JPH08141258A - Method and device for guiding cloth to be processed in sewing machine - Google Patents

Abstract

PURPOSE: To make sewing possible at a predetermined margin to sew up along edges of a cloth to be processed regardless of variation in shape of the cloth and difficulty in feeding the cloth in lateral direction. CONSTITUTION: In a sewing machine disposed with an upper cloth lateral feeding mechanism and a lower cloth lateral feeding mechanism to feed laterally such cloths to be processed as an insole cloth and the instep covering cloth in a direction crossing nearly orthogonally a direction of feeding a cloth by using upper and lower feed to dogs, the amount and direction of shift from a predetermined reference position of the cloth edge are detected (S201). Control amount is calculated by reading control coefficients currently set according to a fill-in direction and a removing direction, and multiplying the coefficients with the previously detected shift amount (S204, S205). An upper cloth pulse motor is driven to feed the cloth laterally according to the control amount (S206).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work cloth guide method and a work cloth guide device for a sewing machine for sewing along a cloth edge of a work cloth with a predetermined seam allowance.

[0002]

2. Description of the Related Art Conventionally, a sewing machine that feeds a work cloth in one direction by a cloth feed means and laterally feeds the work cloth by a lateral feed means performs sewing along a cloth edge while rotating the work cloth. As a work cloth guide device, there is known an automatic cloth guide device as disclosed in Japanese Patent Publication No. 60-28516.

As shown in the side view of FIG. 12 and the plan view of FIG. 13, this automatic cloth guiding apparatus has a feed dog P10 for feeding the work cloth W in the direction of arrow A in the figure and a feed dog for the work cloth W. A rotary wheel P12 and a servomotor P14 which laterally feed in a direction orthogonal to the cloth feed direction of P10, and a detector P16 for detecting the side edge a of the work cloth W are provided. Detector P1
6 includes a light projector P18, a reflector P20 that reflects the projected light, and a light receiver P22 that receives the light reflected from the reflector P20. The photodetector P22 is provided with a phototransistor and obtains a change in the amount of light received from the reflector P20 as a light output voltage. The output voltage is amplified by an amplifier circuit P24 at a predetermined amplification factor, and this is amplified by the servomotor P14. To rotate the rotary wheel P12.

In this automatic cloth guide device, as shown in FIG.
When the cloth edge a of the work cloth W is located at the reference position in the center of the reflection plate P13 as shown in FIG. 7 (when the work cloth W covers about half of the reflection plate P20), the servo motor P
The drive voltage input to 14 is zero, and the rotary wheel P12
Has stopped. On the other hand, when the center position of the reflection plate 13 is displaced in the left-right direction in the drawing, a drive voltage having a magnitude corresponding to the displacement amount is input to the servomotor P14, and the cloth edge a of the work cloth W is centered on the reflection plate P20. The rotating wheel P so that
12 is reversed. Thereby, the cloth edge a of the work cloth W is guided to a predetermined position, and sewing can be performed along the cloth edge a of the work cloth W with a predetermined seam allowance.

[0005]

By the way, in the above-mentioned prior art, the amplification factor of the amplifier circuit P24 (that is, the control condition of the servomotor P14) is always the same regardless of which part of the work cloth W is sewn. is there. Therefore, the magnitude of the drive voltage input to the servo motor P14 (that is, the control amount for driving the servo motor P14) is always the same regardless of the sewing position if the deviation amount of the cloth edge a from the reference position is the same. Is.

Therefore, in the above-mentioned prior art, there is a portion where the shape changes greatly (for example, a portion where the curvature of the curve is large) in the outer peripheral portion of the work cloth, or it is difficult to laterally feed the work cloth depending on the sewing position. However, there is a problem in that the cloth edge a cannot be reliably fed to the reference position and the sewing cannot be performed with a predetermined seam allowance.

Here, as shown in FIG. 14, the insole cloth P3
0 and instep cloth P32 are sewn together and sewn into cloth shoes P3
Consider the case where 4 is sewn. When the insole cloth P30 is fed by the conventional work cloth guiding device, the heel portion P3
For a portion having a very large curvature such as the curve 0a and the toe portion P30b, the cloth edge is rapidly displaced from the reference position, which causes a problem that the sewing cannot be performed with a predetermined seam allowance. To prevent this, the feed dog P10
It is conceivable to reduce the cloth feeding speed due to, but in this case, the time required for sewing increases, which is not preferable. It is also possible to set the amplification factor of the amplifier circuit P24 to a high value in advance in accordance with a portion having a large curvature such as the heel portion P30a. When a small portion is laterally fed, the amplification factor is too large, which causes a problem that the position control of the cloth edge becomes unstable.

Further, a cloth shoe P34 as shown in FIG.
When sewing, there is no problem at the beginning of sewing, but as the sewing progresses gradually, a three-dimensional shape is gradually formed, and the insole cloth P3
Since 0 and the instep cloth P32 are integrated, it becomes difficult to laterally feed the insole cloth P30. That is, even if the amount of deviation from the cloth edge reference position is the same, the force required to laterally feed the cloth becomes large. Therefore, if the amplification factor of the amplifier circuit 24 is always constant, such a portion that is difficult to laterally feed cannot be quickly laterally fed to the reference position, and it becomes impossible to perform sewing with a predetermined seam allowance.

The present invention has been made in order to solve the above problems, and there is a portion of the work cloth having a large change in shape, and it is difficult to laterally feed the work cloth depending on the sewing position. Even if the sewing machine is different, the machined cloth guide method and the machined cloth guide device for the sewing machine can be quickly guided to the reference position, and the sewing machine can reliably perform sewing with a predetermined seam allowance. The purpose is to provide.

