JPH01214390A - Jump controller for embroidering machine - Google Patents

Abstract

PURPOSE:To enable the continuous timing of jump control to be freely set, by applying continuous working exciting voltage lower than initial working exciting voltage, to an electromagnetic actuator, when it is discriminated that the jump control of an embroidering machine is continued for a specified time or longer. CONSTITUTION:By a rotational frequency detecting means C1, the rotational frequency of a main shaft M for moving a sewing needle N vertically via a crank mechanism CR is rotated. When it is discriminated that jump control is necessary for an embroidering machine according to the discriminated result of a program for directing the detected result of the rotational frequency detecting means C1 and the moving quantity of an embroidery frame F, then by an initial working means 2, initial working exciting voltage is applied to an electromagnetic actuator J. When it is discriminated that the jump control of the embroidering machine is continued for a specified time or longer according to the detected result of the rotational frequency detecting means C1 and the discriminated result of the program, then by a continuous working means 3, continuous working exciting voltage lower than the initial working exciting voltage of the initial working means C2 is applied to the electromagnetic actuator J. Even if the working of the electromagnetic actuator is continued for a long time, the actuator is not overheated, and the free degree of the jump control is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION Purpose of the Invention (Field of Industrial Application) The present invention relates to an embroidery method in which the vertical movement of a sewing needle, which is performed via a crank mechanism in synchronization with the rotation of a main shaft, is interrupted by activating an electromagnetic actuator. It relates to a jump control device for an aircraft.

(Prior Art) Conventional embroidery machines convert the rotation of the main shaft into vertical movement of the sewing needle via a crank mechanism, and further hold the fabric to be embroidered in synchronization with the movement of the sewing needle using an embroidery frame drive device. By driving the embroidery frame, the relative positional relationship between the sewing needle and the fabric is changed to enable embroidery processing.

Furthermore, during the embroidery process, there are times when the movement of the embroidery frame cannot be completed during one round trip of the sewing needle. For this reason, conventionally, a separately provided jump control device operates an electromagnetic actuator that disengages the crank mechanism to interrupt the vertical movement of the sewing needle. This kind of jump control device is
In order to quickly and reliably disengage the crank mechanism even when the main shaft is rotating at maximum rotational speed, consideration has been given to increasing the excitation voltage to the electromagnetic actuator so that the electromagnetic actuator can start up in a short time. ing.

(Problems to be Solved by the Invention) However, even with the jump control device for an embroidery machine as described above, it is still not sufficient and has the following problems.

In cases where the amount of movement of the embroidery frame is large or the movement speed is low, it may take a long time to complete a predetermined movement of the embroidery frame. In such a case, the jump control device is activated to temporarily interrupt the vertical movement of the sewing needle, but it is necessary to maintain this interrupted state for a long period of time. However, because the excitation voltage is set to a high value to instantaneously start the electromagnetic actuator, a large current flows through the electromagnetic actuator after the crank mechanism is disengaged, causing the solenoid to overheat and burn out. An accident could have occurred.

For this reason, conventional jump control devices have taken measures such as setting an upper limit on the duration of jump control so as not to accept long-term jump control, and using high-quality electromagnetic actuators with large rated capacities. is being carried out. Therefore, the conventional jump control device has problems in that it imposes restrictions on the production of free embroidery patterns, and that the use of expensive electromagnetic actuators increases costs.

The present invention has been made to solve the above problems,
It is an object of the present invention to provide a jump control device for an embroidery machine that uses a low order electromagnetic actuator and can freely set the duration of jump control.

Structure of the Invention (Means for Solving the Problems) In order to solve the above problems, the means constructed in the present invention is as shown in the basic configuration diagram of FIG. The relative positional relationship between the sewing needle N and the embroidery frame F, which move up and down in synchronization with the embroidery frame F, is changed according to a predetermined program. An embroidery machine that sews an IiJ embroidery pattern is provided, and when the movement of the embroidery frame F cannot be completed during one reciprocation period of the sewing needle N, an electromagnetic actuator J is operated to release the engagement of the crank mechanism CR.

