HK1183917B

HK1183917B - Sewing machine

Info

Publication number: HK1183917B
Application number: HK13111289.2A
Authority: HK
Inventors: 泷泽义知; 仓岛达洋; 小野政义
Original assignee: Nsd 株式会社
Priority date: 2010-07-28
Filing date: 2011-06-23
Publication date: 2014-09-19

Description

Sewing machine

Technical Field

The present invention relates to a sewing machine (particularly an embroidery sewing machine), and particularly relates to control of upper thread tension in a sewing machine.

Background

In the conventional sewing machine, as shown in fig. 47, the upper thread J passes from a thread winding 98 wound around an upper thread bobbin to the thread take-up lever 12a through a pretensioner 96, a thread clamp 95, a rotary tensioner 94, and a thread clamp spring (generally called a thread hanging spring) 93, and then to the sewing needle 12 ba.

Further, a conventional sewing machine is configured as shown in fig. 48. The needle bar case 2314, which slides in the left-right direction with respect to the arm 2312, includes a needle bar case body 2330 provided with the thread take-up lever 12a, the needle bar 12b, the thread tension spring 93, and the like, and a needle thread adjusting member mounting portion 2340 fixedly provided on the upper surface of the needle bar case body 2330, and a thread tension plate 95 and a rotary tensioner 94 for adjusting the tension of the needle thread are mounted on the needle thread adjusting member mounting portion 2340. Further, a needle thread guide 1300 is provided above the clamp 95, and a needle thread guide 1302 is provided below the rotary tensioner 94.

Further, a conventional sewing machine includes a thread feeding device of the sewing machine disclosed in patent document 1. In the thread feeding device of the sewing machine described in patent document 1, the thread feeding device includes a needle thread downstream side holder, an upper needle thread downstream side holder, and a lower needle thread downstream side holder, and the needle thread downstream side holder opens the needle thread, the upper needle thread, and the lower needle thread, which are guided from the needle thread upstream side holder, the upper needle thread upstream side holder, and the lower needle thread upstream side holder, respectively, at the time of forming stitches, and the needle thread, the upper needle thread, and the lower needle thread are pulled out by the stitch forming device and closed at the time of feeding cloth. The upstream side holder is opened and the downstream side holder is closed at the time of cloth feeding, and the yarn reeling member moves while drawing out the yarn to accumulate the yarn, while the upstream side holder is closed and the downstream side holder is opened at the time of stitch formation, and the yarn reeling member moves to a position where the yarn is not reeled to pay out the yarn.

The applicant has filed an application for an embroidery sewing machine of patent document 2.

Patent document 1: japanese patent laid-open publication No. 9-19583,

patent document 2: japanese patent application laid-open No. 2010-178785.

However, in the conventional structure shown in fig. 47, the frictional resistance generated by the clamp 95 and the frictional resistance generated by the rotary tensioner 94 are always applied to the needle thread J, and the frictional resistance is unstable (not constant) as a resistance value, so that it is difficult to control the tension applied to the needle thread in accordance with the stitch. Further, in the case of a multi-head embroidery sewing machine or the case of a multi-head embroidery sewing machine having a plurality of needle bars in one head, it is difficult to equalize the resistance values of the upper threads applied to the thread tension chuck and the rotation tension device in accordance with the upper threads in one head, and therefore it is difficult to equalize the tensions applied to the respective upper threads.

In the configuration of fig. 47, although the upper thread J is pulled out from the thread winding 98 when the thread take-up lever 12a is pulled up, the frictional resistance generated by the thread tension plate 95 and the frictional resistance generated by the rotational tension 94 are applied to the upper thread J, and the frictional resistance is unstable, so that the upper thread J cannot be smoothly pulled out from the thread winding 98. Further, since the upper thread J is pulled out when the thread take-up lever 12a is pulled up, the upper thread J is pulled out in a short time, and the frictional resistance generated by the thread tension holder 95 and the frictional resistance generated by the rotation tensioner 94 are applied to the upper thread J, so that there is a possibility that the upper thread J is broken by these frictions.

In the case where the upper thread J is broken, in the configuration of fig. 47, although the thread breakage can be detected without rotating the rotary tensioner 94, the thread breakage may not be detected because the rotary tensioner 94 and the upper thread J slide each other, and the rotary tensioner 94 does not rotate without breaking.

In the thread feeding device for a sewing machine described in patent document 1, the thread reeling member is moved only to a position where the thread is not reeled when the stitches are formed, and therefore, the tension of the thread cannot be controlled. In addition, in a general sewing machine, since the thread take-up lever rising period corresponds not to the stitch forming time but to the cloth feeding time, in the thread supplying device of patent document 1, the downstream side gripper is closed during the thread take-up lever rising period, and therefore, the tension of the thread cannot be controlled. In the yarn feeding device of patent document 1, since the yarn reeling member draws a certain amount of the yarn, the amount of the yarn accumulated during the cloth feeding is too large or too small depending on the amount of the consumed yarn at each stitch.

Disclosure of Invention

Therefore, an object of the present invention is to provide an upper thread tension control device capable of controlling the magnitude of tension on an upper thread, particularly controlling the tension applied to the upper thread in accordance with stitches, equalizing the tensions applied to the upper threads in the case of a multi-needle head and a multi-head embroidery sewing machine, smoothly pulling out the upper thread when pulling out the upper thread, reducing the possibility of thread breakage, easily and accurately detecting thread breakage when thread breakage occurs, and preventing the occurrence of an excessive or insufficient amount of thread accumulation due to the pulling out of the upper thread.

The present invention has been made to solve the above problems, and a sewing machine according to claim 1 is characterized by comprising:

a thread take-up lever (12 a, 12 a-1 to 12 a-9) which is formed so as to be capable of swinging;

an upper thread control section (30, 230) provided on the upstream side in an upper thread path of a thread take-up lever, the upper thread control section having an upstream side grip section (40, 240, 1240), a downstream side grip section (60, 260, 1260), and a rotation section (80, 280, 1280), the upstream side grip section (40, 240, 1240) having an upstream side grip section body (41, 241, 1241) gripping the upper thread, and an upstream side drive section (50, 250) switching between a closed state gripping the upper thread and an open state releasing the gripping of the upper thread with respect to the upstream side grip section body, the downstream side grip section (60, 260, 1260) provided on the downstream side in the upper thread path of the upstream side grip section, having a downstream side grip section body (61, 261, 1261) gripping the upper thread, and a downstream side drive section (70, a downstream side drive section) switching between a closed state gripping the upper thread and an open state releasing the upper thread with respect to the downstream side grip section body, 270) A rotating section (80, 280, 1280) for rotating the needle thread between the upstream side grip body and the downstream side grip body (or "position between the upstream side grip body and the downstream side grip body of the needle thread"), and having a rotating arm (81, 281, 1281) in contact with the needle thread (or in contact with the needle thread when rotating the needle thread), and a motor (86, 286, 1286) for the needle thread for rotating the rotating arm;

A control unit (90) which, in a control section for each stitch, controls the needle thread motor based on a torque value so as to apply a rotational force to the swing arm in a torque control section in a state in which the upstream side grip body is in a closed state and the downstream side grip body is in an open state so as to apply tension to the needle thread against a direction in which the thread take-up lever pulls the needle thread, and which, in a position control section which is at least a part of a section other than the torque control section, controls the needle thread motor based on position data of the angle of the needle thread motor so as to return the angle of the needle thread motor to an initial position among angles of the needle thread motor which is a position in the rotational direction of the needle thread motor in a state in which the upstream side grip body is in an open state and the downstream side grip body is in a closed state so as to apply a rotational force to the swing arm, the upper thread is pulled out from the upstream, wherein the torque control section is a section including at least a part of a section where the take-up lever tensions the upper thread with respect to a processing cloth sewn by the upper thread, namely, a section from one dead point of the take-up lever to the other dead point.

According to the sewing machine of the configuration 1, since the torque control is performed with respect to the upper thread in the torque control section, the magnitude of the tension with respect to the upper thread can be controlled, the torque control can be performed with respect to the stitch by setting the torque value according to the stitch, the tension acting on the upper thread can be controlled according to the stitch, and the tightness of the stitch can be adjusted according to the stitch.

In addition, even in the case of a multi-needle handpiece or the case where stitches are formed by different needle threads, the tension applied to the needle threads can be controlled to be equal by making the torque values the same. In addition, even in the case of a multi-head embroidery sewing machine, the torque value used in the torque control section is set to be a common torque value in each head, so that the tensions acting on the needle threads can be controlled to be equal in each head.

Further, by providing the upper thread controlling section instead of the conventional tension holder and the rotation tensioner, the upstream side grip body is opened in the position controlling section for pulling out the upper thread, and the frictional resistance generated by the tension holder and the rotation tensioner is not present upstream of the rotating arm of the rotating section, and the operation of the thread take-up lever does not become an obstacle when pulling out the upper thread, and therefore, the upper thread can be smoothly pulled out from the winding, and the possibility of thread breakage is reduced.

Further, when the upper thread is broken, since the swing arm is not pulled in the direction opposite to the direction in which the rotational force of the upper thread motor is applied when the thread take-up lever is shifted to the top dead center in the torque control section, it is possible to detect the breakage by detecting that the swing arm is not rotated in the direction opposite to the direction in which the rotational force of the upper thread motor is applied, and further, when the breakage is not generated, since the swing arm is rotated in the direction opposite to the direction in which the rotational force of the upper thread motor is applied in the torque control section, it is possible to accurately detect the breakage.

In addition, since the rotational force is applied to the rotary arm in accordance with the position data of the angle of the upper thread motor in the position control section so that the angle of the upper thread motor is returned to the initial position of the angle of the upper thread motor which is the position in the rotational direction of the upper thread motor, only the upper thread which is consumed can be pulled out by pulling up the rotary arm in the direction opposite to the direction in which the rotational force of the upper thread motor is applied, and the amount of accumulated thread is not excessively large or excessively small due to the pulling-out of the upper thread.

In the above-described structure 1, the thread take-up lever may be a thread take-up lever (12 a, 12 a-1 to 12 a-9) which is configured to swing about a rotation center, with an upper thread (or an upper thread which is threaded into a sewing needle) inserted thereinto.

Further, the structure 2 is characterized in that in the structure 1,

comprising: an arm (312, 1312) constituting a frame body of the sewing machine, a needle bar box (314, 1314) arranged in a manner that the arm can slide in the left-right direction, a plurality of needle bars (12 b-1 to 12 b-9) arranged on the needle bar box, and a facial thread supporting component (288, 1288) arranged on the needle bar box and supporting facial thread in the left-right direction at the position of a 1 st opening (also can be a facial thread supporting component arranged on the needle bar box and supporting facial thread in the left-right direction at the front side of the 1 st opening), wherein the needle bar box (314, 1314) is provided with a 1 st opening (316 b, 1342 b) at the position between an upstream side holding part main body and a downstream side holding part main body in the up-down direction in a manner that the front end of a rotating arm of the rotating part can be exposed at the front side (also can be the front side opposite to the arm side), and is provided with a 2 nd opening (316 a, 1342 nd) arranged above the 1 st opening and, 1342a) And 3 rd openings (316 c, 1342 c) provided below the 1 st opening and facing the downstream-side magnet;

The take-up lever is arranged from the lower position of the downstream side holding part on the needle bar box to the front side;

the rotating arm and the upper thread supported by the upper thread supporting component are grounded and rotated, so that the upper thread rotates;

an upstream side holding part main body is arranged at the front side of the needle bar box, the upstream side holding part main body is provided with a plurality of upstream side 1 plate-shaped parts (242-1 to 242-6, 1242a, 1404 and 1422) which are formed into a plate shape by a magnetic substance as a material attracted by a magnet and are arranged on the needle bar box, and upstream side 2 plate-shaped parts (244, 1244, 1408 and 1426) which are arranged at the front side of the 2 nd opening part at the back side of the upstream side 1 plate-shaped parts and are formed into a plate shape by a non-magnetic substance not attracted by the magnet;

the upstream side driving part is a magnet part as an upstream side magnet part, and is fixedly arranged on the arm side at the back side of the upstream side 2 nd plate-shaped part, and the upstream side driving part switches between a closed state that the upstream side 1 st plate-shaped part is attracted by magnetic force to clamp the upper thread by the upstream side 1 st plate-shaped part and the upstream side 2 nd plate-shaped part, and an open state that the upper thread is released by releasing the attraction of the magnetic force;

a downstream side holding part main body is arranged below the upstream side holding part main body on the front side of the needle bar box, the downstream side holding part main body is provided with a plurality of downstream side 1 plate-shaped parts (262-1 to 262-6, 1262a, 1414 and 1432) which are formed into a plate shape by a magnetic substance as a material attracted by the magnet and are arranged on the needle bar box, and a downstream side 2 plate-shaped part (264, 1264, 1418 and 1436) which is arranged on the front side of the 2 nd opening part on the back side of the downstream side 1 plate-shaped part and is formed into a plate shape by a non-magnetic substance not attracted by the magnet;

The downstream side driving part is a magnet part as a downstream side magnet part, and is fixedly provided on the arm side on the back surface side of the downstream side 2 nd plate-like part, and switches between a closed state in which the downstream side 1 st plate-like part is attracted by a magnetic force to grip the upper thread between the downstream side 1 st plate-like part and the downstream side 2 nd plate-like part, and an open state in which the upper thread grip is released by releasing the attraction of the magnetic force.

Therefore, when the structure including the upstream-side grip portion, the downstream-side grip portion, and the rotating portion is applied to the multi-needle handpiece, the structure can be configured by providing the upstream-side magnet portion of only one upstream-side grip portion, the downstream-side magnet portion of the downstream-side grip portion, and the rotating portion, respectively, and therefore, the structure can be made efficient while suppressing the manufacturing cost.

In the above-described 2 nd configuration, the needle bar case may be configured as "a needle bar case (314, 1314) provided slidably with respect to the arm", wherein the 1 st opening (316 b, 1342 b) is provided at a position between the upstream-side grip main body and the downstream-side grip main body in the vertical direction on the front side opposite to the arm side so that the tip of the rotating arm of the rotating portion is exposed from the inside of the needle bar case, and the 2 nd opening (316 a, 1342 a) provided above the 1 st opening and facing the upstream-side magnet portion and the 3 rd opening (316 c, 1342 c) provided below the 1 st opening and facing the downstream-side magnet portion "are provided.

In the above configuration 1, the control unit controls the needle thread motor in the torque control section based on torque data in which a torque value is limited for each stitch, detects a current position of an angle of the needle thread motor at a start point of the position control section in the position control section, generates angle correspondence data in which the position in a rotation direction of the spindle motor for rotating the spindle for transmitting power to the thread take-up lever, that is, the angle of the spindle motor defines an angle of the needle thread motor from the current position to an initial position of the angle of the needle thread motor, rotates the spindle motor, and controls the position of the needle thread motor to the angle of the needle thread motor corresponding to the angle of the spindle motor as the angle of the spindle motor changes. In the above-described configuration 2, the control unit performs control in the torque control section based on torque data in which a torque value is limited for each stitch, detects a current position of an angle of the needle thread motor at a start point of the position control section in the position control section, generates angle correspondence data in which the position in the rotation direction of the spindle motor for rotating the spindle for transmitting power to the thread take-up lever, that is, the angle of the spindle motor defines an angle of the needle thread motor from the current position to an initial position of the angle of the needle thread motor, rotates the spindle motor, and controls the position of the needle thread motor to the angle of the needle thread motor corresponding to the angle of the spindle motor as the angle of the spindle motor changes.

Therefore, since the torque value is defined for each stitch in the torque data, the tension applied to the needle thread can be controlled for each stitch in the torque control, and since the angle correspondence data is created in the position control, the angle of the motor for the needle thread can be controlled based on the angle correspondence data.

The following configuration is also possible. That is, "a sewing machine characterized by having:

a thread take-up lever (12 a, 12 a-1 to 12 a-6) which penetrates into the upper thread penetrating into the sewing needle and swings with the rotation center as the center;

a main shaft (22) which is rotated by a main shaft motor (20) and transmits power to the take-up lever;

a needle thread control unit (30, 230) provided on the upstream side of the needle thread path of the thread take-up lever, and having: an upstream side grip part (40, 240), a downstream side grip part (60, 260), and a rotating part (80, 280), the upstream side grip part (40, 240) having an upstream side grip part body (41, 241) gripping the upper thread, and an upstream side drive part (50, 250) switching between a closed state gripping the upper thread and an open state releasing gripping of the upper thread with respect to the upstream side grip part body, the downstream side grip part (60, 260) being provided on a downstream side in a path of the upper thread of the upstream side grip part, having a downstream side grip part body (61, 261) gripping the upper thread, and a downstream side drive part (70, 270) switching between the closed state gripping the upper thread and the open state releasing gripping of the upper thread with respect to the downstream side grip part, the rotating part (80, 280) rotating a position between the upstream side grip part body and the downstream side grip part body of the upper thread, has a rotating arm (81, 281) connected with the facial thread and a motor (86, 286) for the facial thread which rotates the rotating arm;

A control unit (90) for controlling the upper thread motor based on the torque value so as to apply tension to the upper thread in a direction in which the thread take-up lever tensions the upper thread and to apply a rotational force to the swing arm based on the torque data which is created based on the embroidery data and has a torque value defined for each stitch in the torque control section in a state in which the upstream side grip body is closed and the downstream side grip body is opened in each stitch, and for detecting a current position of the angle of the upper thread motor, which is a position in the rotational direction of the upper thread motor, at a start point of the position control section in a state in which the upstream side grip body is opened and the downstream side grip body is closed in a section other than the torque control section, and for making the current position of the angle of the main shaft for transmitting power to the thread take-up lever from the current position of the angle of the upper thread motor to the angle of the lower thread motor defined in the torque control section And a torque control section which is a section including at least a part of a section where the take-up lever tensions the upper thread with respect to a processing cloth to be sewn by the upper thread, that is, a section from a bottom dead point to a top dead point of the take-up lever.

Further, a sewing machine according to claim 5 is characterized by comprising:

arms (312, 1312) constituting a frame of the sewing machine;

needle bar boxes (314, 1314) which are arranged in a manner that the needle bar boxes can slide in the left-right direction relative to the arms, wherein the front ends of the rotating arms of the rotating parts are provided with 1 st opening parts (316 b, 1342 b) at positions between the upstream side holding part main body and the downstream side holding part main body along the vertical direction in a mode that the front ends of the rotating arms of the rotating parts can be exposed at the front side (also can be the front side at the opposite side of the arm side), and are provided with 2 nd opening parts (316 a, 1342 a) which are arranged above the 1 st opening part and are used for facing the upstream side magnet part and 3 rd opening parts (316 c, 1342 c) which are arranged below the 1 st opening part and are used for;

a plurality of thread take-up levers (12 a-1 to 12 a-9) which are formed in a swinging manner, are exposed at the front side of the needle bar box, and are arranged at the downstream side of the downstream side holding part in the path of the upper thread;

a plurality of needle bars (12 b-1 to 12 b-9) arranged on the needle bar box;

an upstream holding part (240, 1240) having an upstream holding part main body (241, 1241) and an upstream magnet part (250, 1250), wherein the upstream holding part main body (241, 1241) is provided on the front side of the needle bar case and holds the needle thread with the interposition of the needle thread, and has upstream 1 st plate-like parts (242-1 to 242-6, 1242a, 1404, 1422) formed of a magnetic material which is a material attracted by a magnet and provided for each needle bar, and upstream 2 nd plate-like parts (244, 1244, 1408, 1426) provided on the back side of the upstream 1 st plate-like part on the front side of the 2 nd opening part and formed of a non-magnetic material which is not attracted by the magnet, the upstream magnet part (250, 1250) is fixedly provided on the arm side, and the upstream 2 nd plate-like part is held in a closed state where the upstream 1 st plate-like part and the upstream 2 nd plate-like part are held with the interposition of the upstream 1 st plate-like part and the upstream 2 nd plate-like part with the, And the open state of the upper thread is released by releasing the attraction of the magnetic force;

A downstream side holding part (260, 1260) arranged at the downstream side in the path of the facial line of the upstream side holding part, which comprises a downstream side holding part main body (261, 1261) and a downstream side magnet part (270, 1270), wherein the downstream side holding part main body (261, 1261) is arranged below the upstream side holding part main body at the front side of the needle bar box and clamps the facial line, the downstream side holding part main body comprises downstream side 1 plate-shaped parts (262-1-262-6, 1262a, 1414, 1432) formed by a magnetic body as a material attracted by the magnet and arranged according to each needle bar, and downstream side 2 plate-shaped parts (264, 1264, 1418, 1436) arranged at the front side of the 2 nd opening part at the back side of the downstream side 1 plate-shaped part and formed by a non-magnetic body not attracted by the magnet, the downstream side magnet part (270, 1270) is fixedly arranged at the arm side, the downstream side 1 st plate-shaped part is attracted from the back side of the downstream side 2 nd plate-shaped part by the magnetic force, and the downstream side Switching between a closed state in which the upper thread is held and an open state in which the holding of the upper thread is released by releasing the attraction of the magnetic force;

a needle thread supporting member (288, 1288) which is arranged on the needle bar box and supports the needle thread along the left and right direction at the position of the 1 st opening (also can be a 'needle thread supporting member which is arranged on the needle bar box and supports the needle thread along the left and right direction at the front side of the 1 st opening'); a rotating part (280, 1280) which rotates the upper thread between the upstream side holding part main body and the downstream side holding part main body (also can be the position between the upstream side holding part main body and the downstream side holding part main body of the upper thread), a rotating arm (281, 1281) which is contacted with the upper thread supported by the upper thread supporting component (also can be contacted with the upper thread supported by the upper thread supporting component when rotating the upper thread), and an upper thread motor (286, 1286) which is fixedly arranged at one side of the arm and rotates the rotating arm;

A control unit (90) for controlling the upper thread motor based on the torque value so as to apply a rotational force to the swing arm in an upward direction in a manner to apply tension to the upper thread in a direction in which the upper thread is tightened by the thread take-up lever based on torque data which is created based on embroidery data and has a torque value defined for each stitch in a torque control section in a state in which the upstream side grip body is closed and the downstream side grip body is opened in each stitch, and for detecting a current position of an angle of the upper thread motor as a position in a rotational direction of the upper thread motor at a start point of the position control section in a state in which the upstream side grip body is opened and the downstream side grip body is closed in a control section for each stitch, and a spindle motor for rotating the spindle (22) for transmitting power to the thread take-up lever or the needle bar is created (a spindle motor (a) 20) The position in the rotation direction of the main shaft motor, that is, the angle of the main shaft motor defines angle correspondence data of the angle of the main shaft motor from the current position of the angle of the main shaft motor to the initial position (may be "the initial position as the position corresponding to the top dead center of the swing arm"), the main shaft motor rotates so that the angle of the main shaft motor returns to the initial position of the angle of the main shaft motor, and the position of the main shaft motor is controlled to the angle of the main shaft motor corresponding to the angle of the main shaft motor with the change of the angle of the main shaft motor, thereby applying a rotational force upward to the swing arm and pulling out the upper shaft from the upstream, wherein the torque control section is a section including at least a part of a section where the take-up lever is tightened with respect to the upper shaft sewn fabric, that is, namely, a section from the dead center of one side of the take-up lever to the dead center of the other, when the selected upper thread is changed at the time of control transfer to the next stitch, the swing arm is rotated downward and retreated to the retreat position (or "the swing arm is rotated and retreated to the lower retreat position") (or "the swing arm is rotated downward and retreated to the retreat position lower than the position where the swing arm is contacted with the upper thread supported by the upper thread support member"), the needle bar case is slid, and the upstream side magnet portion, the downstream side magnet portion, and the swing arm are moved to the position of the selected upper thread.

