257 is at the first height H1, the detector 223 outputs an ON signal, and when the second support 257 is not at the first height H1, the detector 223 outputs an OFF signal. When the second support 257 is at the second height H2, the detector 224 outputs an ON signal, and when the second support 257 is not at the second height H2, the detector 224 outputs an OFF signal.

The detectors 233 and 234 are cylinder sensors attached to the solenoid valve 256 that raises and lowers the second regulating member 259, and detect the position of the second regulating member 259 using magnetism. The detector 233 can output a detection signal to the PLC 200 according to whether the second regulating member 259 is in the second regulating position. The detector 234 can output a detection signal to the PLC 200 according to whether the second regulating member 259 is in the second regulating position. When the second regulating member 259 is in the second regulating position, the detector 233 outputs an ON signal, and when the second regulating member 259 is not in the second regulating position, the detector 233 outputs an OFF signal. When the second regulating member 259 is in the second regulating position, the detector 234 outputs an ON signal, and when the second regulating member 259 is not in the second regulating position, the detector 234 outputs an OFF signal.

The return mechanism 260 sends the holding mechanism 8, which has been raised and lowered to the second height H2 by the first lifting mechanism 241, from the rear side of the needle bar mechanism 6 to the front side of the needle bar mechanism 6 along a path that overlaps at least a portion of the sewing device 1 vertically and is located at the second height H2. The return mechanism 260 includes a frame 283, a return support section 265, conveying rollers 261-264, detectors 214-216, a return restriction member 268, a solenoid valve 267, and detectors 235, 236 (see FIG. 5). The frame 283 is a lattice-shaped structure that spans the frame 281 and the frame 282 below the base 21 of the sewing device 1 and between the left and right ends of the frame 28. The return support section 265 has a configuration similar to that of the first support section 247 and includes a plurality of rollers 239 and a plurality of plate sections 229. The return support part 265 is located between the first lifting mechanism 241 and the second lifting mechanism 251 in the front-rear direction. The extension range of the return support part 265 in the front-rear direction overlaps with the sewing device 1. In the left-right direction, the return support part 265 is located between the left end and the right end of the frame body 28 of the sewing device 1. The frame bodies 282 and 283 fix the return support part 265 at the same height and in the same left-right position as the first support part 247 and the second support part 257 at the second height H2.

The pre-return conveyance rollers 261 and 262 are fixed to the rear lower end of the frame 282. The pre-return conveyance rollers 261 and 262 are arranged in the left-right direction between the left and right ends of the return support section 265. The pre-return conveyance rollers 261 and 262 send the holding mechanism 8 toward the second position in response to a control signal from the PLC 200. The return conveyance rollers 263 and 264 are fixed to a bar member (not shown). The rod member extends in the left-right direction and is fixed to the lower end of the return support portion 265 at a position rearward of the center of the return support portion 265 in the front-rear direction. The post-return conveyance rollers 263 and 264 are arranged in the left-right direction between the left and right ends of the return support section 265. The post-return conveyance rollers 263 and 264 send the holding mechanism 8 in the return direction in response to a control signal from the PLC 200. The driving source for the conveyance rollers 261 to 264 is, for example, a pulse motor.

The detectors 214 to 216 can output a detection signal to the PLC 200 according to the position in the return direction of the holding mechanism 8 supported by the return support part 265. The detectors 214 to 216 are known proximity sensors or photoelectric sensors. The detector 216 is provided at the rear of the return support part 265, the detector 215 is provided within the return support part 265 behind the post-return conveying rollers 263 and 264, and the detector 214 is provided within the return support part 265 behind the pre-return conveying rollers 261 and 262. When the return support part 265 is not supporting the holding mechanism 8, the detectors 214 to 216 all output an OFF signal.

The return regulating member 268 is provided on the path located at the second height H2, and has a plate shape capable of regulating the movement of the holding mechanism 8 in the front-rear direction. The return regulating member 268 is fixed to the frame 282 at a substantially central portion in the left-right direction of the route located at the second height H2. The solenoid valve 267 switches, in response to a control signal from the PLC 200, between a return retraction position in which the return restriction member 268 is retracted from the path, and a return restriction position in which the return restriction member 268 is placed on the path on the rear side with respect to the second support portion 257. The upper end of the return regulating member 268 in the return regulating position is located above the upper end of the return regulating member 268 in the return retreat position.

The detector 235 can output a detection signal to the PLC 200 depending on whether the return regulating member 268 is in the return regulating position. The detector 236 can output a detection signal to the PLC 200 depending on whether the return regulating member 268 is in the return retreat position. When the return regulation member 268 is in the return regulation position, the detector 235 outputs an ON signal, and when the return regulation member 268 is not in the return regulation position, the detector 235 outputs an OFF signal. When the return regulating member 268 is in the returned and retracted position, the detector 236 outputs an ON signal, and when the return regulating member 268 is not in the returned and retracted position, the detector 236 outputs an OFF signal.

The electrical configuration of the sewing system 300 will be described with reference to FIG. 5. The control unit 15 of the sewing device 1 has a CPU 16, a ROM 17, a RAM 18, a memory device 19, a communication interface (IF) 11, an input IF 35, an output IF 36, drive circuits 45-50, 58, etc. The CPU 16 controls the overall operation of the sewing device 1. The ROM 17 stores programs and the like for executing various processes in advance. The RAM 18 temporarily stores various information generated during the execution of various processes. The memory device 19 is non-volatile and stores various setting values. The communication IF 11 is a communication module for connecting to a public line network. The sewing device 1 can connect the communication IF 11 to the starting PLC 200.

Each of the drive circuits 45 to 50, 58 is connected to the output IF 36. The drive circuit 45 is connected to the sewing machine motor 32 of the synchronization mechanism 31, and drives the sewing machine motor 32 in response to control commands from the CPU 16. The drive circuit 46 is connected to the X motor 95 of the moving mechanism 9, and drives the X motor 95 in response to a control command from the CPU 16. The drive circuit 47 is connected to the Y motor 101 of the feed mechanism 10, and drives the Y motor 101 in response to a control command from the CPU 16. The drive circuit 48 is connected to the air cylinder 67 of the vertical mechanism 66, and drives the air cylinder 67 in response to a control command from the CPU 16. The drive circuit 49 is connected to the display section 13 and displays various information on the display section 13 under control commands from the CPU 16. The drive circuit 50 is connected to the presser motor 68 and drives the presser motor 68 in response to a control command from the CPU 16. The drive circuit 58 is connected to the air cylinder 91 and drives the air cylinder 91 based on control commands from the CPU 16 .

The power supply SW 20, encoders 55 to 57, switch group 12, detector 37, etc. are connected to the input IF 35. The power switch 20 turns on the power to the sewing device 1. The encoder 55 detects the rotational position and rotational speed of the output shaft of the sewing machine motor 32, and inputs the detection results to the input IF 35. The detection result of encoder 55 indicates the vertical position of needle bar 63 and sewing needle 65. The encoder 56 detects the rotational direction, rotational position, and rotational speed of the output shaft of the X motor 95, and inputs the detection results to the input IF 35. The detection result of the encoder 56 indicates the left and right positions of the needle bar mechanism 6 and hook mechanism 7. The encoder 57 detects the rotational direction, rotational position, and rotational speed of the output shaft of the Y motor 101, and inputs the detection results to the input IF 35. The detection result of the encoder 57 indicates the front and rear positions of the mounting portion 96. The switch group 12 detects various instructions and inputs the detection results to the input IF 35. The detector 37 inputs the detection result to the input IF 35.

PLC200 comprises a CPU201, ROM202, RAM203, storage device 204, communication IF207, input IF205, and output IF206. CPU201 controls the overall operation of PLC200. ROM202 stores programs and the like for executing various processes in advance. RAM203 temporarily stores various information generated during the execution of various processes. Storage device 204 is non-volatile and stores various setting values. Communication IF207 is a communication module for connecting to a public line network.

The detectors 211-218, 221-224, and 231-236 are connected to the input IF 205. Each of the detectors 211-218, 221-224, and 231-236 inputs the detection results to the input IF 205. The start switch 285 is connected to the input IF 205 and inputs a detection signal to the input IF 205. The output IF 206 is connected to the first lifting mechanism 241, the first conveying rollers 242 and 243, and the solenoid valve 244 of the rear device 240, and outputs a control signal to each device. The output IF 206 is connected to the second lifting mechanism 251, the conveying rollers 252-255, and the solenoid valve 256 of the front device 250, and outputs a control signal to each device. The output IF 206 is connected to the conveying rollers 261-264 and the solenoid valve 267 of the return mechanism 260, and outputs a control signal to each device.

