US3881435A - Arrangement for detecting the position of the sewing needle in a sewing machine - Google Patents

Arrangement for detecting the position of the sewing needle in a sewing machine Download PDF

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Publication number
US3881435A
US3881435A US357322A US35732273A US3881435A US 3881435 A US3881435 A US 3881435A US 357322 A US357322 A US 357322A US 35732273 A US35732273 A US 35732273A US 3881435 A US3881435 A US 3881435A
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hall
flux
needle
sewing machine
semiconductor element
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US357322A
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English (en)
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Hachiro Makabe
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Janome Corp
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Janome Sewing Machine Co Ltd
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    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B69/00—Driving-gear; Control devices
    • D05B69/22—Devices for stopping drive when sewing tools have reached a predetermined position
    • D05B69/24—Applications of devices for indicating or ascertaining sewing-tool position

Definitions

  • At least one generator is mwmed [58] w of Search 112/219 A 219 R, 220, stationarily with such an orientation relative to the 11 2/2 8 R, 67, 87 path of the magnet that when the rotary member assumes a predetermined angular orientation corre- [56] References Cited sponding to a predetermined position of the sewing UNITED STATES PATENTS needle a Hall voltage is induced in the Hall generator u it. 2,572,635 lO/l95l 112/219 A n 2,872,885 2/1959 Schwab.... ll2/2l9 A 9 Claims, 15 Drawing Figures WJEh-HEBMM' sms 3.881.435
  • the present invention relates exclusively to sewing machines of the type provided with a longitudinally reciprocated sewing needle and having at least one rotary member rotating in synchronism with the longitudinal reciprocation of the sewing needle.
  • the invention relates to the detection of the position of the sewing needle.
  • the known arrangements employ a positiondetecting arrangement which is annexed to the sewing machine by mounting on the sewing machine housing and coupling the position-detecting arrangement to a rotating part of the sewing machine.
  • a disadvantage of this construction is that it is very unaesthetic in appearance, can interfere with the freedom of movement of the operator or the placement of the sewing machine, and can interfere with access to the components of the sewing machine when repair or inspection is required.
  • the known arrangements for detecting the position ofthe sewing machine needle are detrimentally ef fected by prolonged use, temperature, and furthermore create objectionable noise and vibrations.
  • the slip ring and brush are generally mounted on the outside of the drive-belt pulley of the sewing machine, this drive-belt pulley being the large wheel rigidly connected with the main shaft of the sewing machine and serving to transmit the force from the motor to the reciprocator for the sewing needle. This is done to facilitate access to the position-detecting arrangement, particularly for the troublesome replacement of worn parts alluded to earlier.
  • provision of the position-detecting arrangements adds to the bulk of the machine and is objectionable.
  • a sewing machine of the type including a sewing needle and means for longitudinally reciprocating the sewing needle to effect sewing and including at least one rotary member rotating in synchronism with such longitudinal reciprocation, an arrangement comprising magnet means mounted on the rotary member for rotation therewith, flux-responsive means, and mounting means mounting the Hall generator means stationarily and with such an orientation relative to the path of motion of the magnet means that, when the rotary member assumes a predetermined angular orientation corresponding to a predetermined position of the sewing needle, a Hall voltage is induced in the Hall generator means.
  • the position-detecting device includes a needleposition detecting element, such as a Hall generator, and an element whose position is to be detected, such as a permanent magnet, accommodated within the structure of the main drive pulley of the sewing machine, so that the overall dimensions of a sewing machine provided with the inventive arrangement will be smaller than hertofore, with the position-detecting arrangement additionally being so positioned within the structure of the main drive pulley that it will not hinder access to the components of the sewing machine, when inspection or repair is required.
  • a needleposition detecting element such as a Hall generator
  • an element whose position is to be detected such as a permanent magnet
  • a further object of the invention is to provide an arrangement for detecting the position of the sewing needle so designed that there is no contact between parts that are in relative motion, as was the case with the pri or-art slip-ring-and-brush arrangements. According to the invention, the problem of inoperativeness resulting from frictional wearing away of the components of the arrangement is entirely eliminated. Also, according to the invention, it is desired to provide an arrangement which creates no noise during operation and which does not cause the sewing machine to vibrate in the objectionable manner inherent in the prior-art devices for this purpose.
  • the inventive arrangement makes use of stationarily mounted Hall generator means and rotatably mounted magnets, particularly permanent magnets. It
  • FIG. I is a perspective view of a sewing machine
  • FIG. 2 is a perspective view of a Hall semiconductor element located in a magnetic field
  • FIG. 3 illustrates conductors connected to the four electrodes of the Hall semiconductor element of FIG. 2;
  • FIG. 4 is a graph depicting the voltages which can be generated in response to magnetic field strength
  • FIG. 5 is a circuit diagram of one circuit in which the Hall generator of the position-detecting arrangement may be incorporated;
  • FIG. 6 is a schematic diagram of a magnetic circuit formed by the stationary and moving parts of the position-detecting arrangement
  • FIGS. 70 and 7b depict two possible configurations for the stationary and moving parts of the arrangement
  • FIG. 8 is a circuit diagram of another circuit em ployed when two Hall semiconductor elements are used in the positiondetecting arrangement
  • FIG. 9 is an axial section through a portion of the sewing machine of FIG. I, illustrating a first embodiment of the position-detecting arrangement employing a single Hall semiconductor element and associated with the circuit shown in FIG. 5;