According to the sewing machine of the configuration 5, since the torque control is performed with respect to the upper thread in the torque control section, the magnitude of the tension with respect to the upper thread can be controlled, and since the control is performed based on the torque data in which the torque value is limited for each stitch, the torque control can be performed for each stitch, the tension applied to the upper thread is controlled for each stitch, and the tightness of the stitch can be adjusted for each stitch.

In addition, even when the stitches are formed by different needle threads in a multi-needle head having a plurality of needle bars, the tension applied to the needle threads can be controlled to be equal by making the torque values in the torque data for controlling the needle threads the same. In the case of a multi-head embroidery sewing machine, the tension acting on the needle thread can be equalized in each head by making the torque data for controlling the needle thread used in the torque control section common to the respective heads.

Further, when the thread breakage occurs, the rotating arm is not pulled in the direction opposite to the direction in which the rotational force of the upper thread motor is applied, that is, downward when the thread take-up lever is shifted to the top dead center in the torque control section, and therefore, the thread breakage can be detected by detecting that the rotating arm is not rotated downward.

In addition, since the current angle of the upper thread motor is detected in the position control section, angle correspondence data for position control to the angle of the initial position of the upper thread motor is created, and the angle control to return to the initial position of the upper thread motor by the position control is performed based on the angle correspondence data, in the torque control section, only the upper thread of the consumed amount is pulled out by pulling up the swing arm, and the amount of accumulated thread is not too large or too small due to pulling out the upper thread.

In addition, when the structure including the upstream-side grip portion, the downstream-side grip portion, and the rotating portion is applied to the multi-needle handpiece, the structure can be configured by providing the upstream-side magnet portion of only one upstream-side grip portion, the downstream-side magnet portion of the downstream-side grip portion, and the rotating portion, respectively, and therefore, the structure can be made efficient while suppressing the manufacturing cost.

In the 5 th configuration, the needle bar case may be configured as a "needle bar case (314, 1314) slidably provided with respect to the arm", wherein the 1 st opening (316 b, 1342 b) is provided at a position between the upstream side grip body and the downstream side grip body in the vertical direction on the front side opposite to the arm side so that the tip of the rotating arm of the rotating portion is exposed from the inside of the needle bar case, and the 2 nd opening (316 a, 1342 a) provided above the 1 st opening and facing the upstream side magnet portion and the 3 rd opening (316 c, 1342 c) provided below the 1 st opening and facing the downstream side magnet portion "are provided. In the above-described 5 th configuration, the thread take-up lever may be configured as a "thread take-up lever (12 a-1 to 12 a-9) which is provided so as to be exposed to the front side from a position below the downstream side grip body of the needle bar case, into which an upper thread inserted into the sewing needle is inserted, and which swings about the rotation center".

The structure 5 may be as follows. That is, "a sewing machine characterized by having:

an arm (312) constituting a frame of the sewing machine;

a plurality of thread take-up levers (12 a-1 to 12 a-6) which are arranged on the arm, penetrate into the upper thread penetrating into the sewing needle and swing by taking the rotation center as the center;

A needle bar case (314) which is slidably provided relative to the arm, wherein a 1 st opening part (316 b) is provided at a position between the upstream side holding part main body and the downstream side holding part main body in the vertical direction of the front side on the side opposite to the arm side in a manner that the front end of the rotating arm of the rotating part can be exposed from the inner side of the needle bar case, and a 2 nd opening part (316 d) is provided at the front side in a manner that the take-up lever can be exposed from the inner side of the needle bar case below the downstream side holding part main body which forms the downstream side holding part;

a plurality of needle bars (12 b-1 to 12 b-6) arranged on the needle bar box;

an upstream holding part (240) having an upstream holding part body (241) and an upstream magnet part (250), the upstream holding part body (241) is arranged on the front side of the needle bar box and holds the facial threads, the upstream holding part body has a plurality of upstream 1 st plate parts (242-1 to 242-6) formed into a plate shape by a magnetic substance which is a material attracted by the magnet, an upstream 2 nd plate part (244) formed into a plate shape by a non-magnetic substance which is not attracted by the magnet and arranged on the back side of the upstream 1 st plate part, and a mounting part (246) mounting the upstream 1 st plate part and the upstream 2 nd plate part on the needle bar box in a hanging state, the upstream magnet part (250) is arranged on the arm on the back side of the upstream 2 nd plate part, and has a closed state, and an upstream 2 nd plate part hold the facial threads by the upstream 1 st plate, And the open state of the upper thread is released by releasing the attraction of the magnetic force;

A downstream side holding part (260) which is arranged at the downstream side of the upper thread path of the upstream side holding part and is provided with a downstream side holding part main body (261) and a downstream side magnet part (270), wherein the downstream side holding part main body (261) is arranged at the lower part of the upstream side holding part main body at the front side of the needle bar box and is used for holding the upper thread, the downstream side holding part main body is provided with a plurality of downstream side 1 st plate parts (262-1-262-6) which are formed into a plate shape by a magnetic body which is a material attracted by a magnet, a downstream side 2 nd plate part (264) which is arranged at the back side of the downstream side 1 st plate part and is formed into a plate shape by a non-magnetic body which is not attracted by the magnet, and a mounting part (266) which is used for mounting the downstream side 1 st plate part and the downstream side 2 nd plate part on the needle bar box in a suspension state, the downstream side magnet part (270) is arranged on the arm at the back Switching between a closed state of clamping the facial thread and an open state of releasing the facial thread from being held by releasing the attraction of the magnetic force;

a facial thread supporting component (288) which supports facial thread along the left and right direction when the front side of the 1 st opening part is observed in front;

A rotating part (280) which rotates the position between the upstream side holding part main body and the downstream side holding part main body of the upper thread and is provided with a rotating arm (281) which is connected with the upper thread supported by the upper thread supporting component and an upper thread motor (286) which is arranged on the arm and rotates the rotating arm;

a control part (90), in the control section according to each stitch, in the torque control section, under the state that the upstream side holding part main body is closed and the downstream side holding part main body is opened, based on the torque data which is prepared based on the embroidery data and has a torque value limited according to the stitch, the upper thread motor is controlled according to the torque value in a manner of applying tension to the upper thread in a direction of resisting the upper thread tensioning of the take-up lever, thereby applying a rotating force to the rotating arm upwards, on the other hand, at least one part of the section except the torque control section, namely the position control section, under the state that the upstream side holding part main body is opened and the downstream side holding part main body is closed, the current position of the angle of the upper thread motor which is the position of the rotating direction of the upper thread motor is detected at the starting point of the position control section, and a main shaft motor (20) which rotates according to a main shaft (22) which transmits the power to the take-up lever or the needle bar is prepared The position in the rotating direction of the upper thread motor, that is, the angle of the main shaft motor defines angle corresponding data of the angle of the upper thread motor from the current position of the angle of the upper thread motor to the initial position, the main shaft motor rotates in a manner that the angle of the upper thread motor returns to the initial position of the angle of the upper thread motor, and the position of the upper thread motor is controlled to the angle of the upper thread motor corresponding to the angle of the main shaft motor according to the angle change of the main shaft motor, so that a rotating force is applied to the rotating arm in an upward direction, and the upper thread is pulled out from the upstream, wherein the torque control section is a section including at least a part of a section where the take-up lever is tensioned with respect to a processing cloth sewed by the upper thread, that is a section from the bottom dead point to the upper dead point of the take-up lever, and the rotating arm is retreated to a position lower than the initial position in the case that the selected upper thread is, the needle bar case is slid to bring the upstream side magnet part, the downstream side magnet part and the rotating arm to the position of the selected needle thread ".

In the above-described 2 nd or 5 th configuration, the upper thread is guided downward between the upstream 1 st plate-like portion and the upstream 2 nd plate-like portion in the upstream grip main body, and the path is reversed to the upper thread supporting member by the 1 st upper thread path reversing member (290, 1290) provided in the needle bar case, guided downward from the upper thread supporting member, and is reversed to the thread take-up lever by the 2 nd upper thread path reversing member (292, 1337) provided in the needle bar case, guided downward from the thread take-up lever to the sewing needle attached to the needle bar, through between the downstream 1 st plate-like portion and the downstream 2 nd plate-like portion in the downstream grip main body.

The 7 th structure is characterized in that in the 6 th structure, the 1 st upper thread path reversing member includes a main body part (ga-1) having a cylindrical peripheral surface, and a base end part (ga-2) formed continuously from a base end of the main body part and having a diameter smaller than that of the main body part, a recess (1343 b) for inserting an end part of the main body part on the base end part side and a hole (1343 a) formed continuously from the recess for inserting the base end part into the main body part are formed at a mounting position on the needle bar case of the 1 st upper thread path reversing member and the 2 nd upper thread path reversing member, and the base end part is inserted into the hole while the end part of the base end part side is inserted into the.

Therefore, since the end portion on the base end portion side of the main body portion is embedded in the insertion recess, it is possible to prevent the possibility that the needle thread enters between the base end of the main body portion and the surface of the needle bar case.

Further, an 8 th structure is characterized in that in the above 2 nd or 5 th structure, 1 st guide members (252, 254, 1252, 1254) provided on the upper side and the lower side of the 1 st plate-like portion on the upstream side of the needle bar case are provided at different positions in the left-right direction on the upstream side grip main body, the needle thread path between the 1 st plate-like portion on the upstream side and the 2 nd plate-like portion on the upstream side is formed obliquely with respect to the up-down direction, 2 nd guide members (272, 274, 1272, 1274) provided on the upper side and the lower side of the 1 st plate-like portion on the downstream side of the needle bar case are provided at different positions in the left-right direction on the downstream side grip main body, and the needle thread path between the 1 st plate-like portion on the downstream side and the 2.

Thus, the upper thread path existing on the back surface side of the 1 st plate-like portion in the upstream side grip main body can be ensured to be long, and the upper thread can be reliably gripped by the 1 st plate-like portion and the 2 nd plate-like portion. Further, the path of the upper thread existing on the rear surface side of the 3 rd plate-like portion in the downstream side grip main body can be ensured to be long, and the upper thread can be reliably gripped by the 3 rd plate-like portion and the 4 th plate-like portion.

The 9 th structure is characterized in that in the 8 th structure, the 1 st guide member and the 2 nd guide member include a main body portion (ga-1) having a cylindrical peripheral surface, and a base end portion (ga-2) formed continuously from a base end of the main body portion and having a diameter smaller than that of the main body portion, and a recess (1343 b) for inserting an end portion of the main body portion on the base end side and a hole portion (1343 a) formed continuously from the recess for inserting the base end portion are formed at a mounting position on the needle bar case of the 1 st guide member and the 2 nd guide member, and the base end portion is inserted into the hole portion, and the end portion of the base end portion side of the main body portion is inserted into the.

A 10 th structure is characterized in that in the 2 nd or 5 th structure, the needle bar case has a needle bar case main body (1330) provided with a thread take-up lever or a needle bar and slidably provided with respect to the arm, and a plate-like plate portion (1341) provided on an upper surface of the needle bar case main body; the plate portion is provided with a 1 st opening, a 2 nd opening, a 3 rd opening, an upstream side holding portion, a downstream side holding portion, and an upper thread supporting member.

Therefore, by mounting the plate portion provided with the 1 st opening, the 2 nd opening, the 3 rd opening, the upstream side holding portion, the downstream side holding portion, and the upper thread supporting member in the conventional sewing machine instead of the upper thread adjusting member mounting portion provided with the tension chuck or the rotary tensioner, the structure of the conventional sewing machine can be utilized to reduce the manufacturing cost.

The 11 th structure is characterized in that in the 2 nd or 5 th structure, the arm is fixedly provided with a magnet portion for supporting the upstream side magnet portion, a magnet portion for supporting the downstream side magnet portion, a magnet portion for the needle thread motor, and a motor support member (1360).

The 12 th structure is characterized in that, in the 2 nd or 5 th structure, the above structure includes: the needle thread support device comprises an upstream side magnet part, a downstream side magnet part, a magnet part of a needle thread motor, a motor support member (1370), sliding support members (1350, 1352) which are arranged on a needle bar box and support the magnet part and the motor support member and can slide in the left-right direction (the left-right direction in front view), and a sliding limiting member (1380) which is fixed on an arm and limits the sliding of the magnet part and the motor support member in the left-right direction to position the support member in the left-right direction, wherein the sliding of the magnet part and the motor support member in the left-right direction is limited by the sliding limiting member, and the upstream side magnet part, the downstream side magnet part and the needle thread motor are fixedly arranged on one side of the arm.

In the 12 th configuration, when the magnet portion and the motor support member are mounted on the sewing machine, the magnet portion and the motor support member are adjusted to appropriate positions by sliding along the slide support member, and the slide of the magnet portion and the motor support member in the left-right direction is restricted by the slide restricting member, so that the upstream magnet portion, the downstream magnet portion, and the needle thread motor are fixed to the arm side. Therefore, the positions of the magnet portion and the motor support member in the left-right direction can be finely adjusted, and the positions of the upstream magnet portion, the downstream magnet portion, and the arm in the left-right direction can be finely adjusted.

Further, the 13 th structure is characterized in that in the above 2 nd or 5 th structure,

is provided with: an upstream side 1 st plate-like portion supporting member 1401 provided on the front side of the needle bar case and having a 1 st shaft portion 1401c inserted into a hole portion of the upstream side 1 st plate-like portion 1404, an upstream side coil-like spring 1402 inserted with the 1 st shaft portion, and an upstream side protection plate-like part (1406) fixed to the tip of the 1 st shaft part and formed of a non-magnetic material not attracted by the magnet, the upstream-side 1 st plate-like portion is provided with a hole portion for inserting the 1 st shaft portion, the surface of the upstream-side protective plate-like portion opposite to the upstream-side 1 st plate-like portion is in contact with the upstream-side 2 nd plate-like portion, since the upstream-side 1 st plate-like portion is provided at a position between the upstream-side coil spring and the upstream-side protective plate-like portion in a state where the 1 st shaft portion is inserted into the hole portion, the upstream-side 1 st plate-like portion is urged toward the upstream-side protective plate-like portion by the upstream-side coil spring;

And is provided with: a downstream side 1 plate-like part supporting member 1411 provided on the front surface side of the needle bar case and having a 2 nd shaft part 1411c inserted into a hole part of the downstream side 1 st plate-like part 1414, a downstream side coil-like spring 1412 having the 2 nd shaft part inserted therein, and a downstream side protection plate-like portion (1416) fixed to the tip of the 2 nd shaft portion and formed of a non-magnetic material not attracted by the magnet, the downstream-side 1 st plate-like portion is provided with a hole portion for inserting the 2 nd shaft portion therethrough, the surface of the downstream-side protective plate-like portion opposite to the downstream-side 1 st plate-like portion is in contact with the downstream-side 2 nd plate-like portion, since the downstream-side 1 st plate-like portion is provided at a position between the downstream-side coil-like spring and the downstream-side protective plate-like portion in a state where the 2 nd shaft portion is inserted into the hole portion, the downstream-side 1 st plate-like portion is biased toward the downstream-side protective plate-like portion by the downstream-side coil-like spring.

Therefore, even when the upstream-side 1 st plate-like portion and the upstream-side protective plate-like portion are biased toward the upstream-side 2 nd plate-like portion by the upstream-side coil-like spring and the upstream-side 1 st plate-like portion is not attracted to the upstream-side magnet portion, the upstream-side 1 st plate-like portion is in contact with the upstream-side protective plate-like portion and the upstream-side protective plate-like portion is in contact with the upstream-side 2 nd plate-like portion, so that it is possible to prevent a vibration sound generated by repeating opening and closing of the upstream-side grip body and a vibration sound generated by vibration of the handpiece. Similarly, even when the downstream-side 1 st plate-like portion and the downstream-side protective plate-like portion are biased toward the downstream-side 2 nd plate-like portion by the downstream-side coil-like spring and the downstream-side 1 st plate-like portion is not attracted to the downstream-side magnet portion, the downstream-side 1 st plate-like portion is in contact with the downstream-side protective plate-like portion and the downstream-side protective plate-like portion is in contact with the downstream-side 2 nd plate-like portion, so that it is possible to prevent a vibration sound generated by repeating opening and closing of the downstream-side grip main body and a vibration sound generated by vibration of.

Since the upstream-side plate-like portion for protection (the downstream-side plate-like portion for protection) is provided between the upstream-side 2 nd plate-like portion (the downstream-side 2 nd plate-like portion) and the upper thread, it is possible to prevent the upstream-side 2 nd plate-like portion (the downstream-side 2 nd plate-like portion) from being worn due to the upper thread coming into contact with the upstream-side 2 nd plate-like portion (the downstream-side 2 nd plate-like portion).

Further, the 14 th structure is characterized in that in the above 2 nd or 5 th structure,

an upstream sliding member (1421) inserted into the upper side of the 2 nd opening of the needle bar case, and an upstream force application member (1424), the upstream sliding member (1421) can be arranged along the axial direction of the upstream sliding member in a sliding manner, the upstream force application member (1424) applies force to the upstream sliding member to the back side of the needle bar case, the upstream 1 st plate-shaped portion (1422) is arranged in a state of being suspended by the upstream sliding member, an upstream pressing operation member (1362) is arranged on the arm side, and the upstream sliding member corresponding to the upstream 1 st plate-shaped portion of the attraction object is pressed to the side opposite to the force application direction of the upstream force application member by the upstream magnet portion;

and a downstream side sliding member (1431) which penetrates to the upper side of the 3 rd opening part on the needle bar box and is arranged according to the upstream side 1 st plate part, and a downstream side force application member (1434), the downstream side sliding member (1431) can be arranged in a sliding way along the axial direction of the downstream side sliding member, the downstream side force application member (1434) applies force to the downstream side sliding member to the back side of the needle bar box, the downstream side 1 st plate part (1432) is arranged in a state of being suspended by the downstream side sliding member, a downstream side pressing operation member (1364) is arranged on the arm side, and the downstream side sliding member corresponding to the downstream side 1 st plate part of the attraction object is pressed to the side opposite to the force application direction of the downstream side force application member by the downstream side magnet part.

Therefore, the upstream-side 1 st plate-like portion corresponding to the needle bar other than the selected needle bar is pressed toward the upstream-side 2 nd plate-like portion, so that noise generated by the contact of the upstream-side 1 st plate-like portion with the upstream-side 2 nd plate-like portion is not generated, and vibration noise is not generated even if the head vibrates. Further, the upstream side 1 st plate-like portion corresponding to the selected needle bar is not pressed to the back side by the upstream side pressing operation member, so that the needle thread grip can be sufficiently released. Similarly, the downstream-side 1 st plate-like portion corresponding to the needle bar other than the selected needle bar is pressed toward the downstream-side 2 nd plate-like portion, so that noise caused by contact between the downstream-side 1 st plate-like portion and the downstream-side 2 nd plate-like portion is not generated, and vibration sound is not generated even if the handpiece vibrates. Further, the downstream-side 1 st plate-like portion corresponding to the selected needle bar is not pressed to the back side by the downstream-side pressing operation member, and therefore, the needle thread grip can be sufficiently released.

Further, a sewing machine according to claim 15 is characterized by comprising:

An arm (312) constituting a frame of the sewing machine;

a needle bar storage box (1330) which is arranged in a manner that the needle bar storage box can slide in the left-right direction relative to the arm and stores a plurality of needle bars (12 b-1-12 b-9);

a flat plate-like plate portion (1341) provided on the upper surface of the needle bar housing case, wherein a 1 st opening (1342 b) is provided at a position between the upstream side grip body and the downstream side grip body in the vertical direction so that the tip of the rotating arm of the rotating portion can be exposed on the front side (or on the front side opposite to the arm side), and a 2 nd opening (1342 a) provided above the 1 st opening and facing the upstream side magnet portion and a 3 rd opening (1342 c) provided below the 1 st opening and facing the downstream side magnet portion are provided;

a plurality of thread take-up levers (12 a-1 to 12 a-9) supported by the needle bar housing case shaft and capable of swinging, provided so as to be exposed on the front side of the needle bar housing case, and provided on the downstream side of the downstream side holding part in the path of the needle thread;

an upstream side grip part (1240) having an upstream side grip part body (1241) and an upstream side magnet part (1250), the upstream side holding part main body (1241) is arranged at the front side of the plate part and holds the upper thread in a clamping way, and comprises upstream side 1 plate-shaped parts (1242 a, 1404 and 1422) which are formed by magnetic bodies of materials attracted by magnets and are arranged according to the needle bars, and an upstream side 2 plate-like part (1244, 1408, 1426) which is provided on the front side of the 2 nd opening part on the rear side of the upstream side 1 plate-like part and is formed of a non-magnetic material not attracted by the magnet, the upstream side magnet part (1250) is fixedly arranged on one side of the arm, and switches between a closed state that the upstream side 1 st plate-shaped part is attracted from the back side of the upstream side 2 nd plate-shaped part by magnetic force to clamp the upper thread by the upstream side 1 st plate-shaped part and the upstream side 2 nd plate-shaped part and an open state that the upper thread is released by releasing the attraction of the magnetic force;

A downstream side holding part (1260) arranged at the downstream side in the path of the facial line of the upstream side holding part, which comprises a downstream side holding part main body (1261) and a downstream side magnet part (1270), wherein the downstream side holding part main body (1261) is arranged below the upstream side holding part main body at the front side of the plate part and clamps the facial line, and comprises a downstream side 1 plate-shaped part (1262 a, 1414, 1432) formed by a magnetic body as a material attracted by the magnet and arranged according to each needle bar, and a downstream side 2 plate-shaped part (1264, 1418, 1436) arranged at the front side of the 2 nd opening part at the back side of the downstream side 1 plate-shaped part and formed by a non-magnetic body not attracted by the magnet, the downstream side magnet part (1270) is fixedly arranged at the arm side, and a closed state, in which the facial line is clamped by the downstream side 1 st plate-shaped part and the downstream side 2 nd plate-shaped part is clamped by attracting the downstream side 1 st plate-shaped, And the open state of the upper thread is released by releasing the attraction of the magnetic force;

a needle thread supporting member (1288) which is arranged on the plate part and supports the needle thread along the left and right direction at the position of the 1 st opening (also can be' the needle thread supporting member which is arranged on the plate part and supports the needle thread along the left and right direction at the front side of the 1 st opening ");

A rotating part (1280) which rotates the upper thread between the upstream side holding part main body and the downstream side holding part main body (can also be the position between the upstream side holding part main body and the downstream side holding part main body of the upper thread), a rotating arm (1281) which is contacted with the upper thread supported by the upper thread supporting component (can also be contacted with the upper thread supported by the upper thread supporting component when the upper thread is rotated), and an upper thread motor (1286) which is fixedly arranged at one side of the arm and rotates the rotating arm;

a control unit (90) for controlling the upper thread motor based on the torque value so as to apply a rotational force to the swing arm in an upward direction in a manner to apply tension to the upper thread in a direction in which the upper thread is tightened by the thread take-up lever based on torque data which is created based on embroidery data and has a torque value defined for each stitch in a torque control section in a state in which the upstream side grip body is closed and the downstream side grip body is opened in each stitch, and for detecting a current position of an angle of the upper thread motor as a position in a rotational direction of the upper thread motor at a start point of the position control section in a state in which the upstream side grip body is opened and the downstream side grip body is closed in a control section for each stitch, and a spindle motor for rotating the spindle (22) for transmitting power to the thread take-up lever or the needle bar is created (a spindle motor (a) 20) The position in the rotation direction of the upper thread motor, that is, the angle of the spindle motor defines angle correspondence data of the angle of the upper thread motor from the current position of the angle of the upper thread motor to the initial position (may be "the initial position of the position corresponding to the top dead center of the swing arm"), the spindle motor rotates so that the angle of the upper thread motor returns to the initial position of the angle of the upper thread motor, and as the angle of the spindle motor changes, the position of the upper thread motor is controlled to the angle of the upper thread motor corresponding to the angle of the spindle motor, thereby applying a rotational force upward to the swing arm and pulling out the upper thread from the upstream, wherein the torque control section is a section including at least a part of a section where the thread take-up lever is tightened with respect to the upper thread sewn fabric, that is, a section from the dead center of one side of the thread take-up lever to the dead center of the other side, when the selected upper thread is changed at the time of control transfer to the next stitch, the swing arm is rotated downward and retreated to the retreat position (or "the swing arm is rotated and retreated to the lower retreat position") (or "the swing arm is rotated downward and retreated to the retreat position lower than the position where the swing arm contacts the upper thread supported by the upper thread support member"), and the needle bar housing box is slid to bring the upstream side magnet portion, the downstream side magnet portion, and the swing arm to the position of the selected upper thread.