[0010]

According to the invention of claim 1 for achieving the above object, the work cloth is fed in one direction by the cloth feeding means, and the work cloth is fed by the lateral feeding means.
In the work cloth guiding method of the sewing machine, which laterally feeds the work cloth in a direction substantially orthogonal to the cloth feed direction by the cloth feed means, the position of the lateral feed means is sewn along the edge of the work cloth. According to which position of the work cloth is located, the control condition for driving the lateral feed means is changed.

In the work cloth guiding method according to the first aspect, the control condition for driving the lateral feed means is changed according to which position of the work cloth is located at the position of the lateral feed means. Therefore, even if there is a large change in the shape of the outer periphery of the work cloth or the difficulty of lateral feed of the work cloth varies depending on the sewing position, the control conditions can be adjusted according to these conditions. By changing the, the cloth edge can be quickly guided to the reference position. Therefore, it is possible to reliably perform sewing with a predetermined sewing margin.

A second aspect for achieving the above object.
According to another aspect of the present invention, there is provided cloth feeding means for feeding the working cloth in one direction, lateral feeding means for laterally feeding the working cloth in a direction substantially orthogonal to the cloth feeding direction by the cloth feeding means, and a cloth end position of the working cloth. From the relationship between the cloth edge detecting means for detecting the cloth edge detecting means and the cloth edge position detected by the cloth edge detecting means and a predetermined cloth edge reference position, and the deviation amount and the deviation direction of the cloth edge from the cloth edge reference position. Then, the control amount for driving the lateral feed means is calculated based on the deviation amount and the deviation direction, and the lateral feed means is driven according to the control amount to direct the work cloth to the cloth edge reference position. In the work cloth guide device of the sewing machine including a control means for moving the work cloth, the calculation condition of the control amount in the control means is changed according to which position of the work cloth is located at the position of the lateral feed means. It is characterized in that it is provided with a changing means.

In the work cloth guiding apparatus having the above structure, the control means calculates the control quantity for driving the transverse feed means based on the deviation amount and the deviation direction of the cloth edge with respect to the cloth edge reference position. The lateral feed means is driven according to this control amount to move the work cloth toward the cloth edge reference position.
Then, the changing unit changes the calculation condition of the control amount in the control unit according to which position of the work cloth is located at the position of the lateral feeding unit.

Therefore, even if there is a large change in shape on the outer peripheral portion of the work cloth, or the difficulty of lateral feed of the work cloth varies depending on the sewing position, such conditions are not satisfied. By changing the control amount calculation condition according to the change, it is possible to change the control amount for eliminating the unit deviation of the cloth edge. Therefore, the cloth edge can be quickly guided to the reference position, and the sewing can be reliably performed with a predetermined seam allowance.

Here, as a concrete structure of the changing means, there is a structure as set forth in claim 3. That is, the invention of claim 3 is the work cloth guide device for a sewing machine according to claim 2, wherein the changing means has a larger change in the shape of the work cloth at the position of the lateral feeding means, The calculation condition is changed so that the control amount for eliminating the unit deviation becomes large.

According to this structure, the outer peripheral portion of the work cloth has a large change in shape, for example, a portion with a large curvature of the curve or an angled portion comes to the position of the transverse feed means. If so, the changing unit changes the control amount calculation condition so that the control amount for eliminating the unit deviation of the cloth edge becomes large. Then, the control means drives the lateral feed means in accordance with the control amount to move the work cloth toward the cloth edge reference position. Therefore, when laterally feeding a large portion of the outer peripheral shape, the control amount for eliminating the unit deviation of the cloth edge becomes large, so that the cloth edge can be quickly guided to the reference position and the predetermined sewing margin You can surely sew.

Further, as a concrete structure of the changing means, a structure as claimed in claim 4 is also used. That is, the invention of claim 4 is the work cloth guide device of the sewing machine according to claim 2, wherein the changing means has a greater difficulty in laterally feeding the work cloth at the position of the lateral feeding means. In order to increase the control amount for eliminating the unit deviation of the cloth edge,
It is characterized in that the calculation condition is changed.

According to this structure, when the portion of the outer periphery of the work cloth that is difficult to laterally feed the work cloth is located at the side of the lateral feed means, the changing means changes the edge of the cloth. The control amount calculation condition is changed so that the control amount for eliminating the unit deviation becomes large. Then, the control means drives the lateral feed means in accordance with the control amount to move the work cloth toward the cloth edge reference position. Therefore, when laterally feeding a portion of the work cloth that is difficult to laterally feed, the control amount for eliminating the deviation of the unit of the edge of the cloth becomes large, so that the edge of the cloth can be quickly fed to the reference position. Therefore, it is possible to reliably perform sewing with a predetermined sewing margin.

Here, as a more specific configuration of the work cloth guide device for a sewing machine according to the above-mentioned claims 2 to 4, the position of the work cloth at the position of the transverse feed means and the unit of the cloth end are defined. Provided is a calculation condition storage unit that stores the control amount calculation condition for eliminating the deviation in association with each other, and the changing unit,
It is possible to adopt a configuration in which the calculation condition corresponding to the position of the work cloth that has come to the position of the transverse feed unit is read and the calculation condition is changed by giving the calculation condition to the control unit. .