  • FIG. 10 is a transverse section through the sewing machine of FIG. 9, taken on the section line shown in FIG. 9;
  • FIGS. I la. Ilh and I Ir depict a stationary portion of the position detecting arrangement, as seen from three mutually perpendicular directions;
  • FIG. I2 is an axial section through a sewing machine provided with a second embodiment of the positiondetector according to the invention; including two Hall generators and used in conjunction with the circuit of FIG. 8'.
  • FIG. 13 is a transverse section through the second embodiment shown in FIG. 12, taken on the section line indicated in FIG. 12;
  • FIG. 14 is an axial section through a sewing machine provided with a third embodiment of the positiondetector of the invention.
  • FIG. I5 is a transverse section through the arrangement shown in FIG. 14, taken on the section line indi cated in FIG. I4.
  • FIG. illustrates in perspective view one sewing machine of the type with which the present invention is concerned.
  • the machine has a housing I on which is mounted a Hall generator 3 and an electric control circuit 4 connected to the Hall generator 3 by means of electrical conductors.
  • the sewing machine has a conventional drive pulley 6 about which is trained a drive belt driven by a non-illustrated electric motor. Within the structure of the drive pulley 6 there is mounted for rotation with the pulley 6 a permanent magnet 5.
  • the Hall generator 3 is so oriented relative to the circular path of motion of the permanent magnet S that when the drive pulley 6 assumes a predetermined angular 0rientation corresponding to a predetermined position of the longitudinally reciprocated sewing needle 17, the permanent magnet 5 will be located close enough to the Hall generator 6 as to induce in the latter a Hall voltage indicating that the needle has reached the predetermined position.
  • FIGS. 9, I2 and 14 Axial sections through the sewing machine are shown in FIGS. 9, I2 and 14.
  • the sewing machine structure in these three Figures is the same. the only difference being in the structure of the position-detecting means.
  • the sewing machine structure shown in FIGS. 9, I2 and 14 corresponds to the structute of the sewing machine depicted in FIG. 1.
  • reference numeral 8 designates the main shaft of the sewing machine.
  • the drive pulley 6 is rigidly mounted at the righthand end of the main shaft 8 by means of a mounting screw 9.
  • Reference numeral l0 desig nates a mounting seat for a Hall generator unit, this mounting seat 10 being itself mounted on right-hand portion 2 of the machine housing I by means of a mounting screw II.
  • the mounting seat I0 holds a yoke I2 of magnetic material.
  • the magnetic yoke 12 is formed with a cavity into which is inserted and tightly held a Hall generator semiconductor element 3 responsive to the magnetic flux emanating from the permanent magnet 5.
  • Numeral l3 identifies an electric cable operatively connecting the Hall generator 3 to the electric control circuit 4.
  • the permanent magnet 5 is mounted for rotation with the drive pulley 6 and is seated in a yoke 15 of ferromagnetic material.
  • the magnet 5 and the yoke 15 are positioned in the internal bowl-shaped concavity at the left-hand side of the pulley structure 6.
  • the Hall generator 3 and the permanent magnet 5 are so positioned as to define between themselves, in their position of greatest proximity, a radial air gap 16. Accordingly, the stationary and moving parts. namely parts 3 and 5, of the position-detecting arrangement will never actually come into contact with each other and no problem of the wearing away of components will exist with respect to these parts.
  • FIG. 6 illustrates how the Hall semiconductor element 3 with its yoke 12 and the permanent magnet 5 with its yoke 15 together form a magnetic circuit.
  • the flux 20 emanating from the permanent magnet 5 passes through one portion of the moving yoke I5, crosses the radial air gap, passes through one portion of the stationary yoke I2, passes through the Hall semiconductor element 3, passes through the other portion of the yoke 12, crosses again the radial air gap and returns via yoke IS to the south-pole end of permanent magnet 5.
  • a Hall voltage will be generated across the Hallvoltage electrodes of Hall semiconductor element 3.
  • This Hall voltage accordingly constitutes an indication that the sewing needle 17 of FIG. I has reached a predetermined position.
  • the sewing machine is so constructed that one rotation of the drive pulley 6 effects one complete reciprocatory cycle of the sewing needle 17 i.e., one upward movement plus one downward movement.
  • two permanent magnets are provided on the rotary pulley 6, located diametrally opposite each other with respect to the axis of rotation, it becomes possible, by appropriately positioning these magnets, to detect both the uppermost and lowermost positions of the sewing needle.
  • the second magnet is designated by reference numeral 18 and is provided with a respective yoke 19.
  • FIG. 2 illustrates schematically one such element.
  • the Hall element 3 has two control electrodes S and two Hall-voltage electrodes H.
  • a source of control current is connected across the control electrodes S, for instance so that current flows in the direction indicated by the arrow. If now the Hall element is moved into the region ofa magnetic field M, a Hall voltage will be generated across the Hall-voltage terminals H.
  • FIG. 3 there is depicted the manner in which the Hall element 3 can be connected so that two separately useful voltages are derived from the two Hall-voltage electrodes of the single Hall element 3.
  • the control electrodes S are connected across a non-illustrated source of current, and the voltage at each of the two Hall-voltage electrodes H is measured with respect to the voltage at one of the control electrodes S. Conventionally, it is simply the voltage across the two Hallvoltage electrodes that is measured to determine magnetic field strength.
  • FIG. 3 When a circuit connection like that in FIG. 3 is employed, however, the voltage-flux relationships depicted in FIG. 4 can be established.
  • FIG. 4 the voltages VH, and VH defined in FIG. 3 are plotted with respect to magnetic feld strength.
  • the voltage VH rises proportionally while the voltage VH falls proportionally; conversely when the magnetic field strength decreases from a positive value to a negative value the voltage VH decreases proportionally while the voltage VH rises proportionally.
  • the distinguishable responses of the two voltages VH and VH to the same changes in magnetic field strength are made use of in the embodiments described below.
  • FIG. 5 An exemplary embodiment of a circuit employing the Hall element 3 in the manner shown in FIG. 3 is illustrated in FIG. 5.