According to the sewing machine of the 15 th configuration, since the torque control is performed for the upper thread in the torque control section, the magnitude of the tension applied to the upper thread can be controlled, and since the control is performed based on the torque data in which the torque value is limited for each stitch, the torque control can be performed for each stitch, the tension applied to the upper thread can be controlled for each stitch, and the tightness of the stitch can be adjusted for each stitch.

In addition, even when the stitches are formed by different needle threads in a multi-needle head having a plurality of needle bars, the tension applied to the needle threads can be controlled to be equal by making the torque values in the torque data for controlling the needle threads the same. In addition, even in the case of a multi-head embroidery sewing machine, by using the torque data for controlling the upper thread used in the torque control section as the common torque data for controlling the upper thread in each head, the tension acting on the upper thread can be controlled to be equal in each head.

In addition, since the current angle of the upper thread motor is detected in the position control section, the angle corresponding data for the angle used for position control to the initial position of the upper thread motor is created, and the angle control for returning the upper thread motor to the initial position by the position control is performed based on the angle corresponding data, only the upper thread consumed can be pulled out by pulling up the rotating arm in the torque control section, and the amount of accumulated thread is not too large or too small due to pulling out the upper thread.

In the 15 th configuration, the thread take-up lever may be a plurality of thread take-up levers (12 a-1 to 12 a-9) which are swingably provided in the needle bar housing case, are provided so as to be exposed to the front side from a position below the downstream side grip portion, and through which the upper thread inserted into the sewing needle is inserted.

In the above-described 2 nd, 5 th and 15 th configurations, it is preferable that the upstream 1 st plate-like portion is provided with a variable interval from the upstream 2 nd plate-like portion, and the downstream 1 st plate-like portion is provided with a variable interval from the downstream 2 nd plate-like portion. In the above-described 2 nd, 4 th and 14 th configurations, it is preferable that the upper thread supporting members are provided in a pair with respect to one upper thread, each of the upper thread supporting members has a 1 st arc-shaped member formed in a shape substantially concentric with the rotation center of the upper thread motor, a 2 nd arc-shaped member formed on the opposite side of the axis line side of the output shaft with a space from the 1 st arc-shaped member and substantially concentric with the rotation center of the upper thread motor, and a connecting member connecting the lower end of the 1 st arc-shaped member and the lower end of the 2 nd arc-shaped member, and the pair of upper thread supporting members are provided with a space in the left-right direction.

Further, as the structure of the 15 th-1, there may be mentioned "in the above-mentioned 15 th structure, the upper thread is guided downward between the upstream 1 st plate-like portion and the upstream 2 nd plate-like portion in the upstream grip main body, the path is reversed to the upper thread supporting member by the 1 st upper thread path reversing member (1290) provided in the plate portion, guided downward from the upper thread supporting member, passes through between the downstream 1 st plate-like portion and the downstream 2 nd plate-like portion in the downstream grip main body, the path is reversed to the thread take-up lever by the 2 nd upper thread path reversing member (1292) provided in the needle bar case, guided downward from the thread take-up lever, and guided to the sewing needle attached to the needle bar".

Further, as the structure of the 15 th-2, there may be mentioned "in the structure of the 15 th-1, the 1 st upper thread path reversing member includes a main body portion (ga-1) having a cylindrical peripheral surface, and a base end portion (ga-2) continuously provided from a base end of the main body portion and formed to have a diameter smaller than that of the main body portion, a recess portion (1343 b) for inserting an end portion of the main body portion on the base end portion side and a hole portion (1343 a) continuously provided from the recess portion for inserting the base end portion on the base end portion side are formed at mounting positions on plate portions of the 1 st upper thread path reversing member and the 2 nd upper thread path reversing member, the base end portion is inserted into the hole portion, and the base end portion is inserted into the.

Further, as the structure of the 15 th to the 15 th aspect, the 15 th or the 15 th to the 1 st or the 15 th to the 15 th aspect, the mounting member may be attached to a substantially central portion in the left-right direction in an upper region of the upstream-side 1 st plate-like portion in the upstream-side grip main body, the 1 st guide members (1252, 1254) provided above and below the upstream-side 1 st plate-like portion of the plate portion may be provided at different positions in the left-right direction, the needle-line path between the upstream-side 1 st plate-like portion and the upstream-side 2 nd plate-like portion may be formed obliquely with respect to the up-down direction, the mounting member may be attached to a substantially central portion in the left-right direction in an upper region of the downstream-side 1 st plate-like portion in the downstream-side grip main body, the 2 nd guide members (1272, 1274) provided above and below the downstream-side 1 st plate-like portion of the plate-side may be provided at different positions in the left-right direction Form ".

Further, as the structure of the 15 th to the 4 th, there may be mentioned "in the structure of the 15 th to the 3 nd, the 1 st guide member and the 2 nd guide member include a main body part (ga-1) having a cylindrical peripheral surface, and a base end part (ga-2) continuously provided from the base end of the main body part and formed to have a diameter smaller than that of the main body part, and a recess part (1343 b) for inserting an end part of the main body part on the base end side and a hole part (1343 a) continuously provided from the recess part for inserting the base end part on the needle bar case of the 1 st guide member and the 2 nd guide member are formed at the mounting position on the needle bar case, and the base end part is inserted into the hole part and the.

The 15 th to 5 th structures may be "the 15 th or 15 th to 1 or 15 th to 2 or 15 th to 3 or 15 th to 4 th structures, and may have: a magnet part for supporting the upstream side magnet part, the downstream side magnet part, the upper thread motor and a motor supporting part (1360) are fixedly arranged on the arm ".

Further, the 15 th to 6 th structures may be "in the 15 th or 15 th to 1 th or 15 th to 2 th or 15 th to 3 th or 15 th to 4 th structures, characterized in that the upper stream side magnet part, the lower stream side magnet part, the magnet part of the facial line motor, a motor supporting component (1370), a sliding supporting component (1350, 1352) which is arranged on the plate part and/or the needle bar containing box and supports the magnet part and the motor supporting component and can slide in the left and right direction when viewed from the front, and a slide restricting member (1380) fixed to the arm for restricting the slide of the magnet portion and the motor support member in the left-right direction and positioning the support member in the left-right direction, the upstream side magnet part, the downstream side magnet part and the upper thread motor are fixedly arranged on the arm side by limiting the slide of the magnet part and the motor supporting part in the left and right directions by the slide limiting part.

The 15 th to 7 th structures may be "the 15 th or 15 th to 1 or 15 th to 2 or 15 th to 3 or 15 th to 4 or 15 th to 5 or 15 th to 6 th structures, characterized in that,

is provided with: an upstream-side 1 st plate-like portion supporting member (1401) provided on the front side of the plate portion and having a 1 st shaft portion inserted into the hole portion of the upstream-side 1 st plate-like portion, an upstream-side coil-like spring (1402) into which the 1 st shaft portion is inserted, and an upstream-side protecting plate-like portion (1406) fixed to the tip of the 1 st shaft portion and formed of a non-magnetic material that is not attracted by the magnet, wherein the upstream-side 1 st plate-like portion is provided with a hole portion into which the 1 st shaft portion is inserted, and a surface of the upstream-side protecting plate-like portion opposite to the upstream-side 1 st plate-like portion is in contact with the upstream-side 2 nd plate-like portion, and the upstream-side 1 st plate-like portion is provided at a position between the upstream-side coil-like spring and the upstream-side protecting plate-like portion in a state in which the 1 st shaft portion is inserted into the hole;

and is provided with: a downstream side 1 plate-like portion supporting member 1411 provided on the front side of the needle bar case and having a 2 nd shaft portion penetrating into a hole portion of the downstream side 1 st plate-like portion, a downstream side coil-like spring 1412 into which the 2 nd shaft portion penetrates, and a downstream side protection plate-like portion (1416) fixed to the tip of the 2 nd shaft portion and formed of a non-magnetic material not attracted by the magnet, the downstream-side 1 st plate-like portion is provided with a hole portion for inserting the 2 nd shaft portion therethrough, the surface of the downstream-side protective plate-like portion opposite to the downstream-side 1 st plate-like portion is in contact with the downstream-side 2 nd plate-like portion, since the downstream-side 1 st plate-like portion is provided at a position between the downstream-side coil-like spring and the downstream-side protective plate-like portion in a state where the 2 nd shaft portion is inserted into the hole portion, the downstream-side 1 st plate-like portion is biased toward the downstream-side protective plate-like portion by the downstream-side coil-like spring.

The 15 th to 8 th structures may be "the 15 th or 15 th to 1 or 15 th to 2 or 15 th to 3 or 15 th to 4 or 15 th to 5 or 15 th to 6 th structures, characterized in that,

an upstream sliding member (1421) inserted into the upper side of the 2 nd opening of the plate section, and an upstream force application member (1424), the upstream sliding member (1421) is slidably provided along the axial direction of the upstream sliding member, the upstream force application member (1424) applies force to the upstream sliding member toward the back side of the plate section, the upstream 1 st plate section is provided in a suspended state by the upstream sliding member, and an upstream pressing operation member (1362) for pressing the upstream sliding member corresponding to the upstream 1 st plate section of the attraction object toward the side opposite to the force application direction of the upstream force application member by the upstream magnet section is provided on the arm side;

and a downstream side sliding member (1431) which penetrates to the upper side of the 3 rd opening part on the plate part and is arranged according to the 1 st plate part on the upstream side, and a downstream side forcing member (1434), wherein the downstream side sliding member (1431) can be arranged in a sliding way along the axial direction of the downstream side sliding member, the downstream side forcing member (1434) forces the downstream side sliding member to the back side of the plate part, the 1 st plate part on the downstream side is arranged in a state of being suspended by the downstream side sliding member, a downstream side pressing operation member (1364) is arranged on the arm side, and the downstream side sliding member corresponding to the 1 st plate part on the downstream side of the attraction object is pressed to the opposite side of the forcing direction of the downstream side forcing member by the downstream side magnet.

The 16 th structure is characterized in that in the 2 nd, 5 th or 15 th structure, the upper thread supporting member supports the upper thread on the front side of the 1 st opening.

In the 17 th configuration, in the above-described 3 rd or 4 th or 5 th or 15 th configuration, in the torque control section, a value of the torque deviation is calculated from a torque value in the torque data and a torque value based on a current value supplied to the needle thread motor, and the current is supplied to the needle thread motor based on the calculated torque deviation.

Further, the 18 th structure is characterized in that in the above-mentioned 3 rd or 4 th or 5 th or 15 th structure,

a motor angle detection part for detecting the position of the upper thread motor in the rotation direction;

in the position control section, the position control is performed according to an operation control step including:

a reading step of reading the angle of the face line motor from the angle corresponding data;

a speed data calculation step of calculating the amount of change per unit time of the angle data read in the reading step, thereby calculating speed data;

a torque data calculation step of calculating torque data by detecting a change amount per unit time of the speed data calculated in the speed data calculation step;

A positional deviation calculation step of calculating a value of positional deviation from the angle data read in the reading step and the data of the motor angle detected by the motor angle detection unit;

a speed deviation calculation step of calculating a speed deviation value from the calculated position deviation value, the calculated speed data, and the amount of change per unit time in the angle of the motor detected by the angle detection unit;

a torque deviation calculation step of calculating a value of a torque deviation from the calculated value of the speed deviation, the calculated torque data, and a value of a torque based on a current value supplied to the motor;

and a current supply step of supplying a current to the motor based on the calculated torque deviation value.

In the above-described 1 st, 2 nd, 3 rd, 4 th, 5 th or 15 th configuration, the control unit detects the main shaft angle from the section data in which the information on the main shaft angle is defined as the position in the rotational direction of the main shaft motor at the start point and the end point of the torque control section and at the start point and the end point of the position control section, and determines the torque control section and the position control section.

The 20 th configuration is characterized in that in the 1 st, 2 nd, 3 rd, 4 th, 5 th, or 15 th configuration, a start point of the position control section is a position in a section from the other dead point of the thread take-up lever to the one dead point and is a position before a top dead point of the shuttle, and an end point of the position control section is a position in a section from the one dead point of the thread take-up lever to the other dead point.

The 21 st configuration is characterized in that in the 1 st, 2 nd, 3 rd, 4 th, 5 th, or 15 th configuration, a section in which no current is supplied to the needle thread motor is provided between an end point of the torque control section and a start point of the position control section, a section in which no current is supplied to the needle thread motor is provided between an end point of the position control section and a start point of the torque control section, the upstream side grip main body is switched to the closed state and the downstream side grip main body is switched to the open state at the end point of the position control section, and the upstream side grip main body is switched to the open state and the downstream side grip main body is switched to the closed state at the end point of the torque control section. That is, the current stop time is provided for switching between the torque control and the position control after the opening/closing switching between the upstream side grip body and the downstream side grip body is reliably performed. In each of the above configurations, the magnet portion is specifically an electromagnet.

According to the sewing machine of the present invention, since the torque control is performed with respect to the upper thread in the torque control section, the magnitude of the tension applied to the upper thread can be controlled, the torque control can be performed according to the stitch by setting the torque value according to the stitch, the tension applied to the upper thread can be controlled according to the stitch, and the tightness of the stitch can be adjusted according to the stitch.

In addition, even in the case of a multi-needle handpiece or in the case where a stitch is formed by different needle threads, the tension acting on the needle threads can be controlled to be equal by making the torque values the same. In addition, even in the case of a multi-head embroidery sewing machine, the torque value used in the torque control section is a common torque value in each head, so that the tensions acting on the upper threads can be equalized in each head.

Further, when the thread breakage occurs, the rotation arm is not pulled in the direction opposite to the direction in which the rotational force of the upper thread motor is applied when the thread take-up lever is shifted to the top dead center in the torque control section, so that the thread breakage can be detected by detecting that the rotation arm is not rotated in the direction opposite to the direction in which the rotational force of the upper thread motor is applied.

In addition, since the rotational force is applied to the rotary arm in the position control section based on the position data of the angle of the upper thread motor, and the angle of the upper thread motor is thereby returned to the initial position of the angle of the upper thread motor which is the position in the rotational direction of the upper thread motor, only the upper thread of the consumed amount can be pulled out by pulling up the rotary arm in the direction opposite to the rotational force applying direction of the upper thread motor, and the amount of accumulated thread is not too large or too small due to the pulling-out of the upper thread.

Drawings

FIG. 1 is an explanatory view showing a structure of a sewing machine of embodiment 1;

FIG. 2 is an explanatory view of a main part of the sewing machine of embodiment 1;

FIG. 3 is a perspective view of the sewing machine of embodiment 1;

FIG. 4 is a left side view of the sewing machine of embodiment 1;

FIG. 5 is an explanatory view of a main part of the sewing machine of embodiment 1;

fig. 6 is an explanatory diagram showing a structure of section position data;

FIG. 7 is an explanatory diagram showing spindle data;

FIG. 8 is an explanatory diagram showing spindle data;

fig. 9 is an explanatory diagram showing torque data for the face line control;

FIG. 10 is a flow chart showing the operation of the needle thread motor;

fig. 11 is a flowchart showing a method of controlling the needle thread motor, particularly a method of torque control;

Fig. 12 is a flowchart showing a method of controlling the needle thread motor, particularly a method of controlling the position;

fig. 13 is a flowchart showing a method of controlling the needle thread motor, particularly a method of controlling the position;

fig. 14 is an explanatory view explaining a method of position control of the motor for the upper thread;

fig. 15 is an explanatory diagram showing angle correspondence data;

fig. 16 is a functional block diagram showing a method of controlling the needle thread motor;

FIG. 17 is a flowchart showing the operation of the upstream holding section and the downstream holding section;

fig. 18 is an explanatory view showing an operation of the sewing machine according to embodiment 1 and embodiment 2;

fig. 19 is an explanatory view for explaining an operation of the upper thread control section;

fig. 20 is an explanatory view showing an operation of the sewing machine of embodiment 1 and embodiment 2;

FIG. 21 is a flow chart illustrating a method of control of a spindle motor;

fig. 22 is a flowchart showing a method of controlling the spindle motor;

FIG. 23 is a functional block diagram illustrating a method of controlling a spindle motor;

FIG. 24 is an explanatory view showing a main part of another example of the sewing machine of embodiment 1;

FIG. 25 is an explanatory view showing a sewing machine of embodiment 2;

FIG. 26 is a front view showing a sewing machine of embodiment 2;

FIG. 27 is a right side view showing a partial section of a sewing machine of embodiment 2;

FIG. 28 is a perspective view showing a main part of a sewing machine of embodiment 2;

FIG. 29 is an explanatory view showing a sewing machine of embodiment 3;

FIG. 30 is a front perspective view showing a head of a sewing machine according to embodiment 3;

FIG. 31 is a rear perspective view showing a head of a sewing machine according to embodiment 3;

FIG. 32 is a front view showing a main part of a head of a sewing machine according to embodiment 3;

FIG. 33 is a left side view showing a partial cross section of a head of the sewing machine of embodiment 3;

fig. 34 is an enlarged view of a main portion of fig. 32;

FIG. 35 is a left side view showing a partial cross section of a head of the sewing machine of embodiment 3;

FIG. 36 is a rear perspective view of the 1 st plate portion;

FIG. 37 is a rear perspective view showing a head of a sewing machine according to embodiment 4;

FIG. 38 is a left side view, partly in section, showing a main part of a head of a sewing machine of embodiment 4;

FIG. 39 is a left side view partly in section showing a main part of a head of a sewing machine of embodiment 5;

FIG. 40 is an exploded perspective view showing a grip body of a sewing machine according to embodiment 5;

FIG. 41 is a front view of a main part of a grip body of a sewing machine according to embodiment 5;

FIG. 42 is a left side view, partly in section, showing a main part of a head of a sewing machine of embodiment 6;

FIG. 43 is an exploded perspective view showing a grip body and a projecting member of a sewing machine according to example 6;

FIG. 44 is an end view showing the operation of the sewing machine of embodiment 6;

FIG. 45 is a front view of a main part of a grip body of a sewing machine according to embodiment 6;

FIG. 46 is an explanatory view showing a structure and an installation form of a guide member;

FIG. 47 is an explanatory view showing a conventional sewing machine;

fig. 48 is a front perspective view showing a conventional sewing machine.

Description of reference numerals:

5. 205, 1205: sewing machine, 7, 207, 1207: a head, 10: mechanical element group, 12 a-1, 12 a-2, 12 a-3, 12 a-4, 12 a-5, 12 a-6, 12 a-7, 12 a-8, 12 a-9: thread take-up levers, 12 b-1, 12 b-2, 12 b-3, 12 b-4, 12 b-5, 12 b-6, 12 b-7, 12 b-8, 12 b-9: needle bar, 12 ba: needle, 12 bb: pinhole, 12 c: shuttle, 12 d: sewing frame, 14 a: needle bar base, 14 b: needle bar drive member, 14 c: base needle bar, 20: spindle motor, 21, 87: encoder, 22: main shaft, 24: frame driving device, 20, 230, 1230: face line control section, 40, 240, 1240: upstream side grip, 41, 61, 241, 261, 1241, 1261: grip body, 50, 70: solenoid, 60, 260, 1260: downstream-side grip, 80, 280, 1280: rotating part, 81, 281, 1281: swivel arm, 82, 282, 1282: main body portion, 84: cylindrical portion, 86, 286, 1286: motor for upper thread, 90: control loop, 92: storage device, 110, 310, 1310: box portion, 120, 320: frame, 242-1, 242-2, 242-3, 242-4, 242-5, 242-6, 262-1, 262-2, 262-3, 262-4, 262-5, 262-6, 1242-1, 1242-2, 1242-3, 1242-4, 1242-5, 1242-6, 1242-7, 1242-8, 1242-9, 1262-1, 1262-2, 1262-3, 1262-4, 1262-5, 1262-6, 1262-7, 1262-8, 1262-9, 1404, 1414, 1422, 1432: plate-like portion 1, 244, 264, 1244, 1264, 1408, 1418, 1426, 1436: plate 2, 246, 266: mounting component, 250, 270, 1250, 1270: magnet portions, 252, 254, 272, 274, 1252, 1254, 1272, 1274, 1290, 1336: guide member, 284, 1284: hook, 284 a: groove, 288, 1288: needle thread supporting member, 288a, 288b, 1288a, 1288 b: circular arc member, 288c, 1288 c: connection part, 290: guide member, 292: 1337: pinch spring, 300, 302: noodle line guide, 312, 1312: arm, 314, 1314: needle bar cassette, 314 a: front face, 110a, 110b, 316a, 316b, 316c, 316d, 1342a, 1342b, 1342 c: opening, 1330: needle bar case body, 1340: mounting section for upper thread control, 1341: plate portion, 1350, 1352: sliding member, 1335, 1360, 1370: support portion, 1362, 1364: protruding member, 1380: slide restricting portions 1400, 1410, 1420, 1430: 1 st plate-like portion unit, 1401, 1411: support members, 1401a, 1411 a: plate-shaped portions, 1401b, 1411 b: cylindrical portions, 1401c, 1411 c: shaft portion, 1402, 1412, 1424, 1434: coil spring, 1404a, 1414 a: hole portions 1406, 1416: protective plate-like portion, 1421, 1431: a sliding member.