In such a structure, the changing means is
The calculation condition corresponding to the position of the work cloth which has come to the position of the lateral feed means is read out, and the calculation condition is changed by giving this calculation condition to the control means. Therefore, for example, the control amount for eliminating the deviation of the unit of the cloth edge is increased in correspondence with the position where the lateral feeding of the work cloth is large or the position where the shape of the outer peripheral portion of the work cloth is largely changed. If such a calculation condition is stored in advance, it is possible to increase the control amount for eliminating the deviation of the unit of the cloth edge when laterally feeding this position. Therefore, the cloth edge can be quickly fed to the reference position, and the intended purpose can be achieved.

According to the second aspect of the present invention, it is necessary to determine which position of the work cloth is located at the position of the transverse feed means. To realize this, for example, the position of the work cloth is set to the optical position. It is also conceivable to provide a detector for detecting the position of the work cloth and determine the position of the work cloth.

However, when such a detector is provided, the structure of the detector becomes complicated, which leads to an increase in the cost of the device, and the detector occupies an extra space, which is not preferable. . Therefore, in order to eliminate such inconvenience, in the work cloth guide device of the sewing machine according to any one of claims 2 to 4, the number of stitches for sewing the work cloth and the unit deviation of the cloth end are changed. The changing means is provided with a calculation condition storage means for storing a control amount calculation condition for canceling the correction condition storage means, and a stitch number counting means for counting the number of stitches actually sewn on the work cloth at the time of sewing. It is desirable that the calculation condition is changed by reading out the calculation condition corresponding to the number of stitches counted by the stitch number counting means and giving the calculation condition to the control means.

According to this structure, the number of stitches actually sewn on the work cloth is counted by the needle number counting means during sewing of the work cloth. Then, the changing unit reads the calculation condition corresponding to the number of stitches counted by the stitch number counting unit from the calculation condition storage unit and gives the calculation condition to the control unit to change the calculation condition. Therefore, it is possible to determine which position of the work cloth is located at the position of the transverse feed means according to the number of stitches of the work cloth, and it is not necessary to provide the detector as described above. Therefore, there is an advantage that the cost of the device can be reduced and the detector does not occupy an extra space.

When the work cloth is laterally fed, as shown in FIG. 15, the work cloth is fed laterally in the scraping direction (direction from the outer side of the work cloth W to the inner side) and in the scraping direction (inner side of the work cloth W). However, the control amount calculation conditions in the inventions of claims 2 to 4 may be the same in the scraping direction and the scraping direction.

However, in the actual lateral feed control, it is better to have different control amounts for eliminating the deviation of the unit of the cloth edge in the scraping direction and the scraping direction in consideration of the shape of the curve and the like. More preferable. That is, FIG.
As shown in (a), when the shape of the curve of the outer peripheral portion S of the work cloth W is convex (curve in the escape direction), the cloth edge is rapidly displaced from the reference position in the scraping direction, and thus in the scraping direction. It is preferable to increase only the control amount for lateral feeding. On the other hand, as shown in FIG. 15B, when the curved shape of the work cloth is concave (that is, the curve in the biting direction), the cloth edge is displaced from the reference position in the scraping direction.
It is preferable to increase only the control amount when laterally feeding in the scraping direction.

Regarding the difficulty of lateral feeding of the work cloth, when the difficulty of lateral feeding differs depending on various conditions such as the three-dimensional shape and material of the work cloth being sewn. However, even in such a case, it is desirable to set the control amount calculation condition so that only the control amount in the direction in which lateral feed is difficult occurs.

Therefore, in order to carry out the position control of the cloth edge more stably in consideration of the above points, the method according to claim 2
In the work cloth guide device for a sewing machine according to any one of 1 to 4, in calculating the control amount, further, depending on whether the deviation of the cloth edge of the work cloth is in the scraping direction or the scraping direction, It is desirable that the conditions for calculating the control amount for eliminating the unit deviation of the cloth edge be made different.

According to this, in the convex portion of the curve, the control amount calculation condition can be made different so that the control amount in the scraping direction becomes larger than that in the scraping direction. On the contrary, for a concave curve, the control amount calculation conditions can be made different so that the control amount in the scraping direction becomes large. Further, even when the difficulty of laterally feeding the work cloth differs between the scraping direction and the scraping direction, the control amount calculation conditions can be changed accordingly. Therefore, finer control is possible, and the cloth edge can be guided to the reference position more reliably.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an industrial sewing machine will be described below with reference to the drawings. Here, FIG. 1 is a front view showing an industrial sewing machine SM of an embodiment, FIG. 2 is a side view showing a schematic configuration of a lateral feed mechanism for laterally feeding a work cloth, and FIG. It is a top view which similarly shows a schematic structure of a transverse feed mechanism. FIG. 4 is a block diagram of a control system of the industrial sewing machine SM.

The industrial sewing machine SM of this embodiment is used to make cloth sports shoes by sew-in stitching, and basically, as shown in FIG.
And a lateral feed device 10 for laterally feeding the work cloth in a direction substantially orthogonal to the cloth feed direction of the lockstitch sewing machine M.

First, a schematic structure of a lockstitch sewing machine M is shown in FIGS.
4, the sewing machine M is similar to a general industrial lockstitch sewing machine, and therefore will be briefly described. The lockstitch sewing machine M is attached to the work table T, and the sewing machine bed portion 20, a pillar portion 22 erected from the bed portion 20, and the leg pillar portion 22 so as to face the bed portion 20 in the drawing. It is composed of an arm portion 24 extending leftward.

The bed 20 is provided with a lower feed dog drive mechanism (not shown) for driving the lower feed dog 26 (see FIG. 2). Further, the upper feed dog 2 is attached to the arm portion 24.
8, an upper feed dog drive mechanism (not shown) for driving 8, a needle bar drive mechanism (not shown) for vertically moving a needle bar (not shown) on which the sewing needle 30 can be attached at the lower end, and a presser foot 32 for vertical movement. A presser bar 34 and the like are provided.

