JPH09248391A - Sewing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve accuracy for controlling the synchronous drive of a main rod and a shuttle rod by setting one of the main rod and shuttle rod at each reference origin position at least each time each sewing operation is started or finished. SOLUTION: When the power source of a sewing machine is turned on, initial main rod/shuttle rod setting processing (origin setting) is executed. Namely, a stop position signal from a stop position sensor 114 is read in. When a main rod 17 is set at a stop position, for example, it is at the initial set position of ordinary '100 deg.' and the rotary position of the shuttle rod is the rotary position about at 13 deg. of the main rod. Then, in order to return it to the rotary position at the time of outputting a shuttle rod synchronizing signal from a shuttle rod origin sensor 155, a shuttle driving motor 58 is driven backward just for one pulse. When no shuttle rod synchronizing signal is outputted from the shuttle rod origin sensor 155, this operation is repeated. Then, when the shuttle rod is turned to the initial set position corresponding to the initial set position '180 deg.' as the rotation start position of the main rod, control is finished. Thus, the synchronous drive of the main rod and shuttle rod can be accurately controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention synchronously controls a shuttle drive motor so as to rotate a thread catcher in synchronization with a main shaft while independently driving a main shaft and a shuttle for catching a wheel. More specifically, the present invention relates to a sewing machine which sets a main shaft or a hook shaft at a reference origin position every time a series of sewing operations are performed to prevent the phase deviation of the main shaft or the hook shaft from increasing.

[0002]

2. Description of the Related Art Conventionally, a sewing machine main body of a normal sewing machine is mainly composed of a bed portion, a pedestal portion, an arm portion, and a head portion, and a main shaft driven by a sewing machine motor is arranged in the arm portion. The needle bar, the sewing needle, and the balance of the section are driven up and down by the driving force of the main shaft. Further, a lower shaft and a thread wheel catching shuttle that cooperates with the sewing needle are arranged in the bed portion, and the lower shaft is also rotationally driven by the driving force from the main shaft. Since the sewing needle and the shuttle for catching the thread wheel need to be operated synchronously, the lower shaft is driven by the main shaft in the conventional sewing machine.

By the way, by driving the thread wheel catching hook with a dedicated drive motor independently of the sewing machine main shaft, the thread wheel catching hook is driven synchronously with the sewing machine main shaft, and the thread wheel catching hook is used in accordance with the sewing conditions. It is possible to control the momentary rotation state of the shuttle. Therefore, for example, in Japanese Patent Application Laid-Open No. 60-21750, a needle drive motor for driving a sewing needle and a shuttle drive motor for driving a shuttle for catching a thread wheel are provided, and the sewing needle and the shuttle for catching a thread wheel are operated in synchronization. A sewing machine has been proposed in which the needle drive motor and the shuttle drive motor are synchronously controlled so that a series of stitches is a perfect stitch.

Further, in Japanese Unexamined Patent Publication No. 3-234291, a sewing needle is driven by a sewing machine motor via a spindle, and a thread catcher hook is independently driven by a driving motor different from the sewing machine motor to rotate the sewing machine spindle. A rotary encoder for detecting the rotation of the sewing machine is provided, and interlocking control means for rotating the drive motor by the amount by which the sewing machine main spindle is manually operated is provided so that the interlocking relationship between the sewing needle and the thread wheel catch hook does not shift. A sewing machine has been proposed.

As described above, in the case of the hook shaft independent drive type sewing machine in which the main shaft is driven by the sewing machine motor and the thread catching hook is driven by the hook driving motor independently of the sewing machine motor, Generally, a stepping motor or a servomotor is used as the shuttle drive motor to control the rotation speed and the drive amount. Therefore, in order to simplify the control system, if the sewing machine motor and shuttle drive motor are configured with stepping motors and the open loop system is used for control, a rotary encoder for the spindle is installed to detect the origin position of the spindle, or A rotary encoder for the shuttle shaft that detects the home position of the spindle is provided, and the main shaft and shuttle shaft are set to their respective reference home positions based on the home position signal input from the rotary encoder when the power is turned on. By controlling the rotation speed and drive amount of the main shaft and the shuttle shaft by the number, it is possible to form a stitch based on the sewing data.

By the way, when the stepping motor is controlled by the open loop system, an auxiliary rotary encoder for outputting a low resolution encoder signal of about 50 pulses per rotation is provided to drive the stepping motor in order to detect step-out. On the other hand, the presence / absence of step-out can be generally detected depending on whether or not the encoder signal from the auxiliary rotary encoder is received. Here, for example, a sewing machine motor that drives a spindle that requires a large driving force, such as a multi-head type embroidery sewing machine, requires a large driving torque, and thus is preferably a servo motor.

[0007]

The thread catching hook is driven independently of the sewing machine motor, so that the interlocking drive mechanism of the sewing machine main shaft and the hook shaft is omitted and the sewing machine drive system is simplified. In the above-mentioned hook-and-shaft independent drive type sewing machine, the sewing machine motor and hook drive motor are configured with a stepping motor so that they can be controlled by the open loop system, and the encoder signal input from the auxiliary rotary encoder is driven while driving the stepping motor. When detecting the presence / absence of step-out based on the above, the cost can be reduced in addition to the simplification of the control system, but the encoder signal from the auxiliary rotary encoder has a low resolution and therefore occurs during the sewing operation. When a slight synchronization deviation cannot be detected, the sewing operation is repeated in the synchronization deviation state, and when this synchronization deviation accumulates, the spindle and There is a problem that the shaft can not be precisely synchronous drive control.

An object of the present invention is to surely eliminate the mutual synchronization deviation between the main shaft and the hook shaft which occurs during the sewing operation for each sewing operation, so that the main shaft and the hook shaft can be synchronously driven with high precision. To provide such a sewing machine.

According to a first aspect of the present invention, there is provided a sewing machine including a sewing needle driven by a sewing machine motor via a main shaft, a hook for catching a thread wheel that cooperates with the sewing needle to catch a thread wheel, and a thread wheel catcher. In a sewing machine equipped with a shuttle drive motor that rotates the sewing hook independently of the sewing machine motor and in synchronization with the main spindle, the main shaft and the thread catcher hook are provided at the start of each sewing operation or at the end of each sewing operation. It is provided with an origin setting means for setting at least one of the shuttle shaft and the reference origin position.

The operation will be described. Since the yarn wheel catching hook is driven by the hook drive motor independently of the main shaft, the rotational position of the yarn catching hook and the rotational position of the main shaft deviate from a predetermined correspondence and are synchronized. Misalignment may occur. For example, when the sewing machine motor and the shuttle drive motor are stepping motors, there is a possibility that synchronization deviation may occur due to step-out of the motor during the sewing operation. However, by the origin setting means, each time the sewing operation is started or each sewing operation is completed,
Since at least one of the main shaft and the hook shaft of the hook for catching the thread ring is set to the respective reference origin position, the mutual misalignment between the main shaft and the hook shaft that occurs during the sewing operation is eliminated for each sewing operation. Therefore, the main shaft and the shuttle shaft can be synchronously controlled with high precision.