With reference to Figures 6 to 18, the main processing executed by the sewing system 300 will be described using a specific example in which two holding mechanisms 8 are used to sequentially sew on the sewing material held by the holding mechanisms 8. The main processing is started when the operator specifies the start of the processing. The main processing is executed by the CPU 201 of the PLC 200 and the CPU 16 of the sewing device 1 in cooperation with each other. The CPU 201 of the PLC 200 reads a program for the main processing from the ROM 202 into the RAM 203 and executes the main processing. The CPU 201 of the PLC 200 executes the front device processing of Figure 7, the return mechanism processing of Figure 9, and the rear device processing of Figure 10 in parallel. The front device processing is processing related to the front device 250. The return mechanism processing is processing related to the return mechanism 260. The rear device processing is processing related to the rear device. The CPU 16 of the sewing device 1 reads a program for the main processing from the ROM 17 into the RAM 18 and executes the main processing. The CPU 16 of the sewing device 1 executes the sewing process shown in FIG. 6 in parallel with the process executed by the PLC 200. The sewing process is a process for forming stitches inside the holes 87 of the holding mechanism 8 according to the sewing data. The sewing data is generated according to the shape of the holes 87 of the holding mechanism 8 and is stored in advance in the storage device 19.

One of the two holding mechanisms 8 is called holding mechanism 8A, and the other is called holding mechanism 8B. As shown in FIG. 13, when the main process starts (time A1), each component is disposed as follows. The first support portion 247 of the first lifting mechanism 241 is at the first height H1, and does not support either of the holding mechanisms 8A or 8B. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and supports the holding mechanism 8A, which holds the unsewn workpiece. The return support portion 265 of the return mechanism 260 supports the holding mechanism 8B, which holds the sewn workpiece.

11 and 12 show the transition of signals detected by the sewing system 300 and the driving status of each element when the main process is executed. The columns of FIG. 11 indicate detectors with symbols (numbers), the rows indicate the names of the times when the detection signals were output, and each cell indicates the output value of the times indicated by the names of the times of the detectors indicated by the symbols. The output value of each cell indicates an ON signal with ON, and an OFF signal with OFF. The columns of FIG. 12 indicate display objects, the rows indicate the names of the times when the detection signals were output, and each cell indicates the value of the times indicated by the names of the times of the display objects. The display objects in FIG. 12 include signals, conveying rollers, and lifting mechanisms. The signals represent five signals: Acceptable, Installation Complete, Release Complete, Error, and Supportable, and the values of each cell corresponding to the signals indicate an ON signal with ON, and an OFF signal with OFF. The transport rollers represent the second front (second front transport rollers 252, 253), second rear (second rear transport rollers 254, 255), first (first transport rollers 242, 243), return rear (return rear transport rollers 263, 264), and return front (return front transport rollers 261, 262) transport rollers, and the value of each cell corresponding to the transport roller indicates the operation state of each transport roller as either stopped, forward rotation, or reverse rotation. The lifting mechanism represents the first (first lifting mechanism 241) and second (second lifting mechanism 251) lifting mechanisms, and the value of each cell corresponding to the lifting mechanism indicates the state of each lifting mechanism as either up (at the first height H1), down (at the second height H2), down (descending from the first height H1 to the second height H2), or up (rising from the second height H2 to the first height H1).

As shown in FIG. 10, the CPU 201 determines whether the first elevating mechanism 241 has completed discharging the holding mechanism 8 (S59). The CPU 201 determines that the first support part 247 is at the first height H1 according to the detection results of the detectors 221 and 222, and that the first support part 247 supports the holding mechanism 8 according to the detection results of the detectors 217 and 218. When it is determined that the first regulating member 249 is in the first retracted position based on the detection results of the detectors 231 and 232, it is determined that the first elevating mechanism 241 has completed discharging the holding mechanism 8. The CPU 201 waits in S59 until it determines that the conditions in S59 are satisfied (S59: NO). When CPU 201 determines that the condition of S59 is satisfied, as in the value of timing A1 in FIGS. 11 and 12 (S59: YES), it outputs a support enable signal ON to sewing device 1 (S60). The sewing device 1 receives the support enable signal ON.

As shown in FIG. 6, the CPU 16 of the sewing device 1 acquires the sewing data stored in the memory device 19 (S31). The CPU 16 controls the drive circuit 47 to move the mounting portion 96 to the mounting position (S32). The CPU 16 outputs the acceptability signal ON to the PLC 200 (S33). The PLC 200 receives the acceptability signal ON and changes the state of the sewing device 1 according to the signal received from the sewing device 1. The sewing device 1 has four states: acceptability, mountability, release complete, and error. The initial values of the states of the sewing device 1 are all OFF. When the CPU 201 of the PLC 200 receives the acceptability signal ON, it sets acceptability to ON and sets the other states to OFF. The CPU 16 judges whether the holding mechanism 8 has been detected based on the detection result of the detector 37 (S34). The CPU 16 waits in S34 until it detects the holding mechanism 8 (S34: NO).

As shown in FIG. 7, the CPU 201 determines whether an input signal from the activation switch 285 is detected (S1). After the operator finishes placing the unsewn workpiece on the holding mechanism 8A supported by the second support portion 257 of the second lifting mechanism 251, the operator presses the activation switch 285 provided above the second lifting mechanism 251. The CPU 201 waits in S1 until it detects an input signal from the start switch 285 (S1: NO). When the CPU 201 detects the input signal of the start switch 285 (S1: YES), the CPU 201 determines whether or not to move the second regulating member 259 to the second retracted position (S2). The CPU 201 determines that the second support part 257 supports the holding mechanism 8 based on the detection signals from the detectors 211 and 212, and that the second support part 257 reaches the first height H1 based on the detection signals from the detectors 223 and 224. When a certain condition is met, it is determined that the second regulating member 259 is to be moved to the second retracted position. The CPU 201 waits in S2 until it determines that the condition of S2 is satisfied (S2: NO). When the condition of S2 is satisfied (S2: YES), as at time A1 in FIGS. 11 and 12, the CPU 201 outputs a control signal to the solenoid valve 256 to lower the second regulating member 259 (S3). Through this process, the second regulating member 259 moves from the second regulating position to the second retracted position.

The CPU 201 determines whether or not to rotate the transport rollers 252 to 255 in the normal direction (S4). The CPU 201 determines that the second support part 257 supports the holding mechanism 8 based on the detection signals from the detectors 211 and 212, and that the second support part 257 is at the first height H1 based on the detection signals from the detectors 223 and 224. Conditions in which the second regulating member 259 is in the second retracted position according to the detection signals of the detectors 233 and 234, the acceptability signal ON is being received from the sewing device 1, and the error signal is not being received from the sewing device 1. When the condition is satisfied, it is determined that the conveyance rollers 252 to 255 should rotate normally (S4). The CPU 201 waits in S4 until it determines that the condition of S4 is satisfied (S4: NO). When the condition of S4 is satisfied (S4: YES), as at time A2 in FIG. 11 and FIG. The rotation is started (S5). As a result of this process, the holding mechanism 8A begins to move rearward from the second position.

The CPU 201 determines whether to stop the forward rotation of the second front conveying rollers 252, 253 (S6). The CPU 201 determines to stop the forward rotation of the second front conveying rollers 252, 253 when the detection result of the detector 213 satisfies the condition that the signal is an ON signal. The CPU 201 waits in S6 until it determines that the condition of S6 is satisfied (S6: NO). When the CPU 201 determines that the condition of S6 is satisfied (S6: YES), as in timing A3 in FIG. 11 and FIG. 12, it outputs a control signal to the second front conveying rollers 252, 253 and stops the forward rotation of the second front conveying rollers 252, 253 (S7).

The CPU 201 determines whether to lower the second support portion 257 from the first height H1 to the second height H2 (S8). The CPU 201 determines to lower the second support portion 257 when the detection result of the detector 213 is an ON signal, the second forward conveying rollers 252 and 253 are stopped, and the detection results of the detectors 211 and 212 satisfy the conditions that the second support portion 257 is not supporting the holding mechanism 8A. The CPU 201 waits in S8 until it determines that the condition of S8 is satisfied (S8: NO). When the CPU 201 determines that the condition of S8 is satisfied (S8: YES), as in the value of timing A4 in Figures 11 and 12, it outputs a control signal to the second lifting mechanism 251 and starts lowering the second support portion 257 from the first height H1 to the second height H2 (S9).

6, when the front device 250 moves the holding mechanism 8A in the feed direction, the CPU 16 of the sewing device 1 detects the holding mechanism 8A in the mounting position in S34 (S34: YES) and controls the drive circuit 58 to switch the mounting section 96 from the released state to the mounted state (S35). This process enables the holding mechanism 8A to move forward and backward in response to the movement of the mounting section 96. As an example, the mounting section 96 clamps the set of protrusions 84 located furthest to the rear out of the four sets of protrusions 84 of the holding mechanism 8A. The CPU 16 outputs an installation completion signal ON to the PLC 200 (S36). The PLC 200 receives the installation completion signal ON from the sewing device 1 and updates the state of the sewing device 1.