Detailed Description

The object of the present invention is to provide an upper thread tension control device which can control the tension of an upper thread, particularly the tension applied to the upper thread when a thread take-up lever is raised, and which does not cause an excessive or insufficient amount of thread accumulation due to the pulling-out of the upper thread.

Example 1

As shown in fig. 1 to 5, a sewing machine 5 according to embodiment 1 of the present invention includes: a head 7, a shuttle 12c, a sewing frame (a holding frame or an embroidery frame may be used) 12d, a frame driving device 24, and a storage device 92. Fig. 2 is a diagram conceptually showing a main part of the sewing machine 5, and fig. 3 specifically shows the content of fig. 2.

The head 7 is provided above a substantially flat sewing machine table (not shown). That is, the frame 120 (see fig. 3 and 4) stands on the upper surface of the sewing machine table, and the head 7 is provided on the front side (Y1 side) of the frame 120.

As shown in fig. 1, 3, and 4, the head 7 includes: the machine element group 10, a spindle motor 20, a spindle 22, an upper thread control section 30, a control circuit 90, a pretensioner 96, a thread take-up 98 wound around an upper thread bobbin, and a cassette section 110.

The mechanical element group 10 is each mechanical element driven by the head 7, and includes a thread take-up lever 12a, a needle bar 12b, and a presser foot (not shown) as mechanical elements. The mechanical elements of the thread take-up lever 12a, the needle bar 12b, and the presser foot, and the shuttle 12c are driven by transmitting the rotational force of the main shaft 22 via a power transmission means such as a cam mechanism or a belt mechanism, as in the conventional sewing machine. That is, as shown in fig. 18, the positions of the thread take-up lever 12a, the needle bar 12b, and the shuttle 12c (the position between the top dead center and the bottom dead center) are specified corresponding to the spindle angle (i.e., the position in the rotational direction of the spindle 22), strictly speaking, the angle of the spindle motor 20 (i.e., the position in the rotational direction of the spindle motor 20).

The thread take-up lever 12a is formed to be swingable about an axis in the left-right direction (X1-X2 direction) with respect to the cartridge unit 110. The thread take-up lever 12a rotates between a bottom dead center (one dead center) and a top dead center (the other dead center). That is, the thread take-up lever 12a is pivotally supported by the cassette part 110 so as to swing about a rotation center (or a swing center) 12 ab. An upper thread is threaded through the thread take-up lever 12a to the sewing needle 12 ba.

The needle bar 12b is vertically movable, and the needle bar 12b is fixedly provided with a needle 12ba at a lower end (an upper thread is inserted into a needle hole 12bb of the needle 12 ba) and a needle bar base 14a at an upper end. A needle bar driving member 14b is engaged with the needle bar holder 14 a. The base needle bar 14c provided in the vertical direction is inserted into the needle bar driving member 14b, and the needle bar driving member 14b is formed to be movable vertically along the base needle bar 14 c. The rotational force of the spindle 22 is transmitted through the power transmission assembly, and the needle bar driving member 14b moves up and down, and thus the needle bar 12b moves up and down.

The presser foot is connected to the needle bar 12b and moves up and down in accordance with the up and down movement of the needle bar 12 b.

The spindle 22 is rotated by the spindle motor 20, and the rotational force thereof is transmitted through a predetermined power transmission mechanism, thereby driving the mechanical elements of the thread take-up lever 12a, the needle bar 12b, and the presser foot, and the shuttle 12 c. The spindle motor 20 is configured to rotate in one direction, and thus the spindle 22 also rotates in one direction. The spindle angle indicates a position in the rotation direction of the spindle 22, and is synonymous with a position in the rotation direction of the spindle motor 20 (i.e., a position in the rotation direction of the output shaft of the spindle motor 20).

The needle thread control section 30 is provided with an upstream side holding section 40, a downstream side holding section 60, and a rotating section 80, and controls tension applied to the needle thread while pulling out the needle thread from the thread take-up 98.

Here, the upstream grip 40 includes a grip body (upstream grip body) 41 and a solenoid (upstream driving part) 50, and the upper thread is gripped and fixed by the grip body 41 by driving the solenoid 50. The grip body 41 is provided below the pretensioner 96 on the front side of the box portion 110 and above the opening 110a, and the solenoid 50 is provided on the back side of the grip body 41 and inside the box portion 110.

The downstream side grip 60 includes a grip body (downstream side grip body) 61 and a solenoid (downstream side driving portion) 70, and the upper thread is gripped and fixed by the grip body 61 by driving the solenoid 70. The grip body 61 is provided adjacent to the upstream side grip 40 in the lateral direction, and is provided on the take-up lever 12a side of the upstream side grip 40, and the solenoid 70 is provided on the back side of the grip body 61 and inside the box portion 110.

Since the upstream side gripping part 40 has the same configuration as the downstream side gripping part 60, taking the downstream side gripping part 60 as an example, the gripping part body 61 of the downstream side gripping part 60 includes the tension plate group 62 and the support part 66.

The tension plate group 62 is provided with a tension plate 62a and a tension plate 62b facing each other, and can sandwich the upper thread between the pair of tension plates 62a, 62 b. That is, each of the tension plates 62a and 62b has a main body 63 having a substantially circular plate shape (specifically, a shape in which a central portion of the circular plate shape protrudes outward), and a tension plate frame 64 obliquely standing from a peripheral end of the main body 63, and the tension plates 62a and 62b face each other so that the tension plate frame 64 faces each other outward.

The support portion 66 supports the tension plate group 62 and has a plate-shaped portion 66a and a rod portion 66 b. That is, the plate-shaped portion 66a has a quadrangular plate shape (a quadrangular shape having one side larger than the diameter of the tension plates 62a, 62 b). The tension plate 62a is fixedly provided on the rear surface side of the plate-like portion 66 a. That is, in this example, the tension plate 62a is not mounted for rotation. The lever portions 66b are fixedly provided at the four corners of the plate-like portion 66a, and the end portion of each lever portion 66b opposite to the plate-like portion 66a is fixedly attached to the front surface side of the box portion 110.

The solenoid 70 is supported inside the case portion 110, and a tension plate 62b is fixedly attached to the tip end of the shaft portion 70a of the solenoid 70. When the solenoid 70 is driven, the shaft 70a of the solenoid 70 moves to the front side, and the tension plate 62b is pressed toward the tension plate 62a, the upper thread J is held by the pair of tension plates 62a, 62b, and the upper thread J is fixed. The state in which the solenoid 70 is driven is regarded as the state in which the grip main body 61 is closed. On the other hand, the driving of the release solenoid 70 releases the gripping of the surface line J by the pair of tension plates 62a and 62 b. The state in which the driving of the solenoid 70 is thus released is regarded as a state in which the grip body 61 is opened.

In the downstream gripping portion 60, the upper thread J pulled out from the thread take-up 98 is set in a state of being sandwiched between the pair of tension plates 62a, 62b, and tension is not applied to the upper thread between the pair of tension plates 62a, 62b without driving the solenoid 70. On the other hand, when the solenoid 70 is driven, the upper thread J is held and fixed between the tension plate 62a and the tension plate 62 b. In this way, the solenoid 70 as the downstream side driving portion is switched between the closed state in which the gripping portion body 61 grips the upper thread and the open state in which the gripping of the upper thread is released. When the grip body 41 is closed, the gripped upper thread J is fixed, and when the grip body 41 is opened, the fixation of the upper thread J is released.

The upstream gripping portion 40 has the same configuration as the downstream gripping portion 60, and detailed description thereof is omitted. That is, the grip body 41 has the same configuration as the grip body 61, and the solenoid 50 has the same configuration as the solenoid 70. That is, when the solenoid 50 is driven, the needle thread J is gripped by the pair of tension plates and the grip main body 41 is closed, whereas when the solenoid 50 is released from driving, the grip of the pair of tension plates is released and the grip main body 41 is opened. In this way, the solenoid 50 as the upstream side driving portion can switch between the closed state in which the gripping portion body 41 grips the upper thread and the open state in which the gripping of the upper thread is released. When the grip body 61 is closed, the gripped upper thread J is fixed, and when the grip body 61 is opened, the fixation of the upper thread J is released.

Although a solenoid is used as an example of the device for switching the opening and closing of the grip main bodies 41 and 61, another device (actuator) that performs reciprocating drive may be used.

The rotating portion 80 is provided on the downstream side in the needle thread supplying direction of the upstream side grip portion 40 and on the upstream side in the needle thread supplying direction of the downstream side grip portion 60, and specifically, is provided inside the box portion 110 at a position below the upstream side grip portion 40 and the downstream side grip portion 60.

The rotation section 80 includes a rotation arm 81 and a needle thread motor 86 for rotating the rotation arm 81. The rotating arm 81 includes a rod-shaped body 82 and a cylindrical portion 84 provided at one end of the body 82. An output shaft of the needle thread motor 86 is fixed to the other end of the body 82. The cylindrical portion 84 is formed in a cylindrical shape (may be a substantially cylindrical shape), and is formed such that its axis is parallel to a surface concentric with the output shaft of the motor and is in contact with the concentric circle. The rotating portion 80 is a position where the cylindrical portion 84 of the rotating arm 81 is provided at a position below the position between the grip main body 41 and the grip main body 61, and the position of the cylindrical portion 84 of the rotating arm 81 in the front-rear direction coincides (may be substantially coincident) with the position between the pair of tension plates of the grip main bodies 41 and 61. As described above, the rotating portion 80 rotates the upper thread between the grip main body 41 and the grip main body 61 (or may be a portion (position) between the grip main body 41 and the grip main body 61 of the upper thread).

The control circuit 90 controls the operations of the spindle motor 20, the needle thread motor 86, the solenoid 50, and the solenoid 70, and controls the operations of the respective units based on data stored in the storage device 92. That is, the control circuit 90 creates spindle data (see fig. 7) based on the embroidery data read from the storage device 92, and controls the operation of the spindle motor 20 according to the created spindle data.

The control circuit 90 creates upper thread control torque data (see fig. 9) based on the embroidery data read from the storage device 92, and performs torque control on the upper thread motor 86 based on the upper thread control torque data in the torque control section. The control circuit 90 generates angle-corresponding data as shown in fig. 15 in the position control area, and performs position control based on the angle-corresponding data.

In a section from the end of the position control section to the end of the torque control section, the control circuit 90 controls the solenoids 50 and 70 to close the upstream side grip portion 40 and open the downstream side grip portion 60, while in a section from the end of the torque control section to the end of the position control section, the control circuit 90 controls the solenoids 50 and 70 to open the upstream side grip portion 40 and close the downstream side grip portion 60.

Specifically, as shown in fig. 5, the control circuit 90 includes a CPU90a, a pwm (pulse Width modulation) circuit 90b, and a current sensor 90 c. Here, the CPU90a outputs data of the current value supplied to the motor based on the data from the storage device 92 to the PWM circuit 90 b. The PWM circuit 90b converts the amplitude of the current value from the CPU90a into a pulse signal having a constant amplitude, and supplies the pulse signal to the spindle motor 20 and the needle thread motor 86. The current sensor 90c converts the pulse signal output from the PWM circuit 90b into a current value, multiplies the current value by a constant to calculate a torque value, and outputs the torque value to the CPU90 a.

More specifically, the control circuit 90 creates torque data for controlling the needle thread in accordance with the embroidery data read from the storage device 92, and controls the needle thread control according to the flow shown in fig. 10 to 13, 17, 21, and 22, the functional block diagrams shown in fig. 16 and 23, and the timing chart shown in fig. 18. As will be described in detail later. Fig. 18 shows an example of the operation of the control section for one pin, and the control section for one pin corresponds to one rotation of the spindle 22.

An encoder 21 for detecting the angle of the spindle motor 20 (the position in the rotational direction of the spindle motor 20) is provided between the spindle motor 20 and the control circuit 90, an encoder 87 for detecting the angle of the needle thread motor 86 (the position in the rotational direction of the needle thread motor 86) is provided between the needle thread motor 86 and the control circuit 90, and the angle (the position in the rotational direction) of each motor is detected by information from each encoder in the control circuit 90.

The box portion 110 constitutes a frame body of the head 7 and is fixed to the frame 120. The box portion 110 is substantially rectangular in front and rear views, substantially L-shaped in left view, and has a lower portion 110-1 projecting to the front side with respect to an upper portion 110-2. An opening portion 110a is formed at the upper end of the portion of the lower side portion 110-1 protruding more than the upper side portion 110-2, into which the face thread J penetrates. Further, a vertically long opening 110b is formed on the front left side of the upper portion 110-2 in the front view, and the thread take-up lever 12a is formed to protrude from the opening 110b to the front side (Y1 side).

The spindle motor 20, the encoder 21, and the spindle 22 may be provided outside the cartridge unit 110 constituting the head 7.

The shuttle 12c is supported by a shuttle base (not shown) provided below the head 7 and below the upper surface of the sewing machine table, specifically, below the sewing machine table.

The sewing frame 12d is a member for hanging and holding the processing cloth, and is provided above (or on the upper surface of) the sewing machine table.

The frame driving device 24 moves the sewing frame 12d in the X-axis direction (X1-X2 direction) and the Y-axis direction (Y1-Y2 direction) in response to a command from the control circuit, and moves the sewing frame 12d in synchronization with the vertical movement of the needle bar 12 b. Specifically, the frame driving device 24 includes a servomotor for moving the sewing frame 12d in the X-axis direction, a servomotor for moving the sewing frame 12d in the Y-axis direction, and the like.

The storage device 92 stores embroidery data for embroidering. The embroidery data is, for example, data on stitch width, stitch direction, and thread properties (thread material and thread thickness) provided for each stitch.

As shown in fig. 6, the storage device 92 stores section position data (section data) in which data (the start point is Z) for the start point and the end point of the torque control section is stored as information on the spindle angle (that is, information on the position of the spindle motor 20 in the rotational direction)₁Endpoint is Z₂) Further, data on the start point and the end point of the position control section (the start point is Z) is stored as information on the spindle angle (i.e., information on the position in the rotational direction of the spindle motor 20)₃Endpoint is Z₄）。

Here, as shown in fig. 18, in order to switch between the torque control and the position control after the start point of the torque control section is located after the end point of the position control section that is temporally before the start point of the torque control section, and after the start point of the position control section is located after the end point of the torque control section that is temporally before the start point of the torque control section, and after the opening and closing of the grip main bodies 41 and 61 are switched reliably, a predetermined time is provided between the end point of the torque control section and the start point of the position control section, and a predetermined time is provided between the end point of the position control section and the start point of the torque control section. These predetermined times are times for switching the opening and closing of the grip main bodies 41 and 61.

The start point of the torque control section is a position in a section from a bottom dead center (one dead center) to a top dead center (the other dead center) in the rotation range of the thread take-up lever (a section where the thread take-up lever is shifted from the bottom dead center to the top dead center) in accordance with the rotation of the main shaft 22. Here, the top dead center (the other dead center) of the thread take-up lever is referred to as an end in a direction in which the upper thread is pulled from the processing cloth in the rotation range of the thread take-up lever.

The end point of the torque control section is a position in the section from the top dead center of the thread take-up lever to a position halfway toward the bottom dead center, and is a position before the sewing needle 12ba is inserted into the cloth (for example, a position at which the tip of the sewing needle 12ba is located above the iron plate 13). That is, in order to prevent the tension from being applied to the upper thread in the sewing operation of the processing cloth as much as possible, the torque control section is not provided in the pin insertion to the processing cloth. Therefore, the end point of the torque control section may be the position of the top dead center of the thread take-up lever. Further, since the top dead center of the shuttle does not serve as the torque control section for the shuttle to smoothly pass the upper thread, the end point of the torque control section is before the top dead center of the shuttle.

In the torque control section, since the thread take-up lever 12a pulls the upper thread J in the direction opposite to the direction in which the upper thread J is pulled up by the thread take-up lever 12a in a state in which the upper thread J is pulled up, and applies tension to the upper thread J, at least a part of the torque control section is provided during the period in which the thread take-up lever is raised (during the period in which the upper thread is pulled up with respect to the processing cloth). That is, the torque control section is referred to as a section including at least a part of a section from the bottom dead center to the top dead center of the thread take-up lever. Further, when the torque control is performed also after the needle 12ba is inserted, the tension is applied to the upper thread during the sewing operation, and therefore the end point of the torque control section is set to a position before the needle 12ba is inserted into the processing cloth.

The start point of the position control section is a position in a section from the top dead center to the bottom dead center of the thread take-up lever (a section where the thread take-up lever is shifted from the top dead center to the bottom dead center). The position before the needle 12ba is inserted into the processing cloth (for example, the position where the tip of the needle 12ba is located above the iron plate 13) or the position after the needle insertion (for example, the position where the tip of the needle 12ba is located below the iron plate 13) may be used. In order to smoothly insert the upper thread into the shuttle, the top dead center of the shuttle is positioned in the position control section before the top dead center of the shuttle.

The end point of the position control section is a position in a section from the bottom dead center to the top dead center of the thread take-up lever (a section where the thread take-up lever is shifted from the bottom dead center to the top dead center). Further, since the torque control section is reached later, it is preferable that the end point of the position control section is a position where the sewing needle 12ba is pulled out from the processing cloth (for example, a position where the tip of the sewing needle 12ba is located above the iron plate 13).

In addition, although the upper thread J is pulled out from the thread take-up 98 in the position control section, it is preferable to secure the position control section as long as possible in order to reduce the possibility of breakage of the upper thread by pulling out the upper thread with a sufficient time as possible. For example, by setting the start point of the position control section to a position in the section from the top dead center to the bottom dead center of the thread take-up lever and before the top dead center of the shuttle, and setting the end point of the position control section to a position in the section from the bottom dead center to the top dead center of the thread take-up lever, it is possible to ensure a long position control section. Further, the section from the bottom dead center to the top dead center of the thread take-up lever is preferably a section in which the thread take-up lever pulls the upper thread with respect to the processing cloth, and is therefore preferably a torque control section. Therefore, it can be said that the start point of the torque control section is preferably set to the point immediately after the needle insertion of the sewing needle 12ba is released to the top dead center of the thread take-up lever (or thereafter) in the section from the bottom dead center to the top dead center of the thread take-up lever.

Further, as described above, the data regarding the start point and the end point of the torque control section and the start point and the end point of the position control section is limited as the information of the spindle angle, and therefore the term "section" is used, but the spindle motor 20 and the spindle 22 are rotated only in one direction, and the spindle angle becomes larger in the control section of one pin and becomes later in the time series, and therefore, the "section" may be replaced with the "section" as the "period", and for example, the "torque control period" may be replaced with the "torque control section", the "position control period" may be replaced with the "position control period", and the "control section" may be replaced with the "control period".

In addition, when describing the path of the upper thread J, as shown in fig. 1 to 3, the upper thread J pulled out from the thread winding 98 is set from the upstream side to the downstream side in the order of the pretensioner 96, the grip main body 41, the cylindrical portion 84 of the rotating arm 81, the grip main body 61, the thread take-up lever 12a, and the sewing needle 12 ba.

Next, the operation of the sewing machine 5 configured as described above will be described with reference to fig. 7 to 23. First, the operation of the motor 86 for the surface wire and the solenoids 50 and 70 will be described.

First, the control circuit 90 creates spindle data for each stitch based on the embroidery data stored in the storage device 92 (see fig. 7). Since the information such as the stitch width, stitch direction, and thread properties (thread material and thread thickness) is stored in the storage device 92 for each stitch for the embroidery data to be created, the spindle data is created in accordance with the stitch width, stitch direction, and thread properties of each stitch. As shown in fig. 7, the spindle data is data of the spindle angle (i.e., the position in the rotational direction of the spindle motor 20) in time series per unit time, and for example, when the stitch width is large, the amount of change in the spindle angle is reduced, and when the stitch width is small, the amount of change in the spindle angle is increased. When the direction of the stitch is opposite to the direction of the previous stitch, the amount of change in the spindle angle is reduced.

When the control circuit 90 creates the spindle data, the spindle data may be created in advance for the entire embroidery data composed of a plurality of stitches, or the spindle data may be created prior to the actual embroidery data by the number of stitches actually used for the embroidery sewing by each mechanical element (needle bar, thread take-up lever, shuttle, etc.), and the actual embroidery sewing may be performed while creating the spindle data.

As an example of the spindle data, an example shown in fig. 8 is given. The spindle data shown in fig. 8 is data of constant-speed continuous rotation, and may be the same for each pin, if the pin width is the same and the pin angle is the same. In addition, when the width of a certain stitch is large, the time for one stitch is prolonged, and when the width of a stitch is small, the time for one stitch is shortened.

The control circuit 90 creates torque data for controlling the upper thread used for controlling the torque of the upper thread motor 86 for each stitch based on the embroidery data stored in the storage device 92 (see fig. 9). That is, in the torque data for controlling the upper thread, the value of the torque is determined for each stitch. The value of the torque is determined according to information such as stitch width, stitch direction, thread type, thread attribute and the like in each stitch. For example, when the stitch width is long, the tightening of the upper thread is required to be strengthened, and therefore, the torque value is increased, whereas when the thread is thick, the tightening of the upper thread is required to be strengthened, and therefore, the torque value is increased. As described later, the torque value is set to a value that does not hinder the take-up lever 12a from pulling the upper thread J in the torque control section. In addition, when the torque data for controlling the upper thread is created, the torque data for controlling the upper thread may be created in advance for the entire embroidery data composed of a plurality of stitches, or the actual embroidery sewing may be performed while creating the torque data for controlling the upper thread by creating the torque data for controlling the upper thread before a plurality of stitches compared to the stitches actually performing the embroidery sewing by each mechanical element (needle bar, thread take-up lever, shuttle, etc.). The tension acting on the upper thread can be controlled according to the stitch by the torque data for controlling the upper thread.