  • the portion of the circuit enclosed in dashed lines constitutes a constant-current source of conventional configuration. The operation of this source need not be discussed in detail, because it will be readily understood by those skilled in the art; it is merely noted that the illustrated Zener diode and the illustrated temperature-responsive resistor respectively stabilize the constant current against variations in the non-illustrated power supply and in the ambient temperature.
  • the constant current furnished by the constantcurrent source is passed through the control electrodes 8 of the Hall element 3 via a resistor R
  • Two transistor switches 02 and 0;; are provided for detecting magnetic fields of opposite polarities.
  • Hallvoltage electrode H is connected via a resistor R to the base of transistor 0,, while the Hall-voltage electrode H is connected via a resistor R to the base of transistor Q;,.
  • transistor Q When the magnetic field passing through the Hall element 3 is of one polarity and of sufficient strength, transistor Q, is rendered conductive.
  • transistor 0 When the magnetic field is of opposite polarity and of sufficient strength, transistor 0;, is rendered conductive.
  • the voltage changes at the collectors of the transistors Q and Q accordingly will constitute signals indicative of changes in the sensed magnetic field.
  • the treshold values of the transistors can be so chosen that one or the other is turned on depending upon the polarity of the magnetic field.
  • FIGS. 9 and 10 a single Hall semiconductor element 3 and two permanent magnets 5 and 18 are employed.
  • the magnets 5 and 18 are located diametrally opposite each other, with respect to the main shaft 8, at positions respectively corresponding to the uppermost and lowermost sewing needle positions.
  • the transistor 0 in FIG. 5 becomes conductive; this indicates that the needle is at its uppermost position.
  • the transistor 0;, in FIG. 5 becomes conductive, indicating that the needle is at its lowermost position.
  • the conversion of rotary motion into longitudinal reciprocation has certain characteristics when the longitudinally reciprocated element is at its extreme positions.
  • the main drive shaft 8 can turn through a sizable angle without effecting much movement of the reciprocating needle, when the needle is near either ofits extreme or so-called rock po sitions. Accordingly, for most practical purposes, a certain range of positions of the rotary element carrying the position-detecting components, can be employed for detecting the uppermost and lowermost needle positions.
  • FIG. 10 should now be referred to.
  • the yoke 12 of FIG. 1 extends in the direction of rotation for a rather considerable angle, the effective portion of which is designated 8,.
  • the magnet 5, corresponding to the uppermost needle position is anywhere within the angular range B the yoke 12 will cause the flux from magnet 5 to pass through the semiconductor element 3, so that transistor Q, will be conductive for a substantial continuous range of angular positions of the rotating drive pulley 6.
  • the extent of this range of angular positions is approximately the angle B, minus the angle B where B is the angular extent in circumferential direction of the permanent magnet 5.
  • FIGS. "0, 11b and 1 1c for an understanding of how the yoke configuration causes the flux from magnet 5 to pass through Hall element 3, over the entire angular range B, minus 8 Particularly, in FIG. 11b it is clear that the only complete path for magnetic flux extends right through the Hall element 3, so that wherever flux enters into one side of the yoke 12 must pass through the element 3 to get to the other side of the yoke 12.
  • the second permanent magnet 18 also has a circumferential extension B and accordingly when the lowermost needle position is detected, the duration of the detecting signal will be substantially the same as for the uppermost needle position.
  • FIGS. 7a and 7b concisely summarize two different expedients for accomplishing this result.
  • the magnet 5 has a circumferential width comparable to, actually slightly greater than, that of the Hall element 3.
  • the yoke 12 has such a large circumferential extent, as to result in the desired generation of a prolonged signal.
  • FIG. 7b the relationships are reversed, and it is the magnet 5 which has a sizable circumferential extension compared to the stationary part of the arrangement, again resulting in the desired generation of a prolonged signal.
  • the polarities N and S of one magnet may be used as corresponding to the upper and lower dead points of the needle respectively without using two magnets for the two dead points of the needle respectively.
  • FIGS. 12 and 13 A second embodiment of the invention is shown in FIGS. 12 and 13, with the associated detecting circuit being shown in H0. 8. As best seen in FlG. 13, two Hall generators designated 3 and 21 and two magnets designated 22 and 23 are provided.
  • the magnet 22 moves past the Hall generator 3, briefly rendering transistor 0., in FIG. 8 conductive, to generate a short-lasting pulse.
  • the magnet 23 moves past Hall generator 3, and the transistor O is briefly rendered conductive, to generate a short-lasting pulse.
  • the outputs O and of transistors Q and Q can be respectively connected to the two in puts of a non-illustrated flip-flop.
  • the output signal at the first output of the flip-flop will accordingly constitute the desired position-indicating signal of prolonged duration.
  • transistor 0 when magnet 22 moves past Hall generator 21, transistor 0 is briefly rendered conductive, and then when magnet 23 moves past Hall generator 21, transistor 0, is briefly rendered conductive.
  • the outputs O, and 0 can each be connected to one of the two inputs of a further flip-flop, so that the output signal of one flip-flop terminal will constitute the desired prolonged position-indicating signal.
  • the magnets 22 and 23 may be replaced if proper use is made of the polarity of one magnet to obtain the same effect.
  • a third embodiment of the invention is illustrated in FlGS. l4 and 15, and is again used in conjunction with the circuit shown in FIG. 8, although the sequence of activation of the transistors 0 1 will be different in this embodiment.
  • the generation of a prolonged signal is accomplished by spacing two Hall generators 3 and 21 in circumferential direction by a distance corresponding to the desired range of positions to be detected.
  • the invention departs from the conventional practice of monitoring the voltage difference across the Hall-voltage electrodes of the Hall semiconductor element, and instead monitors the voltage difference between each Hall-voltage electrode and a third reference voltage, such as ground potential.