As shown in FIG. 7, after S9, the CPU 201 determines whether to stop normal rotation of the second rear conveyance rollers 254 and 255 (S10). When the detection result of the detector 213 is an ON signal and the conditions of obtaining the installation completion signal ON from the sewing device 1 are satisfied, the CPU 201 determines to stop the normal rotation of the second rear conveyance rollers 254 and 255. The CPU 201 waits in S10 until it determines that the condition in S10 is satisfied (S10: NO). When the condition of S10 is satisfied (S10: YES), like the value of timing A5 in FIGS. 11 and 12, the CPU 201 outputs a control signal to the second rear conveyance rollers 254, 255, 255 is stopped from normal rotation (S11).

The CPU 201 judges whether the second support portion 257 has finished descending to the second height H2 (S12). When the CPU 201 judges that the condition that the second support portion 257 is at the second height H2 is satisfied based on the detection results of the detectors 223 and 224, it judges that the second support portion 257 has finished descending to the second height H2. The CPU 201 waits in S12 until it judges that the condition of S12 is satisfied (S12: NO). When the CPU 201 judges that the condition of S12 is satisfied (S12: YES), as in the value of timing A6 in Figures 11 and 12, it outputs a control signal to the second lifting mechanism 251 to stop the descent of the second support portion 257 (S13). Through the above processing, the state of the processing start timing A1 shown in Figure 13 is transitioned to the state of timing B1 shown in Figure 14. As shown in FIG. 14, at time B1, the first support portion 247 of the first lifting mechanism 241 is located at a first height H1 and does not support the holding mechanism 8. The sewing device 1 holds the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is located at a second height H2 and does not support the holding mechanism 8. The return mechanism 260 supports the holding mechanism 8B.

As shown in FIG. 6, after S36, the CPU 16 drives the movement mechanism 9, feed mechanism 10, shuttle mechanism 7, and needle bar mechanism 6 according to the sewing data acquired in S31 to sew within the sewing area corresponding to the mounting part 96 to which the holding mechanism 8A is attached (S37). The length of the holding mechanism 8A in the front-to-rear direction in this embodiment is longer than the length of the movement range of the mounting part 96 in the front-to-rear direction. The sewing area in S37 is the range within the holding mechanism 8A from the center to the rear end in the front-to-rear direction of the holding mechanism 8A. The sewing device 1 forms a stitch along the hole 87 in the sewing material in the rear half of the holding mechanism 8.

As shown in FIG. 9, the CPU 201 determines whether or not to lower the return regulating member 268 (S81). The CPU 201 determines that the second support portion 257 is at the second height H2 according to the detection results of the detectors 223 and 224, and that the second regulating member 259 is at the second retracted position according to the detection results of the detectors 233 and 234. If the conditions are met, it is determined that the return regulating member 268 should be lowered. When the second support portion 257 is at the second height H2 and the second restriction member 259 is at the second retracted position, the second support portion 257 does not support the holding mechanism 8. That is, in S81, the CPU 201 determines based on the detection results of the detectors 223, 224, 233, and 234 whether or not the second support portion 257 that does not support the holding mechanism 8 is at the second height H2. The CPU 201 waits in S81 until it determines that the condition in S81 is satisfied (S81: NO). When the CPU 201 determines that the condition of S81 is satisfied according to the value of timing B1 in FIGS. 11 and 12 (S81: YES), the CPU 201 outputs a control signal to the solenoid valve 267 to lower the return regulating member 268, The return regulating member 268 is moved from the return regulating position to the return retreat position (S82).

The CPU 201 judges whether to reverse the pre-return conveying rollers 261, 262 (S83). The CPU 201 judges to reverse the pre-return conveying rollers 261, 262 when the following conditions are met: the second support portion 257 is not supporting the holding mechanism 8 according to the detection results of the detectors 211, 212; the detection results of the detectors 214, 215 are ON signals; the second support portion 257 is at the second height H2 according to the detection results of the detectors 223, 224; the second regulating member 259 is at the second retracted position according to the detection results of the detectors 233, 234; and the return regulating member 268 is at the return retracted position according to the detection results of the detectors 235, 236. The CPU 201 waits in S83 until it judges that the conditions of S83 are met (S83: NO). When the CPU 201 determines that the condition of S83 is satisfied, such as the value of timing B2 in FIG. 11 and FIG. 12 (S83: YES), it outputs a control signal to the pre-return transport rollers 261, 262 to start reverse rotation of the pre-return transport rollers 261, 262 (S84).

7, after S13, the CPU 201 determines whether to reverse the second front conveying rollers 252, 253 (S14). The CPU 201 determines to reverse the second front conveying rollers 252, 253 when the detection results of the detectors 223, 224 indicate that the second support portion 257 is at the second height H2, the detection result of the detector 214 is an ON signal, the detection results of the detectors 233, 234 indicate that the second regulating member 259 is at the second retracted position, the detection results of the detectors 235, 236 indicate that the return regulating member 268 is at the return retracted position, and the return front conveying rollers 261, 262 are reversed. The CPU 201 waits in S14 until it determines that the condition of S14 is met (S14: NO). When the CPU 201 determines that the condition of S14 is met (S14: YES), such as the value of timing B3 in Figures 11 and 12, it outputs a control signal to the second front conveying rollers 252, 253 to start reverse rotation of the second front conveying rollers 252, 253 (S15).

As shown in FIG. 9, after S84, the CPU 201 determines whether to stop the reverse rotation of the pre-return conveyance rollers 261 and 262 (S85). When the detection results of the detectors 214 and 215 are OFF signals, and the detection results of the detectors 211 and 212 satisfy the condition that the second support part 257 supports the holding mechanism 8, the CPU 201 controls the pre-return conveyance roller. It is determined that the reverse rotations of 261 and 262 are to be stopped. The CPU 201 waits in S85 until it determines that the condition in S85 is satisfied (S85: NO). When the CPU 201 determines that the condition of S85 is satisfied according to the value of timing B4 in FIG. 11 and FIG. The reverse rotation of the conveyance rollers 261 and 262 is stopped (S86). The CPU 201 outputs a control signal to the solenoid valve 267 to raise the return regulating member 268 and move the return regulating member 268 from the return retreat position to the return regulation position (S87).

As shown in FIG. 7, after S15, the CPU 201 judges whether or not to stop the reverse rotation of the second front conveying rollers 252, 253 (S16). When the detection results of the detectors 211, 212 satisfy the conditions that the second support portion 257 supports the holding mechanism 8 and the detection result of the detector 214 is an OFF signal, the CPU 201 judges to stop the reverse rotation of the second front conveying rollers 252, 253. The CPU 201 waits in S16 until it judges that the condition of S16 is satisfied (S16: NO). When the CPU 201 judges that the condition of S16 is satisfied (S16: YES), as in the value of timing B5 in FIG. 11 and FIG. 12, it outputs a control signal to the second front conveying rollers 252, 253 to stop the reverse rotation of the second front conveying rollers 252, 253 (S17).

The CPU 201 judges whether to raise the second regulating member 259 (S18). When the CPU 201 judges based on the detection results of the detectors 211 and 212 that the second support portion 257 supports the holding mechanism 8 and that the second support portion 257 is at the second height H2 based on the detectors 223 and 224, the CPU 201 judges to raise the second regulating member 259. The CPU 201 waits in S18 until it judges that the condition of S18 is satisfied (S18: NO). When the CPU 201 judges that the condition of S18 is satisfied (S18: YES), as shown by the value of timing B6 in FIG. 11 and FIG. 12, it outputs a control signal to the solenoid valve 256 to raise the second regulating member 259 and move the second regulating member 259 from the second retracted position to the second regulating position (S19). Through the above processing, the state transitions from timing B1 shown in FIG. 14 to timing C1 shown in FIG. 15. As shown in FIG. 15, at time C1, the first support portion 247 of the first lifting mechanism 241 is at the first height H1, and the first support portion 247 is not supporting the holding mechanism 8. The sewing device 1 is sewing the rear half of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the second height H2, and the second support portion 257 is supporting the holding mechanism 8B.

As shown in FIG. 6, after S37, the CPU 16 performs a replacement process (S38). In the replacement process, the CPU 16 changes the protrusions 84 held by the mounting portion 96. As shown in FIG. 8, the CPU 16 controls the drive circuit 47 to move the mounting portion 96 a predetermined distance in the feed direction (S51). The CPU 16 drives the air cylinder 91 to switch the mounting portion 96 from the holding state to the release state (S52). The CPU 16 controls the drive circuit 47 to move the mounting portion 96 a predetermined distance in the return direction (S53). The predetermined distance is set, for example, according to the distance between adjacent protrusions 84 in the front-rear direction. The CPU 16 drives the air cylinder 91 to switch the mounting portion 96 from the release state to the holding state, and the pair of mounting portions 96 clamps the third set of protrusions 84 from the rear side out of the four sets of protrusions 84 of the holding mechanism 8 (S54). The CPU 16 ends the replacement process and returns the process to the sewing process in FIG. 6.