The drive mechanism for the lower feed dog 26 and the upper feed tooth 28 and the needle bar drive mechanism are driven by a sewing machine motor 36 provided below the work table T. In addition,
The lower feed dog drive mechanism is provided with a lower feed amount switching cylinder valve 37 (see FIG. 4) for changing the size of the locus of movement of the lower feed tooth 26 (indicated by arrow B) in two steps. Therefore, the feed amount of the lower cloth DW can be switched between two levels of "standard" and "maximum". Further, the upper feed dog drive mechanism is provided with an upper feed amount changing pulse motor 38 (see FIG. 4) for continuously changing the size of the locus of movement of the upper feed tooth 28 (indicated by arrow C). As a result, the feed amount of the upper cloth UW can be changed steplessly. In this way, the lower feed dog 26 and the upper feed dog 2
By adjusting the feed amount of No. 8, it is possible to perform shirring or normal sewing.

As shown in FIG. 1, the work table T
A control box 39 for performing various operations is provided below the right end of the. The control box 39 includes a floppy disk drive (FDD) 39a for reading sewing data, which will be described later, an LED 39b for numerically displaying the sewing data, and an operation switch 3 used for reading and correcting the sewing data.
9c are provided.

Below the work table T, there is a start pedal 40 for instructing the start of the automatic sewing operation.
a and a thread trimming pedal 40b used when an operator manually performs sewing. Next, the transverse feed device 1
0 will be described in detail.

As shown in FIG. 2, the transverse feed device 10 basically comprises an intermediate plate 41 for separating an upper cloth UW and a lower cloth DW, which are work cloths, and an upper cloth for laterally feeding the upper cloth UW. Traverse mechanism 4
2, a lower cloth lateral feed mechanism 44 that laterally feeds the lower cloth DW, an upper cloth edge detection unit 46 that detects the cloth edge position of the upper cloth UW, and a lower cloth edge detection that detects the cloth edge position of the lower cloth DW. And a section 48.

The upper cloth lateral feed mechanism 42 includes an upper cloth roller 42a rotatably provided on the intermediate plate 41, an upper cloth pulse motor 42b for rotating the upper cloth roller 42a, and an upper cloth pulse motor 42b. The timing belt 42c is provided.
The timing belt 42c is a top cloth pulse motor 42b.
Is stretched between the drive shaft 42e and the upper cloth roller 42a. When the pulse motor 42b is driven to rotate normally or reversely, the upper cloth roller 42a rotates normally or reversely via the timing belt 42c. To be done. As a result, the middle plate 4
1 and upper cloth UW sandwiched between the upper cloth roller 42a
Is moved in the scraping direction (right direction) or the scraping direction (left direction) shown in FIG.

Further, as shown in FIG. 2, the lower cloth lateral feed mechanism 44 rotatably drives the lower cloth roller 44a rotatably provided on the needle plate 50 and the lower cloth roller 44a. And a timing belt 44c. The timing belt 44c is
It is stretched in the same manner as the upper cloth lateral feed mechanism 42, and when the motor 44b is driven to rotate normally or reversely, the roller 44a is rotated normally or reversely via the timing belt 44c. As a result, the lower cloth DW sandwiched between the needle plate 50 and the lower cloth roller 44a is moved in the scraping direction or the scraping direction, like the upper cloth UW.

Next, the upper cloth edge detecting portion 46 is provided above the intermediate plate 41, and is provided on the intermediate plate 41 and a light emitting element (infrared LED) 46a for irradiating light toward the upper cloth UW. A light receiving element (photodiode) 46b for receiving light from the light emitting element 46a. The light receiving element 46b outputs an optical output voltage according to the amount of light received from the light emitting element 46a.
Therefore, the amount of light received by the light receiving element changes depending on the area of the portion where the light receiving element 46b is covered with the upper cloth UW, and the light output voltage changes accordingly. As shown in an enlarged view in FIG. 3B, the light receiving surface of the light receiving element 46b is elongated in the lateral feed direction of the work cloth, and based on the magnitude of the output voltage thereof, the cloth end Ua of the upper cloth UW. It is possible to detect which of the positions 0 to 9 of the light receiving element 46b (partitioned by a two-dot chain line).

As shown in FIG. 2, the lower cloth edge detecting portion 48 is provided in the needle plate 50 and the light emitting element 48a which is embedded in the middle plate 41 and emits light toward the lower cloth UW. The light receiving element 48b receives the light from the light emitting element 48a. The lower cloth edge detector 48 also detects the position of the cloth edge Da of the lower cloth DW, similarly to the upper cloth edge detector 46.

Next, the control system of the industrial sewing machine SM is
As shown in the block diagram of FIG. 4, the CPU 52, the ROM 5
4, the control device C including the RAM 56 is mainly configured. The ROM 54 includes the lockstitch sewing machine M and the lateral feed device 1.
A control program for controlling 0, etc. is stored. Further, the RAM 56 stores sewing data for automatically sewing sports shoes made of work cloth.

As shown on the left side of the drawing, the input / output interface 60 of the controller C has the above-mentioned upper cloth pulse motor 42b and lower cloth pulse motor 44b, and the upper cloth pulse motor for detecting the cloth end position. The light receiving element 46b and the lower cloth light receiving element 48b are connected.