In actual embroidery sewing, as shown in fig. 10, a main shaft angle is first detected (S1). That is, the spindle angle is detected from information of the encoder 21 connected to the spindle motor 20. The detection of the spindle angle is performed at a predetermined cycle, for example, at a cycle of about one tenth to one thousand times the cycle of one stitch.

And determines whether the detected spindle angle is in one of the torque control section, the position control section, and the other section. That is, since the storage device 92 stores information of the start point and the end point of the torque control section and the start point and the end point of the position control section as shown in fig. 6, the determination is performed by comparing the detected main shaft angle.

Specifically, it is determined whether or not the torque control section is present (S2), and if the torque control section is present, the routine proceeds to the torque control subroutine (S3).

If the torque control section is not the torque control section, it is determined whether or not the torque control section is the position control section (S4), and if the torque control section is the position control section, the routine proceeds to the position control subroutine (S5).

If the position control section is not present, the CPU90a outputs a voltage value of 0 to the PWM circuit 90b (S6), and stops supplying the current to the needle thread motor 86 (S7). In this way, the section in which the supply of the current to the needle thread motor 86 is stopped corresponds to the section from the end point of the torque control section to the end point of the position control section and the section from the end point of the position control section to the start point of the torque control section in fig. 18. That is, the current supply stop time is provided in order to switch the torque control and the position control after the opening/closing of the grip main bodies 41 and 61 is reliably switched. This makes it possible to reliably open and close the grip main bodies 41 and 61 in the torque control and the position control.

In addition, when the switching responsiveness of the grip main bodies 41 and 61 can be increased, the start point of the torque control section may be made to coincide with the end point of the position control section, and the start point of the position control section may be made to coincide with the end point of the torque control section.

Next, in the torque control subroutine, torque data (torque value) of the target pin is read out in advance from the torque data for upper thread control at the start point of the torque control section, and torque control is performed based on the read torque data in the torque control section of the pin. That is, as shown in fig. 11, it is first determined whether or not the torque data of the target stitch is held by the control circuit 90 (S11), and when the torque data is not held at the start of the torque control section, the torque data of the target stitch is read from the torque data for upper thread control and held in the control circuit 90 in advance (S12).

After the torque data of the target pin is held, the torque value is detected by the current sensor 90c, and the torque value from the current sensor 90c is subtracted from the torque data of the target pin (S13 in fig. 11, S13 in fig. 16).

Next, the voltage value (voltage command to the PWM circuit) output to the PWM circuit 90b is calculated by multiplying the calculated value calculated in step S13 by a predetermined constant (S14 in fig. 11, S14 in fig. 16), and is output to the PWM circuit 90b (S15 in fig. 11, S15 in fig. 16).

The PWM circuit 90b outputs a pulse signal as a voltage signal based on the input signal, and supplies a current to the needle thread motor 86 (S16 in fig. 11, S16 in fig. 16, current supply step).

Next, in the position control subroutine, in the position control section, the angle of the upper thread motor 86, that is, the current position in the rotational direction of the upper thread motor 86 (that is, the position in the rotational direction of the output shaft of the upper thread motor 86) is detected, angle corresponding data for position control to the initial position (which may be the origin position) of the position in the rotational direction of the upper thread motor 86 is created, and control to return to the initial position of the upper thread motor 86 by the position control is performed based on the angle corresponding data. That is, it is first determined whether or not angle correspondence data is created for the target stitch (S21 in fig. 12).

When the angle correspondence data is not created, that is, at the start position of the position control section, the angle of the needle thread motor 86 is detected by the encoder 87 (S22 in fig. 12, S22 in fig. 16). And angle correspondence data is created based on the detected angle of the needle thread motor 86 (S23 in fig. 12, S23 in fig. 16). As shown in fig. 15, the angle correspondence data is data corresponding to the spindle angle (i.e., the position in the rotational direction of the spindle motor 20) and the needle thread motor angle (the angle of the needle thread motor) (the position in the rotational direction of the needle thread motor 86), and is data corresponding to the spindle angle a from the start point position of the position control section (the spindle angle at the start point position of the position control section is a) _X) Angle C of motor for facial line_nTo the end position of the position control section (the main axis angle at the end position of the position control section is a)_Y) The angle of the motor for the upper thread is C_θThe corresponding data of the spindle angle and the motor angle for the upper thread. The spindle angle and the motor angle for the upper thread both indicate the position in the rotational direction of each motor. The angle C_θIs an angle of the initial position of the needle thread motor 86. When creating the angle-corresponding data, the spindle angle a corresponding to the start point position of the position control section is equally divided at predetermined intervals (unit angles)_XTo a spindle angle a corresponding to the end position of the position control section_YThe distance to this point (i.e., equally divided into 1/n (n is an integer)) is, as shown in fig. 14, in the 1 st section (for example, the main shaft angle is a) which is a section defined from the start point of the position control section_X～a_X＋3) The amount of change in the angle of the motor for the needle thread per unit angle gradually increases, and the rotational speed of the rotating arm 81 increases in the 2 nd section (for example, the main shaft angle is a) continuous with the 1 st section_X＋3～a_y-3) The variation of the angle of the motor for the face line per unit angle is constant in the 3 rd section (for example, the main shaft angle is a) connected to the 2 nd section _y-3～a_Y) The amount of change in the needle thread motor angle per unit angle gradually decreases, and thus the rotational speed of the rotating arm 81 decreases. In this case, the angular range of the 1 st interval and the 1 st intervalThe angular range of interval 3 is shorter than that of interval 2.

And reads out the data of the motor angle for the upper thread from the angle correspondence data (S24 of fig. 12, S24 of fig. 16). That is, the main shaft angle closest to the main shaft angle detected in step S1 is detected from the angle correspondence data (fig. 15), and the motor angle for the needle thread corresponding to the main shaft angle is read. In addition, when the data of the two spindle angles adjacent to the spindle angle detected in step S1 is included in the angle correspondence data, the motor angle for the needle thread can be calculated in accordance with the ratio of the two spindle angles.

Next, the amount of change per unit time is detected from the read motor angle for the needle thread, and the speed data is calculated (S25 in fig. 12, S25 in fig. 16, speed data calculation step). That is, the speed data is calculated by dividing the amount of change in the angle data by time. That is, since the relationship between the spindle angle and the needle thread motor angle is defined by the angle correspondence data shown in fig. 15 and the relationship between the time and the spindle angle is defined by the spindle data shown in fig. 7, the amount of change in the needle thread motor angle per unit time is detected. In addition, when the data of the spindle angle of the spindle data does not match the data of the spindle angle of the angle correspondence data, the time can be calculated from, for example, a ratio of the spindle angle in the angle correspondence data to a difference between two adjacent spindle angles (spindle angles in the spindle data).

Next, the amount of change in the speed data per unit time is detected to calculate torque data (S26 in fig. 12, S26 in fig. 16, torque data calculation step). That is, the torque data is calculated by dividing the amount of change in the speed data by the time. That is, in step S25, since the speed data of the needle thread motor is calculated at every time, the torque data is calculated by differentiating the speed data.

Next, torque compensation data is calculated from the torque data calculated in step S26 (S27 of fig. 12, S27 of fig. 16). That is, torque compensation data is calculated by multiplying the torque data by the inertia ratio (S27-1 in fig. 16) and adding the torque based on the mechanical loss to the value obtained by multiplying the inertia ratio (S27-2 in fig. 16). Here, the inertia ratio is a constant predetermined in accordance with the mass of each machine element or the like, and the torque based on the mechanical loss is a value predetermined in accordance with each machine element.

Next, data (a measurement value of the encoder) from the encoder 87 (the encoder corresponding to the needle thread motor 86) is subtracted from the angle data read in step S24 (S28 in fig. 13, S28 in fig. 16, positional deviation calculating step). The value calculated in step S28 is referred to as a value of positional deviation.

Next, a speed value is calculated by multiplying the calculated value calculated in step S28 by a predetermined constant (S29 in fig. 13, S29 in fig. 16).

Next, the output from the encoder 87 is differentiated to calculate the motor current speed value (S30 in fig. 13, S30 in fig. 16). That is, the amount of change per unit time in the measurement value of the encoder is calculated, and the current speed value of the motor is calculated.

Next, the motor current speed value calculated in step S31 is subtracted from the speed value calculated in step S30, and the speed data calculated in step S25 is added (S31 in fig. 13, S31 in fig. 16, speed deviation calculating step). The value calculated in step S31 is referred to as a speed deviation value.

Next, a torque value is calculated by multiplying the calculated value calculated in step S31 by a predetermined constant (S32 in fig. 13, S32 in fig. 16).

Next, the torque compensation data calculated in step S27 is added to the torque value calculated in step S32 (S33 in fig. 13, S33 in fig. 16). Thereafter, the torque value from the current sensor 90c is subtracted from the value calculated in step S33 (S34 in fig. 13, S34 in fig. 16, torque deviation calculating step). The value calculated in step S34 is referred to as a torque deviation value.

Next, the voltage value (voltage command to the PWM circuit) output to the PWM circuit 90b (S35 in fig. 13, S35 in fig. 16) is calculated by multiplying the calculated value calculated in step S34 by a predetermined constant, and is output to the PWM circuit 90b (S36 in fig. 13, S36 in fig. 16).

The PWM circuit 90b outputs a pulse signal as a voltage signal based on the input signal, and supplies a current to the needle thread motor 86 (S37 in fig. 13, S37 in fig. 16, current supply step).

As described above, the process shown in the flowcharts of fig. 10 to 13 is performed for a predetermined period to control the needle thread motor 86.

Next, as shown in fig. 18, in the switching control of the upstream side grip 40 and the downstream side grip 60, from the end point of the torque control section for the needle thread motor 86 to the end point of the position control section, the grip body 41 of the upstream side grip 40 is opened and the grip body 61 of the downstream side grip 60 is closed, and from the end point of the position control section to the end point of the torque control section, the grip body 41 of the upstream side grip 40 is closed and the grip body 61 of the downstream side grip 60 is opened.

That is, when the explanation is made based on the flowchart shown in fig. 17, the main shaft angle is detected (S41) (the detection of the main shaft angle is performed in the same manner as the above-described step S1), it is determined whether or not the torque control section has ended (S42), and when the torque control section has ended, the grip body 41 of the upstream-side grip 40 is opened and the grip body 61 of the downstream-side grip 60 is closed. That is, the upper thread J is not fixed to the grip body 41 but fixed to the grip body 61. Even if the end point of the torque control section is not reached at the previous detection of the main shaft angle (S41), the end point of the torque control section is determined when the end point of the torque control section is exceeded at the current detection of the main shaft angle (S41).

When the torque control interval is not the end point, it is determined whether or not the torque control interval is the end point of the position control interval (S44), and when the torque control interval is the end point, the grip body 41 of the upstream side grip 40 is closed and the grip body 61 of the downstream side grip 60 is opened. Even if the end point of the position control section is not reached at the previous detection of the spindle angle (S41), it is determined that the end point of the position control section is reached when the end point of the position control section is exceeded at the current detection of the spindle angle (S41).

As described above, in the torque control section, the grip body 41 is closed and the grip body 61 is opened, and in the position control section, the grip body 41 is opened and the grip body 61 is closed.

When the operation of the face line control unit 30 is illustrated, as shown in fig. 19, the rotating arm 81 is at the position (initial position) of the bottom dead center at the position of the end point of the position control section (fig. 19 a).

Next, the rotation control section is entered, and in a state where the grip portion body 41 is closed and the grip portion body 61 is opened, the needle thread motor 86 is torque-controlled, and a rotational force is applied downward to the rotating arm 81 by the needle thread motor 86. In this way, in a state where the rotating arm 81 tensions the upper thread J against the tension direction (pull-up direction) of the thread take-up lever 12a with respect to the upper thread J, the thread take-up lever 12a rotates upward to pull up the upper thread J with respect to the processed cloth. Thus, as the thread take-up lever 12a pulls up the thread J, the rotating arm 81 rotates in the direction (upward) in which the thread take-up lever 12a pulls up the thread J (fig. 19 (b) and (c)).

The torque value set in the upper thread controlling torque data is set to a value at which the rotating arm 81 rotates in the direction (upward) in which the thread take-up lever 12a pulls up the upper thread J as the thread take-up lever 12a pulls up the upper thread J, and the thread take-up lever 12a does not get in the way of pulling up the upper thread J (that is, the thread take-up lever 12a pulls up the upper thread J with respect to the processing cloth). That is, when the value of the torque is too large, the upper thread J is pulled downward by the rotating arm 81, and the thread take-up lever 12a cannot rotate upward and pulls up the upper thread J, so the value of the torque is set to a value that does not hinder the take-up lever 12a from pulling the upper thread J.

Next, the needle thread is moved into the position control section, and the needle thread motor 86 is position-controlled in a state where the grip body 41 is opened and the grip body 61 is closed, and the rotating arm 81 is rotated in a direction (downward) in which the needle thread J is pulled out (fig. 19 d). Fig. 19 d shows a state in which the needle thread motor 86 returns to the initial position at the end point of the position control section and the rotating arm 81 rotates to the initial position (may be the origin position), and is the same as fig. 19 a.

In the torque control, when the torque value is large, the stitches are tightly sewn by strongly pulling the face line J, and when the torque value is small, the stitches are loosely sewn by weakly pulling the face line J.

That is, in fig. 20, fig. 20 (a) shows a state near 290 degrees in fig. 18, fig. 20 (b) shows a state near 330 degrees in fig. 18, fig. 20 (c) shows a state near 70 degrees in fig. 18, fig. 20 (d) shows a state near 110 degrees in fig. 18, and fig. 20 (e) shows a state near 170 degrees in fig. 18, but since the torque control of the upper thread motor 86 is performed in fig. 20 (b) and fig. 20 (c), the upper thread J is strongly pulled when the value of the torque of a certain stitch is increased, and the stitch thereof is tightly sewn, whereas the upper thread J is weakly pulled when the value of the torque is decreased, and the stitch thereof is loosely sewn. In fig. 20, K denotes a base line, and N denotes a processing cloth.

As described above, in the control section for each stitch, in the torque control section including at least a part of the section from the bottom dead center to the top dead center of the thread take-up lever 12a, which is the section where the thread take-up lever 12a pulls the upper thread with respect to the processing cloth sewn with the upper thread, in the state where the grip main body 41 is in the closed state and the grip main body 61 is in the open state, the torque control of applying the rotational force to the rotating arm 81 based on the torque value is performed so as to apply the tension to the upper thread against the direction in which the thread take-up lever 12a pulls the upper thread, while in the position control section which is at least a part of the section other than the torque control section, in the state where the grip main body 41 is in the open state and the grip main body 61 is in the closed state, the initial position of the angle of the upper thread motor 86, which is the position in the rotational direction of the upper thread motor 86, is returned by the angle, position control is performed to apply a rotational force to the rotating arm 81 based on the position data of the angle of the needle thread motor 86, and the needle thread is pulled out from the upstream.

Next, the control of the spindle motor 20 will be described. The control of the spindle motor 20 is performed in the same manner as the position control of the needle thread motor 86.

First, angle data (or position data) is read from the spindle data (S51 in fig. 21, S51 in fig. 23, read step). That is, an angle (spindle angle) corresponding to time, which is a target of processing, in the spindle data is detected, and data of the angle is read.

Next, the amount of change per unit time in the detected spindle angle is detected, and the speed data is calculated (S52 in fig. 21, S52 in fig. 23, speed data calculation step). In the calculation of the speed data, the speed data is calculated by dividing the amount of change in the angle data by the time. That is, the velocity data is calculated by differentiating the angle data.

Next, the amount of change in the speed data per unit time is detected, and the torque data is calculated (S53 in fig. 21, S53 in fig. 23, torque data calculation step). In the calculation of the torque data, the torque data is calculated by dividing the amount of change in the speed data by the time. That is, the velocity data is calculated by differentiating the velocity data. In addition, the CPU90a holds necessary speed data in advance in order to calculate the amount of change in speed.

Next, torque compensation data is calculated from the torque data calculated in step S53 (S54 in fig. 21, S54 in fig. 23). That is, the torque compensation data is calculated by multiplying the torque data by the inertia ratio (S54-1 in fig. 23) and adding the torque due to the mechanical loss to the value obtained by multiplying the inertia ratio (S54-2 in fig. 23). Here, the inertia ratio is a constant predetermined in accordance with the mass of each machine element or the like, and the torque based on the mechanical loss is a value predetermined in accordance with each machine element.

Next, the data from the encoder 21 (the measurement value of the encoder) is subtracted from the angle data read in step S51 (S55 in fig. 22, S55 in fig. 23, positional deviation calculating step). The value calculated in step S55 is referred to as a value of positional deviation.

Next, a predetermined constant is multiplied by the calculated value calculated in step S55, and a velocity value is calculated (S56 of fig. 22, S56 of fig. 23).

Next, the output from the encoder 21 is differentiated to calculate the motor current speed value (S57 in fig. 22 and S57 in fig. 23). That is, the amount of change per unit time in the measurement value of the encoder is calculated, and the current speed value of the motor is calculated.

Next, the motor current speed value calculated in step S57 is subtracted from the speed value calculated in step S56, and the speed data calculated in step S52 is added (S58 in fig. 22, S58 in fig. 23, speed deviation calculating step). The value calculated in step S58 is referred to as a speed deviation value.

Next, a predetermined constant is multiplied by the calculated value calculated in step S58, thereby calculating a torque value (S59 in fig. 22, S59 in fig. 23).

Next, the torque value from the current sensor 90c is subtracted from the torque value calculated in step S59, and the torque compensation data calculated in step S54 is added (S60 in fig. 22, S60 in fig. 23, torque deviation calculating step). The value calculated in step S60 is referred to as a torque deviation value.

Next, the voltage value (voltage command to the PWM circuit) output to the PWM circuit 90b is calculated by multiplying the calculated value calculated in step S60 by a predetermined constant (S61 in fig. 22, S61 in fig. 23), and is output to the PWM circuit 90b (S62 in fig. 22, S62 in fig. 23).

The PWM circuit 90b outputs a pulse signal as a voltage signal based on the input signal, and supplies a current to the spindle motor 20 (S63 in fig. 22, S63 in fig. 23, current supply step).

As described above, according to the sewing machine of embodiment 1, since the torque control is performed for the upper thread in the torque control section, the magnitude of the tension for the upper thread can be controlled, and particularly, the torque control is performed for the stitches in the torque control section by the torque data for upper thread control (fig. 9), so that the tension applied to the upper thread can be controlled for the stitches, and the tightness of the stitches can be adjusted for the stitches.

Further, by providing the upper thread control part 30 instead of the tension clamp, the rotation tensioner and the tension spring in the conventional sewing machine (see fig. 46), the grip main body 41 is opened in the position control section for pulling out the upper thread J, and only the pretensioner 96 is provided upstream of the pivoting arm 81 of the pivoting part 80, so that there is no frictional resistance between the tension clamp and the rotation tensioner, and the operation of the thread take-up lever 12a does not become an obstacle when pulling out the upper thread due to the closing of the grip main body 61, so that the upper thread can be smoothly pulled out from the winding, and the possibility of thread breakage can be reduced.

Further, when the thread breakage occurs, the rotating arm 81 is not pulled upward when the thread take-up lever 12a is shifted to the top dead center, that is, the rotating arm 81 is not pulled in the direction opposite to the direction in which the rotational force of the upper thread motor 86 is applied, in the torque control section, so that the thread breakage can be detected by detecting that the rotating arm 81 is not pulled upward, and further, when the thread breakage does not occur, the rotating arm 81 is pulled upward in the torque control section, so that the thread breakage can be accurately detected.

In the position control section, the current position of the upper thread motor 86 is detected in the position control section, angle correspondence data for position control to the initial position of the upper thread motor 86 is created, and control to return to the initial position of the upper thread motor 86 by the position control is performed based on the angle correspondence data, so that only the upper thread consumed can be pulled out by pulling up the rotating arm 81 in the torque control section, and the amount of thread accumulation due to pulling out the upper thread is not excessive or insufficient.

Next, another example of the sewing machine 5 will be described with reference to fig. 24. That is, in the example shown in fig. 2 and 3, the rotating portion 80 is provided below the upstream side gripping portion 40 or the downstream side gripping portion 60, and in the example shown in fig. 24, the rotating portion 80 is provided above the upstream side gripping portion 40 or the downstream side gripping portion 60.

The thread take-up lever 12a is configured to pull the downstream-side upper thread J from the thread take-up lever 12a by rotating upward in the example of fig. 2 and 3, and is configured to pull the downstream-side upper thread J from the thread take-up lever 12a by rotating downward in the example of fig. 24. That is, in the rotation range of the thread take-up lever 12a, "the other dead point" at the end in the direction of pulling up the upper thread is the lower end, "the one dead point" is the upper end, and the section from the one dead point to the other dead point of the thread take-up lever 12a is the section of pulling up the upper thread with respect to the processing cloth.

That is, in the example of fig. 24, a cylindrical guide R1 for changing the direction of the path of the upper thread J is provided between the thread take-up 98 and the upstream side grip 40 on the path of the upper thread J, and a cylindrical guide R2 for changing the direction of the path of the upper thread J is similarly provided between the thread take-up lever 12a and the stitch 12ba on the path of the upper thread J.

In this way, in the turning section 80, in the torque control section, the upper thread motor 86 is torque-controlled to apply a rotational force upward to the turning arm 81, and in a state where the turning arm 81 pulls the upper thread J against the direction in which the thread take-up lever 12a pulls the upper thread J, the thread take-up lever 12a is turned downward to pull the upper thread J against the processed cloth. Thus, as the thread take-up lever 12a pulls up the upper thread J, the rotating arm 81 rotates in a direction (downward) in which the thread take-up lever 12a pulls up the upper thread J.

When the needle thread enters the position control section, the position of the needle thread motor 86 is controlled in a state where the grip body 41 is opened and the grip body 61 is closed, and the rotating arm 81 rotates in a direction (upward) in which the needle thread J is pulled out.

In the above description, the sewing machine 5 is described as an embroidery sewing machine, but a sewing machine other than an embroidery sewing machine may be adopted, the upper thread control unit 30 and the control unit controlling the upper thread control unit 30 configured as described above may be provided, and in the control section for each stitch, in a torque control section which is a section including at least a part of a section from a bottom dead point to a top dead point of a take-up lever as a section in which the take-up lever tensions an upper thread with respect to a processing cloth to be sewn by the upper thread, in a state in which the grip main body 41 is in a closed state and the grip main body 61 is in an open state, torque control for applying a rotational force to the rotating arm 81 in accordance with the torque value is performed, while in a position control section which is at least a part of a section other than the torque control section, in a state where the grip portion main body is in the open state and the grip portion main body is in the closed state, position control is performed to apply a rotational force to the rotating arm 81 based on position data of the angle of the needle thread motor 86 so that the angle of the needle thread motor 86 is returned to an initial position of the angle of the needle thread motor 86 which is a position in the rotational direction of the needle thread motor 86, and the needle thread is pulled out from the upstream.