As shown in FIG. 6, after S38, the CPU 16 drives the movement mechanism 9, feed mechanism 10, shuttle mechanism 7, and needle bar mechanism 6 in accordance with the sewing data acquired in S31 to sew within the sewing area corresponding to the mounting part 96 to which the holding mechanism 8A is attached (S39). The sewing area in S39 is an area that partially overlaps in the front-to-rear direction with the sewing area in S37 in terms of position relative to the outer frame 80, and is within the holding mechanism 8A, ranging from the center to the front end in the front-to-rear direction of the holding mechanism 8A. The sewing device 1 forms a stitch along the hole 87 in the sewn material in the front half of the holding mechanism 8.

As shown in FIG. 7, after S19, the CPU 201 determines whether or not to raise the second support portion 257 from the second height H2 to the first height H1 (S20). The CPU 201 determines that the second front conveyance rollers 252 and 253 are stopped, and the detection results of the detectors 211 and 212 indicate that the second support part 257 supports the holding mechanism 8. Accordingly, when it is determined that the second regulating member 259 is in the second regulating position, it is determined that the second support portion 257 is raised from the second height H2 to the first height H1. The CPU 201 waits in S20 until it determines that the condition in S20 is satisfied (S20: NO). When the CPU 201 determines that the condition of S20 is satisfied, such as the value of the timing C1 in FIGS. It starts rising from the second height H2 (S21).

The CPU 201 judges whether the second support portion 257 has risen to the first height H1 based on the detection results of the detectors 223 and 224 (S22). The CPU 201 waits in S22 until it judges that the condition of S22 is met (S22: NO). When the CPU 201 judges that the condition of S22 is met (S22: YES), as in the value of timing C2 in Figures 11 and 12, it outputs a control signal to the second lifting mechanism 251 to stop the lifting of the second support portion 257 (S23). The CPU 201 returns the process to S1. Through the above process, the state transitions from timing C1 shown in Figure 15 to timing D1 shown in Figure 16. As shown in Figure 16, at timing D1, the first support portion 247 of the first lifting mechanism 241 is at the first height H1, and the first support portion 247 supports the rear end of the holding mechanism 8. The sewing device 1 is sewing the front half of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B. The operator removes the sewn workpiece held by the holding mechanism 8B, and performs replacement work in which the holding mechanism 8B holds an unsewn workpiece. After completing the replacement work, the operator presses the start switch 285.

6, after S39, the CPU 16 refers to the RAM 18 and determines whether or not the support possible signal ON has been received from the PLC 200 (S40). When the CPU 16 receives the support possible signal ON from the PLC 200, it sets the support possible signal OFF stored in the RAM 18 to ON. When the support possible signal is not ON, the CPU 16 waits in S40 until the support possible signal ON is received (S40: NO). When the support possible signal is ON (S40: YES), as shown by the value of the timing D1 in FIG. 11 and FIG. 12, the CPU 16 controls the drive circuit 47 to move the mounting unit 96 to a release position where the mounting unit 96 is switched from the holding state to the release state (S41). The release position in this embodiment is a position where the rear end of the holding mechanism 8A is behind the first conveyor rollers 242 and 243. The CPU 16 controls the drive circuit 58 to switch the mounting unit 96 from the holding state to the release state (S42). The CPU 16 outputs a release completion signal ON to the PLC 200 (S43). The CPU 16 changes the supportable signal ON stored in the RAM 18 to OFF. The CPU 16 returns the process to S32.

As shown in FIG. 10, after S60, the CPU 201 determines whether or not to rotate the first conveyance rollers 242 and 243 in the normal direction (S61). The CPU 201 determines that the first support part 247 is not supporting the holding mechanism 8 according to the detectors 217 and 218, and that the first support part 247 is at the first height H1 according to the detection results of the detectors 221 and 222. According to the detection results of the detectors 231 and 232, when the first regulating member 249 is in the first retracted position and the release completion signal ON is received from the sewing device 1, the first conveyance rollers 242 and 243 are adjusted to the correct position. It is determined that it will turn. The CPU 201 waits in S61 until it determines that the condition in S61 is satisfied (S61: NO). When the CPU 201 determines that the condition of S61 is satisfied according to the value of timing D2 in FIGS. 11 and 12 (S61: YES), the CPU 201 outputs a control signal to the first conveyance rollers 242 and 243, and the first conveyance roller 242 and 243 start normal rotation (S62).

The CPU 201 judges whether to stop the forward rotation of the first conveying rollers 242, 243 (S63). When the CPU 201 judges by the detectors 217, 218 that the first support portion 247 is supporting the holding mechanism 8, it judges to stop the forward rotation of the first conveying rollers 242, 243. The CPU 201 waits in S63 until it judges that the condition of S63 is satisfied (S63: NO). When the CPU 201 judges that the condition of S63 is satisfied (S63: YES), as in the value of the timing D2 in FIG. 11 and FIG. 12, it outputs a control signal to the first conveying rollers 242, 243 to stop the forward rotation of the first conveying rollers 242, 243 (S64). The CPU 201 outputs a control signal to the solenoid valve 244 to raise the first regulating member 249 (S65). By this process, the first regulating member 249 moves from the first retracted position to the first regulating position. Through the above process, the state transitions from time D1 shown in FIG. 16 to time E1 shown in FIG. 17. As shown in FIG. 17, at time E1, the first support portion 247 of the first lifting mechanism 241 is at the first height H1, and the first support portion 247 supports the holding mechanism 8A. The sewing device 1 has completed sewing the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B.

The CPU 201 determines whether or not to lower the first support portion 247 (S66). When the detection results of the detectors 217 and 218 indicate that the first support portion 247 is supporting the holding mechanism 8 and the first conveying rollers 242 and 243 are stopped, the CPU 201 determines to lower the first support portion 247. The CPU 201 waits in S66 until it determines that the condition of S66 is satisfied (S66: NO). When the CPU 201 determines that the condition of S66 is satisfied, such as the value of timing E1 in Figures 11 and 12 (S66: YES), it outputs a control signal to the first lifting mechanism 241 to start lowering the first support portion 247 from the first height H1 (S67).

Based on the detection results of the detectors 221 and 222, the CPU 201 determines whether the first support portion 247 has been lowered to the second height H2 (S68). The CPU 201 waits in S68 until it determines that the condition in S68 is satisfied (S68: NO). When the CPU 201 determines that the condition of S68 is satisfied, such as the value of the timing E2 in FIGS. The descent is stopped (S69). The CPU 201 outputs a control signal to the solenoid valve 244, and lowers the first regulating member 249 (S70). Through this process, the first regulating member 249 moves from the first regulating position to the first retracted position. Through the above processing, the state of time E1 shown in FIG. 17 shifts to the state of time F1 shown in FIG. 18. As shown in FIG. 18, at time F1, the first support part 247 of the first lifting mechanism 241 is at the second height H2, and the first support part 247 supports the holding mechanism 8A. The sewing device 1 has completed sewing the holding mechanism 8A. The second support part 257 of the second lifting mechanism 251 is at the first height H1, and the second support part 257 supports the holding mechanism 8B.

As shown in FIG. 10, after S70, the CPU 201 determines whether or not to rotate the first conveyance rollers 242 and 243 in the reverse direction (S71). The CPU 201 determines that the first support part 247 supports the holding mechanism according to the detection results of the detectors 217 and 218, and that the first support part 247 is at the second height H2 according to the detection results of the detectors 221 and 222. , the detection results of the detectors 231 and 232 indicate that the first regulating member 249 is in the first retracted position, and the detection results of the detectors 235 and 236 indicate that the return regulating member 268 is in the return regulating position. Based on the detection result, when it is determined that the return support section does not support the holding mechanism 8, it is determined that the first conveyance rollers 242 and 243 are reversed. The CPU 201 waits in S71 until it determines that the conditions in S71 are satisfied (S71: NO). When the CPU 201 determines that the condition of S71 is satisfied, such as the value of timing F1 in FIGS. 11 and 12 (S71: YES), the CPU 201 outputs a control signal to the first conveyance rollers 242 and 243, and The rollers 242 and 243 start rotating in reverse (S72).