A jump control device for an embroidery machine that interrupts the vertical movement of the needle N includes a rotational speed detection means C1 for detecting the rotational speed of the main shaft M, and a rotational speed detection means C1 for detecting the rotational speed of the main shaft M; When it is determined that jump control is necessary for the embroidery machine, an initial activation means C2 applies an initial activation excitation voltage to the electromagnetic actuator J; jump control for more than a predetermined time i11! and continuous operation means C3 that applies a continuous operation excitation voltage smaller than the initial operation excitation voltage to the electromagnetic actuator J instead of the initial operation excitation voltage of the initial operation means C2 when it is determined that the electromagnetic actuator J continues. The gist of this paper is a jump control device for an embroidery machine.

(Function) In the jump control device for an embroidery machine according to the present invention, the rotation speed detection means C1 detects the rotation speed of the main shaft M that moves the sewing needle N up and down via the crank mechanism CR. As is well known, the rotation speed of the rotating body is determined by a rotation sensor such as an encoder, and the detection results from the rotation sensor are appropriately processed to obtain the rotation speed and rotation angle. This rotation speed detection means C1 is also constituted by this encoder and the like.

The initial actuation means C2 activates the electromagnetic actuator J when it is determined that the embroidery machine requires jump control based on the detection result of the rotation speed detection means C1 and the result of decoding the program that commands the movement amount of the embroidery frame F. This applies the initial activation excitation voltage. That is, the time required for one rotation of the sewing needle N is determined from the detection result of the rotation speed detection means C1, and the amount of movement of the embroidery frame F is determined from the result of decoding the program that commands the amount of movement of the embroidery frame F. Therefore, from these two amounts, it is determined whether the embroidery frame cannot be moved within one rotation period of the sewing needle N, or when so-called jump control is essential, and in this case, the engagement of the crank mechanism CR is released. An initial activation excitation voltage is applied to the electromagnetic actuator J to operate the electromagnetic actuator J.

When the continuation operation means C3 determines that the jump control of the embroidery machine will continue for a predetermined time or more based on the detection result of the rotation speed detection means C1 and the decoding result of the program,
Instead of the initial activation excitation voltage of the initial activation means C2, a continuous activation excitation voltage smaller than the initial activation excitation voltage is applied to the electromagnetic actuator J.

Therefore, at the initial stage of operation, the voltage applied to the electromagnetic actuator J becomes the initial activation excitation voltage by the initial activation means C1, and when the excitation state continues for a predetermined time or longer, the initial activation excitation is caused by the operation of the continuous activation means C2. The continuous operation excitation voltage is changed to a value smaller than the voltage.

EXAMPLES Hereinafter, in order to explain the present invention more specifically, examples will be given and explained.

(Embodiment) Figures 2 to 4 are diagrams for explaining the configuration of a multi-needle embroidery machine that employs the jump control device of the embroidery machine according to the embodiment. 10 is for sewing the embroidery pattern input from the controller 20;
The manually entered information is analyzed by the driver unit 30 to create publicly known one-stitch data, a sewing needle according to the one-stitch data is selected from among the sewing needles 40, embroidery thread is selected, and the main shaft is rotated to create a crank mechanism. The selected sewing needle 40 is moved up and down through the embroidery frame 4 along with the up and down movement.
1 in the X-Y direction.

In addition to the configuration of the above-mentioned boat embroidery machine, there is also a multi-needle embroidery machine 1.
Each time of 0 has a built-in jump mechanism. FIG. 3 is an exploded perspective view of the main parts of the jump mechanism. As mentioned above, a large number of sewing needles 40 are provided, and one of them is selected arbitrarily, and one sewing needle among them is shown in the figure as a representative.

In the figure, a rotating disk 42 holds a large number of sewing needles 40 so as to be movable up and down via a return spring 4OA, and a locking piece 44A of a rotating locking member 44 is attached to a fitting recess 4 of the rotating disk 42.
Rotation is prevented at the position where it is fitted into 2A. sewing needle 40
The selection is performed by appropriately controlling the traction of two needle change rods 46 connected to a needle change motor, which will be described later, and the lock member 44 rotates around a lock rotation shaft 48 to engage the locking piece 44A. When the fitting with the fitting recess 42A is released, rotation of the rotating disk 42 is permitted, and rotation of the rotating disk 42 is performed according to the amount of pulling of the needle changing rod 46.