According to a second aspect of the present invention, in the first aspect of the invention, the origin setting means sets both the main shaft and the shuttle shaft to their respective reference origin positions. Explaining the operation, the same operation as in claim 1 is achieved, but both the main shaft and the shuttle shaft are set to their respective reference origin positions by the origin setting means, so that the main shaft and the shuttle shaft are set for each sewing operation. In addition to eliminating the mutual synchronization shift, both the main shaft and the shuttle shaft can be initialized.

According to a third aspect of the present invention, in the invention of the first aspect, the origin setting means sets the shuttle shaft to a reference origin position each time each sewing operation is completed, and the main axis is set as a reference every starting sewing operation. Synchronous control means for starting the drive of the shuttle drive motor when it is rotated to the origin position is provided. Explaining the operation, the same operation as in claim 1 is achieved, but the origin setting means sets the shuttle shaft to the reference origin position at each end of each sewing operation, and the main shaft is set by the start of the next sewing operation. Even if the spindle is rotated from its reference origin position, the synchronous control means starts the drive of the hook drive motor when the spindle rotates to the reference origin position at each start of each sewing operation. It is possible to execute each sewing operation in synchronization with the main shaft and the shuttle shaft.

The sewing machine according to claim 4 is a sewing machine according to claims 1 to 3.
In any one of the inventions, a sewing machine control means for controlling the sewing machine motor in an open loop system and a shuttle control means for controlling the shuttle drive motor in an open loop system are provided. The operation is the same as that of any one of claims 1 to 3, but the sewing machine motor is controlled by the open loop system by the sewing machine control means, and the shuttle drive motor is opened by the shuttle control means. Since the control is performed by the loop method, the drive control of the motor can be simplified.

The sewing machine according to claim 5 is a sewing machine according to claims 1 to 3.
In any one of the inventions, a sewing machine control means for controlling the sewing machine motor by a feedback system and a shuttle control means for controlling the shuttle drive motor by an open loop system are provided. The operation is the same as that of any one of claims 1 to 3, but the sewing machine motor is controlled in a feedback system by the sewing machine control means, and the shuttle drive motor is open-loop by the shuttle control means. Since it is controlled by the method, a sewing machine motor that requires a large driving torque can be configured with a servo motor,
Cost reduction can be achieved.

The sewing machine according to claim 6 is a sewing machine according to claims 1 to 3.
In the invention of any one of the above items, a sewing machine control means for controlling the sewing machine motor by a feedback method and a shuttle control means for controlling the shuttle driving motor by a feedback method are provided. Explaining the operation, the same operation as in any one of claims 1 to 3 is achieved, but the sewing machine motor is controlled by the feedback system by the sewing machine control means, and the shuttle drive motor is fed back by the shuttle control means. Since it is controlled by the method, the sewing machine motor and the shuttle drive motor that require a large drive torque can be configured by the servo motor, and the cost can be reduced.

The sewing machine according to claim 7 is a sewing machine according to claims 1 to 3.
In any one of the inventions, a sewing machine control means for controlling the sewing machine motor by an open loop system and a shuttle control means for controlling the shuttle drive motor by a feedback system are provided. The operation is similar to that of any one of claims 1 to 3, but the sewing machine motor is controlled by the open loop system by the sewing machine control means, and the shuttle drive motor is fed back by the shuttle control means. Since it is controlled by the method, a hook drive motor that requires a large drive torque can be configured with a servo motor,
Cost reduction can be achieved.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. The present embodiment includes three embroidery sewing machines. In each embroidery sewing machine, a multi-head embroidery sewing machine in which all the rotary hooks for capturing the thread wheel are driven to rotate by a hook drive motor independently of the sewing machine motor. This is a case where the present invention is applied. The multi-head embroidery sewing machine M will be described. As shown in FIG. 1, a substantially rectangular sewing support plate 2 having a predetermined length in the left-right direction is provided on the rear side of the upper surface of a base frame 1 extending in the left-right direction. A support frame 3 extending in the left-right direction is erected at the rear end portion of the sewing machine support plate 2.
In addition, the three heads 4 to 6 are arranged side by side at predetermined intervals in the left-right direction, and the base frame 1 located at the front end of the sewing machine support plate 2 is made to correspond to each of these heads 4 to 6. The rear ends of the cylindrical bed portions 7 to 9 formed in the bed units 10 to 12 are supported respectively.

That is, three multi-needle type embroidery sewing machines M1 to M3, which are composed of heads 4 to 6 provided on the support frame 3 and bed units 10 to 12 having an independent structure, are arranged in parallel. At the front end of each of the heads 4 to 6 of these embroidery sewing machines M1 to M3, 12
The needle bar cases 20 that support the needle bars 21 so as to be vertically movable and the twelve balances 23 that are swingable are supported so as to be movable in the left-right direction. By a needle bar changing mechanism (not shown) driven by a motor 115 (see FIG. 8),
It is possible to change the thread color of embroidery sewing at the same time.

A work table 13 is horizontally arranged so that it is flush with the upper surfaces of the bed units 10 to 12 on the front side of the sewing machine support plate 2.
A movable frame 16 having a rectangular frame shape in a plan view and extending in the left-right direction is mounted on a pair of auxiliary tables 14 and 15 provided on both left and right sides of the work table 13 including the work table 3.

The drive frame portion 16a at the left end of the movable frame 16 is driven to move in the X axis direction (horizontal direction) by an X axis drive mechanism (not shown), and at the same time as the drive frame portion 16b at the right end thereof. This drive frame portion 16a is moved and driven in the Y-axis direction (front-back direction) by a Y-axis drive mechanism (not shown).
Therefore, the movable frame 16 includes an X-axis driving mechanism driven by an X-axis driving motor 117 (see FIG. 8) and a Y-axis driving motor 119.
(See FIG. 8) The Y-axis drive mechanism drives the XY
It can be moved on a plane. Also, auxiliary table 1
An operation panel 18 for executing various commands is provided on the rear side of the display 6a for displaying a message related to embroidery sewing.

Next, a needle bar vertical drive mechanism 25, which is provided for each embroidery sewing machine M1 to M3 and vertically drives the needle bar 21, will be described with reference to FIG. A base needle bar 26 extending in the vertical direction is provided at the tip of each of the head units 4 to 6, and the base needle bar 26 is supported by the frame F at the upper end and the lower end. A vertically moving member 27 having an engaging groove 27a that engages with a connecting pin 34, which will be described later, is vertically movably inserted into the base needle bar 26, and the needle bar is provided at the lower end of the vertically moving member 27. The body 28 is vertically movably and non-rotatably fitted into the base needle bar 26, and the body 28 is moved vertically.
An up-and-down moving member 27 is rotatably connected to the lower end of 7. The needle bar holder 28 has a link 31 connected to a swing lever 30 that is swingably supported by a pivot 29.
It is connected to.

On the other hand, an eccentric cam 32 is fixed to a sewing machine main shaft 17 which is inserted in the respective head portions 4 to 6 and arranged in the left-right direction, and the lower end of an eccentric lever 33 externally fitted to the eccentric cam 32. The part is connected to the swing lever 30. By the way, a sewing needle 22 is attached to the lower end of each of the twelve needle bars 21, and a connecting pin 34 is fixed to each of the intermediate pins in the height direction. A compression spring 35 is externally fitted to the support frame of the needle bar case 20, and the needle bar 21 is always elastically biased to the upper needle position by the compression spring 35.
Further, when the needle bar case 20 moves in the left-right direction, the connecting pin 34 of the needle bar 21 facing the vertical movement member 27 is selectively engaged with the engagement groove 27 a of the vertical movement member 27. Has become.