9, after S87, the CPU 201 judges whether to reverse the post-return conveying rollers 263, 264 (S88). When the CPU 201 judges that the return support part is not supporting the holding mechanism 8 based on the detection results of the detectors 214-216, that the first support part 247 is at the second height H2 based on the detection results of the detectors 221, 222, that the first regulating member 249 is at the first retracted position based on the detection results of the detectors 231, 232, that the return regulating member 268 is at the return regulating position based on the detection results of the detectors 235, 236, and that the first conveying rollers 242, 243 are reversed, the CPU 201 judges to reverse the post-return conveying rollers 263, 264. The CPU 201 waits in S88 until it judges that the condition of S88 is met (S88: NO). When the CPU 201 determines that the condition of S88 is met, such as the value of timing F2 in Figures 11 and 12 (S88: YES), it outputs a control signal to the post-return conveying rollers 263, 264, and starts reverse rotation of the post-return conveying rollers 263, 264 (S89).

The CPU 201 determines whether or not to reverse the pre-return conveyance rollers 261 and 262 (S90). When the CPU 201 determines that the detection result of the detector 215 is an ON signal and that the return regulation member 268 is in the return regulation position based on the detection results of the detectors 235 and 236, it reverses the pre-return conveyance rollers 261 and 262. Then judge. The CPU 201 waits in S90 until it determines that the conditions in S90 are satisfied (S90: NO). When the CPU 201 determines that the condition of S90 is satisfied, such as the value of timing F3 in FIGS. 11 and 12 (S90: YES), the CPU 201 outputs a control signal to the pre-return conveyance rollers 261 and 262, and the pre-return conveyance is performed. The reverse rotation of the rollers 261 and 262 is started (S91).

The CPU 201 determines whether to stop the reverse rotation of the transport rollers 261 to 264 (S92). When the detection result of the detectors 214 and 215 is an ON signal and the detection result of the detector 216 is an OFF signal, the CPU 201 determines to stop the reversal of the conveyance rollers 261 to 264. The CPU 201 waits in S92 until it determines that the conditions in S92 are satisfied (S92: NO). When the CPU 201 determines that the condition of S90 is satisfied, such as the value of timing F4 in FIGS. 11 and 12 (S92: YES), the CPU 201 outputs a control signal to the transport rollers 261 to 264, and the transport rollers 261 to 264 The reverse rotation is stopped (S93). The CPU 201 returns the process to S81.

10, after S72, the CPU 201 determines whether to stop the reverse rotation of the first conveyor rollers 242, 243 (S73). When the detection results of the detectors 217, 218 indicate that the first support portion 247 is not supporting the holding mechanism 8, and the detection results of the detectors 214, 215 are ON signals, the CPU 201 determines to stop the reverse rotation of the first conveyor rollers 242, 243. The CPU 201 waits in S73 until it determines that the processing of S73 is satisfied (S73: NO). When the CPU 201 determines that the conditions of S73 are satisfied (S73: YES), as in timing F4 in FIGS. 11 and 12, it outputs a control signal to the first conveyor rollers 242, 243 to stop the reverse rotation of the first conveyor rollers 242, 243 (S74).

The CPU 201 determines whether to raise the first support portion 247 from the second height H2 to the first height H1 (S75). When the CPU 201 determines from the detection results of the detectors 217 and 218 that the first support portion 247 is not supporting the holding mechanism 8 and the first conveying rollers 242 and 243 are stopped, the CPU 201 determines to raise the first support portion 247 from the second height H2 to the first height H1. The CPU 201 waits in S75 until it determines that the condition of S75 is satisfied (S75: NO). When the CPU 201 determines that the condition of S75 is satisfied (S75: YES), such as the value of timing F5 in Figures 11 and 12, the CPU 201 outputs a control signal to the first lifting mechanism 241 to start raising the first support portion 247 from the second height (S76).

Based on the detection results of the detectors 221 and 222, the CPU 201 determines whether the first support portion 247 has risen to the first height H1 (S77). The CPU 201 waits in S77 until the first support portion 247 rises to the first height H1 (S77: NO). When the CPU 201 determines that the first support portion 247 has risen to the first height H1 (S77: YES), as indicated by the value of timing F6 in FIG. 11 and FIG. 12, the CPU 201 outputs a control signal to the first lifting mechanism 241 to stop the lifting of the first support portion 247 (S78). The CPU 201 returns the process to S59, and when the CPU 201 determines that the condition of S59 is satisfied (S59: YES), as indicated by the value of timing F7 in FIG. 11 and FIG. 12, the CPU 201 outputs a support possible signal ON to the sewing device 1 (S60). Through the above process, the sewing system 300 returns from the state of timing F1 shown in FIG. 18 to the state of timing A1 shown in FIG. 13. However, at timing A1, the first support portion 247 of the first lifting mechanism 241 is at the first height H1, and the first support portion 247 does not support the holding mechanism 8. The sewing device 1 has completed sewing the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B. The return mechanism 260 transitions to a state in which it supports the holding mechanism 8A. In the main process that is repeatedly executed, the CPU 16 alternately executes sewing processes for the holding mechanism 8B and the holding mechanism 8A.

In the sewing system 300 of the above embodiment, the sewing system 300, the sewing device 1, the needle bar mechanism 6, the shuttle mechanism 7, the moving mechanism 9, the feed mechanism 10, the needle bar 63, the sewing needle 65, the shuttle 73, the mounting part 96, the first lifting mechanism 241, the second lifting mechanism 251, and the return mechanism 260 are examples of the sewing system, sewing device, needle bar mechanism, shuttle mechanism, moving mechanism, feed mechanism, needle bar, sewing needle, shuttle, mounting part, first lifting mechanism, second lifting mechanism, and return mechanism of the present invention. The holding mechanisms 8, 8A, and 8B are examples of the holding mechanism of the present invention. The first support part 247, the first regulating member 249, the second support part 257, the second regulating member 259, the return regulating member 268, and the mounting and conveying mechanism 294 are examples of the first support part, the first regulating member, the second support part, the second regulating member, the return regulating member, and the mounting and conveying mechanism of the present invention. The solenoid valve 244 is an example of the first switching part of the present invention. The solenoid valve 256 is an example of the second switching part of the present invention. The resonant valve 267 is an example of the return switching unit of the present invention.

The CPU 201 that performs S66 is an example of the first lifting/lowering judgment section of the present invention. The CPU 201 that performs S67 is an example of the first lifting/lowering control section of the present invention. The CPU 201 that performs S20 is an example of the second lifting/lowering judgment section of the present invention. The CPU 201 that performs S21 is an example of the second lifting/lowering control section of the present invention. The CPU 201 that performs S88 is an example of the first return judgment section of the present invention. The CPU 201 that performs S89 is an example of the first return control section of the present invention. The CPU 201 that performs S83 is an example of the second return judgment section of the present invention. The CPU 201 that performs S84 is an example of the first return control section of the present invention. The CPU 201 that performs S82 and S87 is an example of the return switching control section of the present invention. The CPU 16 that performs S34 is an example of the attachment judgment section of the present invention. The CPU 16 that performs S35 is an example of the attachment control section of the present invention. The CPU 16 that performs S39 is an example of the release judgment section of the present invention. The CPU 16 that performs S41 and S42 is an example of the release control section of the present invention. The CPU 201 that performs S65 and S70 is an example of a first switching control unit of the present invention. The CPU 201 that performs S3 and S19 is an example of a second switching control unit of the present invention. The CPU 16 that performs S5 is an example of a transport control unit of the present invention.

The sewing system 300 of the above embodiment includes the sewing device 1. The sewing device 1 includes a needle bar mechanism 6, a shuttle mechanism 7, a moving mechanism 9, and a feeding mechanism 10. The needle bar mechanism 6 has a needle bar 63 to which a sewing needle 65 can be attached at the lower end, and the needle bar 63 can be moved up and down. The shuttle mechanism 7 is disposed below the needle bar mechanism 6 and has a shuttle 73. The moving mechanism 9 relatively moves the shuttle mechanism 7 and the needle bar mechanism 6 to the right side parallel to the horizontal direction and to the left side opposite to the right side with respect to the object to be sewn. The feeding mechanism 10 feeds the holding mechanism 8 that holds the workpiece to the front that is parallel to the horizontal direction and intersects with the right side, and to the rear that is opposite to the front. In the sewing device 1, the moving mechanism 9 moves the hook mechanism 7 and the needle bar mechanism 6 relative to the holding mechanism 8 to the right and left, and the feeding mechanism 10 feeds the holding mechanism 8 forward and backward, and the hook 73 and the needle bar 63 operate in synchronization with each other to sew the object to be sewn. The feeding mechanism 10 moves the holding mechanism 8 disposed on the front side of the needle bar mechanism 6 to the rear side of the needle bar mechanism 6 at the first height H1. The sewing system 300 includes a first lifting mechanism 241, a return mechanism 260, and a second lifting mechanism 251. The first lifting mechanism 241 is located on the rear side of the needle bar mechanism 6, and lifts and lowers the holding mechanism 8 at the first height H1 sent by the feeding mechanism 10 to a second height H2 that is different from the first height H1. do. The return mechanism 260 moves the holding mechanism 8 that has been raised and lowered to the second height H2 by the first lifting mechanism 241 to the needle on a path that at least partially overlaps the sewing device 1 and is located at the second height H2. It is sent from the rear side of the bar mechanism 6 to the front side of the needle bar mechanism 6. The second lifting mechanism 251 is located in front of the needle bar mechanism 6, and lifts and lowers the holding mechanism 8 from the second height H2 sent by the return mechanism 260 to the first height H1.