In a state in which the locking piece 44A and the fitting recess 42A are fitted to restrict the rotation of the rotating disk 42 (the state shown in the figure),
One of the sewing needles 40 held by the rotating disk 42 is an S-shaped anchor member attached to a crank mechanism 52 that converts the rotational movement of the main shaft 50 into a reciprocating movement in the direction of the rotational axis of the rotating disk 42. It will be located directly below 54. Therefore, the main shaft 5
0 rotates, and the rotating disk 4 is rotated by the action of the crank mechanism 52.
20 When the S-shaped member 54 reciprocates in the direction of the rotation axis, the one sewing needle 40 selected by the needle change control comes into contact with the S-shaped member 54, and is moved up and down simultaneously with the expansion and contraction deformation of the return spring 4OA. It turns out. Note that in order to detect the origin when detecting the rotation angle of the main shaft 50, the crank mechanism 52
A bottom dead center detector 53 is provided inside the engine to output a detection signal when the crankshaft 56 reaches the bottom dead center.

The jump mechanism is fitted onto the crankshaft 56 to which the S-shaped member 54, which is thus reciprocating in the direction of the rotation axis of the rotating disk 420, is attached. In the figure,
The fitting member 60 that fits into the crankshaft 56 is a member that is rotatable about its fitting hole as an axis. The fitting hole and the crankshaft 56 are formed into a substantially elliptical shape so as to rotate as a unit◇Also,
Its rotation is controlled by the electromagnetic actuator 62, and the figure shows a state in which no equivalent drive signal is input to the electromagnetic actuator 62. In this state, the electromagnetic actuator Unitaro 2 is operated by the built-in mainspring spring. The restoring force generates a counterclockwise rotational force about the rotation shaft 64, and the rotational force is stopped at the position where it abuts the lock screw 66. Therefore, the rotation axis 64 of the electromagnetic actuator 62
The rotating arm 68 protruding from the rotary arm 68 stops the fitting member 60 in the state shown, and the engagement relationship between the S-shaped member 54 attached to the rank shaft 56 and the sewing needle 40 is maintained as described above. By adjusting the rotation of the lock screw 66 to achieve this state, the sewing needle 40 moves up and down by rotating the main shaft 500 times.

On the other hand, when an excitation signal is input to the electromagnetic actuator 62, a clockwise rotational force (arrow) is generated around the rotating shaft 64 against the restoring force of the mainspring spring, and the rotating arm 62
8 to rotate. Then, the fitting member 60 is rotated counterclockwise together with the rotating arm 68, and at the same time, the crankshaft 56 is rotated to adjust the positional relationship between the S-shaped member 54 and the sewing needle 40. will change.

Therefore, no matter how the main shaft 50 rotates to move the S-shaped member 54 up and down, the force does not act on the sewing needle 40, and so-called jump control of the sewing needle 40 is achieved.

In the embroidery machine constructed as described above, the driver unit 30 can perform desired embroidery by appropriately controlling the various motors and the electromagnetic actuator 62.

FIG. 4 is a detailed block diagram of the driver unit 30. In the figure, a needle change motor 32 serves as a power source for selecting any one sewing needle from a plurality of sewing needles, and controls the traction of the needle change rod 46 described above. The sewing motor 34 is for vertically moving the sewing needle selected by the needle changing motor 32, and rotates the aforementioned main shaft 50 to vertically move the selected sewing needle 40 at a predetermined speed.

In order to detect the rotation status of the main shaft 50, an encoder 35 is attached to the main shaft 50. The encoder 35 outputs a pulse signal every predetermined rotation angle of the main shaft 50, for example, every 5 degrees. The X-axis motor 36 and Y-axis motor 38, which are stepping motors, are
This serves as a power source for moving the embroidery frame 41 in the X-axis direction and the Y-axis direction. As is well known, the X-axis motor 36 moves the embroidery frame 41 by one direction in the X direction every time a step signal is input.
The belt attached to the embroidery frame 41 is connected to the embroidery frame 41 via a boob or the like so that the Y-axis motor 38 moves the embroidery frame 41 by one unit distance in the X direction each time a step signal is input manually. It is driven by rotation. As described above, the electromagnetic actuator 62 is used to manually apply an excitation signal when the sewing needle 40 jumps without being able to transmit the force caused by the rotation of the main shaft 50 to the sewing needle 40.