As a result, the sewing machine main shaft 17 is rotated by rotationally driving the sewing machine motor 110 in a predetermined rotation direction, and the vertical moving member 27 and the needle bar are held via the eccentric lever 33, the swing lever 30 and the link 31. As the and 28 move up and down integrally, only the needle bar 21 connected to the up-and-down moving member 27 via the connecting pin 34 is reciprocally driven up and down in synchronization with the main shaft 17. Next, each embroidery sewing machine M1 to M
The needle bar jump mechanism 40 that is provided for every 3 and that causes the needle bar 21 to jump to its uppermost position (top dead center position),
A description will be given based on FIG. In the needle bar case 20, a horizontally oriented needle bar jump solenoid 41 is provided, and a rotary lever 42 having a substantially L shape in plan view is attached to the needle bar case 20 so as to be rotatable around a vertical axis. There is. Then, the drive portion 42a of the rotation lever 42 contacts the plunger of the needle bar jump solenoid 41, and
The operation shaft 43 attached to the driven portion 42b and oriented vertically
Is a projecting engagement portion 2 integrally formed with the vertical movement member 27.
7a can be engaged.

Further, the vertical movement member 27 is always elastically attached by the winding spring 44 provided at the upper end thereof so as to rotate from the rotated jump position shown by the two-dot chain line to the normal connecting position shown by the solid line. It is energized. As a result, when the needle bar 21 is connected to the vertical movement member 27 via the connecting pin 34, the needle bar jump solenoid 41 is driven for a predetermined time, and when the plunger advances to the right, The rotation lever 42 rotates clockwise in a plan view, and the vertical movement member 27 rotates to the jump position indicated by the chain double-dashed line via the operation shaft 43 and the engaging portion 27a, and is connected. The engagement between the pin 34 and the engagement groove 27a is released, and at the same time, the needle bar 21 is moved (jump operation) to the needle up position at once by the compression spring 35.

On the other hand, when the needle bar 21 is jumping to the needle up position and the vertical moving member 27 is returned to the connecting position, the vertical moving member 27 rises from below toward the substantially uppermost position. Occasionally, the up-and-down moving member 27 is connected to the connecting pin 3.
4 is contacted from below and is temporarily rotated to the jump position, but is immediately rotated back to the connecting position by the winding spring 44, and the connecting pin 34 is automatically connected to the engaging groove 27a. ing. Here, the presser foot 45 provided on each of the bed portions 7 to 9 is a presser foot that presses the work cloth W on the bed portions 7 to 9 by a presser foot drive mechanism (not shown) driven by the presser foot drive solenoid 106. The position can be switched up and down between the position and the retracted position which has been raised by a predetermined distance.

Next, the bed units 10 to 12 will be described with reference to FIGS. 3 to 7. Here, since the three bed units 10 to 12 have the same configuration, the leftmost bed unit 10 will be described. A bed case 50 having a substantially U-shaped cross section extending in the front-rear direction has a pair of support brackets 5 fixed to a base frame 1 extending in the left-right direction at the front end of the sewing machine support plate 2 at its rear end.
1, and a hook module 55 is detachably fixed to the front end portion of the bed case 50. here,
The upper side of the bed case 50 is covered with a throat plate 52 at its front end portion and a cover plate 53 continuous with the throat plate 52.

Next, the shuttle module 55 will be described. As shown in FIGS. 4 to 5, a mounting block 56 is detachably fixed to the front end portion of the bed case 50 with a screw 57, and a shuttle drive motor including a pulse motor is attached to the rear end side of the mounting block 56. 58 is attached. On the other hand, on the front end side of the attachment block 56, a full rotary hook 59 for catching the yarn wheel is provided, and the hook shaft 60 fixed to the full rotary hook 59 is pivotally mounted on the attachment block 56 so that the position thereof can be adjusted in the front-rear direction. It is supported. The first connecting member 62 attached to the rear end of the shuttle shaft 60 and the second connecting member 63 attached to the front end of the drive shaft 58a of the shuttle drive motor 58 are connected to each other. That is, the shuttle shaft 60 and the drive shaft 58a are connected by the coupling 61 including both connecting members 62 and 63.

The full rotary hook 59 will be briefly described. As shown in FIG. 21, an inner hook holding a bobbin case 67 for accommodating the bobbin and an outer hook 59a rotating outside the inner hook. And the outer thread 59a has the upper thread 4
Sword tip 5 for hooking 7 to form the upper thread loop 47c
9b is formed. And, the spindle 18 is about "200
"", The sword tip 59b and the eye of the sewing needle 22 come into contact with each other (see FIG. 19), and the sword tip 59b moves the needle side upper thread 47a extending from the eye of the sewing needle 22 at this encounter timing. The upper thread loop 47c that moves between the inner hook and the outer hook 59a is formed by hooking and rotating the outer hook 59a.

Further, a disc encoder 64 is attached to the second connecting member 63, and a plurality of slits formed in the disc encoder 64 are optically detected to output from a photo sensor which outputs a shuttle shaft rotation signal. Become second
The encoder sensor 65 is attached to the attachment block 56. Then, by driving the shuttle drive motor 58, the shuttle shaft 60 is rotationally driven via the drive shaft 58a and the coupling 61, and the full rotary shuttle 59 is doubled in the predetermined rotation direction with respect to the sewing machine main spindle 17. It is driven to rotate at a rotation speed K. Here, the front end portion of the bed unit 10 is covered with a protective cover 66 that is pivotally supported at the lower end of the front end portion of the bed case 50 so as to be openable and closable via a hinge mechanism.

Here, a pivotal support structure for pivotally supporting the full rotary hook 59 so that its position can be adjusted in the front-rear direction will be briefly described. Immediately inside the cylindrical portion of the mounting block 56, a cylindrical bearing case 70 is provided so as to be slidable in the front-rear direction, and a bearing 71 is pressed into the bearing case 70. An eccentric pin 72 is mounted on the left side wall of the mounting block 56,
The pin portion at the tip of the eccentric pin 72 is the bearing case 7
0 is engaged with a vertically long pin hole formed on the left side wall,
On the other hand, a set screw 73 to which the bearing case 70 can be fixed is detachably provided on the right side wall of the mounting block 56.

That is, by loosening the set screw 73 and rotating the eccentric pin 72 in the clockwise direction or the counterclockwise direction, the bearing case 70 is moved forward or backward through the pin hole by a minute distance (for example, 1 to 2 mm), and at the same time, the position of the entire rotary hook 59 can be finely adjusted in the front-rear direction and the needle gap can be adjusted.