As shown on the right side of the drawing, the input / output interface 60 has a synchronizer (needle position detector) for detecting the vertical positions of the sewing machine motor 36 and the sewing needle 30.
64, a lower feed amount switching cylinder valve 37, and an upper feed amount changing pulse motor 38 are connected. Of these, the synchronizer 64 is a well-known one that detects the rotational phase of the sewing machine main shaft provided in the arm portion 24 and outputs a needle position signal corresponding to the movement position of the needle bar.
The CPU 52 of counts the number of stitches at the time of sewing based on this output signal.

Further, as shown in the lower side of the figure, the input / output interface 60 has an F of the control box 39.
The DD 39a, the LED 39b, the operation switch 39c, the start pedal 40a, and the thread trimming pedal 40b are connected. Next, the sewing data stored in the RAM 56 will be described in detail.

The sewing data is the upper cloth (middle sole cloth) shown in FIG.
This is data for automatically sewing an athletic shoe made of a work cloth by sewing the UW and the lower cloth (upper cloth) DW shown in FIG. 6 together. In addition, the lower cloth DW shown in FIG.
Although T2 is shown in an expanded state in a separated state, when actually sewing, the end portions T1 and T2 are not sewn in advance.

Notches N (V-shaped notches) are provided on the outer peripheral portions of the upper cloth UW and the lower cloth DW to indicate the positions where the two cloths are overlapped.
The outer peripheral portion of the lower cloth DW is divided into four areas (area 0 to area 3), and each area is further divided to set a plurality of sections. At the time of sewing, the sewing is started from the section 0 of the area 0 and the section 2 of the area 3 is automatically sewn. However, since it is not possible to automatically sew up to the end, a stitching continuous section is provided between area 0 and area 3 for the operator to manually sew.

Then, in the table memory of the RAM 56, as shown in FIG. 7, for each section of areas 0 to 3,
The data of the number of stitches, the upper feed, the lower feed, the cloth edge reference position, the cloth edge control coefficient, and the speed are associated and stored. Hereinafter, these data will be described in detail.

The number of stitches is data defining the number of stitches for sewing each section. For example, the number of stitches is 26 in the section 0 of the area 0, which indicates that this section is sewn with 26 stitches. The upper feed defines the feed amount when the upper cloth UW is fed by the upper feed dog 28. For example, if the upper feed is 20, it indicates that the upper cloth UW feed amount is 2.0 mm.

The lower feed defines the cloth feed amount when the lower cloth DW is fed by the lower feed dog 26. here,
If the lower feed is 00, it indicates that the feed amount of the lower feed tooth is "standard", and if it is 01, it indicates that the feed amount is "maximum". As the cloth edge reference position, the cloth edges of the work cloth are received by the light receiving elements 46b and 48b when the section is sewn (see FIG. 3B).
It is data that defines which position among 0 to 9 positions to be adjusted. In this embodiment, the lateral feeding device 10
When the cloth edge position is controlled by means of the numerical value Z ₀ of the cloth edge reference position and the cloth edge position Z ₁ on the light receiving elements 46b and 48b.
The deviation amount and the deviation direction from the reference position of the cloth edge are obtained by taking the difference from (0 to 9). For example, upper cloth UW
In area 0 and section 0, the cloth edge reference position Z ₀ = 8
Therefore, as shown in FIG. 3B, when the detected cloth edge position Z ₁ = 3, the deviation amount Z = 8-3 = 5. The deviation direction is the scraping direction, as is clear from FIG. Then, the control amount for driving the pulse motors 42b, 44b is calculated based on the shift amount Z and the shift direction, and the pulse motors 42b, 44b are driven according to the control amount.

The cloth edge control coefficient is a condition for calculating the control amount for driving the pulse motors 42b and 44b according to which position of the work cloth is located at the position of the upper cloth roller 42b or the lower cloth roller 44b. It is a coefficient for changing. As shown in FIG. 7, the cloth edge control coefficient is determined by the upper cloth UW and the lower cloth DW.
The upper digit of the two-digit number indicates the control coefficient Kout in the scraping direction, and the lower digit represents the control coefficient Kin in the scraping direction. In this way, by setting the cloth edge control coefficient independently for the scraping direction and the scraping direction, the control amount calculation condition is determined according to whether the deviation of the cloth edge of the work cloth is the scraping direction or the scraping direction. Can be different.

In the present embodiment, when the cloth edge is displaced from the cloth edge reference position in the scraping direction, the control amount Y for driving the pulse motors 42b and 44b is calculated using the following equation (1). . (1) Y = Z × Kin On the other hand, when the cloth edge is displaced from the reference position in the scraping direction, the control amount Y is calculated using the following equation (2).

(2) Y = Z × Kout Therefore, the larger the values of the control coefficients Kin and Kout, the more
The control amount Y for eliminating the unit deviation of the cloth edge becomes large. Here, in the present embodiment, the control coefficients Kin, K
The size of out is set in advance in accordance with the size of the curvature of the curve of the outer peripheral portion of the work cloth in the section, the difficulty of laterally feeding the work cloth, and the like.

That is, looking at the data of the upper cloth (inner cloth) UW, Kout and Kin are both set to 2 in the area 1 where the curvature of the curve of the cloth edge is not so large. There is. On the other hand, area 0 of Ufu UW
Since the (heel portion) is the portion having the largest curvature of the curve in the outer peripheral portion, Kin = 8 is set so that the control amount Y in the scraping direction becomes large. Also,
In areas 2 and 3 of the upper cloth UW, the three-dimensional shape peculiar to the shoe is gradually formed as the sewing progresses, and the upper cloth UW and the lower cloth DW are formed.
Since and are integrated, it is more difficult to laterally feed the upper cloth UW in the scraping direction as compared with the area 1. Therefore,
In areas 2 and 3, the control coefficient Ki in the scraping direction is
n is set to a larger value (Kin = 5) than that in area 1.