Example 2

Next, the sewing machine of example 2 will be explained. The sewing machine 205 according to embodiment 2 is an embroidery sewing machine, and is configured as shown in fig. 25 to 28, and includes: a head (embroidery head) 207, a shuttle 12c, a sewing frame 12d, a frame driving device 24, and a storage device 92. The sewing machine 205 is a multi-needle sewing machine, and specifically, a 6-needle embroidery sewing machine capable of corresponding to 6 kinds of upper threads.

Here, the head 207 is provided above a substantially flat plate-shaped sewing machine table (not shown) similarly to the head 7. That is, a frame 320 (see fig. 27) is erected from the upper surface of the sewing machine table, and the head 207 is provided on the front side of the frame 320.

As shown in fig. 25 to 28, the head 207 includes: a mechanical element group 10, a spindle motor 20, a spindle 22, a needle thread control section 230, a control circuit 90, needle thread guides 300 and 302, and a box section 310.

The mechanical element group 10 is each mechanical element driven by the head 207, and as the mechanical elements, a thread take-up lever, a needle bar, and a presser foot (not shown) are provided as in embodiment 1, but a plurality of thread take-up levers and needle bars are provided in embodiment 2. That is, a plurality of (specifically, 6) thread take-up levers 12 a-1 to 12 a-6 and a plurality of (specifically, 6) needle bars 12 b-1 to 12 b-6 are provided. The thread take-up levers 12 a-1 to 12 a-6, the needle bars 12 b-1 to 12 b-6, and the shuttle 12c are driven by transmitting the rotational force of the main shaft 22 via a power transmission means such as a cam mechanism or a belt mechanism, as in the conventional sewing machine.

The thread take-up levers 12 a-1 to 12 a-6 are provided on the needle bar case 314 of the case section 310, and are formed to be pivotable between a bottom dead center (one dead center) and a top dead center (the other dead center) about an axis (a rotation center) in the left-right direction (the direction X1-X2). That is, the thread take-up levers 12 a-1 to 12 a-6 are pivotally supported by the needle bar case 314 so as to swing about a rotation center (or a swing center) 12 ab. An upper thread is threaded through the thread take-up lever 12a to the sewing needle 12 ba. Further, the needle bar case 314 slides in the left-right direction with respect to the arm 312, and thereby, power is transmitted only to the selected specific thread take-up lever to swing. The leading ends of the thread take-up levers 12 a-1 to 12 a-6 protrude and are exposed to the front side (Y1 side) from an opening 316d provided in the front face portion 314a of the needle bar case 314. Further, a thread tension spring (may be a thread take-up spring (generally referred to as a bobbin spring)) (2 nd upper thread path reversing member) 292 for guiding the upper thread J fed from above (i.e., fed from the downstream side grip 260) to the thread take-up lever while preventing the upper thread from being bent or loosened is fixedly provided on the front surface portion 314a of the needle bar case 314 at a position in the vicinity of the lower side of the opening portion 316 d. The upper thread J guided from above is reversed by the thread tension spring 292, guided to the thread take-up lever, and applied with tension to the upper thread J. Further, instead of the wire clamping spring 292, a rod-shaped guide member may be used as in the case of the guide member 290.

The needle bars 12 b-1 to 12 b-6 are provided in the needle bar case 314 so as to be movable up and down, and each needle bar is fixedly provided at a lower end with a sewing needle 12ba (an upper thread is inserted into a needle hole 12bb of the sewing needle 12 ba) and at an upper end with a needle bar holder 14 a. A needle bar driving member 14b is engaged with the needle bar holder 14 a. The base needle bar 14c provided in the vertical direction is inserted into the needle bar driving member 14b, and the needle bar driving member 14b is formed to be movable vertically along the base needle bar 14 c. The rotational force of the spindle 22 is transmitted through the power transmission assembly, and the needle bar driving member 14b moves up and down, and thus the needle bar moves up and down. Further, the needle bar drive member 14b is engaged with the specific needle bar holder 14a by sliding the needle bar cassette 314 in the left-right direction (left-right direction in fig. 26) with respect to the arm 312, and thus the selected needle bar moves up and down. The presser foot is provided for each needle bar.

The spindle 22 is rotated by a spindle motor 20, and the rotational force thereof is transmitted through a predetermined power transmission mechanism, thereby driving the take-up levers 12 a-1 to 12 a-6, the needle bars 12 b-1 to 12 b-6, the mechanical elements of the presser foot, and the shuttle 12 c. The spindle motor 20 is configured to rotate in one direction.

The upper thread control unit 30 is provided with an upstream side grip 240, a downstream side grip 260, a rotation unit 280, and an upper thread support member 288 for pulling out the upper thread from a thread winding (not shown) wound around the upper thread bobbin and controlling the tension applied to the upper thread.

Here, the upstream grip 240 is provided above the handpiece 207, i.e., above the rotating part 280, and includes a grip body (upstream grip body) 241 and a magnet part (upstream driving part, upstream magnet part) 250 provided on the back side of the grip body 241.

The grip body 241 has 1 st plate-like portion (upstream 1 st plate-like portion) 242-1 to 242-6 provided for each needle bar, a 2 nd plate-like portion (upstream 2 nd plate-like portion) 244 provided on the front surface side of the front surface portion 314a of the needle bar case 314 on the back surface side of the 1 st plate-like portion 242-1 to 242-6, and a mounting member 246 for mounting the 1 st plate-like portion 242-1 to 242-6 and the 2 nd plate-like portion 244 on the front surface portion 314a of the needle bar case 314.

Here, each 1 st plate-like portion of the 1 st plate-like portions 242-1 to 242-6 has a square plate shape and is formed of a material attracted by a magnet (a material attracted by a magnet), that is, a magnetic body (may be a ferromagnetic body). That is, the 1 st plate-like portions 242-1 to 242-6 are made of a metal attracted by a magnet such as iron. The 1 st plate-like portions are formed to have the same size and shape (or may have substantially the same size and shape), and the 1 st plate-like portions 242-1 to 242-6 are arranged and assembled in the left-right direction at intervals (specifically, at equal intervals). That is, a space is provided between two adjacent 1 st plate-like portion units.

The 2 nd plate-like portion 244 has an elongated rectangular plate shape. That is, the 2 nd plate-like portion 244 is a single plate-like member provided on the rear surface side of the 1 st plate-like portions 242-1 to 242-6, and has a width in the left-right direction from the side portion on the left side surface side of the 1 st plate-like portion 242-1 provided on the left end to the side portion on the right side surface side of the 1 st plate-like portion 242-6 provided on the right end in front view, and also has a width in the up-down direction (which may be substantially the same width) that is the same as the width in the up-down direction of each 1 st plate-like portion of the 1 st plate-like portions 242-1 to 242-6. That is, the 2 nd plate-like part 244 is present on the back surface side of each 1 st plate-like part of the 1 st plate-like parts 242-1 to 242-6 in parallel with the 1 st plate-like parts 242-1 to 242-6. The 2 nd plate-like portion 244 is made of a non-magnetic material that is not attracted to the magnet (a material that is not attracted to the magnet), and is made of, for example, aluminum or stainless steel.

A horizontally elongated rectangular opening (2 nd opening) 316a is formed in an upper portion of the front surface portion 314a of the needle bar case 314, and the 2 nd plate-like portion 244 is provided so as to cover the opening 316a from the front surface side. That is, the opening 316a is formed to be smaller than the 2 nd plate-like part 244, the 2 nd plate-like part 244 has a vertical width larger than the tip of the magnet part 250, and the tip of the magnet part 250 is formed to be able to pass through the opening 316 a.

The mounting member 246 is a member for mounting the 1 st plate-like portions 242-1 to 242-6 and the 2 nd plate-like portion 244 on the needle bar case 314, and is pin-shaped, and is fixed to the front surface portion 314a of the needle bar case 314 by being inserted into the 1 st hole portion provided at the center (or substantially the center) of the upper side of each of the 1 st plate-like portions 242-1 to 242-6 and the 2 nd hole portion provided in the 2 nd plate-like portion 244 and corresponding to the 1 st hole portion, thereby mounting the 1 st plate-like portions 242-1 to 242-6 and the 2 nd plate-like portion 244 on the front surface portion 314a of the needle bar case 314. That is, the mounting member 246 is provided for each 1 st plate-like portion of the 1 st plate-like portions 242-1 to 242-6, and is mounted at the center (or substantially the center) in the left-right direction of the upper region of the 1 st plate-like portion. As described above, the 1 st plate-like portions 242-1 to 242-6 and the 2 nd plate-like portion 244 are suspended (may be suspended) by the mounting member 246. Thus, the 1 st plate-like part slides in the vertical direction with respect to the surface on the front side of the 2 nd plate-like part 244, and the interval with the 2 nd plate-like part 244 is variable (that is, the interval between the surface on the 2 nd plate-like part 244 side of the 1 st plate-like part and the surface on the 1 st plate-like part side of the 2 nd plate-like part 244 is variable).

The magnet portion 250 is formed of an electromagnet, and the tip end portion thereof is disposed in the opening 316a, and the tip end of the magnet portion 250 is formed so as to be in contact with the surface on the rear surface side of the 2 nd plate-like portion 244. The surface of the tip of the magnet portion 250 (the surface on the 2 nd plate-like portion 244 side) serves as an attracting surface. The magnet portion 250 has a substantially square columnar shape (the same applies to the magnet portion 270). The magnet units 250 and 270 have the same configuration as a general electromagnet, and include a core made of a magnetic material and a coil wound around the core, and generate a magnetic force by applying current to the coil. One magnet portion 250 is provided on the upstream holding portion 240. When the magnet unit 250 is driven by the control circuit 90, the 1 st plate-like portion corresponding to the position of the magnet unit 250 among the 1 st plate-like portions 242-1 to 242-6 is attracted by the magnetic force, and the gap between the 1 st plate-like portion and the 2 nd plate-like portion 244 is closed.

Rod-shaped guide members (1 st guide members) 252, 254 are provided on the upper and lower sides of the 1 st plate-like portion 242-1 to 242-6 as viewed from the front. That is, the guide members 252 and 254 are fixed to the front surface portion 314a of the needle bar case 314. The guide members 252 and 254 are assembled such that the upper thread J passes through the back side of the 1 st plate-like portion in a diagonal shape, the guide member 252 is provided on the left side of the 1 st plate-like portion in front view, and the guide member 254 is provided on the right side of the 1 st plate-like portion in front view. Thus, the path of the upper thread J existing on the rear surface side of the 1 st plate-like portion can be made longer, and the upper thread J can be reliably gripped by the 1 st and 2 nd plate-like portions 244.

The downstream side grip 260 is provided below the turning part 280, which is a substantially middle position in the vertical direction of the head 207, and includes a grip body (lower grip body) 261 and a magnet part (downstream side driving part, downstream side magnet part) 270 provided on the back surface side of the grip body 261.

The grip body 261 has the same configuration as the grip body 241, and includes the 1 st plate-like portion (the downstream side 1 st plate-like portion) 262-1 to 262-6 provided for each needle bar, the 2 nd plate-like portion (the downstream side 2 nd plate-like portion) 264 provided on the back surface side of the 1 st plate-like portion 262-1 to 262-6 and on the front surface side of the front surface portion 314a of the needle bar case 314, and the attaching member 266 for attaching the 1 st plate-like portion 262-1 to 262-6 and the 2 nd plate-like portion 264 to the front surface portion 314a of the needle bar case 314.

The 1 st plate-like portions 262-1 to 262-6 have the same structure as the 1 st plate-like portions 242-1 to 242-6. That is, the 1 st plate-like portions 262-1 to 262-6 are each formed in a rectangular plate shape and made of a magnetic material (may be a ferromagnetic material) that is a material attracted by a magnet, the 1 st plate-like portions are formed in the same size and shape (may be substantially the same size and shape), and the 1 st plate-like portions 262-1 to 262-6 are arranged and assembled in the left-right direction at intervals (specifically, at equal intervals). That is, a space is provided between two adjacent 1 st plate-like portion units. The 1 st plate-like portions 242-1 to 242-6 and the 1 st plate-like portions 262-1 to 262-6 are provided at the same positions in the left-right direction corresponding to the same face line.

The 2 nd plate-like portion 264 has the same structure as the 2 nd plate-like portion 244, that is, the 2 nd plate-like portion 264 has a width in the left-right direction from the side portion on the left side of the 1 st plate-like portion 262-1 provided on the left end to the side portion on the right side of the 1 st plate-like portion 262-6 provided on the right end in front view, and has a width (may be substantially the same width) in the up-down direction as the width of each 1 st plate-like portion of the 1 st plate-like portions 262-1 to 262-6, and the 2 nd plate-like portion 264 is present parallel to the 1 st plate-like portions 262-1 to 262-6 on the back surface side of each 1 st plate-like portion of the 1 st plate-like portions 262-1 to 262-6. The 2 nd plate-like portion 264 is formed of a non-magnetic material that is not attracted to the magnet.

A horizontally elongated rectangular opening (3 rd opening) 316c is formed in a substantially central portion in the vertical direction of the front surface portion 314a of the needle bar case 314, and the 2 nd plate-like portion 264 is provided so as to cover the opening 316c from the front surface side. That is, the opening 316c is formed to be smaller than the 2 nd plate-like portion 264, the vertical width of the 2 nd plate-like portion 264 is larger than the tip portion of the magnet portion 270, and the tip portion of the magnet portion 270 is formed to be capable of penetrating into the opening 316 c.

The mounting member 266 is a member for mounting the 1 st plate-like portion 262-1 to 262-6 and the 2 nd plate-like portion 264 to the needle bar case 314, and has the same configuration as the mounting member 246. That is, the mounting member 266 is pin-shaped, and is fixed to the front surface 314a of the needle bar case 314 by being inserted into the 1 st hole provided in the center (or substantially the center) of the upper side of each 1 st plate-like portion of the 1 st plate-like portions 262-1 to 262-6 and the 2 nd hole provided in the 2 nd plate-like portion 264 corresponding to the 1 st hole, whereby the 1 st plate-like portions 262-1 to 262-6 and the 2 nd plate-like portion 264 are mounted on the front surface 314a of the needle bar case 314. That is, the mounting member 266 is provided for each 1 st plate-like portion of the 1 st plate-like portions 262-1 to 262-6, and is mounted at the center (or substantially the center) in the left-right direction of the upper region of the 1 st plate-like portion. As described above, the 1 st plate-like portions 262-1 to 262-6 and the 2 nd plate-like portion 264 are suspended (may be suspended) by the mounting member 266. Thus, the 1 st plate-like part slides in the vertical direction with respect to the surface on the front side of the 2 nd plate-like part 264, and the interval with the 2 nd plate-like part 264 is variable (that is, the interval between the surface on the 2 nd plate-like part 264 side of the 1 st plate-like part and the surface on the 1 st plate-like part side of the 2 nd plate-like part 264 is variable).

Further, the magnet portion 270 is formed of an electromagnet, similarly to the magnet portion 250, and the tip end portion thereof is disposed in the opening portion 316c, and the tip end of the magnet portion 270 is formed so as to be in contact with the surface on the back surface side of the 2 nd plate-like portion 264. The surface of the tip of the magnet 270 (the surface on the 2 nd plate-like portion 264 side) serves as an attracting surface. The downstream holding portion 260 is provided with one magnet portion 270, and is formed to have the same size and shape (may have substantially the same size and shape) as the magnet portion 250. When the magnet 270 is driven by the control circuit 90, the 1 st plate-like portion corresponding to the position of the magnet 270 among the 1 st plate-like portions 262-1 to 262-6 is attracted by the magnetic force, and the gap between the 1 st plate-like portion and the 2 nd plate-like portion 264 is closed.

The magnet unit 250 and the magnet unit 270 are provided at the same position in the left-right direction, and the same upper thread is gripped when the magnet unit 250 and the magnet unit 270 are driven. For example, in the example of fig. 26, the magnet portion 250 is located on the back surface of the 1 st plate portion 242-4, and the magnet portion 270 is located on the back surface of the 1 st plate portion 262-4, and holds the same needle thread.

Rod-shaped guide members (2 nd guide members) 272 and 274 are provided on the upper and lower sides of each 1 st plate-like portion 262-1 to 262-6 when viewed from the front. That is, the guide members 272 and 274 are fixed to the front surface portion 314a of the needle bar case 314. The guide members 272 and 274 are assembled such that the upper thread J passes through the back side of the 1 st plate-like portion in a diagonal shape, the guide member 272 is provided on the left side of the 1 st plate-like portion in front view, and the guide member 274 is provided on the right side of the 1 st plate-like portion in front view. Thus, the path of the upper thread J existing on the rear surface side of the 1 st plate-like portion can be made longer, and the upper thread J can be reliably gripped by the 1 st plate-like portion and the 2 nd plate-like portion 264.

The rotating unit 280 is provided at an intermediate position in the vertical direction between the upstream side grip unit 240 and the downstream side grip unit 260, and is provided on the downstream side in the upper thread supply direction of the upstream side grip unit 240 and on the upstream side in the upper thread supply direction of the downstream side grip unit 260. The rotation unit 280 rotates the needle thread between the grip body 241 and the grip body 261 (or may rotate a portion (position) between the grip body 241 and the grip body 261 on the needle thread).

The rotation unit 280 includes a rotation arm 281 and a needle thread motor 286 for rotating the rotation arm 281. As shown in fig. 28, the rotating arm 281 includes a rod-shaped body portion 282 and a hook portion 284 provided at one end of the body portion 282. An output shaft of the needle thread motor 286 is fixed to the other end of the body 282. The hook 284 has a substantially U-shaped plate shape, and the needle thread J can be locked by the hook 284 when the rotating arm 281 rotates. That is, the hook portion 284 has a groove portion 284a provided in parallel with the axis of the output shaft of the upper thread motor 286, and can be engaged with the upper thread J provided in parallel with the axis of the output shaft of the upper thread motor 286 by rotating the rotating arm 281 upward about the output shaft (rotation center) of the upper thread motor 286. The rotary arm 281 is provided at a position between the magnet portion 250 and the magnet portion 270, and the selected needle thread can be locked by the rotary arm 281.

The needle thread motor 286 is fixedly provided on the arm 312, and is rotated upward from a retracted position (281 (B) in fig. 27) which is obliquely downward from the front side by the rotating arm 281, so as to protrude from an opening portion (1 st opening portion) 316B provided between the opening portion 316a and the opening portion 316c in the vertical direction of the front surface portion 314a of the needle bar case 314 toward the front side. That is, the opening 316b is formed so that the tip of the rotary arm 281 protrudes toward the front side (Y1 side) of the needle bar case 314 (the front side is opposite to the arm 312 side) and can be exposed. When the rotary arm 281 is at the retracted position, even if the needle bar case 314 slides in the left-right direction, the rotary arm 281 does not come into contact with the needle bar case 314 and a member (e.g., the needle thread supporting member 288) provided on the needle bar case 314. The opening 316b is provided corresponding to each needle bar and is formed at a position between the 1 st plate-like portion on the grip main body 241 and the 1 st plate-like portion on the grip main body 261 corresponding to the 1 st plate-like portion. That is, the openings 316b are vertically long rectangles, and 6 openings are provided in total in the illustrated example. As described above, the retracted position is a position where the rotary arm 281 does not contact the needle bar case 314 and a member provided on the needle bar case 314 even if the needle bar case 314 slides in the left-right direction, and is a position at least rotated downward from a position where the rotary arm 281 contacts the needle thread supported by the needle thread support member 288, and a position where the tip of the rotary arm 281 does not reach the opening 316 b.

Further, the needle thread supporting member 288 for supporting the needle thread J in the left-right direction is provided on both sides of the opening 316b of the front surface portion 314a of the needle bar case 314. That is, a pair of upper thread supporting members 288 is provided on both sides of the opening 316b, and each upper thread supporting member 288 has the same configuration, is formed in an arc shape by folding back a wire. Specifically, the upper thread supporting member 288 is formed integrally with an arc-shaped member 288a formed concentrically with (or substantially concentrically with) the rotation center of the upper thread motor 286, an arc-shaped member 288b formed substantially in parallel with the arc-shaped member 288a on the opposite side of the axis of the output shaft of the upper thread motor 286 (the axis passing through the rotation center) of the arc-shaped member 288a on the side of the rotation center of the upper thread motor 286, and a coupling member 288c formed in an arc shape by coupling the arc-shaped member 288a and the arc-shaped member 288b at the lower end position. That is, the arc-shaped member 288a and the arc-shaped member 288b are formed in a concentric circle shape with the rotation center of the needle thread motor 286 in a side view, and the arc-shaped member 288a and the arc-shaped member 288b are formed along a plane perpendicular to the axis (axis passing through the rotation center) of the output shaft of the needle thread motor 286 in one needle thread supporting member 288, and are formed at intervals in a direction perpendicular to the axis of the output shaft. The arc-shaped member 288a and the arc-shaped member 288b are formed at the same position in the left-right direction. Further, in the one needle thread supporting member 288, a pair of needle thread supporting members 288 provided for the one needle thread are provided at a left-right interval. A part of the arc member 288a or a part of the coupling member 288c is provided in the opening 316b, and the arc member 288b projects toward the front side from the front surface side surface of the front surface portion 314 a. In this way, by inserting the upper thread into the position between the arc-shaped member 288a and the arc-shaped member 288b from above the pair of upper thread supporting members 288 and disposing the upper thread on the pair of connecting members 288c, the upper thread J can be disposed between the connecting members 288c of the pair of upper thread supporting members 288 in the left-right direction, and even when the upper thread J is pulled up by the rotating arm 281, the upper thread J is positioned between the arc-shaped member 288a and the arc-shaped member 288 b. That is, the needle thread supporting member 288 supports the needle thread in the left-right direction at the position of the opening portion 316b (i.e., the position of the opening portion 316b (specifically, the position below the opening portion 316 b) in the up-down and left-right directions), and more specifically, the front side of the opening portion 316b (may be the "front side position of the opening portion 316 b") in the left-right direction when viewed from the front. The upper thread supporting member 288 may support the upper thread in the left-right direction in the opening 316b (i.e., in a position between the front surface side and the rear surface side of the front surface portion 314a in the front-rear direction). The lower end portion of the needle thread supporting member 288 may be inserted into the needle bar case 314 from the opening 316b as shown in fig. 27.

Further, a rod-shaped guide member (1 st needle thread path reversing member) 290 for guiding the needle thread J fed from above (i.e., fed from the upstream side gripping portion 240) to the needle thread supporting member 288 is fixedly provided on the front surface portion 314a of the needle bar case 314 at a position in the vicinity of the lower side of each opening 316 b. The upper thread guided from above is inverted by the guide member 290 and guided to the upper thread supporting member 288.

The control circuit 90 controls the operations of the spindle motor 20, the needle thread motor 286, the magnet unit 250, and the magnet unit 270, and controls the operations of the respective units based on data stored in the storage device 92. That is, the control circuit 90 creates spindle data (see fig. 7) based on the embroidery data read from the storage device 92, and controls the operation of the spindle motor 20 based on the created spindle data.