Next, a thread cutting mechanism 80 which is provided in each of the bed units 10 to 12 and cuts the upper thread 47 and the lower thread 48.
Will be described with reference to FIGS. 3 to 6. A fixed plate (not shown) fixed to the mounting block 56 extends to the upper side of the entire rotary hook 59, and the movable plate 81 has a standby position shown by a solid line and a maximum rotation position shown by a two-dot chain line on the fixed plate. It is pivotally supported so that it can swing. The fixed blade 8 for cutting the upper thread 47 and the lower thread 48 in cooperation with the movable blade 81.
2 is attached to the lower side of the needle plate 52 immediately above the fixed plate with the blade portion facing forward.

The thread-cutting operating lever 83 connected to the movable blade 81 is inserted through the bed case 50 and extends rearward. That is, the movable blade 81 is rotated clockwise by the forward movement of the thread trimming operation lever 83, and
In the middle of the backward movement of the movable blade 81 in the counterclockwise direction by the backward movement of the thread trimming operation lever 83 after the forward movement to the maximum rotation position indicated by the two-dot chain line in FIG. Are engaged with the engaging portion 81a of the movable blade 81, and thereafter, the upper thread 47 and the lower thread 48 are simultaneously cut by the cooperation of the movable blade 81 and the fixed blade 82.

Next, a thread trimming drive mechanism 85 for driving the thread trimming mechanism 80 will be described with reference to FIGS. 3 and 7. A rear end portion of the thread trimming operation lever 83 is horizontally attached to the rear end portion of the bed case 50 so as to be horizontally rotatable.
It is connected to the driven portion 86 a of the character-shaped rotating plate 86. On the other hand, at the left end of the base frame 1, the base frame 1
A thread trimming motor 88 is attached to a mounting plate 87 fixed to the lower side from below, and a fan-shaped swinging member 90 meshing with a drive gear 89 of the thread trimming motor 88 is rotated to the mounting plate 87 by a stepped bolt 91. It is movably pivoted. Furthermore,
A base end portion of a plate-shaped connecting plate 92 is attached to the swing member 90, and a left end portion of a thread trimming operation shaft 93 extending in the left-right direction is connected to a tip end portion of the connecting plate 92.

A drive portion 86b of the rotating plate 86 is connected to the thread cutting operation shaft 93. This allows
Rotation of the thread cutting motor 88 in the counterclockwise direction causes the swing member 90 to rotate clockwise by a predetermined angle, and the thread cutting operation shaft 93 moves rightward by a predetermined distance via the connecting plate 92. As a result, the rotating plate 86 is rotated in the clockwise direction and the thread trimming operating lever 83 is moved forward to move the movable blade 8
1 moves forward to the maximum rotation position. After that, the rotation of the thread cutting motor 88 in the clockwise direction causes the rotary plate 86 to rotate in the counterclockwise direction through the movement of the thread cutting operation shaft 93 to the left, and the thread cutting operation lever 83 moves backward. And the upper thread 47 and the lower thread 4 are engaged with the movable blade 81 as described above.
8 is simultaneously cut by the movable blade 81 and the fixed blade 82.

By the way, a moving position detecting sensor 94 composed of a photosensor is attached to the mounting plate 87 near the swinging member 90, and the swinging member 90 detects the moving position detecting sensor 94. A shield plate 95 is attached. That is, since the moving position detection sensor 94 does not detect the shielding plate 95 when the movable blade 81 is moving within the moving range from the cutting position to the maximum rotation position, the moving position detection of the “L” level is performed. While the signal DS is output, when the movable blade 81 moves to the cutting position in the backward movement direction, the shield plate 95 is detected and the “H” level moving position detection signal DS is output.

Next, an outline of the control system of the multi-head embroidery sewing machine M will be described with reference to the block diagram of FIG. A sewing machine control device 100 that controls the entire embroidery sewing machine M other than the hook drive control includes a CPU 101, a ROM 102, and a RAM.
And an input interface (not shown) and an output interface (not shown) connected to the microcomputer via a bus such as a data bus.

With respect to the head section 4, a drive circuit 105 for the needle bar jump solenoid 41, a drive circuit 107 for the presser foot drive solenoid 106, and a thread break sensor 108 are connected to the sewing machine controller 100. The other head portions 5 and 6 are similarly connected. Further, the sewing machine control device 100 includes a drive circuit 111 that drives the sewing machine motor 110, a first encoder sensor 112 that outputs 1000 slit signals per revolution of a disk encoder provided in the sewing machine motor 110, and a first encoder sensor 112 that outputs the slit signal. A spindle origin sensor 113 that outputs one spindle origin signal by one rotation of one encoder sensor 112, and a stop position sensor 114 that detects a stop position of the needle bar 21 (a rotation position of the sewing machine spindle 17 of about 100 °). Needle bar changing motor 1 for changing needle bar 21 driven by moving needle bar case 20
15, a drive circuit 116 for the X-axis drive motor 117, a drive circuit 120 for the Y-axis drive motor 119, and a plurality of switches for instructing sewing start and various commands. Display 1 provided
The operation panels 18 provided with 8a are respectively connected.

On the other hand, it is connected to the sewing machine controller 100,
The hook shaft control device 150, which controls the drive control and the thread cutting control of the full rotary hook 59, includes a CPU 151, a ROM 152, and a RAM 1.
53, and an input interface (not shown) and an output interface (not shown) connected to the microcomputer via a bus such as a data bus. With respect to the bed unit 10, a drive circuit 154 for the shuttle drive motor 58, a second encoder sensor 65 for outputting 50 slit signals by one rotation of the disk encoder 64, and this disk are provided in the shuttle shaft control device 150. The hook shaft origin sensor 155, which outputs one hook shaft synchronizing signal by one rotation of the encoder 64, is connected to each of the other bed units 11 and 12.
Are similarly connected. Further, a moving position detection sensor 94 and a drive circuit 156 for the thread cutting motor 88 are connected to the shuttle shaft control device 150, respectively.

Here, the sewing machine motor 110 is an induction motor and is inverter-controlled. The 1000 spindle rotation signals (slit signals) output from the first encoder sensor 112 in one rotation of the disk encoder provided in the sewing machine motor 110 are 40
The pulse is subdivided into 00 pulses and used as a spindle control pulse in drive control of the motor. On the other hand, the shuttle drive motor 58 is
It consists of a stepping motor and is drive-controlled by an open loop system, receives a pulse of 500 and makes one rotation, and at the same time, the full rotary hook 59 also makes one rotation. Then, the shuttle drive motor 58
Is driven and controlled so as to rotate twice during one rotation of the sewing machine main shaft 17 (hereinafter, this will be referred to as a shuttle shaft rotation speed K). Here, since the second encoder sensor 65 outputs 50 hook shaft rotation signals by one rotation of the disk encoder 64, the step-out of the hook driving motor 58 can be generally detected.

Next, a hook shaft drive control routine executed by the hook shaft controller 150 will be described with reference to the flowcharts of FIGS. 9 to 15. However, reference numeral Si (i
= 10, 11, 12, ...) is each step. Here, the signal output from the sewing machine control device 100 to the shuttle shaft control device 150 will be briefly described with reference to FIG. 18. At the start of sewing, the sewing machine main shaft 17 normally stops at a rotational position of about “100 °”. And needle bar 21
Is stopped by jumping to its uppermost position by the needle bar jump mechanism 40.