Further, as shown in the figure, the driver unit 30 of the multi-needle embroidery machine 10 is connected to a controller 20 operated by the user, and is mainly composed of a normal microcomputer that operates while analyzing control data input manually from the controller 20. It is a digital logic circuit with a CPU 30A that executes logical operations, and a ROM that stores various programs.
30B, and a RAM 30C for temporarily storing information. The outputs of the encoder 35 and bottom dead center detector 53 described above are taken into the CP[J30A as appropriate via the interfaces 30D and 30E. In addition, various motors, namely an X-axis motor 36 for moving the embroidery frame 30 in the X-X direction, a Y-axis motor 38, and a needle change motor 32,
Motor controllers 30G to 30I that output drive signals for the sewing motor 34 change the excitation phase of the motor as appropriate in accordance with the control signal from the CPU 30A to rotate the motor at a desired speed and by a desired rotation angle. Further, the driver unit 30 of this embodiment includes an excitation circuit 30J incorporating a known amplifier and the like. This is CPU30A
When an excitation command signal given at a predetermined timing is manually applied, the signal is amplified and output, and the electromagnetic actuator 62 is excited to cause the sewing needle 40 to jump.

The driver unit 30 configured as described above analyzes the control code manually input from the controller 20 as is well known, and monitors the detection results of the encoder 35 based on the analysis results and controls each motor and electromagnetic actuator 6.
2, the desired embroidery FjA pattern is placed on the embroidery frame 41.
It can be applied to fabrics that are held in place.

The driver unit 30 of this embodiment executes good jump control by processing a spindle monitoring program and a jump control program specific to jump control that are executed in synchronization with the drive control of the sewing motor 34. . FIGS. 5 and 6 are flowcharts of the spindle monitoring program and jump control program stored in the ROM 30B.

Hereinafter, jump control specific to this embodiment will be explained in detail along these flowcharts.

First, the spindle monitoring program is executed every predetermined time, for example, 4 m.
Interrupts are processed by the CPU 30A every 5ec,
The detection output from the encoder 35 is taken in (step 100), and the result is added to a predetermined counter C to calculate the current rotation angle θR of the main shaft 50 (step 11).
0). Here, the counter C is a storage area assigned to a predetermined address of the RAM 30C, and is counted up by a pulse from the encoder 35 that is generated every 5 degrees of rotation angle of the main shaft 500 as described above. The contents of the count are cleared when the detection output of the bottom dead center detector 53 is generated by the processing of the interrupt routine. Therefore, from the contents of this counter C, the rotation angle θR of the main shaft 500 can be easily detected by assuming that the bottom dead center of the crankshaft 56 is 0° and the top dead center is 180°.

After the rotation angle θR of the main shaft 50 is calculated in this way,
The next step 120 is executed, and the current rotational speed VR of the main shaft 50 is detected. This is executed by comparing the contents of counter C at the time of the previous execution of this program with the contents of counter C at the time of execution of this program this time, and calculating the rate of increase. When the processing of the spindle monitoring program that detects the spindle rotation state of 500 rotations is completed in this way, the CPU 3
0A resumes the processing of other programs that had been interrupted due to the processing of this program.

On the other hand, the jump control program is executed by the CPU, as is well known.
30A analyzes the control code manually input from the controller 20 and creates needle data, the X-axis motor 36
, the embroidery frame 41 is embroidered by driving the Y-axis motor 38.
The process is started when it is determined that it is impossible for the movement of the main shaft to be completed within one rotation period of the main shaft.

That is, it is executed when conventional jump control is required, and determines the timing of outputting an excitation signal to the electromagnetic actuator 62 for jump control and the output pattern of the excitation signal.

First, when the processing of this program is started, the CPU 30A
reads the spindle rotation speed VR, which is the processing result of the spindle monitoring program that detects the rotational status of the spindle 50 at intervals of 4m5eci as described above (step 200), and calculates the timing for executing jump control from f[VR]. The rotation angle θJ of the main shaft 50 is searched from a jump timing search map as shown in FIG. 7 (step 210).
.