In the sewing system 300, a plurality of holding mechanisms 8 are prepared as in the above embodiment, and after the sewing device 1 sews the object to be sewn held by one holding mechanism 8A, the first elevating mechanism 241, the second elevating mechanism 251, and the While being moved by any of the mechanisms 260, it is possible to sew onto a sewing object held by another holding mechanism 8B. The operator can work on one holding mechanism 8A while sewing the other holding mechanism 8B. Therefore, the sewing device 1 can reduce the time required to stop sewing when replacing the workpiece compared to the conventional sewing machine. In the sewing system 300, the planar space required for installing the return mechanism 260 can be made smaller than when the path for returning the holding mechanism 8 is arranged at a position that does not vertically overlap with the sewing device 1.

The first height H1 of the sewing system 300 is higher than the second height H2. Therefore, the sewing system 300 makes it easier to maintain the return mechanism 260 than if the first height H1 were lower than the second height H2.

The sewing system 300 includes a first support section 247 and a second support section 257. The first support section 247 is supported by the first lifting mechanism 241 so that it can be raised and lowered, and can support the holding mechanism 8. The second support section 257 is supported by the second lifting mechanism 251 so that it can be raised and lowered, and can support the holding mechanism 8. The CPU 201 determines whether the first support section 247 at the first height H1 supports the holding mechanism 8 sent to the feed mechanism 10 (S66). In response to determining in S66 that the first support section 247 supports the holding mechanism 8 (S66: YES), the CPU 201 raises and lowers the first support section 247 to raise and lower the holding mechanism 8 from the first height H1 to the second height H2 (S67). The CPU 201 determines whether the second support section 257 at the second height H2 supports the holding mechanism 8 (S20). In response to determining in S20 that the second support portion 257 supports the holding mechanism 8 (S20: YES), the CPU 201 raises and lowers the second support portion 257 to raise and lower the holding mechanism 8 from the second height H2 to the first height H1 (S21). Therefore, the sewing system 300 can avoid raising and lowering the first support portion 247 from the first height H1 to the second height H2 in a state in which the first support portion 247 is not supporting the holding mechanism 8. The sewing system 300 can avoid raising and lowering the second support portion 257 from the second height H2 to the first height H1 in a state in which the second support portion 257 is not supporting the holding mechanism 8.

When the CPU 201 of this embodiment detects the front end and the lower end, which are both ends of the holding mechanism 8 in the feeding direction, based on the detection results of the detectors 217 and 218, the first support part 247 supports the holding mechanism 8. I judge that. The sewing system 300 can avoid the possibility of determining that the case where the first support part 247 supports only a part of the holding mechanism 8 is the case where the first support part 247 supports the holding mechanism 8. Therefore, the sewing system 300 allows the first support part 247 to support the holding mechanism 8 more appropriately than a system that determines whether the first support part 247 supports the holding mechanism 8 based on the detection result of either the detectors 217 or 218. You can judge whether you support 8 or not. Similarly, when the front end and lower end of the holding mechanism 8 are detected based on the detection results of the detectors 211 and 212, the CPU 201 determines that the second support portion 257 supports the holding mechanism 8. Therefore, the sewing system 300 allows the second support part 257 to support the holding mechanism 8 more appropriately than a system that determines whether the second support part 257 supports the holding mechanism 8 based on the detection result of either the detectors 211 or 212. You can judge whether you support 8 or not.

The CPU 201 of the sewing system 300 determines whether the first support portion 247 supporting the holding mechanism 8 is at the second height H2 (S88). In response to determining that the first support portion 247 supporting the holding mechanism 8 is at the second height H2 (S88: YES), the CPU 201 drives the return mechanism 260 to remove the first support portion The holding mechanism 8 supported by the needle bar mechanism 247 starts to be fed from the rear side of the needle bar mechanism 6 to the front side of the needle bar mechanism 6 (S89). The CPU 201 determines whether the second support portion 257 that does not support the holding mechanism 8 is at the second height H2 (S83). In response to determining that the second support portion 257 that does not support the holding mechanism 8 is at the second height H2 (S83: YES), the CPU 201 drives the return mechanism 260 to remove the holding mechanism 8. It is sent to the second position supported by the second support portion 257 (S84). Therefore, the sewing system 300 has two states in which the first support part 247 is not at the second height H2 and a state in which the first support part 247 that does not support the holding mechanism 8 is at the second height H2. It is possible to avoid driving the return mechanism 260 and sending the holding mechanism 8 supported by the first support section 247. The sewing system 300 is configured to operate the return mechanism in a state in which the second support part 257 is not at the second height H2 and in a state in which the second support part 257 supporting the holding mechanism 8 is at the second height H2. 260 and sending the holding mechanism 8 to the second position supported by the second support portion 257 can be avoided.

The sewing system 300 includes a return restricting member 268 and a solenoid valve 267. The return restricting member 268 is provided on a path located at the second height H2 and can restrict the forward movement of the holding mechanism 8. The path extends in the front-rear direction. The solenoid valve 267 switches the return restricting member 268 between a return retraction position where the return restricting member 268 is retracted from the path and a return restricting position where the return restricting member 268 is positioned on the path behind the second support portion 257. In response to determining that the second support portion 257, which does not support the holding mechanism 8, is at the second height H2 (S81: YES), the CPU 201 drives the solenoid valve 267 to switch the return restricting member 268 from the return restricting position to the return retraction position (S82). In response to the determination that the second support portion 257 supporting the holding mechanism 8 is at the second height H2 (S83: YES, S85: YES), the CPU 201 drives the solenoid valve 267 to switch the return restricting member 268 from the return retracted position to the return restricting position (S87). In response to the determination that the second support portion 257 not supporting the holding mechanism 8 is at the second height H2 and the return restricting member 268 is at the return retracted position (S83: YES), the CPU 201 drives the return mechanism 260 to send the holding mechanism 8 to the second position where it is supported by the second support portion 257 (S84). By switching the position of the return restricting member 268, the sewing system 300 can more reliably avoid driving the return mechanism 260 and sending the holding mechanism 8 to the second position supported by the second support portion 257 in both a state in which the second support portion 257 is not at the second height H2 and a state in which the second support portion 257 supporting the holding mechanism 8 is at the second height H2.

The feed mechanism 10 of the sewing device 1 of the sewing system 300 has a mounting section 96 to which the holding mechanism 8 is detachably mounted. The CPU 16 of the sewing device 1 determines whether the holding mechanism 8 is at the first height H1 and at a mounting position where the mounting section 96 can hold the holding mechanism 8 (S34). In response to determining that the holding mechanism 8 is at the mounting position (S34: YES), the CPU 16 switches the mounting section 96 at the mounting position from a release state in which the holding mechanism 8 is released to a mounting state in which the holding mechanism 8 is mounted (S35). The CPU 16 acquires sewing data to be sewn within the sewing area (S31). After switching the mounting section 96 to the mounting state in S35, the CPU 16 drives the moving mechanism 9, the feed mechanism 10, the shuttle mechanism 7, and the needle bar mechanism 6 according to the sewing data acquired in S31 to sew within the sewing area (S37, S39). The CPU 16 determines whether the first support section 247 that does not support the holding mechanism 8 is at the first height H1 (S40). When the CPU 201 determines that the first support portion 247, which is not supporting the holding mechanism 8, is at the first height H1 based on the support possible signal being ON (S40: YES), the CPU 16 switches the mounting portion 96 from the mounted state to the released state at the release position behind the needle bar mechanism 6 (S41, S42).

Therefore, the sewing system 300 can automatically switch the mounting section 96 from the released state to the mounting state when it is determined that the holding mechanism 8 is placed in the mounting position while the mounting section 96 is in the released state. The sewing system 300 can save the operator the trouble of instructing when to switch the mounting section 96 from the released state to the mounted state. In response to the mounting part 96 determining that the first support part 247 is at the first height H1, the mounting part 96 can be automatically switched from the mounted state to the released state. The sewing system 300 can save the operator the trouble of instructing when to switch the mounting section 96 from the mounted state to the released state. The sewing system 300 can avoid switching the mounting section 96 from the mounted state to the released state when the first support section 247 is not at the first height H1.