When the embroidery data having the needle drop data for N stitches is to be sewn, the main shaft drive signal from the sewing machine control device 100 is switched to the "H" level, and at the same time, the driving of the sewing machine motor 110 is started. It here,
This embroidery data does not include thread trimming data for thread change, and embroidery sewing for N stitches is sequentially executed to obtain the final N stitches.
Thread cutting shall be performed at the stitches.

In FIG. 19, the needle bar movement locus, the balance movement locus, the hook thread amount, and the rotary position of the full rotary hook 59 during sewing are made to correspond to the rotary position of the main shaft 17, respectively. Show. However, the rotation position of the full rotary hook 59 is indicated by the rotation position (rotation angle) of the sword tip 59a. By the way, the needle bar 21 is "0 °" of the sewing machine main shaft 17 at the first stitch.
When the needle bar 21 is at the uppermost position, the needle bar 21 is automatically connected to the up-and-down moving member 27. Therefore, when the upper thread 47 is not retracted (picker operation) at the start of sewing, the second and subsequent needles are A seam is formed. And, at the last stitch of the Nth stitch, about "260 °" of the sewing machine spindle 17 is
, The spindle drive signal is switched to the “L” level, and the thread trimming signal is output, after which the sewing machine spindle 1
7 "270 ° -440 ° (88 °)", the thread cutting operation is executed, and immediately after that, "460" of the sewing machine main spindle 17 is executed.
The rotation of the sewing machine main shaft 17 is actually stopped at the time of "° (100 °)".

When the multi-head type embroidery sewing machine M is powered on, this control is started, and the main spindle / hook axis initial setting processing (this corresponds to the origin setting means, see FIG. 10) is executed (S10). ). When this control is started, first, the stop position signal from the stop position sensor 114 is read, and when the main spindle 17 is in the stop position, that is, when the thread is cut after the last sewing process is completed, the normal "100 °" is set. Is the initial setting position, and at this stop position (S25:
Yes), since the rotary position of the hook shaft 60 is the rotation position of the main shaft 17 by about 13 °, the hook shaft synchronization signal is the hook shaft origin sensor 155.
In order to return to the rotational position at the time of output from the shuttle, the shuttle drive motor 58 is reversely driven by one pulse (S26), and when the shuttle shaft origin sensor 155 does not output the shuttle shaft synchronization signal (S27: No), S26. When the shuttle shaft 60 is rotated to the initial setting position corresponding to the initial setting position “180 °” which is the rotation start position of the main shaft 17, as shown in FIG. 20, (S27: Yes) ), And ends this control, and returns to S11 of the shuttle shaft drive control.

By the way, when the spindle 17 is not in the stop position (S25: No), the sewing machine controller 100 displays an error message to that effect on the display 18a. Therefore, the operator manually rotates the sewing machine spindle 17. Set the stop position. Next, in the hook shaft drive control, when the “H” level main shaft drive signal is not output from the sewing machine controller 100, that is, when sewing is not started (S11: No), this S11 is repeated until sewing is started. Be waited for. Then, when the sewing machine control device 100 outputs a spindle drive signal of "H" level at the start of sewing (see FIG. 18) (S11: Yes), the sewing machine motor 110 is driven to rotate at the same time, and the spindle 17 rotates to the rotational position ". It is driven from 100 °.

Then, as shown in FIG. 20, at the first stitch after the start of sewing, when the spindle 17 rotates to about "170 °" and the spindle origin sensor 113 outputs a spindle synchronizing signal (S12: Yes), and when the drawing operation for drawing the upper thread 47 to the lower side of the work cloth W is performed by a command from the sewing machine controller 100 (S13: Yes), the upper thread drawing process (see FIG. 11) is executed (S14). ). Here, this S12 corresponds to the synchronization control means.

When this control is started, the hook shaft synchronous drive processing control (see FIG. 12) for rotationally driving the hook shaft 60 in synchronization with the main shaft 17 is executed (S30). When this control is started, the spindle rotation signal output from the first encoder sensor 112 is constantly counted, so that the spindle 17
Is read (S40), and in order to synchronize with the rotation of the main spindle 17, at the timing of driving the shuttle shaft 60 by one step (S41: Yes), the shuttle drive motor 58
Is rotated for one step (S42).

Next, in order to confirm the rotation of the hook shaft 60,
The count value I of the counter that counts the number of drive steps of the shuttle drive motor 58 is incremented by 1 (S4
3) When the shuttle shaft rotation signal from the second encoder sensor 65 does not change (S44: No), when the count value I is less than or equal to the predetermined count value P (for example, 10 to 15) (S44: No).
45: Yes), and terminates this control and returns to S31 of the needle thread drawing process control. On the other hand, when the shuttle shaft rotation signal has changed (S44: Yes), since the shuttle shaft 60 is reliably driven, the count value I is cleared (S46),
Similarly, the process returns to S31.

By the way, when it is not time to drive the shuttle shaft 60 (S41: No), and when the shuttle shaft synchronization signal is not input from the shuttle shaft origin sensor 155 (S47: No), the routine similarly returns. However, when the shuttle shaft synchronization signal is input (S47: Yes), the data of the synchronous drive position table in which the allowable number of drive pulses of the shuttle drive motor 58 corresponding to the rotational position of the spindle 17 is tabulated is stored in the ROM 152 in advance. Since it is stored, the shuttle shaft 60 is allowed to synchronize with the main spindle 17 based on the rotational position of the main spindle 17 read in S40, the number of drive pulses of the shuttle drive motor 58, and the data of the synchronous drive position table. When the synchronous drive is performed within the range (S48: Yes), the process similarly returns to S31.

Here, the count value I is the predetermined count value P.
When the value is larger than the above (S45: No), or when the shuttle shaft 60 exceeds the allowable synchronous range for the spindle 17, that is, when the synchronous drive is not performed (S48: No), the abnormality processing control (Fig. 1) is performed.
5) is executed (S49). When this control is started, the needle bar jump solenoid 41 is driven for a predetermined time (S80). As a result, as described above, the vertical movement member 27 rotates to the jump position, and the needle bar 21 jumps to the needle up position at once. Accordingly, it is possible to prevent the sewing needle 22 from colliding with the full rotary hook 59.

Next, a spindle drive stop command is output to the sewing machine control device 100 to stop the driving of the sewing machine motor 110 (S81). As a result, the sewing machine control device 100 outputs a brake operation signal to the drive circuit 111, and the sewing machine motor 110 is immediately stopped. At the same time, the drive stop process for outputting the brake actuation signal is similarly executed for the drive circuit 154 (S82), and the shuttle drive motor 58 is immediately stopped. Next, a display command for displaying an error message indicating that the machine has stopped abnormally on the display 18a is output to the sewing machine control device 100 (S83). When the operator releases the abnormal state and the error state is released by operating the error release switch of the operation panel 18 or the like (S84: Yes).
), And ends this control, and returns to S10 of the hook shaft drive control.

Then, in controlling the upper thread drawing process,
When the spindle 17 is not rotated to the rotation position of "280 °" (S31: No), S30 to S31 are repeatedly executed, and as shown in Fig. 20, at the second stitch, the spindle 17 is set to "280 °". When the rotation position is reached (S31: Yes
), The drive of the shuttle drive motor 58 is stopped until the main shaft 17 reaches the rotational position of "460 ° (100 °)", and the shuttle shaft 6
The rotation of 0 is forcibly stopped (S32: No).