  • a third reference voltage such as ground potential.
  • the permanent magnets have been depicted as mounted within the structure of the main drive pulley 6, they can instead be located on any rotary member of the machine rotating in synchronism with the longitudinal reciprocation of the sewing needle, for instance on the thread take-up lever crank which is rotated in synchronism with the main drive shaft, in which case the Hall generator means would be mounted on a portion of the machine housing near the thread take-up lever crank.
  • Hall generator elements may be replaced by magnetoresistance elements, to achieve a similar effect.
  • a sewing machine of the type comprised of a sewing needle, a main rotating shaft, means interconnecting said needle and said shaft for converting rotational movement of said shaft into longitudinal reciprocating movement of said needle, a hollow drive pulley fixedly mounted on one end of said main shaft, and a drive arrangement for driving said main shaft including a drive belt trained around said hollow drive pulley, an arrangement comprising magnet means mounted inside said hollow drive pulley for rotation therewith; fluxresponsive means; and mounting means mounting said flux-responsive means on a stationary part of the sewing machine with such an orientation relative to the path of motion of said magnet means that when said drive pulley assumes a predetermined angular orientation corresponding to a predetermined position of said needle a flux-responsive voltage is induced in said fluxresponsive means
  • said flux-responsive means comprises Hall generator means including a Hall generator semiconductor element having a pair of control electrodes and a pair of Hall-voltage electrodes; and further including current source means connected across said control electrodes for establishing flow of a control current through said Hall generator semiconductor element
  • said current source means comprises a constantcurrent source.
  • said magnet means comprises a permanent magnet extending in direction circumferentially with respect to the axis of rotation of said rotary member a distance several times greater than the circumferential extent of said Hall semiconductor element with respect to said axis.
  • a sewing machine of the type comprised of a sewing needle, a main rotating shaft, means interconnecting said needle and said shaft for converting rotational movement of said shaft into longitudinal reciprocating movement of said needle, a hollow drive pulley fixedly mounted on one end of said main shaft, and a drive arrangement for driving said main shaft including a drive belt trained around said hollow drive pulley, an arrangement comprising magnet means mounted inside said hollow drive pulley for rotation therewith; fluxresponsive means; and mounting means mounting said flux-responsive means on a stationary part of the sewing machine with such an orientation relative to the path of motion of said magnet means that when said drive pulley assumes a predetermined angular orientation corresponding to a predetermined position of said needle a flux-responsive voltage is induced in said fluxresponsive means
  • said flux-responsive means comprises Hall generator means including a Hall semiconductor element and magnetic yoke means positioned adjacent said Hall semiconductor element, said magnetic yoke means extending in direction circumferentially of the axis of rotation of said rotary member and serving to form a
  • a sewing machine of the type comprised of a sewing needle, a main rotating shaft, means interconnecting said needle and said shaft for converting rotational movement of said shaft into longitudinal reciprocating movement of said needle, a hollow drive pulley fixedly mounted on one end of said main shaft, and a drive arrangement for driving said main shaft including a drive belt trained around said hollow drive pulley, an arrangement comprising magnet means mounted inside said hollow drive pulley for rotation therewith; fluxresponsive means; and mounting means mounting said flux-responsive means; and mounting means mounting said flux-responsive means; and mounting means mounting said flux-responsive means on a stationary part of the sewing machine with such an orientation relative to the path of motion of said magnet means that when said drive pulley assumes a predetermined angular orientation corresponding to a predetermined position of said needle a flux-responsive voltage is induced in said fluxresponsive means, wherein said flux-responsive means comprises Hall generator means, and wherein said magnet means comprises two permanent magnets each mounted on said rotary member for rotation therewith but spaced from each other in direction circumferentially
  • said magnet means comprises two permanent magnets each mounted on said rotary member for rotation therewith but spaced from each other in direction circumferentially of the axis of rotation of said rotary member
  • said Hall generator means comprises two Hall generator units spaced from each other in direction circumferentially of the axis of rotation of said rotary member.
  • each of said two magnets extends in direction circumferentially with respect to said axis a distance greater than the distance through which each of said Hall generator units extends in circumferential direction.
  • each of said two magnets extends in direction circumferentially with respect to said axis a distance less than the distance through which said Hall generator units extend in circumferential direction.
  • a sewing machine of the type comprised of a sewing needle, a main rotating shaft, means interconnecting said needle and said shaft for converting rotational movement of said shaft into longitudinal reciprocating movement of said needle, a hollow drive pulley fixedly mounted on one end of said main shaft, and a drive arrangence for driving said main shaft including a drive belt trained around said hollow drive pulley, an arrangement comprising magnet means mounted inside said hollow drive pulley for rotation therwith; fluxresponsive means, and mounting means mounting said flux-responsive means on a stationary part of the sewing machine with such an orientation relative to the path of motion of said magnet means that when said drive pulley assumes a predetermined angular orientation corresponding to a predetermined position of said needle a flux-responsive voltage is induced in said fluxresponsive means, wherein said flux-responsive means comprises a Hall generator semiconductor element having a pair of control electrodes and a pair of Hall voltage electrodes; and further including means connected across said control electrodes for establishing a flow of control current through said Hall generator semiconductor element; and circuit means including