Regarding the lower cloth (instep cloth) DW, there is little difference in the curvature of the curve of the outer peripheral portion for each area, and there is not much difference in the difficulty of lateral feeding of the work cloth.
The value of the cloth edge control coefficient is set to the same value (Kin = 8, Kout = 1) in all areas 0 to 3. However, since the lower cloth DW is an annular work cloth whose both ends T1 and T2 are sewn together, as shown in FIG. 3A, the cloth end Da of the lower cloth DW is always more than the cloth end reference position. It tends to come off in the scraping direction. Therefore, the value of the control coefficient Kin in the scraping direction is larger than the value of the control coefficient Kout in the scraping direction.

The speed is data for defining the rotation speed of the sewing machine motor 36, and the larger the value is, the higher the rotation speed is. The sewing data described above is created by a sewing data creation device that is separate from the industrial sewing machine SM. When the sewing data is stored in the RAM 56, the floppy disk storing the sewing data is set in the FDD 39a and the predetermined operation switch 39
A memory operation is performed by operating c.

Next, the control process executed by the controller C will be described with reference to the flowcharts of FIGS. In the control device C, the main control process shown in FIG. 8 is constantly executed. In this processing, first, RA
It is determined whether sewing data is stored in M56 (S10). If a negative decision is made, read the sewing data from the floppy disk inserted in the FDD 39a, and
It is stored in the AM 56 (S11).

Next, it is determined whether or not the start pedal 40a is depressed (S20), and if a positive determination is made, processing such as initial setting of various parameters is executed (S21),
Wait until the start pedal 40a is depressed again (S3
0). The worker sets the upper cloth UW and the lower cloth DW at predetermined positions on the transverse feed device 10 before stepping on the start pedal 40a again.

When the start pedal 40a is stepped on again (S30: YES), the sewing process based on the above-mentioned sewing data (S31: see FIG. 9) is executed, and then the sewing continuous section is manually sewn. Then, the sewing continuation process (S32) is executed. When the sewing is completed up to the end and the thread trimming pedal 40b is depressed (S33: YES), thread trimming is performed (S40), and the insole sewing for one foot is completed.
Then, the process returns to S10 and the subsequent processing is repeated.

Next, the sewing process (S31) executed in the main control process will be described with reference to FIG. In this process, first, the data of the section to be sewn is read out from the sewing data stored in the RAM 56 (S
100), based on the upper feed and lower feed data, the upper feed amount changing pulse motor 38 and the lower feed amount switching cylinder valve 37 are drive-controlled to set the upper feed amount and the lower feed amount to predetermined values. Yes (S101). Next, the sewing machine motor 36
Is started at the speed set by the speed data of the sewing data (S102). Next, after the cloth edge control processing for laterally feeding the work cloth (S110: see FIGS. 10 and 11) is executed, the number of stitches sewn is counted based on the output signal of the synchronizer 64 (S111), and is counted. Whether the number of stitches has reached the number of stitches in the section currently being sewn (the value set by the number of stitches in the sewing data) (S11).
2). If a negative determination is made here, the processes of S110 and S111 are repeated, but if an affirmative determination is made, it is determined whether or not the section currently being sewn is the final section in the area currently being sewn (S120). ). If a negative determination is made here, a section updating process is performed to sew the next section in the area (S121), the process returns to S100 to read the sewing data of the next section, and the same processing is repeated thereafter.

On the other hand, when it is determined in S120 that it is the final section (S120: YES), it is determined whether or not the current area is the final area (that is, area 3 in this embodiment) (S122). If a negative determination is made here, the area is updated to sew the next area (S12
3) The procedure returns to S100 to read the sewing data of the section, and thereafter the same processing is repeated. When it is determined in S122 that the area is the final area (S122: YE
S), to temporarily stop the sewing operation, the sewing machine motor 36
Is stopped (S130), and the process returns to the main control process (FIG. 8).

Next, the cloth edge control processing (S110) executed in the sewing processing will be described in detail with reference to FIGS. In this process, after the lateral feed control of the upper cloth UW is performed in S200 to S206 shown in FIG. 10, the lateral feed control of the lower cloth DW is performed in S210 to S216 shown in FIG. In this process, first, the current cloth edge position Z ₁ of the upper cloth UW is obtained based on the output voltage of the upper cloth light receiving element 46a (S200). Next, the cloth edge reference position Z _{0 of} the sewing data and the cloth edge position Z ₁ detected in S200.
And the deviation amount Z (Z = Z ₁ −Z ₀ ) from the reference position of the cloth edge and the deviation direction are detected (S20).
1).

Next, the deviation amount Z detected in S201 is 0.
It is determined whether or not (S202), and if Z = 0 (S20).
2: YES), since it is not necessary to perform the lateral feed, the top cloth pulse motor 42b is not driven to rotate and S2 shown in FIG.
The process proceeds to 10 and subsequent steps. On the other hand, when the deviation amount Z is not 0 (S202: NO), it is determined whether the deviation direction is the scraping direction (S203). Here, if the deviation direction is the scraping direction (S203: NO), the control amount Y is calculated by the above equation (1) using the scraping direction control coefficient Kin (S204). If the deviation direction is the scraping direction (S203: YES), the control amount Y is calculated by the equation (2) using the scraping-direction control coefficient Kout (S205).