The control circuit 90 creates upper thread control torque data (see fig. 9) based on the embroidery data read from the storage device 92, and performs torque control on the upper thread motor 286 based on the upper thread control torque data in the torque control section. The control circuit 90 generates angle-corresponding data as shown in fig. 15 in the position control area, and performs position control based on the angle-corresponding data.

The control circuit 90 controls the magnet units 250 and 270 to close the upstream side grip unit 240 and open the downstream side grip unit 260 in a section from the end of the position control section to the end of the torque control section, and controls the magnet units 250 and 270 to open the upstream side grip unit 240 and close the downstream side grip unit 260 in a section from the end of the torque control section to the end of the position control section.

The control circuit 90 includes a CPU90a, a PWM circuit 90b, and a current sensor 90c, as shown in fig. 5, in a manner similar to that of embodiment 1. The CPU90a, the PWM circuit 90b, and the current sensor 90c have the same configurations as those of embodiment 1, and therefore, detailed description thereof is omitted. In embodiment 2, the magnet unit 250 replaces the solenoid 50 in fig. 5, and the magnet unit 270 replaces the solenoid 70.

An encoder 21 for detecting the angle of the spindle motor 20 (the position in the rotational direction of the spindle motor 20) is provided between the spindle motor 20 and the control circuit 90, an encoder 287 for detecting the angle of the upper thread motor 286 (the position in the rotational direction of the upper thread motor 286) is provided between the upper thread motor 286 and the control circuit 90, and the angle (the position in the rotational direction) of each motor is detected in the control circuit 90 based on information from each encoder.

The cassette part 310 includes a housing constituting the sewing machine 205 (specifically, the head 207), an arm (or an arm) 312 fixed to the frame 320, and a needle bar cassette 314 provided on the front side of the arm 312 and slidable in the left-right direction with respect to the arm 312. The arm 312 is provided with a needle bar driving member 14b for driving the needle bars 12 b-1 to 12 b-6, a base needle bar 14c, magnet portions 250 and 270, and a needle thread motor 286. The arm 312 is formed in a substantially box shape, and constitutes a housing of the sewing machine 205 (specifically, the head 207).

The needle bar case 314 is formed in a substantially box shape slidable in the left-right direction with respect to the arm 312, and has an opening portion (2 nd opening portion) 316a for facing the magnet portion 250, a plurality of opening portions (1 st opening portion) 316b for facing the rotary arm 281 and attaching the pair of needle thread supporting members 288, an opening portion (3 rd opening portion) 316c for facing the magnet portion 270, and a plurality of opening portions 316d for exposing the thread take-up levers 12 a-1 to 12 a-6, which are provided on the front surface portion 314a thereof. The front surface portion 314a is provided on the front surface side of the needle bar case 314 opposite to the arm 312 side. The needle bar case 314 slides in the left-right direction (X1-X2 direction) with respect to the arm 312 by a slide mechanism unit (not shown).

The needle thread guide 300 is attached to an upper end region (a region above the guide member 252) of the front surface of the needle bar case 314, and guides each needle thread to be inserted. In the illustrated example, three needle thread guides 300 are provided. The needle thread guide 302 is attached to a lower end region of the front surface side surface of the needle bar case 314, and guides each needle thread to be inserted.

The spindle motor 20, the encoder 21, and the spindle 22 may be provided outside the cartridge unit 310 constituting the head 207. For example, in the case of a multi-head embroidery sewing machine provided with a plurality of heads, for example, a common main shaft is provided for each head, and a main shaft motor for rotating the main shaft is provided.

The storage device 92 stores embroidery data for embroidering. The embroidery data is, for example, data in which a stitch width, a stitch direction, a thread type (which of a plurality of types of threads is used), and a thread attribute (thread material or thread thickness) are set for each stitch.

As in embodiment 1, the storage device 92 stores data for the start point and the end point of the torque control section as information of the spindle angle, and stores data for the start point and the end point of the position control section as information of the spindle angle, as shown in fig. 6. Since the start and end points of the torque control section and the start and end points of the position control section are the same as those in embodiment 1, detailed description thereof is omitted.

In addition, when the path of the upper thread J is described, since 6 lines are the same path, in the case of taking an upper thread at the right end as an example in a front view, the upper thread J guided from the thread winding (not shown) comes into contact with the guide member 252 from the upper thread guide 300, passes between the 1 st plate-like portion 242-6 and the 2 nd plate-like portion 244 of the upstream holding portion 240, comes into contact with the guide member 254, and is then reversed by the guide member 290 to reach the upper thread supporting member 288. The needle thread J passed through the pair of needle thread supporting members 288 is contacted with the guide member 272, passed between the 1 st plate part 262-6 and the 2 nd plate part 264 of the downstream side holding part 260, and then contacted with the guide member 274, passed through the thread take-up spring 292 to the thread take-up lever 12 a-6, passed through the needle thread guide 302 from the thread take-up lever 12 a-6 to the needle of the needle bar 12 b-6. The face line is from the upstream side to the downstream side in the above order.

Next, the operation of the sewing machine 205 configured as described above will be described. First, the operations of the needle thread motor 286 and the magnet units 250 and 270 will be described.

First, the control circuit 90 creates spindle data for each stitch based on the embroidery data stored in the storage device 92 (see fig. 7). In the storage device 92, information such as stitch width, stitch direction, thread type, and thread properties (thread material and thread thickness) is stored for each stitch for the created embroidery data, and therefore, spindle data is created in accordance with the information for each stitch. As shown in fig. 7, the spindle data is data of the spindle angle in time series per unit time, and for example, when the stitch width is large, the amount of change in the spindle angle is reduced, and when the stitch width is small, the amount of change in the spindle angle is increased. When the direction of the stitch is opposite to the direction of the previous stitch, the amount of change in the spindle angle is reduced.

When the control circuit 90 creates the spindle data, the spindle data may be created in advance for the entire embroidery data composed of a plurality of stitches, or the spindle data may be created prior to the stitch number of the stitches actually used for embroidery sewing by each mechanical element (needle bar, take-up lever, shuttle, etc.), and the actual embroidery sewing may be performed while creating the spindle data.

The control circuit 90 creates, for each stitch, the torque data for controlling the torque of the needle thread motor 286 based on the embroidery data stored in the storage device 92 (see fig. 9). That is, in the torque data for controlling the upper thread, the value of the torque is determined for each stitch. The value of the torque is determined according to information such as stitch width, stitch direction, thread type, thread attribute and the like in each stitch. For example, when the stitch width is large, the tightening of the upper thread is required to be strengthened, and therefore, the torque value is large, and when the thread is thick, the tightening of the upper thread is required to be strengthened, and therefore, the torque value is large. In addition, when the torque data for controlling the upper thread is created, the torque data for controlling the upper thread may be created in advance for the entire embroidery data composed of a plurality of stitches, or the torque data for controlling the upper thread may be created before the number of stitches actually used for embroidery sewing by each mechanical element (needle bar, thread take-up lever, shuttle, etc.), and the actual embroidery sewing may be performed while creating the torque data for controlling the upper thread.

In actual embroidery sewing, similarly to the operation in embodiment 1, according to the flow charts of FIGS. 10 to 13 and 17, however, in embodiment 2, since the needle bar is provided in plurality, the needle bar is selected from among the plurality of needle bars (i.e., the selection line), therefore, in the flowchart of FIG. 10, when the spindle angle is detected (S1) and the selected needle thread is changed (for example, 0 degree in FIG. 18) (i.e., when the needle thread is transferred to the next needle thread) corresponding to the initial position of one needle thread, the following steps are performed between step S1 and step S2, that is, the needle bar case 314 is slid, the magnet portions 250 and 270 are arranged at the positions of the selected lines, at the same time, the sliding motion of the needle bar case 314 is controlled to move to the position of the opening 316b corresponding to the upper thread, so that the rotating arm 281 of the rotating part 280 can stop the selected thread and pull up the thread.

When the needle bar case 314 is slid with respect to the arm 312, the rotary arm 281 is rotated downward to a retracted position 281 (B) shown in fig. 27, and the rotary arm 281 is not brought into contact with the needle bar case 314 and a member provided on the needle bar case 314.

In addition, the torque control subroutine of step S3 in fig. 10 operates as shown in the flowchart in fig. 11, similarly to example 1. That is, torque data (torque value) of the target pin is read out in advance from the torque data for upper thread control at the start point of the torque control section, and torque control is performed based on the read torque data in the torque control section of the pin.

In addition, the position control subroutine of step S5 in fig. 10 operates as shown in the flowcharts shown in fig. 12 and 13, similarly to example 1. That is, the encoder 287 detects the current position (position in the rotational direction) of the upper thread motor 286, creates angle correspondence data (see fig. 14 and 15) for controlling the position to the initial position of the upper thread motor 286 in the position control section, and performs control for returning the position to the initial position of the upper thread motor 286 by the position control based on the angle correspondence data.

In addition, as for the switching control of the upstream side grip 240 and the downstream side grip 260, as in embodiment 1, as shown in fig. 17 and 18, from the end point of the torque control section for the upper thread motor 286 to the end point of the position control section, the grip body 241 of the upstream side grip 240 is opened and the grip body 261 of the downstream side grip 260 is closed, while from the end point of the position control section to the end point of the torque control section, the grip body 241 of the upstream side grip 240 is closed and the grip body 261 of the downstream side grip 260 is opened. When the grip bodies 241 and 261 are closed, the gripped upper thread is fixed, and when the grip bodies 241 and 261 are opened, the fixing of the upper thread is released.

Further, by driving the magnet portion 250, the 1 st plate-like portion corresponding to the position of the magnet portion 250 among the 1 st plate-like portions 242-1 to 242-6 is attracted by the magnetic force, and the gap between the 1 st plate-like portion and the 2 nd plate-like portion 244 is closed, and the grip body 241 is closed, and the 1 st plate-like portion and the 2 nd plate-like portion 244 grip the upper thread J therebetween. For example, as shown in fig. 26, when the magnet portion 250 is positioned on the rear surface side of the 1 st plate-like portion 242-4, the magnet portion 250 is driven to close the gap between the 1 st plate-like portion 242-4 and the 2 nd plate-like portion 244, and the needle thread between the 1 st plate-like portion 242-4 and the 2 nd plate-like portion 244 is gripped. When the magnet portion 250 is not driven, the gap between the 1 st plate-like portion 242-4 and the 2 nd plate-like portion 244 is not closed, and therefore the grip body 241 is opened, and the upper thread grip is released. In this way, the magnet portion 250 as the upstream side driving portion is switched between the closed state in which the upper thread is gripped and the open state in which the gripping of the upper thread is released with respect to the grip portion main body 241.

Similarly, by driving the magnet 270, the 1 st plate-like portion corresponding to the position of the magnet 270 among the 1 st plate-like portions 262-1 to 262-6 is attracted by the magnetic force, and the gap between the 1 st plate-like portion and the 2 nd plate-like portion 264 is closed, and the grip body 261 is closed, and the 1 st plate-like portion and the 2 nd plate-like portion 264 grip the upper thread J therebetween. For example, as shown in fig. 26, when the magnet 270 is positioned on the back side of the 1 st plate-like portion 262-4, the magnet 270 is driven to close the gap between the 1 st plate-like portion 262-4 and the 2 nd plate-like portion 264, and the upper thread between the 1 st plate-like portion 262-4 and the 2 nd plate-like portion 264 is gripped. When the magnet portion 270 is not driven, the gap between the 1 st plate-like portion 262-4 and the 2 nd plate-like portion 264 is not closed, and therefore the grip body 261 is opened, and the upper thread grip is released. In this way, the magnet 270 as the downstream side driving portion is switched between the closed state in which the gripping portion body 261 grips the upper thread and the open state in which the gripping of the upper thread is released.

That is, when the operation of the face line control unit 230 is described, the rotating arm 281 is at the position of the top dead center (initial position) at the end position of the position control section. That is, the hook portion 284 of the rotating arm 281 is located at an obliquely upper position (the position shown by 281 (a) in fig. 27). In the initial position, the tip of the rotating arm 281 is exposed from the opening 316b on the front side of the front portion 314 a. In addition, when the selected upper thread is changed, the swing arm 281 is retracted, and therefore the swing arm 281 is rotated to the retracted position. At this time, the rotary arm 281 rotates downward.

Next, the rotation control section is entered, and in a state where the grip portion body 241 is closed and the grip portion body 261 is opened, the needle thread motor 286 is torque-controlled, and a rotational force is applied downward to the rotating arm 281 by the needle thread motor 286. In this way, in a state where the rotating arm 281 pulls the upper thread J in a direction (pull-up direction) for pulling the thread take-up lever 12 a-1 or the like with respect to the upper thread J, the thread take-up lever 12 a-1 or the like rotates upward to pull the upper thread J with respect to the processing cloth. Thus, the rotating arm 281 rotates in the direction (downward) in which the thread take-up lever 12 a-1 or the like pulls up the thread J (i.e., the thread take-up lever 12a shifts to the top dead center (the other dead center)).

Further, as in example 1, the torque value set in the torque data for controlling the upper thread is set to a value at which the rotating arm 281 rotates in a direction (downward) in which the picker 12 a-1 or the like tensions the upper thread J as the picker 12 a-1 or the like tensions the upper thread J, and the upper thread J is not tensioned with respect to the picker 12 a.

Next, in the position control section, the position of the needle thread motor 286 is controlled and the rotating arm 281 is rotated in the direction (downward) in which the needle thread J is pulled out in a state where the grip body 241 is opened and the grip body 261 is closed. Fig. 27 (a) shows a state in which the needle thread motor 286 returns to the initial position at the end point of the position control section, and the rotating arm 281 rotates to the initial position (may be the origin position).

As described above, in the control section for each stitch, in the torque control section including at least a part of the section from the bottom dead center to the top dead center of the thread take-up lever 12 a-1, which is the section in which the thread take-up lever 12 a-1 or the like pulls up the upper thread with respect to the processing cloth to be sewn by the upper thread, in the state where the grip body 241 is closed and the grip body 261 is opened, the torque control for applying the rotational force to the rotating arm 281 based on the torque value is performed so as to apply the tension to the upper thread against the direction in which the thread take-up lever 12 a-1 or the like pulls up the upper thread, while in the position control section which is at least a part of the section other than the torque control section, in the state where the grip body 241 is opened and the grip body 261 is closed, the initial position of the angle of the upper thread motor 286, which is the position in the rotational direction of the upper thread motor 286, is returned by the angle, position control is performed to give a rotational force to the rotary arm 281 based on the position data of the angle of the needle thread motor 286, and the needle thread is pulled out from the upstream.

Further, the control of the spindle motor 20 is performed according to the flowcharts shown in fig. 21 and 22 in the same manner as in embodiment 1, but in embodiment 2, since a plurality of needle bars are provided, and a needle bar is selected from the plurality of needle bars (i.e., a selected line), when the spindle angle is read from the spindle data and the selected line is changed for the spindle angle corresponding to the origin of one stitch (for example, 0 degree in fig. 18) in step S51 of the flowchart of fig. 21, a step of sliding the needle bar case 314 so that the magnet portions 250 and 270 are disposed at the position of the selected line and controlling the sliding operation of the needle bar case 314 to come to the position of the opening portion 316b corresponding to the selected line is performed between step S51 and step S52, and the selected line can be pulled up by the rotating arm 281 of the rotating portion 280 locking the selected line.

Since the control of the spindle motor 20 is the same as that of embodiment 1 except that the control of the sliding operation of the needle bar case 314 is provided, the detailed description thereof is omitted.

As described above, according to the sewing machine of the embodiment 2, since the torque control is performed with respect to the upper thread in the torque control section, the magnitude of the tension with respect to the upper thread can be controlled, and particularly, since the torque control can be performed in accordance with the stitch in the torque control section by the torque data for upper thread control (fig. 9), the tension applied to the upper thread can be controlled in accordance with the stitch, and the tightness of the stitch can be adjusted in accordance with the stitch.

In the case of a multi-needle handpiece, when the stitches are formed by different needle threads, the tension applied to the needle threads can be controlled to be equal by making the torque values in the torque data for controlling the needle threads the same. In the case of a multi-head embroidery sewing machine, the torque data for controlling the upper thread used in the torque control section is the torque data for controlling the upper thread common to the heads, so that the tensions acting on the upper threads can be equalized in the heads.

Further, by providing the upper thread controlling section 230 instead of the clamp and the rotation tensioner in the conventional sewing machine (see fig. 47), the grip main body 241 is opened in the position control section for pulling out the upper thread J, and only the upper thread guide 300 is present upstream of the rotating arm 281 of the rotating section 280, and there is no frictional resistance between the clamp and the rotation tensioner, and since the grip main body 261 is closed, the movement of the thread take-up lever 12a does not become an obstacle when pulling out the upper thread, and therefore, the upper thread can be smoothly pulled out from the thread winding, and the possibility of thread breakage can be reduced.

Further, when the thread breakage occurs, the rotating arm 281 does not rotate downward in the torque control section, that is, the rotating arm 281 is not pulled downward in the direction opposite to the direction in which the rotational force is applied by the upper thread motor 286, and therefore, the thread breakage can be detected by detecting that the rotating arm 281 does not rotate downward, and when the thread breakage does not occur, the rotating arm 281 rotates downward in the torque control section, and therefore, the thread breakage can be accurately detected.

Further, since the current position (angle) of the upper thread motor 286 is detected in the position control section, angle correspondence data for position control to the angle of the initial position of the upper thread motor 286 is created, and control for returning to the initial position of the upper thread motor 286 by the position control is performed based on the angle correspondence data, only the upper thread consumed can be pulled out by pulling up the swing arm 281 in the torque control section, and the amount of thread accumulation due to pulling out the upper thread is not excessive or insufficient.

Further, when the structure including the upstream side grip portion 240, the downstream side grip portion 260, and the rotating portion 280 is applied to a multi-needle handpiece, the structure is configured by providing only the magnet portion 250 of the upstream side grip portion 240, the magnet portion 270 of the downstream side grip portion 260, and the rotating portion 280, respectively, and therefore, the structure can be made efficient while suppressing the manufacturing cost.

Example 3

Next, the sewing machine of example 3 will be explained. A sewing machine 1205 according to embodiment 3 is an embroidery sewing machine, and is configured as shown in fig. 29 to 36, and includes: a head (embroidery head) 1207, a shuttle 12c, a sewing frame 12d, a spindle motor 20, a spindle 22, a frame driving device 24, a control circuit 90, and a storage device 92. The sewing machine 1205 is a multi-needle sewing machine, and specifically, a 9-needle embroidery sewing machine capable of corresponding to 9 kinds of upper threads.

Fig. 33 and 34 are left side views of partial cross sections taken along only the needle thread controlling mounting portion 1340 and the needle thread controlling portion 1230 at the position P-P in fig. 32, and fig. 35 is left side views of partial cross sections taken along only the needle thread controlling mounting portion 1340 and the needle thread controlling portion 1230 at the position Q-Q in fig. 32. Fig. 33, 34, and 35 are drawn without the upper line.

Here, the head 1207 is provided above a substantially flat sewing machine table (not shown) similarly to the heads 7 and 207. That is, a frame (a frame having the same structure as the frame 320 (see fig. 27)) is erected from the upper surface of the sewing machine table, and the head 1207 is provided on the front side of the frame.

The head 1207 is configured as shown in fig. 29 to 36, and includes: a mechanical element group 10, a spindle motor 20, a spindle 22, a needle thread control portion 1230, a control circuit 90, and a box portion 1310.

Here, the cassette 1310 includes an arm (or arm) 1312 fixed to a frame constituting a housing of the sewing machine 1205 (specifically, the head 1207) and a needle bar cassette 1314 provided on a front side (Y1 side) of the arm 1312 and slidable in the left-right direction with respect to the arm 1312.

The arm 1312 is formed in a substantially box shape extending in the front-rear direction, and constitutes a housing of the sewing machine 1205 (specifically, the head 1207). The arm 1312 has a shape surrounded by a square upper surface 1312a, side surface portions 1312b and 1312c which are connected downward from both left and right side ends of the upper surface 1312a and have a rectangular cutout formed at the front upper end, a front surface portion 1312d which is connected from the front end other than the upper ends of the side surface portions 1312b and 1312c, a front surface portion 1312e which is connected from the front end of the upper end region of the side surface portions 1312b and 1312c, and an upper surface portion 1312f which is formed between the lower end of the front surface portion 1312e and the upper end of the front surface portion 1312 d. The end portion on the back surface side of the arm 1312 is connected to the frame.

A rail support portion 1312g is provided on the front side of the arm 1312, and a rail portion 1334 provided on the rear side of the needle bar cassette main body 1330 is slidably fitted thereto.

The upper surface 1312f is provided with a substantially inverted T-shaped rail 1312h, and the needle bar cassette main body 1330 is provided with a slide member 1314h that slides on the rail 1312 h.

The arm 1312 is provided with a power transmission unit such as a cam mechanism or a belt mechanism for transmitting the rotational force of the spindle 22 to each mechanical element.

A motor 1313b for sliding the needle bar case 1314 and a clutch housing 1313a are provided on the upper surface of the arm 1312, and a clutch 1313 a-1 rotated by the motor 1313b is provided in the clutch housing 1313 a. The clutch 1313 a-1 has a spiral groove, and the spiral groove of the clutch 1313 a-1 engages with a cylindrical clutch engagement portion 1339b provided on the back surface side of the needle bar case main body 1330, so that the needle bar case 1314 slides in the left-right direction by the rotation of the clutch 1313 a-1.

The needle bar case 1314 is formed into a substantially box shape that can slide in the left-right direction with respect to the arm 1312, and includes a needle bar case main body (needle bar housing case) 1330 and a mounting portion 1340 for controlling a needle line.

The needle bar cassette main body 1330 is configured as shown in fig. 30, 31, 33, 34, and 35, and includes a frame portion 1332, a rail portion 1334 formed on the rear surface side of the frame portion 1332 in the left-right direction, a support portion 1335 provided on the front surface side of the frame portion 1332, a guide member 1336, a thread tension spring (generally referred to as a bobbin spring) 1337, and a needle thread guide 1338.

The frame portion 1332 is formed in a box shape that is vertically long in side view, and has a side surface portion 1332a that protrudes from the rear surface and the front surface of the upper end region by a longitudinal length in side view, a side surface portion 1332b that is formed symmetrically to the side surface portion 1332a, a square front surface portion 1332c that is provided between the lower region of the side surface portion 1332a and the lower region of the side surface portion 1332b, an upper surface portion 1332d that is horizontally provided between the upper end of the side surface portion 1332a and the upper end of the side surface portion 1332b in the left-right direction, and a protruding portion 1332e that is provided between the front surface portion 1332c and the upper surface portion 1332d and is formed to protrude toward the front surface side than the front surface portion 1332c, a plurality of protruding portions 1332e are provided at intervals, and openings (not shown) for the thread take-up levers 12 a-1 to 12 a-9 to protrude toward the front surface side are provided between.