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  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
US357322A 1972-05-09 1973-05-04 Arrangement for detecting the position of the sewing needle in a sewing machine Expired - Lifetime US3881435A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3972297A (en) * 1974-01-30 1976-08-03 Union Special Corporation Sewing machine position and speed sensing system
US3990374A (en) * 1975-03-28 1976-11-09 Frankl & Kirchner Contactless synchronizer for sewing machines
US4196685A (en) * 1977-07-25 1980-04-08 Aisin Seiki Kabushiki Kaisha Thread abnormality detection utilizing integrator and comparator in conjunction with rotary thread tension disk
US4269132A (en) * 1978-01-13 1981-05-26 Hsu Yung San Position indicating unit for sewing machines
CN107022857A (zh) * 2017-05-23 2017-08-08 浙江众邦机电科技有限公司 用于缝纫机上的停针位控制装置以及缝纫机
CN107764176A (zh) * 2016-08-17 2018-03-06 北京大豪科技股份有限公司 针高检测装置和刺绣机
US20180085114A1 (en) * 2006-01-27 2018-03-29 Endoevolution, Llc Apparatus and method for tissue closure

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US2572635A (en) * 1947-06-07 1951-10-23 Gen Electric Sewing machine
US2872885A (en) * 1953-02-06 1959-02-10 Schwab Olga Brunhilde Electric sewing machines
US3582739A (en) * 1968-07-09 1971-06-01 Quick Rotan Becker & Notz Kg Synchronizer for presetting the stop position of a rotary shaft
US3757232A (en) * 1970-12-18 1973-09-04 Matsushita Electric Ind Co Ltd Tion device for stopping a rotating member at a predetermined angular posi