Here, the jump timing search map is R0
This is stored in M30B, and in order to perform optimal jump control in accordance with the rotational speed VR of the main shaft 50, when the rotation angle θR of the main shaft 50 indicates how much, the electromagnetic actuator 62 must be activated. It outputs an excitation signal to instruct whether to execute a jump. As mentioned above, the electromagnetic actuator 62 operates and rotates h! 6
By rotating the fitting member 60, that is, the crankshaft 56, the S-shaped gB material 54 and the sewing needle 40 are connected to each other.
Jump control is achieved by changing the positional relationship with the Therefore, this jump control is not executed instantaneously when the excitation signal is output to the electromagnetic actuator unitaro 2, but
A certain delay time TD exists due to a time delay from when the electromagnetic actuator 62 is manually applied with an excitation signal until it operates, and play that exists in the connecting parts of each mechanical part. Also, by executing the jump control, the S-shaped member 54 and the sewing needle 40
The best timing to disengage the sewing needle 40 is when the sewing needle 40 is near the top dead center and the deformation of the return spring 4OA is small. Therefore, in order to execute the jump control at the best timing, the electromagnetic actuator 62 is adjusted to the rotation angle θJ of the main shaft 50, which takes the time TD for the sewing needle 40 to reach the top dead center position, taking into account the delay time TD. It is necessary to excite the main shaft 50, and the rotation angle θJ varies depending on the value of the rotational speed VR of the main shaft 50.

Therefore, the rotation angle θR, which is the optimal jump control execution timing for this main shaft 500 rotation speed VR, has been determined through experiments, etc., and it can be read out as needed and used at the jump timing shown in Fig. 7. A search map is provided. As shown in the figure, the optimum rotation angle θJ for executing the jump determined by searching this map becomes smaller as the rotation speed VR increases, that is, gives an earlier timing closer to the bottom dead center.

The optimal jump timing θJ in step 210 above
After the search is performed, the process of step 220 is subsequently executed, the rotation angle of the spindle 500 which is the processing result of the spindle monitoring program is read, the current rotation angle θR of the spindle 50 is found, and based on this value and the search, the rotation angle of the spindle 50 is determined. Obtained θJ
Execute comparative judgment with. Based on this judgment, the current spindle rotation angle θR is changed to the jump timing rotation angle θ
Only when it is determined that the value exceeds J, the process proceeds to the next step 230, and outputs an initial excitation signal for instructing the electromagnetic actuator 62 to start jump control. FIG. 8 is an explanatory diagram of the initial excitation signal. In the figure, the time t1 in the figure is the point in time when the spindle rotation angle θR matches the jump timing rotation angle θJ and the output of the initial excitation signal (step 230) is executed, and from this time t1, the output is continued for a period T1. The high level signal is the above-mentioned initial excitation signal.

The excitation circuit 30J, which receives this signal manually from the CPU 30A, outputs the excitation signal to the electromagnetic actuator 62 during this period. Thereby, the electromagnetic actuator 62 receives a large excitation voltage that can be activated in a short time, and can perform jump control.

Note that the period T1 is a period sufficient to reliably operate the electromagnetic actuator 62, and is appropriately determined according to the rating of the electromagnetic actuator 62 used. After such initial excitation signal output control processing is performed, step 240 is executed to determine whether jump control should be continued further. This judgment is made based on, for example, the time TR required to move the moving distance of the embroidery frame 41, which can be known from the needle data, without causing step-out in the X-axis motor 36 and Y-axis motor 38. By detecting a case where the jump control period TP is longer than (TR>TP) and the spindle 50 rotates one or more revolutions again during the period TR, judging from the spindle 500 rotation speed VR. It will be done.

When it is unnecessary to continue such jump control, the process moves to step 250, where the output of the currently executed excitation signal to the electromagnetic actuator 62 is ended, and the present jump control program is ended. On the other hand, step 24
If it is determined by the process 0 that it is necessary to continue the jump control, step 260 is executed. This step 260 is for outputting a continuous excitation signal to the excitation circuit 30J. Here, the continuous excitation signal is a pulse signal that repeats ON-OFF at a predetermined duty ratio, and the duty ratio is determined according to the rating of the electromagnetic actuator 62 so that the electromagnetic actuator 62 can maintain operation. Therefore, the excitation signal output by the CPU 30A changes as shown in FIG. 8, and when the excitation signal is continuously required after the initial excitation signal has been output for the period T1, the excitation signal is output at the period T2. The excitation signal is changed to a continuous excitation signal in which the excitation signal is output only during the period T3. After outputting such a continuous excitation signal, step 240 is executed again, and the continuous excitation signal continues to be output until jump control becomes unnecessary.