That is, the main shaft 17 is "280 ° -460 °".
When the second stitch is being sewn, the full rotary hook 59 is at the rotational position shown in FIGS. 19 to 21, and the upper thread loop 47c of the needle thread 47 engaged with the sword tip 59b is formed, so that the full rotary hook is rotated. This is a state in which the sewing needle 22 and the balance 23 are raised while the cloth is being fed.

As a result, the upper thread 47a extending from the eyelet of the sewing needle 22 is pulled upward as the sewing needle 22 and the balance 23 are lifted. As a result, the upper thread end protruding to the upper side of the work cloth W is inserted through the work cloth W and the needle hole 52a of the needle plate 52 and drawn toward the full rotary hook 59, and the upper thread loop 47 is formed.
c is substantially not formed. When the main shaft 17 reaches the rotation position of "100 °", that is, when the full-rotary hook 59 reaches the rotation position where the main shaft 17 is timed (S32: Yes), this control is terminated and the hook shaft is rotated. The process returns to S15 of the drive control, and the actual sewing is started.

Then, in the hook shaft drive control, the sewing process control (see FIG. 13) is executed (S15). When this control is started, the spindle drive signal from the sewing machine control device 100 is at the “H” level, and during sewing (S55: Ye
s) From the 3rd stitch to the last N stitch sewing operation,
That is, as described above, the hook shaft synchronous drive process control is repeatedly executed until the main shaft drive signal becomes the “L” level and the sewing process is completed, and the sewing operation is sequentially performed for each stitch ( S56). When the final Nth stitch is sewn and the spindle drive signal of "L" level is input (S55: No), this control is terminated and the process returns to S16 of the hook shaft drive control.

In the hook shaft drive control, when thread cutting is not executed by a command from the sewing machine controller 100 at the last stitch (S16: No), the spindle 17 is set to "36".
The hook shaft synchronous drive processing control is executed until it becomes 0 ° (S
18, S19: No), when the main shaft 17 reaches the rotational position of "360 °" so that the sword tip 59b does not collide with the sewing needle 22 (S19: Yes), the process returns to S10. On the other hand, when the thread cutting is executed (S16: Yes), the upper thread remaining amount ensuring process control (see FIG. 14) at the end of sewing is executed (S17). here,
The thread cutting process is executed from the rotational position of "270 °" of the main shaft 17 at substantially the same time as this upper thread remaining amount ensuring process control at the end of sewing. This thread cutting process will be described later. To do.

Next, when the remaining amount securing processing control for securing the remaining amount of the upper thread ahead of the eye of the sewing needle 22 is started, as shown in FIG. 22, during the sewing operation of the final Nth stitch, Until the main shaft 17 reaches the rotation position of "300 °", the hook shaft 6
While rotating 0 at a predetermined rotation speed K, the hook shaft synchronous drive processing is executed (S60, S61: No). And the spindle 1
7 reaches "300 °" (corresponding to the predetermined timing before thread cutting) (S61: Yes), the spindle 17 moves to "3".
Until it reaches "35 °" (this corresponds to a predetermined period),
The drive of the shuttle drive motor 58 is temporarily stopped, and the shuttle shaft 60
The rotation of is forcibly stopped temporarily (S62: No).

That is, when the Nth stitch is being sewn, the spindle 1
When 7 is "300 ° to 335 °", the full rotary hook 59
22 to 23 are the rotational positions shown in FIGS. 22 to 23, when the upper thread loop 47c is maximally formed and cannot be disengaged from the full rotary hook 59, and while the cloth feed is being executed, the sewing needle 22 and the balance 23 Is the rising period. At this time, the upper thread 47a extending from the eyelet of the sewing needle 22 is connected to the work cloth W, and the rotation of the full rotary hook 59 is temporarily stopped during this period, so that the thread that runs short as the balance 23 is raised. The amount is paid out from a thread spool not shown.

As a result, when the thread is cut by the thread cutting operation to be described later, a sufficient upper thread remaining amount for preventing the upper thread end from slipping out of the eyelet hole at the start of the next sewing operation is provided.
It is ensured corresponding to the amount of yarn delivered from the thread spool. When the spindle 17 reaches "335 °" (S6
2: Yes), S63 to S76 cause the spindle 17 to move to approx.
During the rotation period of "°" rotation, the shuttle drive motor 58 is driven and controlled so as to have a high rotation speed proportional to the rotation speed of the main shaft 17 and not to exceed the self-starting frequency. By quickly removing the loop 47c from the full rotary hook 59, the upper thread remaining amount can be stabilized.

That is, since the main spindle 17 reaches "335 °", the shuttle drive motor 58 is rotationally driven at the predetermined rotational speed K for the first 10 pulses (S63 to S64: Yes).
), The drive pulse cycle is set so that K = 1.5 (S65), and the shuttle drive motor 58 is rotationally driven at the rotational speed of 1.5 K for the next 10 pulses (S66 to S67: Ye).
s), then the drive pulse cycle is set to K = 2 (S68), and the shuttle drive motor 58 is rotationally driven at the rotational speed of 2K for the next 141 pulses (S69 to S70: Ye).
s).

Then, the drive pulse cycle is set so that K = 1.5 (S71), and the shuttle drive motor 58 is rotationally driven at the rotational speed of 1.5 K for the next 10 pulses (S72).
~ S73: Yes), the drive pulse cycle is set so that K = 1 (S74), and the shuttle drive motor 58 is rotationally driven at the rotational speed K for the next 10 pulses (S75 to S7).
6: Yes), end this control, and execute S10 of hook shaft drive control.
Return to Next, the thread cutting process control executed at the same time as the upper thread remaining amount securing process will be described with reference to FIGS. 16 to 17.

By the way, this cutting processing control is included in the thread cutting control which is executed in parallel with the above-mentioned shuttle shaft drive control when the power is turned on. First, the thread cutting control will be described. When the multi-head type embroidery sewing machine M is powered on, this control is started, and the initial setting of the movable blade 81 is first executed in S90 to S98. That is, when the moving position detection signal DS from the moving position detection sensor 94 is at the “H” level, that is, when the shield plate 95 is detected and the movable blade 81 is at the cutting position (S90: Yes), the thread cutting motor 88 is driven. As flag data of the direction flag DF,
Until "1" indicating the forward direction is set (S91) and the moving position detection signal DS becomes "L" level, that is, until the movable blade 81 is rotated from the cutting position in the forward direction by a predetermined amount, The thread trimming motor 88 is driven one pulse at a time (S
92, S93).

When the moving position detection signal DS becomes the "L" level (S93: No), the thread trimming motor 88
Is driven by an additional 5 pulses, and the movable blade 81 is further rotated in the forward direction by a minute predetermined amount (S94). Next, "0" indicating the backward direction is set as the flag data of the drive direction flag DF of the thread trimming motor 88 (S9
5) until the moving position detection signal DS reaches the “H” level, that is, until the movable blade 81 moves and returns to the cutting position,
The thread trimming motor 88 is driven one pulse at a time (S96, S
97). Then, when the movement position detection signal DS becomes the "H" level (S97: Yes), the thread trimming motor 88 is additionally driven by an additional 5 pulses, and the movable blade 81 is further moved in the backward movement direction by a predetermined small amount. Is rotated (S98).