Sewing system 300 includes a first regulating member 249 and a solenoid valve 244. The first regulating member 249 can regulate the forward movement of the holding mechanism 8 supported by the first supporting section 247 at the front end of the first supporting section 247 . The solenoid valve 244 switches the first regulating member 249 between a first regulating position where forward movement of the holding mechanism 8 is restricted and a first retracted position where movement of the holding mechanism 8 is not restricted. The CPU 201 moves the first regulating member 249 from the first retracted position to the first regulating position before the first support part 247 supporting the holding mechanism 8 moves up and down from the first height H1 to the second height H2. Switch (S65). After the first support portion 247 moves up and down from the first height H1 to the second height H2, the CPU 201 switches the first restriction member 249 from the first restriction position to the first retracted position (S70). Based on the support enable signal ON, the CPU 16 determines that the first support portion 247 that does not support the holding mechanism 8 is at the first height H1, and the first restriction member 249 is at the first retracted position. If the mounting part 96 is in the released position (S40: YES), the mounting part 96 is switched from the mounting state to the release state (S41, S42). In the sewing system 300, the first regulating member 249 can prevent the holding mechanism 8 from moving forward while the first support portion 247 is raised and lowered from the first height H1 to the second height H2.

The sewing system 300 includes a mounting transport mechanism 294, a second regulating member 259, and a solenoid valve 256. The mounting transport mechanism 294 can transport the holding mechanism 8 supported by the second support portion 257 to the mounting position. The second regulating member 259 can regulate the rearward movement of the holding mechanism 8 supported by the second support portion 257 at the rear end of the second support portion 257. The solenoid valve 256 switches the second regulating member 259 between a second regulating position that regulates the rearward movement of the holding mechanism 8 and a second retracted position that does not regulate the movement of the holding mechanism 8. The CPU 201 of the sewing system 300 determines whether the mounting portion 96 of the sewing device 1 is in an acceptable state in which it can hold the holding mechanism 8 (S4). With the second support portion 257 supporting the holding mechanism 8, the CPU 201 switches the second regulating member 259 from the second retracted position to the second regulating position before the second support portion 257 rises or falls from the second height H2 to the first height H1 (S19). After the second support portion 257 moves up and down from the second height H2 to the first height H1, the CPU 201 switches the first stop member 249 from the first stop position to the first retracted position (S3). When the CPU 201 determines that the second support portion 257 is in the retracted position (S4: YES), the CPU 201 drives the mounting transport mechanism 294 to transport the holding mechanism 8 to the mounting position (S5). The sewing system 300 can prevent the holding mechanism 8 from moving backward while the second support portion 257 moves up and down from the second height H2 to the first height H1 by using the second stop member 259. The sewing system 300 can move the holding mechanism 8 to the mounting position when the mounting portion 96 of the sewing device 1 is in the receptive state where it can hold the holding mechanism 8. When the holding mechanism 8 is moved to the mounting position, the sewing system 300 can avoid collision with another holding mechanism 8 that is being sewn.

The sewing device 1 of the sewing system 300 changes the protrusion 84 held by the mounting part 96 among the multiple protrusions 84 that the holding mechanism 8 has and that are arranged in the front-rear direction (S38). The CPU 16 switches the mounting part 96 from the release state to the mounting state in S35, holds one of the multiple protrusions 84, and then moves the mounting part 96 backward from the mounting position (S51), and after moving the mounting part 96 backward from the mounting position, switches the mounting part 96 from the mounting state to the release state to release the holding of the protrusion (S52). After releasing the holding of the protrusion, the CPU 16 moves the mounting part 96 forward (S53), and after moving the mounting part 96 forward, changes the mounting part 96 from the release state to the mounting state to hold another protrusion different from the protrusion that has been released (S54). The sewing system 300 can reduce the size of the sewing device 1 in the front-rear direction compared to the range of movement of the holding mechanism 8 in the front-rear direction relative to the needle bar mechanism 6 and the shuttle mechanism 7, compared to a system that does not have a replacement control unit.

The sewing system of the present invention can be modified in various ways other than the embodiments described above. The configuration of the sewing device 1 may be changed as appropriate. The sewing device 1 does not need to include the holding mechanism 8. At least one of the detectors 211-218, 221-224, and 231-236 may be omitted. The type, arrangement, number, etc. of at least one of the detectors 211 to 218, 221 to 224, and 231 to 236 may be changed as appropriate. For example, the sewing system 300 includes a photographing device, and determines whether the first support portion 247 is at a first height H1 or a second height H2 based on an image photographed by the photographing device. It may also be possible to detect whether it is supported or not.

At least one of the regulating members 249, 259, and 268 may be omitted. The configuration, arrangement, etc. of at least one of the regulating members 249, 259, and 268 may be changed as appropriate. The switching unit that switches the positions of the regulating members 249, 259, and 268 may be changed as appropriate, and for example, the positions of the regulating members 249, 259 may be switched by a mechanical configuration. The sewing system 300 may not include the first support part 247 and the holding mechanism 8 may be supported by the desk 237 of the first lifting mechanism 241. The sewing system 300 may not include the second support section 257 and the holding mechanism 8 may be supported by the desk 238 of the second elevating mechanism 251.

The number of protrusions 84 that the holding mechanism 8 has may be changed as appropriate. The holding mechanisms 8 can be arranged in any number of sets, such as six sets, eight sets, etc., in order to expand the sewing area set inside the outer frame 80 in the front-rear direction. Further, the arrangement of the pair of left and right protrusions 84 in the front-rear direction does not have to be at equal intervals; if the pair of left and right protrusions 84 are arranged in parallel, for example, they may be arranged at different intervals such as 400 mm, 200 mm, 400 mm, and 300 mm. It's okay to have one.

The number of holding mechanisms 8 used at the same time in the sewing system 300 may be changed as appropriate. The working position where the operator replaces the sewing workpiece held by the holding mechanism 8 may be changed as appropriate as long as it does not interfere with the sewing process of the other holding mechanisms 8 by the sewing device 1. For example, at least one of the working position and the first lifting mechanism 241 may be on the needle bar mechanism 6 side with respect to the beam portion 5, or may be on the opposite side of the needle bar mechanism 6 side with respect to the beam portion 5. The mounting and transporting mechanism 294 may be omitted as appropriate. The rear device 240 of the sewing system 300 may be equipped with a transport mechanism similar to the mounting and transporting mechanism 294. In this case, the working position may be the first support portion 247 at the first height H1. The mounting position and release position of the sewing device 1 may be changed as appropriate. The operator may manually switch the state of the mounting portion. The feed direction and return direction of the holding mechanism 8 may be able to be switched in the opposite direction as appropriate depending on the work content. In that case, the control of the first lifting mechanism 241 and the second lifting mechanism 251 will also be switched. The sewing device 1 may not perform the re-gripping process depending on the size of the holding mechanism 8 in the feed direction. The first height H1 may be lower than the second height H2.

The sewing system 300 may execute at least one of various operations of the first lifting mechanism 241, the second lifting mechanism 251, the return mechanism 260, and the sewing device 1 based on instructions from an operator. For example, the first lifting mechanism 241 may lift and lower the first support portion 247 from the first height H1 to the second height H2 when detecting an instruction from the operator via the switch group 12 or the like. The sewing system 300 performs one judgment on at least one of the processes performed by the first lift judgment section, the second lift judgment section, the first return judgment section, the second return judgment section, the attachment judgment section, and the release judgment section of the present invention. This may be done in a single process, or may be done in stages using a plurality of determination processes. The information and determination method referred to in at least one of the processes performed by the first lift determination unit, the second lift determination unit, the first return determination unit, the second return determination unit, the attachment determination unit, and the release determination unit are determined by the sewing system 300. It may be changed as appropriate depending on the type, arrangement, etc. of the detector included in the system. For example, in S81, the CPU 201 determines whether or not the second support portion 257 that does not support the holding mechanism 8 is at the second height H2 based on the detection results of the detectors 211, 212, 223, and 224. Good too.

A program including commands for sewing system 300 to perform main processing may be stored in storage devices 19 and 207 of sewing system 300 until CPU 201 and CPU 16 execute the program. Therefore, the program acquisition method, acquisition route, and device that stores the program may be changed as appropriate. The programs executed by the CPU 201 and the CPU 16 may be received from another device via a cable or wireless communication, and may be stored in a nonvolatile storage device. Other devices include, for example, a PC and a server connected via a network.

A part or all of the processing performed by the sewing system 300 may be performed by an electronic device (e.g., an ASIC) other than the CPU 201 and CPU 16. The processing performed by the sewing system 300 may be distributed among a plurality of electronic devices (e.g., a plurality of CPUs). The order of each step of the processing performed by the sewing system 300 may be changed, steps may be omitted, or additional steps may be added, as necessary. The scope of the present invention also includes a mode in which an operating system (OS) running on the sewing system 300 performs a part or all of each process in response to a command from the CPU 201 and CPU 16.