According to the jump control device of this embodiment configured as described above, the electromagnetic actuator 62 to which the excitation signal is controlled has a self-inductance L as shown in FIG.
Due to the existence of , a current I as shown in FIG. 9 flows. That is, during the period T1 during which the initial excitation voltage is applied, the average current 1a has a large value, and the electromagnetic actuator 6
A large force acts on 2, making it possible to perform jump control instantly. Further, when it is necessary to continuously execute jump control, the excitation signal is applied to the electromagnetic actuator 62 in a pulsed manner, so that the flow-shaped 7X I pulsates in a sawtooth shape, and the average current Ia is small. value, and is suppressed to a value sufficient to maintain the operating state of the electromagnetic actuator 62. That is, in order to quickly operate the electromagnetic actuator 62, a large amount of electrical energy is applied at the beginning of the operation, and only the electrical energy necessary for continuation of the operation thereafter is applied. Therefore, not only can jump control be performed quickly and reliably, but also the electromagnetic actuator 62 will not overheat no matter how long the jump control continues. Therefore, the duration of jump control can be made unlimited without using conventional expensive electromagnetic actuators with excellent heat dissipation, and embroidery patterns can be freely created.

Effects of the Invention As described above in detail with reference to the embodiments, the jump control device for an embroidery machine of the present invention can supply the electromagnetic actuator with the power truly necessary for jump control. Therefore, even if the electromagnetic actuator continues to operate for a long time, it will not overheat, and the degree of freedom in jump control will be greatly improved.

Therefore, it is possible to realize an excellent embroidery machine that uses a low order electromagnetic actuator and can freely set the duration of jump control.

[Brief explanation of the drawing]

Fig. 1 is a basic configuration diagram showing the basic configuration of the embroidery frame drive device of the embroidery machine of the present invention, Fig. 2 is a schematic configuration diagram of an embroidery machine adopting the jump control device of the embodiment, and Fig. 3 is the jump A detailed configuration diagram of the mechanism, Figure 4 is a block diagram of the driver unit, Figures 5 and 6 are flowcharts of the program executed in the driver unit, and Figure 7 is the main axis rotation angle θJ and the main axis for jump execution. FIG. 8 is an explanatory diagram of the excitation signal, and FIG. 9 is an inflow type to the electromagnetic actuator. An explanatory diagram of the flow is shown. 20... Controller 30... Driver unit 36... X-axis motor 38... Y-axis motor 35
...Encoder 50...-Spindle 62...Electromagnetic actuator (other names) τ゛Fig. 4, η / Fig. 5 Fig. 6 Fig. 7 Main shaft rotation speed VR (rρm)

Claims (1)

[Claims] An embroidery machine that sews a predetermined embroidery pattern by changing the relative positional relationship between the sewing needle and the embroidery frame, which move up and down in synchronization with the rotation of the main shaft via a crank mechanism, according to a predetermined program. In a jump control device for an embroidery machine, which operates an electromagnetic actuator to disengage the crank mechanism and interrupt the vertical movement of the sewing needle when the movement of the embroidery frame cannot be completed during one reciprocating period of the sewing needle. , a rotational speed detection means for detecting the rotational speed of the main shaft; and when it is determined that the embroidery machine requires jump control based on the detection result of the rotational speed detection means and the decoding result of the program, the electromagnetic actuator is initially activated. an initial actuation means for applying an actuation excitation voltage; and an initial actuation excitation of the initial actuation means when it is determined that the jump control of the embroidery machine will continue for a predetermined time or more based on the detection result of the rotation speed detection means and the decoding result of the program. A jump control device for an embroidery machine, comprising: a continuous operation means for applying a continuous operation excitation voltage smaller than the initial operation excitation voltage to the electromagnetic actuator instead of the initial operation excitation voltage.