In step S206, the upper cloth pulse motor 42b is driven based on the previously calculated value of the control amount Y and the cloth edge shift direction, and the upper cloth roller 42a is rotated to move the upper cloth roller 42a. The cloth UW is moved toward the cloth edge reference position. More specifically, the number of pulse signals proportional to the control amount Y is input to the upper cloth pulse motor 42b, and the pulse motor 42b is rotated by a rotation angle proportional to the control amount Y. That is, in this embodiment, each time the cloth edge shift is detected in S201, the upper cloth roller 4 is rotated by a rotation angle proportional to the control amount Y.
The amount of lateral feed is controlled by rotating 2a intermittently. It should be noted that the interval between the input pulses is constant regardless of the magnitude of the control amount Y, and the upper cloth pulse motor 42
The rotation speed of b is always constant. This is because, when the rotation speed is increased, the roller 42a easily slips on the work cloth, and the lateral feed cannot be performed properly.

When the processing of S200 to S206 is completed as described above, the processing proceeds to the processing of S210 and thereafter, and the lateral feed control of the lower cloth UW is performed. That is, first, the position Z ₁ of the cloth edge of the lower cloth DW is obtained based on the output voltage of the lower cloth light receiving element 48b (S2
10) The difference Z between the cloth edge reference position Z _{0 of} the sewing data and the cloth edge position Z ₁ detected in S210 is detected to detect the deviation amount Z and the deviation direction from the cloth edge reference position (S21).
1).

Next, the deviation amount Z detected in S211 is 0.
It is determined whether or not (S212), and if Z = 0, the lower cloth pulse motor 44b is not rotationally driven and the process returns to the sewing process (FIG. 9). On the other hand, when the deviation amount is not 0 (S212:
No), it is determined whether or not the deviation direction is the scraping direction (S213). Here, if the deviation direction is the scraping direction (S213: NO), the control amount Y is calculated by the above equation (1) using the control coefficient Kin of the scraping direction of the lower cloth (S214). If the deviation direction is the scraping direction (S213: YES), the control amount Y is calculated by the equation (2) using the control coefficient Kout for the scraping direction of the lower cloth (S215).

Then, in S216, as in the case of S206, the lower cloth pulse motor 44b is driven based on the value of the control amount Y calculated in S214 or S215 and the deviation direction of the cloth edge, The lower cloth DW is moved toward the cloth edge reference position by rotating the lower cloth roller 44a.

As is clear from the above processing, in the present embodiment, during sewing of the work cloth, the control coefficient Kin or Kout corresponding to the section currently being sewn is read out,
By multiplying the shift amount Z by the control coefficients Kin and Kout, the control amount Y for driving the pulse motors 42b and 44b is calculated.

Therefore, when the area 0 is sewn, since the area 0 (heel portion) of the upper cloth UW having a large curvature is located at the position of the roller 42a of the transverse feed device 10, the cloth is fed by the upper feed dog 28. When the material is fed, the cloth edge is rapidly disengaged from the cloth edge reference position in the scraping direction, but the control coefficient Kin in the scraping direction is set to a large value of 8 and is a control for eliminating the unit deviation. Since the amount Y is large, the cloth edge can be quickly and reliably guided to the cloth edge reference position. Therefore, it is possible to reliably perform sewing with a predetermined seam allowance without removing the seam from the cloth edge. In area 0, the control coefficient Kout in the scraping direction is 2
Since it is set to a small value, the overrun phenomenon that the cloth edge goes over the reference position is unlikely to occur when the cloth edge is fed laterally in the scraping direction. Therefore, more stable cloth edge control can be performed. Further, when sewing the areas 2 and 3, the areas 2 and 3 of the upper cloth UW are located at the position of the roller 42a of the transverse feeding device 10, but in this case, the sewing progresses. Since the three-dimensional shape peculiar to shoes is formed and the upper cloth UW and the lower cloth DW are integrated, the upper cloth UW
Will be difficult to move in the scraping direction. However,
The control coefficient Kin in the scraping direction is set to a larger value (Kin = 5) than that in area 1, and the control amount Y for eliminating the unit deviation becomes large. The end a can be guided to the cloth end reference position quickly and reliably. Further, also in the areas 2 and 3, the control coefficient Kout (= 2) in the scraping direction is set to a value smaller than Kin, so that an over-run phenomenon occurs when the cloth edge is fed laterally in the scraping direction. Unlikely to occur.
Therefore, more stable cloth edge control can be performed.

That is, in the present embodiment, the control coefficients Kin and Kout set for each section during sewing of the work cloth.
By reading (calculation conditions for the control amount Y) from the RAM 56, it is possible to change the calculation conditions for the control amount Y in order to eliminate the unit deviation. Therefore, even if there is a large change in shape (area 0 of the upper cloth UW) or a large difficulty in lateral feed (areas 2 and 3) on the outer periphery of the work cloth, In consideration of such a condition, the control coefficients Kin and Kout are stored in advance,
By changing the calculation condition of the control amount Y, the cloth edge can be surely guided to the reference position. Therefore, there is an effect that the sewing can be reliably performed with a predetermined seam allowance.

Further, particularly in this embodiment, the number of stitches actually sewn on the work cloth is counted while the work cloth is sewn, and Kin or Kout (calculation condition for the control amount Y) in a section corresponding to the number of stitches is calculated. Is read from the RAM 56 and the calculation condition of the control amount Y is changed. That is, the position of the work cloth at the position of the rollers 42a and 44a is determined by the number of stitches of the work cloth, and the calculation condition of the control amount Y is changed accordingly. Therefore, since it is not necessary to provide a detector that optically detects the position of the work cloth in order to determine which position of the work cloth is coming, the cost of the device can be reduced and the detector is unnecessary. It has the advantage of not occupying space.