1: Sewing device 6: Needle bar mechanism 7: Hook mechanism 8, 8A, 8B: Holding mechanism 9: Moving mechanism 10: Feeding mechanism 16, 201: CPU
63 : Needle bar 65 : Sewing needle 73 : Hook 84 : Projection part 96 : Mounting parts 211 to 218, 221 to 224, 231 to 236 : Detector 241 : First lifting mechanism 244, 256, 267 : Solenoid valve 247 : First Support part 249 : First regulating member 251 : Second elevating mechanism 257 : Second supporting part 259 : Second regulating member 260 : Return mechanism 268 : Return regulating member 294 : Mounting conveyance mechanism 300 : Sewing system H1 : First height H2: Second height

Claims (8)

a needle bar mechanism having a needle bar to which a sewing needle can be attached at the lower end and capable of vertically moving the needle bar;
a hook mechanism disposed below the needle bar mechanism and having a hook;
a moving mechanism that relatively moves the hook mechanism and the needle bar mechanism in a first direction parallel to a horizontal direction with respect to the sewing object and in a second direction opposite to the first direction;
a feeding mechanism that feeds the holding mechanism that holds the workpiece in a third direction that is parallel to the horizontal direction and intersects with the first direction, and a fourth direction that is opposite to the third direction; A moving mechanism moves the hook mechanism and the needle bar mechanism relative to the holding mechanism in the first direction and the second direction, and the feeding mechanism moves the holding mechanism in the third direction and the fourth direction. A sewing system comprising: a sewing device that feeds the sewing machine in a direction in which the hook and the needle bar operate in synchronization with each other to sew the object to be sewn;
The feeding mechanism moves the holding mechanism disposed on the third direction side of the needle bar mechanism at the first height toward the fourth direction side of the needle bar mechanism,
a first lifting mechanism that is located on the fourth direction side of the needle bar mechanism and that lifts and lowers the holding mechanism at the first height sent by the feeding mechanism to a second height different from the first height; ,
The first elevating mechanism moves the holding mechanism raised and lowered to the second height along a path that at least partially overlaps the sewing device and is located at the second height. a return mechanism for sending the needle bar mechanism from the fourth direction side to the third direction side;
a second elevating mechanism located on the third direction side of the needle bar mechanism and elevating and lowering the holding mechanism at the second height sent by the return mechanism to the first height ;
a first support portion that supports the first elevating mechanism so as to be movable up and down and that is capable of supporting the holding mechanism;
a second support part that supports the second elevating mechanism so as to be movable up and down and that can support the holding mechanism;
a first elevation determination unit that determines whether the first support unit at the first height supports the holding mechanism sent to the feeding mechanism;
In response to determining that the first support part supports the holding mechanism, the first lift determination part raises and lowers the first support part to move the holding mechanism from the first height. a first elevation control unit that ascends and descends to the second height;
a second elevation determination unit that determines whether the second support unit at the second height supports the holding mechanism;
In response to determining that the second support part supports the holding mechanism, the second lifting determination part raises and lowers the second support part to move the holding mechanism from the second height. a second elevation control unit that ascends and descends to the first height;
A sewing system equipped with The sewing system of claim 1, wherein the first height is greater than the second height. a first return determination unit that determines whether the first support unit supporting the holding mechanism is at the second height;
In response to the first return determination unit determining that the first support part supporting the holding mechanism is at the second height, the first return determination unit drives the return mechanism to remove the first support part. a first return control unit configured to start feeding the holding mechanism supported by the holding mechanism from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism;
a second return determination unit that determines whether the second support unit that does not support the holding mechanism is at the second height;
In response to the second return determination unit determining that the second support unit that does not support the holding mechanism is at the second height, the second return determination unit drives the return mechanism to remove the holding mechanism. The sewing system according to claim 1 or 2, further comprising: a second return control section that feeds the sewing system to a position supported by the second support section. a return restriction member provided on the path located at the second height and capable of restricting movement of the holding mechanism in the third direction;
a return switching unit that switches the return regulating member between a return retracted position where the return regulating member is retracted from the path and a return regulating position where the return regulating member is disposed on the path on the fourth direction side with respect to the second support unit;
a return switching control unit that drives the return switching unit to switch the return regulating member from the return regulating position to the return retraction position in response to the second return determination unit determining that the second support portion not supporting the holding mechanism is at the second height, and drives the return switching unit to switch the return regulating member from the return retraction position to the return regulating position in response to the second lifting/lowering determination unit determining that the second support portion supporting the holding mechanism is at the second height,
The sewing system according to claim 3, characterized in that the second return control unit drives the return mechanism to send the holding mechanism to a position where it is supported by the second support portion when the second return judgment unit judges that the second support portion, which does not support the holding mechanism, is at the second height and when the return regulating member is at the return retraction position. The feeding mechanism has a mounting part for removably mounting the holding mechanism,
a mounting determination unit that determines whether the holding mechanism is at the first height and at a mounting position where the mounting unit can mount the holding mechanism;
In response to the attachment determination unit determining that the holding mechanism is in the attachment position, the attachment unit is at the attachment position, from a release state in which the retention mechanism is released, to an attachment state in which the retention mechanism is attached. a mounting control unit that switches to
an acquisition unit that acquires sewing data to be sewn within the sewing area;
After the mounting control unit switches the holding mechanism to the mounting state, it drives the moving mechanism, the feeding mechanism, the hook mechanism, and the needle bar mechanism according to the sewing data acquired by the acquisition unit, and performs the sewing. a sewing control section for sewing within the area;
a release determination unit that determines whether the first support portion that does not support the holding mechanism is at the first height;
In response to the release determination section determining that the first support section that does not support the holding mechanism is at the first height, the mounting section is moved toward the fourth direction side of the needle bar mechanism. The sewing system according to any one of claims 1 to 4 , further comprising a release control section that switches from the attached state to the released state in the released position. a first regulating member capable of regulating movement in the third direction of the holding mechanism supported by the first supporting section at an end on the third direction side of the first supporting section;
a first switching part that switches the first regulating member between a first regulating position that regulates movement of the holding mechanism in the third direction and a first retracted position that does not regulate movement of the holding mechanism in the third direction; ,
Before the first support part supporting the holding mechanism moves up and down from the first height to the second height, the first restriction member is switched from the first retracted position to the first restriction position. , after the first support part supporting the holding mechanism moves up and down from the first height to the second height, the first restriction member is switched from the first restriction position to the first retracted position. further comprising a first switching control section,
The release control unit is configured such that the release determination unit determines that the first support portion that does not support the holding mechanism is at the first height, and the first restriction member is located at the first retraction level. 6. The sewing system according to claim 5 , wherein the mounting section is switched from the mounting state to the release state at the release position depending on the position of the sewing system. an acceptance determination unit that determines whether the mounting portion of the sewing device is in an acceptable state in which it can hold the holding mechanism;
a mounting conveyance mechanism that transports the holding mechanism supported by the second support part to the mounting position;
a second regulating member capable of regulating movement in the fourth direction of the holding mechanism supported by the second supporting section at an end on the fourth direction side of the second supporting section;
a second switching section that switches the second regulating member between a second regulating position that regulates movement of the holding mechanism in the fourth direction and a second retracted position that does not regulate movement of the holding mechanism in the fourth direction; ,
Before the second support part supporting the holding mechanism moves up and down from the second height to the first height, the second restriction member is switched from the second retracted position to the second restriction position. , after the second support part supporting the holding mechanism moves up and down from the second height to the first height, the first restriction member is switched from the first restriction position to the first retracted position. a second switching control unit and the acceptance determining unit determine that the acceptance is possible, and the second regulating member is in the second retracted position, and the mounting conveyance mechanism is driven. 7. The sewing system according to claim 6 , further comprising: a transport control section that transports the holding mechanism to the mounting position. A grip change control unit that changes a protrusion held by the mounting unit among a plurality of protrusions arranged in the third direction that the holding mechanism has,
The mounting control section switches the mounting section from the released state to the mounting state and holds any one of the plurality of protrusions, and then moves the mounting section from the mounting position in the fourth direction,
After moving the mounting part from the mounting position in the fourth direction, switching the mounting part from the mounting state to the release state to release the holding of the protrusion,
After releasing the holding of the protrusion, moving the mounting part in the third direction;
After moving the mounting portion in the third direction, the mounting portion is changed from the released state to the mounted state, and a grip change control unit is configured to hold another projection different from the projection released from holding. The sewing system according to any one of claims 5 to 7 , further comprising a sewing system.

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