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4316141Y1 (is") * 1964-12-11 1968-07-04

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
US2572635A (en) * 1947-06-07 1951-10-23 Gen Electric Sewing machine
US2872885A (en) * 1953-02-06 1959-02-10 Schwab Olga Brunhilde Electric sewing machines
US3582739A (en) * 1968-07-09 1971-06-01 Quick Rotan Becker & Notz Kg Synchronizer for presetting the stop position of a rotary shaft
US3757232A (en) * 1970-12-18 1973-09-04 Matsushita Electric Ind Co Ltd Tion device for stopping a rotating member at a predetermined angular posi

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3972297A (en) * 1974-01-30 1976-08-03 Union Special Corporation Sewing machine position and speed sensing system
US3990374A (en) * 1975-03-28 1976-11-09 Frankl & Kirchner Contactless synchronizer for sewing machines
US4196685A (en) * 1977-07-25 1980-04-08 Aisin Seiki Kabushiki Kaisha Thread abnormality detection utilizing integrator and comparator in conjunction with rotary thread tension disk
US4269132A (en) * 1978-01-13 1981-05-26 Hsu Yung San Position indicating unit for sewing machines
US20180085114A1 (en) * 2006-01-27 2018-03-29 Endoevolution, Llc Apparatus and method for tissue closure
US9986997B2 (en) 2006-01-27 2018-06-05 Endoevolution, Llc Apparatus and method for tissue closure
US11033262B2 (en) 2006-01-27 2021-06-15 Intuitive Surgical Operations, Inc. Apparatus and method for tissue closure
US12150645B2 (en) 2006-01-27 2024-11-26 Intuitive Surgical Operations, Inc. Systems and methods for tissue closure
CN107764176A (zh) * 2016-08-17 2018-03-06 北京大豪科技股份有限公司 针高检测装置和刺绣机
CN107022857A (zh) * 2017-05-23 2017-08-08 浙江众邦机电科技有限公司 用于缝纫机上的停针位控制装置以及缝纫机

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AU5548973A (en) 1974-11-14
GB1428254A (en) 1976-03-17
DE2323443B2 (is") 1975-11-06
CA1046151A (en) 1979-01-09
DE2323443A1 (de) 1973-11-22
JPS4911962U (is") 1974-01-31

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