Although the embodiments have been described above, the present invention is not limited to the above embodiments and can be implemented in various modes. For example, in the above embodiment, the lateral feed amount of the work cloth is controlled by intermittently rotating the pulse motors 42b and 44b by a rotation angle proportional to the control amount Y each time the deviation of the cloth end is detected. However, the present invention is not limited to this, and the lateral feed amount of the work cloth may be adjusted by rotationally driving the rotational speeds of the pulse motors 42b and 44b at a rotational speed proportional to the control amount Y. Good.

Further, the upper and lower cloth rollers 42a, 4
A servo motor can also be used as a drive means for driving 4a. In this case, for example, a drive voltage having a magnitude corresponding to the control amount Y calculated as in the above embodiment is input to the servo motor, and the rotation of the servo motor is changed depending on the curvature of the outer peripheral portion and the difficulty of lateral feeding. Just change the speed.

In the above embodiment, the control coefficient Y is stored in the RAM 56 and read out and multiplied by the shift amount Z to obtain the control amount Y. However, the present invention is not limited to this. The control amount Y can also be obtained by adding a constant to the deviation amount. Alternatively, a different arithmetic expression may be set in advance for each section, and this expression may be read to calculate the control amount Y.

Further, instead of the control coefficient as in the embodiment, a coefficient corresponding to the magnitude of the curvature of the curve (the larger the curvature, the larger the coefficient value) is stored, and
It is also possible to change the control amount calculation condition by detecting the curvature of the curve of the cloth edge of the work cloth being sewn by the detecting means and reading the coefficient corresponding to the magnitude of the curvature and multiplying it by the deviation amount.

[Brief description of drawings]

FIG. 1 is a front view showing an industrial sewing machine of an embodiment.

FIG. 2 is a side view showing a schematic configuration of a lateral feed mechanism for laterally feeding the work cloth.

FIG. 3 is a plan view showing a schematic configuration of a lateral feed mechanism.

FIG. 4 is a block diagram of a control system of the industrial sewing machine.

FIG. 5 is a plan view showing the outer shape of an upper cloth (middle bottom cloth).

FIG. 6 is a plan view showing the outer shape of a lower cloth (instep cloth).

FIG. 7 is an explanatory diagram showing a structure of sewing data.

FIG. 8 is a flowchart showing a main control process.

FIG. 9 is a flowchart showing a sewing process.

FIG. 10 is a flowchart showing a cloth edge control process.

FIG. 11 is a flowchart showing a cloth edge control process.

FIG. 12 is an explanatory diagram showing a conventional technique.

FIG. 13 is an explanatory diagram showing a conventional technique.

FIG. 14 is an explanatory diagram showing a conventional technique.

FIG. 15 is an explanatory diagram of a scraping direction / a scraping direction.

[Explanation of symbols]

SM ... Industrial sewing machine M ... Lockstitch sewing machine 10 ... Side feed device 26 ... Bottom feed tooth 28 ... Top feed tooth 42 ... Top cloth side feed mechanism 42a ... Top cloth roller 42b ... Top cloth pulse motor 44 ... Bottom cloth Side feed mechanism 44a ... Roller for lower cloth 44b ... Pulse motor for lower cloth 46. Upper cloth end detecting section 46a ... Light emitting element 46b ... Light receiving element for upper cloth 48 ... Lower cloth end detecting section 48a ... Light emitting element 48b ... Lower cloth Light receiving element 52 ... CPU 54 ... ROM 56 ... RAM 64 ... Synchronizer

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shin Asai 15-1 Naeshiro-cho, Mizuho-ku, Nagoya, Aichi Prefecture Brother Industries, Ltd.

Claims (4)

[Claims] 1. A work cloth is fed by a cloth feed means in one direction, and the work cloth is laterally fed by a lateral feed means in a direction substantially orthogonal to a cloth feed direction by the cloth feed means. In the method for guiding the work cloth of the sewing machine that sewes along the cloth edge, according to which position of the work cloth is located at the position of the lateral feed means, the control condition for driving the lateral feed means is set. A method for guiding a work cloth of a sewing machine, which is characterized by changing. 2. A cloth feed means for feeding the work cloth in one direction, a lateral feed means for laterally feeding the work cloth in a direction substantially orthogonal to the cloth feed direction by the cloth feed means, and a cloth end of the work cloth. Based on the relationship between the cloth edge detecting means for detecting the position and the position of the cloth edge detected by the cloth edge detecting means and a predetermined cloth edge reference position, the deviation amount and the deviation of the cloth edge from the cloth edge reference position. The direction is obtained, and the control amount for driving the lateral feed means is calculated based on the deviation amount and the deviation direction, and the lateral feed means is driven according to the control amount to move the work cloth to the cloth edge reference position. In a work cloth guide device for a sewing machine, which includes a control means for moving the work cloth toward, a calculation condition for a control amount in the control means is set according to which position of the work cloth is located at the position of the lateral feed means. Characterized by comprising a changing means for changing Work cloth guiding device of that sewing machine. 3. The changing means is configured such that the greater the change in the shape of the work cloth at the position of the lateral feeding means, the larger the control amount for eliminating the unit deviation of the cloth edge,
The work cloth guide device for a sewing machine according to claim 2, wherein the calculation condition is changed. 4. The changing means is configured such that the greater the difficulty of laterally feeding the work cloth at the position of the lateral feeding means, the greater the control amount for eliminating the unit deviation of the cloth edge. 3. The calculation condition is changed.
The work cloth guide device for the sewing machine described in.