Then, from the sewing machine controller 100, "H"
When a level spindle drive signal is received (S99: Yes
), S99 and S100 are repeated until the thread trimming signal is received from the sewing machine controller 100, while the thread trimming is performed when the spindle 17 is at the rotational position of about "260 °" in the final sewing operation of the Nth stitch. When a signal is received (S10
0: Yes), the disconnection process control (see FIG. 17) is executed (S101). When this control is started, the spindle 17 moves to "27
When the rotational position of "0 °" is reached (S110: Yes), the driving direction flag DF is set (S111), and as shown in FIG. 24, the spindle control pulse is counted by "11" pulses and the thread trimming motor is counted. 20 to drive 88 for one pulse
It is repeatedly executed for the number of pulses (S112 to S11).
3).

When the thread trimming motor 88 is driven by 20 pulses (S113: Yes), the spindle control pulse is counted by "4" pulses and the thread trimming motor 88 is driven by 1 pulse only for 27 pulses. It is repeatedly executed (S114 to S115). Further, set the thread trimming motor 88 to 2
When driven by 7 pulses (S115: Yes), the spindle control pulse is counted by "2" pulses and the thread trimming motor 8
Driving 8 for one pulse is repeated for 121 pulses (S116 to S117). That is, this final one
When driving 21 pulses, the outside 5 of the full rotary hook 59
The upper thread 47a from the sewing needle 22 and the lower thread 4 which are separated by separating the upper thread 47 from the bifurcated thread guide section 59c (see FIG. 23) formed in the portion of the outer peripheral portion of 9a facing the sword tip 59b.
8 and the upper thread 47b on the work cloth side are separated by the movable blade 81.

Then, when the thread cutting motor 88 is driven by 121 pulses, as shown in FIG.
1 is a state in which the lower thread 48 and the upper thread 47b on the work cloth side can be engaged with each other and moved forward to the maximum rotation position. Here, in FIG. 25, for convenience of explanation, the upper thread (needle thread) from the sewing needle 22 in the horizontal plane where the movable blade 81 is located.
47a, an upper thread 47b connected to the work cloth W, and a lower thread 48.

Next, in this state, the thread trimming motor 88 reaches the rotation position of "335 °" of the main spindle 17, which is the timing of rotating the shuttle shaft 60 at a high rotational speed proportional to the rotational speed of the main spindle 17. When the drive is stopped (S118: No) and the spindle 17 reaches the rotation position of "335 °" (S118: No)
118: Yes), the drive direction flag DF is reset to move the movable blade 81 back (S119), the spindle control pulse is counted by "3" pulses, and the thread cutting motor 88 is driven by one pulse. The process is repeated by the number of pulses (S120 to S121). At this time, the lower thread 48 and the work cloth side upper thread 47 b are engaged with the engaging portion 81 a of the movable blade 81.

Further, when the thread trimming motor 88 is driven by 100 pulses (S121: Yes), the spindle position control pulse is counted by "14" pulses and the thread trimming motor 88 is driven by one pulse. It is repeatedly executed until DS becomes "H" level (S122-S123).
). Here, in the final part of the driving period of 100 pulses of the thread cutting motor 88, the upper thread 47 and the lower thread are cooperated with each other by the movable blade 81 and the fixed blade 82 at the timing shown by the alternate long and short dash line in FIG. 48 and 48 are disconnected at the same time. Furthermore,
The thread cutting motor 88 is additionally driven by 5 pulses, and the movable blade 81 is further rotated in the backward direction by a minute predetermined amount (S124 to S125).

If the movable blade 81 is additionally rotated by 5 pulses (S125: Yes), the movable blade 81 is initialized, and this control is terminated and the process returns to S99 of the thread trimming control. As described above, the input waiting of the next thread trimming signal is executed. At this time, as shown in FIG.
The movable blade 81 is in a state of moving forward to the original standby position,
The end of the cut lower thread 48 is held by a thread holding section (not shown) provided below the fixed blade 82.

That is, as shown in FIGS. 22 and 24, the thread cutting timing is when the full rotary hook 59 is rotationally driven at a high speed proportional to the rotational speed of the main spindle 17 and the main spindle 17 is at a substantially predetermined rotational position. In addition, by quickly removing the upper thread loop 47c from the full rotary hook 59, variations in the timing at which the upper thread loop 47c comes off the full rotary hook 59 are reduced, and the upper thread remaining amount secured after cutting is stabilized. be able to. Furthermore,
The upper thread remaining amount secured at this time is a sufficient thread amount for reliably preventing the upper thread end from coming off the eyelet of the sewing needle 22 at the start of the next sewing operation.

In the above multi-head embroidery sewing machine M, the operation of the origin position setting and the synchronous control of the shuttle shaft 60, which is performed for each sewing operation, will be described. When each sewing operation is executed (S13 to S19), the hook shaft 60 is set every time the sewing operation is completed.
The reference origin position setting is executed (S26 to S27). That is, when the sewing operation is completed, the main shaft 17 is rotationally driven to a predetermined stop position, the shuttle drive motor 58 including a stepping motor is driven, and the shuttle shaft 60 is at the rotary position of the shuttle shaft synchronizing signal. It is set to the initial setting position. Then, even when the spindle 17 is manually rotated by the start of the next sewing operation and the spindle 17 deviates from its initial setting position, the "H" level spindle drive signal is input and each sewing operation is performed. Each time the main shaft 17 driven by the sewing machine motor 110 is rotated to its initial setting position, the drive of the hook drive motor 58 is started. Therefore, each sewing operation is performed in a synchronized state between the main shaft 17 and the hook shaft 60. Can be executed.

In this way, the shuttle shaft 60 is set to the initial setting position after each sewing operation, and the spindle 17 is manually rotated by the time when the next sewing operation is started so that the spindle 17 is initialized. Even when the sewing machine moves out of the set position, the hook drive motor 58 starts to be driven when the main shaft 17 rotates to the initial set position each time the sewing operation starts, so that a slight synchronization deviation occurs during the sewing operation. Even in such cases, these spindles 17
Each sewing operation can be started in a synchronized state in which the synchronous deviation of the shuttle shaft 60 is eliminated. Further, since the shuttle drive motor 58 is controlled by the open loop system, the drive control can be simplified and the cost can be reduced.

The sewing machine motor 110 and the shuttle drive motor 5
It is also possible to configure 8 by a stepping motor and set both of these motors 110, 58 to the initial setting position at each start or after each sewing operation. Further, both of these motors 110 and 58 may be AC servo motors or stepping motors, the sewing machine motor 110 may be a stepping motor, and the shuttle drive motor 58 may be an AC servo motor, and various motors are required. Depending on the existing technology or the technology obvious to those skilled in the art, various modifications may be made to the above-described embodiment, such as being adopted accordingly. Further, it is needless to say that the present invention can be applied to various sewing machines provided with one embroidery sewing machine and configured to drive the thread wheel catching hook independently of the sewing machine motor.

[0073]

According to the sewing machine of the first aspect, the sewing needle driven by the sewing machine motor through the main shaft, the thread catching hook, and the thread catching hook are synchronized with the main shaft independently of the sewing machine motor. A rotary hook driving motor is further provided, and an origin setting means is further provided, and at least one of the main shaft and the shuttle shaft of the thread catching hook is provided at each start of each sewing operation or each end of each sewing operation. Since it is set to the reference origin position of 1, the mutual deviation of the main shaft and the hook shaft that occurs during the sewing operation can be eliminated for each sewing operation, and the main shaft and the hook shaft can be synchronously controlled with high precision.

In the sewing machine of claim 2, the same effect as that of claim 1 is obtained, but both the main shaft and the shuttle shaft are set at their respective reference origin positions, so that the main shaft and the shuttle shaft are set for each sewing operation. Both the main shaft and the hook shaft can be initialized in addition to the elimination of the mutual synchronization deviation. The sewing machine of claim 3 has the same effect as that of claim 1,
The hook shaft is set to the reference origin position at the end of each sewing operation, and even if the main spindle is rotated by the time the start of the next sewing operation and the main spindle deviates from the reference origin position, Since the drive of the shuttle drive motor is started each time the main shaft is rotated to the reference origin position, each sewing operation can be executed in a synchronized state between the main shaft and the shuttle shaft.

According to the sewing machine of claim 4, claims 1 to
The same effect as any one of claims 3 is obtained, but the sewing machine motor is controlled by the open loop system by the sewing machine control means, and the shuttle drive motor is controlled by the open loop system by the sewing machine control means. Drive control can be simplified. In the sewing machine according to claim 5,
The same effect as in any one of claims 1 to 3 is obtained, but the sewing machine motor is controlled by the feedback system by the sewing machine control means, and the shuttle drive motor is controlled by the open loop system by the shuttle control means. Therefore, the sewing machine motor that requires a large driving torque can be configured by the servo motor, and the cost can be reduced.

According to the sewing machine of claim 6,
The same effect as in any one of claims 3 is obtained, but since the sewing machine motor is controlled by the feedback system by the sewing machine control means and the shuttle drive motor is controlled by the feedback system by the shuttle control means, a large driving torque is obtained. A sewing machine motor and a shuttle drive motor that require a servomotor can be configured by a servomotor, and the cost can be reduced. The sewing machine according to claim 7 has the same effect as that of any one of claims 1 to 3, but the sewing machine motor is controlled by the open loop system by the sewing machine control means, and the shuttle drive means is driven by the hook. Since the motor is controlled by the feedback method, the shuttle drive motor that requires a large drive torque can be configured by the servo motor, and the cost can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a multi-head embroidery sewing machine.

FIG. 2 is a schematic perspective view of a needle bar vertical movement mechanism including a needle bar jump mechanism.

FIG. 3 is a plan view of a main part showing a work table and a bed unit.

FIG. 4 is a partial plan view of a bed unit provided with a hook module.

FIG. 5 is a partial vertical sectional side view of a bed unit provided with a shuttle module.

FIG. 6 is a partially enlarged plan view of a distal end portion of the bed unit.

FIG. 7 is an enlarged plan view of a thread cutting drive mechanism.

FIG. 8 is a block diagram of a control system of the multi-head embroidery sewing machine.

FIG. 9 is a schematic flowchart of a hook shaft drive control routine.

FIG. 10 is a schematic flowchart of a routine for controlling spindle / hook shaft initial setting processing.

FIG. 11 is a schematic flowchart of a needle thread drawing process control routine.

FIG. 12 is a schematic flowchart of a shuttle shaft synchronous drive processing control routine.

FIG. 13 is a schematic flowchart of a sewing process control routine.

FIG. 14 is a schematic flow chart of a routine of the upper thread remaining amount securing processing control at the end of sewing.

FIG. 15 is a schematic flowchart of a routine of abnormality processing control.

FIG. 16 is a schematic flowchart of a thread trimming control routine.

FIG. 17 is a schematic flowchart of a cutting process control routine.

FIG. 18 is a time chart of various signals output for sewing N stitches of embroidery data.

FIG. 19 is an explanatory diagram showing a motion curve of a needle bar, a balance, a shuttle thread yarn amount curve, and a rotation position of a full-rotary shuttle in association with a rotation position of a spindle.

FIG. 20 is a diagram showing the rotary speed of the hook shaft with respect to the rotation of the main shaft at the start of sewing.

FIG. 21 is a front view of the full rotary hook temporarily stopped when the main shaft is about “280 °”.

FIG. 22 is a diagram showing a rotary speed of a hook shaft with respect to a rotation of a main shaft during thread cutting.

FIG. 23 is a front view of the full rotary hook temporarily stopped when the main shaft is at about “300 °”.

FIG. 24 is a diagram showing the number of drive pulses of the thread cutting motor with respect to the rotation of the spindle.

FIG. 25 is a view corresponding to FIG. 6, in which the movable blade can move forward to the maximum rotation position and engage with the upper and lower yarns.

FIG. 26 is a view corresponding to FIG. 6 in which the movable blade has moved back to the standby position and the upper and lower yarns have been cut.

[Explanation of symbols]

 M Multi-head embroidery sewing machine 17 Sewing machine main shaft 21 Needle bar 22 Sewing needle 55 hook module 58 hook driving motor 59 full rotation hook 60 hook shaft 100 sewing machine controller 110 sewing machine motor 150 hook shaft controller

Claims (7)

[Claims] 1. A sewing needle driven by a sewing machine motor via a main shaft, a yarn wheel catching hook for catching a yarn wheel in cooperation with the sewing needle, and a thread wheel catching hook for a main spindle independently of a sewing machine motor. In a sewing machine equipped with a shuttle drive motor that is driven to rotate in synchronization, at least one of the main shaft and the shuttle shaft of the thread catcher is provided at each start of each sewing operation or each end of each sewing operation. A sewing machine having an origin setting means for setting a reference origin position. 2. The sewing machine according to claim 1, wherein the origin setting means sets both the main shaft and the shuttle shaft at respective reference origin positions. 3. The origin setting means sets the hook shaft to a reference origin position each time each sewing operation is completed, and drives the hook drive motor when the main shaft rotates to the reference origin position each time each sewing operation is started. 2. The sewing machine according to claim 1, further comprising a synchronization control means for starting. 4. A sewing machine control means for controlling the sewing machine motor in an open loop system, and a shuttle control means for controlling the shuttle drive motor in an open loop system. The sewing machine according to any one of 1. 5. A sewing machine control means for controlling the sewing machine motor in a feedback system, and a shuttle control means for controlling the shuttle drive motor in an open loop system are provided. The sewing machine according to any one of items. 6. A sewing machine control means for controlling the sewing machine motor in a feedback system, and a shuttle control means for controlling the shuttle drive motor in a feedback system. The sewing machine according to item 1. 7. A sewing machine control means for controlling the sewing machine motor in an open loop system, and a shuttle control means for controlling the shuttle drive motor in a feedback system. The sewing machine according to any one of items.