The rail portion 1334 is provided on the rear surface side of the frame portion 1332, has a rod shape with a quadrangular cross section, and is formed in the left-right direction. The rail section 1334 is supported by a rail support portion 1312g attached to one side of the arm 1312 so as to be slidable in the left-right direction, and the rail support portion 1312g and the rail section 1334 constitute a linear rail.

Further, a plurality of cylindrical clutch engagement portions 1339b are provided in the left-right direction at intervals via a rod-shaped portion 1339a provided in the left-right direction at the upper end on the back side of the frame portion 1332 of the needle bar case main body 1330, and the clutch 1313 a-1 is rotated by the rotation of the motor 1313b, so that the needle bar case 1314 slides in the left-right direction.

The support portion 1335 is attached to an upper region of the front surface side of the front surface portion 1332c of the frame portion 1332, and is provided horizontally (or substantially horizontally) in the left-right direction. The guide members 1336 are provided on the support portion 1335 at intervals for each thread take-up lever, and have a substantially L-shaped plate shape. The thread tension spring 1337 is provided at intervals for each thread take-up lever, attached to the support portion 1335, and provided below the guide member 1336. The thread tension spring 1337 is provided to guide the upper thread J fed from above (i.e., fed from the downstream side grip 1260) to the thread take-up lever while preventing the upper thread J from being bent or loosened. The upper thread J guided from above is reversely rotated by the thread tension spring 1337 and simultaneously applies tension to the upper thread J. Further, the upper thread guide 1338 is provided at a lower end of the front surface side of the front surface portion 1332c in the left-right direction.

The needle thread control mounting portion 1340 is mounted on the upper surface of the needle bar case main body 1330 (particularly, the housing portion 1332), and includes a plate-shaped plate portion 1341, a plate portion supporting portion 1344 that supports the standing state of the plate portion 1341, guide members 1252, 1254, 1272, 1274, and 1290 mounted on the plate portion 1341, needle thread guides 1300 and 1302, guide plates 1346a and 1346b, table portions 1347a and 1347b, and pressure plates 1348a and 1348 b.

Here, the plate portion 1341 has a square (or substantially square) plate shape, and is formed with an opening (opening 2 nd) 1342a through which the magnet portion 1250 faces. A plurality of (9 in the illustrated example) openings (1 st opening) 1342b for the needle thread support member 1288 and an opening (3 rd opening) 1342c for the magnet 1270 are formed to face and be attached to the rotary arm 1281. The plate portion 1341 is formed in the left-right direction, and the upper and lower sides of the plate portion 1341 face the left-right direction.

The opening 1342a is formed in a horizontally long rectangular shape above the opening 1342b, the vertical width of the opening 1342a is formed to be larger than the tip end portion of the magnet portion 1250, and the tip end portion of the magnet portion 1250 is formed to be capable of passing through the opening 1342 a. Similarly, the opening 1342c is formed in a horizontally long rectangular shape below the opening 1342b, the vertical width of the opening 1342c is formed to be larger than the tip portion of the magnet 1270, and the tip portion of the magnet 1270 is formed to be capable of passing through the opening 1342 c.

The openings 1342b are provided corresponding to the needle bars, and are formed at positions between the 1 st plate-like part unit on the grip main body 1241 and the 1 st plate-like part unit on the grip main body 1261 corresponding to the 1 st plate-like part unit (i.e., positions between the 1 st plate-like part 1242a and the 1 st plate-like part 1262a corresponding to the 1 st plate-like part 1242 a). That is, the openings 1342b are vertically oblong, 9 openings are provided in total in the illustrated example, and the openings 1342b are arranged at intervals (specifically, at equal intervals) in the left-right direction. Opening 1342b is formed so that the tip of pivot arm 1281 can protrude and be exposed on the front side (Y1 side) of plate portion 1341 (the front side is the side opposite to arm 1312 side).

The plate portion support portions 1344 are provided at the left and right ends on the back side of the plate portion 1341, respectively, and are formed into a frame shape of approximately コ characters. Each plate portion support portion 1344 is attached to the upper surface of the frame portion 1332, and the plate portion 1341 is attached to the front surface side of the frame portion 1332 and supported by the frame portion 1332. The front surface of the plate portion 1341 is attached obliquely upward.

Guide members 1252, 1254, 1272, 1274, and 1290 are mounted upright on the front surface of plate portion 1341. The guide member 1252 and the guide member 1254 are provided for each 1 st plate-like unit of the 1 st plate-like unit 1242-1 to 1242-9, the guide member 1252 is provided at intervals along an upper side portion of the opening 1342a, and the guide member 1254 is provided at intervals along a lower side portion of the opening 1342 a. The guide member 1272, the guide member 1274, and the guide member 1290 are provided for each of the 1 st plate-shaped portion units 1262-1 to 1262-9, the guide member 1272 is provided at intervals along the upper side edge of the opening 1342c, the guide member 1274 is provided at intervals along the lower side edge of the opening 1342c, and the guide member (1 st upper thread path reversing member) 1290 is provided at intervals along the upper side edge of the opening 1342c and is also provided at intervals from the guide member 1272.

As the mounting form of the guide members 1252, 1254, 1272, 1274, and 1290 and the guide members 252, 254, 272, 274, and 279, the form shown in fig. 46 can be considered.

That is, since the guide members 1252, 1254, 1272, 1274 and 1290 have the same configuration, when the guide member 1252 is taken as an example, the guide member 1252 has a substantially cylindrical main body portion ga-1 and a screw portion (base end portion) ga-2 protruding from the base end of the main body portion ga-1, and a screw groove is formed on the outer periphery of the screw portion ga-2.

That is, the body ga-1 has a cylindrical outer peripheral surface and a hemispherical distal end portion. The screw portion ga-2 has a substantially cylindrical shape, and a screw groove is formed on the cylindrical peripheral surface. The diameter of the screw portion ga-2 is smaller than that of the body portion ga-2.

In the example shown in FIG. 46 (a), a screw hole 1343a screwed with the screw portion ga-2 is formed in the plate portion 1341, and the base end surface of the main body portion ga-1 is brought into contact with the surface of the plate portion 1341 by fitting the screw portion ga-2 into the screw hole 1343 a.

In the example of fig. 46 b, a recess 1343b into which the base end portion of the main body ga-1 (i.e., the end portion on the screw portion ga-2 side) is inserted and a screw hole (hole portion) 1343a continuously provided from the recess 1343b are formed in the plate portion 1341, and a hole portion penetrating from the front side to the rear side of the plate portion 1341 is formed by the recess 1343b and the screw hole 1343 a. By fitting the screw portion ga-2 into the screw hole 1343a, the base end portion of the main body ga-1 is inserted into the recess 1343 b. That is, the proximal end portion of the body ga-1 is embedded in the plate portion 1341. The screw hole 1343a penetrates the rear surface side of the plate portion 1341, but may be a recess-shaped hole that does not penetrate the rear surface side of the plate portion 1341.

In the configuration of fig. 46 (b), the possibility that the needle thread enters between the base end of the main body part ga-1 and the surface of the plate part 1341 can be prevented. That is, in the embodiment of fig. 46 (a), since the base end face of the body portion ga-1 is in contact with the surface on the front side of the plate portion 1341, there is a possibility that the upper thread enters between the base end face of the body portion ga-1 and the surface on the front side of the plate portion 1341 and is caught, but this possibility can be prevented in the embodiment of fig. 46 (b).

The form of fig. 46 (c) is substantially the same as that of fig. 46 (b), but the screw ga-2 projects from the screw hole 1343b, and the nut ga-3 is attached to the screw ga-2. Even in the embodiment shown in fig. 46 (c), since the base end portion of the main body portion ga-1 is inserted and embedded in the recess 1343b, the possibility that the needle thread enters between the base end of the main body portion ga-1 and the surface of the plate portion 1341 can be prevented.

The needle thread guide 1300 is attached to an upper region of the front surface of the plate portion 1341 (a region above the guide member 1252), and guides each needle thread to be inserted. In the illustrated example, 5 surface line guides 1300 are provided.

The needle thread guide 1302 is attached to a lower end region (a region below the guide member 1274) of the surface on the front side of the plate portion 1341, and guides each needle thread to be inserted. In the illustrated example, 5 surface line guides 1302 are provided.

The guide plate 1346a is formed in an elongated rectangular plate shape and is provided on the rear surface side of the rear surface side upper opening 1342a of the plate portion 1341 in the left-right direction. The guide plate 1346a is located on the rear side of the engaging portion 1242b of the 1 st plate-like portion unit 1242-1 to 1242-9, and prevents the 1 st plate-like portion unit 1242-1 to 1242-9 from falling off from the plate portion 1341. The platform portion 1347a is provided between the guide plate 1346a and the back surface of the plate portion 1341 at both left and right ends of the back surface of the plate portion 1341, and a gap is formed between the guide plate 1346a and the plate portion 1341, so that the plate-like portion units 1242-1 to 1241-9 of the 1 st plate portion unit are not hindered from sliding in the front-rear direction.

The guide plate 1346b is formed in an elongated rectangular plate shape and is provided on the rear surface side of the rear surface side upper opening 1342c of the plate portion 1341 in the left-right direction. The guide plate 1346b is positioned on the rear surface side of the locking part 1262b of the 1 st plate-like part unit 1262-1 to 1262-9, and prevents the 1 st plate-like part unit 1262-1 to 1262-9 from falling off from the plate part 1341. The platform portion 1347b is provided between the guide plate 1346b and the back surface of the plate portion 1341 at both left and right ends of the back surface of the plate portion 1341, and a gap is formed between the guide plate 1346b and the plate portion 1341, so that the plate-like portion units 1262-1 to 1261-9 are not hindered from sliding in the front-rear direction.

The pressing plates 1348a are provided on both sides of the opening 1342a on the front surface of the plate portion 1341, and the end portions on both left and right sides of the 2 nd plate-like portion 1244 are interposed between the pressing plates 1341. The hold-down plates 1348b are provided on the front surface of the plate portion 1341 on both sides of the opening 1342c, and the 2 nd plate-like portion 1264 on both left and right sides is interposed between the hold-down plates 1341.

Next, the mechanical element group 10 is each mechanical element driven in the head 1207, and as the mechanical elements, a plurality of take-up levers, needle bars, and presser feet are provided as in embodiments 1 and 2, but in embodiment 3, 9 take-up levers 12 a-1 to 12 a-9, 9 needle bars 12 b-1 to 12 b-9, and 9 presser feet 12e are provided. The thread take-up levers 12 a-1 to 12 a-9, the needle bars 12 b-1 to 12 b-9, and the shuttle 12c are driven by transmitting the rotational force of the main shaft 22 via a power transmission means such as a cam mechanism or a belt mechanism, as in the conventional sewing machine. The number of the take-up lever, the needle bar, and the presser foot may be other than 9 (for example, 12).

The thread take-up levers 12a to 12 a-9 are provided in the frame portion 1332 of the needle bar cassette main body 1330 of the cassette portion 1310, and are formed to be swingable about an axis (rotation center) in the left-right direction (X1-X2 direction) and to be rotatable between a bottom dead center (one dead center) and a top dead center (the other dead center). That is, the thread take-up levers 12 a-1 to 12 a-9 are supported by the needle bar case main body 1330 so as to swing about a rotation center (or a swing center) 12 ab. An upper thread inserted into the sewing needle is inserted into the thread take-up levers 12 a-1 to 12 a-9. Further, the needle bar case 1314 slides in the left-right direction with respect to the arm 1312, and thereby the power is transmitted to only the selected specific thread take-up lever to swing. That is, the engagement member 1313z on the arm 1312 side is engaged with the base end portion 12az (see fig. 31) of the thread take-up lever 12 a-1 to 12 a-9, and the thread take-up lever swings as the engagement member 1313z rotates about the rotation center. The leading ends of the thread take-up levers 12 a-1 to 12 a-9 protrude from the opening between the adjacent protruding portions 1332e provided on the front side of the housing portion 1332 toward the front side (Y1 side) and are exposed.

The needle bars 12 b-1 to 12 b-9 are provided in the frame portion 1332 so as to be movable up and down, and each needle bar is fixedly provided at a lower end with a needle (a needle having the same configuration as the needle 12ba of example 2 and having a needle hole through which an upper thread is inserted) and at an upper end with a needle bar holder 14 a. A needle bar driving member (a needle bar driving member having the same configuration as the needle bar driving member 14b of embodiment 2) is engaged with the needle bar holder 14 a. A base needle bar (a base needle bar having the same structure as the base needle bar 14c of example 2) provided in the vertical direction is inserted into the needle bar driving member, and the needle bar driving member is formed so as to be movable vertically along the base needle bar. And the rotational force of the main shaft 22 is transmitted through the power transmission assembly, the needle bar driving part moves up and down, and thus, the needle bar moves up and down. Further, the needle bar driving member is engaged with the specific needle bar holder 14a by sliding the needle bar case 1314 in the left-right direction with respect to the arm 1312, and thus the selected needle bar moves up and down. The presser foot 12c is provided for each needle bar.

The needle thread control section 1230 pulls out the needle thread from the thread winding (not shown) wound around the needle thread bobbin and controls the tension applied to the needle thread, and includes an upstream side grip 1240, a downstream side grip 1260, a rotating section 1280 (see fig. 29, 34, and 35), and a support section (magnet section, motor support member) 1360.

Here, the upstream gripping portion 1240 is provided above the plate portion 1341, i.e., above the turning portion 1280, and includes a gripping portion body (upstream gripping portion body) 1241 and a magnet portion (upstream driving portion, upstream magnet portion) 1250 provided on the back surface side of the gripping portion body 1241.

The grip body 1241 includes 1 st plate-like part units 1242-1 to 1242-9 provided for the respective needle bars, and a 2 nd plate-like part (upstream 2 nd plate-like part) 1244 provided on the back side of the 1 st plate-like part 1242a of the 1 st plate-like part units 1242-1 to 1242-9 and on the front side of the needle bar case 1314 (specifically, the plate part 1341).

As shown in fig. 36, each of the 1 st plate-like portion elements 1242-1 to 1242-9 includes a 1 st plate-like portion (upstream-side 1 st plate-like portion) 1242a having a square plate shape and an engaging portion (attachment member) 1242b formed to protrude from an upper end of the 1 st plate-like portion 1242a toward the back surface side, and the engaging portion 1242b has a substantially L-shaped plate shape (a shape in which the rectangular plate shape is bent into a substantially L shape). The 1 st plate-like portion unit is integrally formed of a magnetic material (may be a ferromagnetic material) that is a material attracted by the magnet (a material attracted by the magnet). That is, the 1 st plate-like portion elements 1242-1 to 1242-9 are made of a metal attracted by a magnet such as iron, for example. The 1 st plate-like unit is formed to have the same size and shape (may have the same size and shape), and is engaged with the engaging hole 1342d provided in the plate portion 1341 by the engaging portion 1242b, and the 1 st plate-like unit 1242-1 to 1242-9 are assembled in a row at intervals (specifically, at equal intervals) in the left-right direction. That is, a space is provided between two adjacent 1 st plate-like portion units. A plurality of (specifically, 9 in total) locking holes 1342d are aligned and attached to the plate portion 1341 in the left-right direction at intervals (specifically, at equal intervals) above the opening 1342 a. By locking the locking portion 1242b in the locking hole 1342d, the 1 st plate-like portion is suspended from the plate portion 1341 (may be suspended). In this way, the 1 st plate-like part 1242a slides in the vertical direction with respect to the surface on the front side of the 2 nd plate-like part 1244, and the interval with the 2 nd plate-like part 1244 is variable.

The 2 nd plate-like portion 1244 is a single plate-like member provided on the rear surface side of the 1 st plate-like portion 1242a in the 1 st plate-like portion units 1242-1 to 1242-9, and has an elongated rectangular plate shape. That is, the 2 nd plate-like portion 1244 is formed to be longer in the left-right direction than the length from the side portion on the left side surface side of the 1 st plate-like portion 1242a of the 1 st plate-like portion unit 1242-1 provided at the left end to the side portion on the right side surface side of the 1 st plate-like portion 1242a of the 1 st plate-like portion unit 1242-9 provided at the right end in front view, and has a width in the up-down direction that is the same as (may be substantially the same as) the width in the up-down direction of each 1 st plate-like portion 1242a of the 1 st plate-like portion units 1242-1 to 1242-9. The left end of the 2 nd plate-like portion 1244 in front view is positioned on the left side surface side with respect to the side portion on the left side surface side of the 1 st plate-like portion 1244a of the 1 st plate-like portion unit 1242-1, and the held plate 1348a is fixed to the plate portion 1341, and the right end of the 2 nd plate-like portion 1244 in front view is positioned on the right side surface side with respect to the right side surface side of the 1 st plate-like portion 1242a of the 1 st plate-like portion unit 1242-9, and the held plate 1348a is fixed to the plate portion 1341. That is, the 2 nd plate-like part 1244 is present on the rear surface side of each 1 st plate-like part of the 1 st plate-like part cells 1242-1 to 1242-9 in parallel with each 1 st plate-like part of the 1 st plate-like part cells 1242-1 to 1242-9. The 2 nd plate-like portion 1244 is formed of a non-magnetic material that is not attracted to the magnet (a material that is not attracted to the magnet), for example, a synthetic resin film, and the 2 nd plate-like portion 1244 may be formed of aluminum or stainless steel.

The 2 nd plate-like portion 1244 is formed larger than the opening 1342a in size, and covers the opening 1342a from the front side.

The magnet part 1250 is formed of an electromagnet, and the tip portion thereof is disposed in the opening 1342a, and the tip of the magnet part 1250 is formed to contact the surface on the rear surface side of the 2 nd plate-like part 1244. The surface of the tip of the magnet 1250 (the surface on the 2 nd plate-like portion 1244 side) serves as an attracting surface. The magnet portion 1250 has a substantially cylindrical shape (the same applies to the magnet portion 1270). In fig. 33 to 35, 38, 39, 42, and 44, the magnet portions 1250 and 1270 are not drawn in detail in cross-sectional view. However, the magnet units 1250 and 1270 have the same configuration as a general electromagnet, and include a core made of a magnetic material and a coil wound around the core, and generate a magnetic force by applying a current to the coil. One magnet portion 1250 is provided on the upstream holding portion 1240. When the magnet part 1250 is driven by the control circuit 90, the 1 st plate-like part 1242a of the 1 st plate-like part 1242-1 to 1242-9 corresponding to the position of the magnet part 1250 is attracted by the magnetic force, and the gap between the 1 st plate-like part 1242a and the 2 nd plate-like part 1244 is closed. The magnet 1250 is attached to the support 1360 at the upper end of the front surface of the plate-like portion 1360e and is provided in a direction perpendicular to the back surface of the plate portion 1341. That is, the magnet unit 1250 is fixedly provided on the arm 1312 side.

Further, in each of the 1 st plate-like portion units 1242-1 to 1242-9, guide members (1 st guide member) 1252, 1254 are provided on the upper side and the lower side as viewed from the front of the 1 st plate-like portion 1242a, the guide members 1252, 1254 are assembled such that the face line J passes through the back side of the 1 st plate-like portion in a diagonal manner as shown in fig. 32, the guide member 1252 is provided on the left side as viewed from the front of the upper side of the 1 st plate-like portion, and the guide member 1254 is provided on the right side as viewed from the front of the lower side of the 1 st plate-like. Thus, the path of the upper thread J existing on the rear surface side of the 1 st plate-like portion is ensured to be long, and the upper thread J can be reliably gripped by the 1 st plate-like portion and the 2 nd plate-like portion 1244.

The downstream gripping portion 1260 is provided below the plate portion 1341, that is, below the turning portion 1280, and includes a gripping portion body (downstream gripping portion body) 1261 and a magnet portion (downstream driving portion, downstream magnet portion) 1270 provided on the rear surface side of the gripping portion body 1261.

The grip main body 1261 has the same configuration as the grip main body 1241, including the 1 st plate-shaped portion units 1262-1 to 1262-9 provided for the respective needle bars, and the 2 nd plate-shaped portion (downstream side 2 nd plate-shaped portion) 1264 provided on the back side of the 1 st plate-shaped portion 1262a and on the front side of the needle bar case 1314 (specifically, the plate portion 1341) in the 1 st plate-shaped portion units 1262-1 to 1222-9.

Here, the structure of the 1 st plate-shaped part units 1262-1 to 1262-9 is similar to that of the 1 st plate-shaped part units 1242-1 to 1242-9, and each 1 st plate-shaped part 1262a of the 1 st plate-shaped part units 1262-1 to 1262-9 has a 1 st plate-shaped part (downstream side 1 st plate-shaped part) 1262a having a rectangular plate shape and a locking part (mounting member) 1262b formed to protrude from an upper end of the 1 st plate-shaped part 1262a to the back side, as shown in fig. 36, and the locking part 1262b has a substantially L-shaped plate shape. The 1 st plate-like portion units 1261-1 to 1262-9 are formed of a magnetic material (may be a ferromagnetic material) which is a material attracted by a magnet (a material attracted by a magnet), and the 1 st plate-like portion units are formed to have the same size and shape (may be substantially the same size and shape), and are engaged with the engaging holes 1342e provided in the plate portion 1341 by the engaging portions 1262b, and the 1 st plate-like portion units 1262-1 to 1262-9 are arranged at intervals (specifically, equal intervals) in the left-right direction. That is, a space is provided between two adjacent 1 st plate-like portion units. A plurality of (specifically, 9 in total) locking holes 1342e are provided in the plate portion 1341 in a row at intervals (specifically, equal intervals) in the left-right direction above the opening 1342c (i.e., below the opening 1342 b). By locking the locking portion 1262b in the locking hole 1342e, the 1 st plate-like portion is suspended from the plate portion 1341 (may be suspended). Thus, the 1 st plate-like portion 1262a slides in a direction perpendicular to the front surface of the 2 nd plate-like portion 1264, and the distance from the 2 nd plate-like portion 1264 is variable. The 1 st plate-like portion unit 1242-1 to 1242-9 and the 1 st plate-like portion unit 1262-1 to 1262-9 are provided with the 1 st plate-like portion unit corresponding to the same face line at the same position in the left-right direction.

Further, the configuration of the 2 nd plate-like portion 1264 is such that, similarly to the 2 nd plate-like portion 1244, one plate-like member provided on the back surface side of the 1 st plate-like portion 1262a of the 1 st plate-like portion units 1262-1 to 1262-9 is formed longer in the left-right direction than the length from the side portion on the left side surface side of the 1 st plate-like portion 1262a of the 1 st plate-like portion unit 1262-1 provided on the left end to the side portion on the right side surface side of the 1 st plate-like portion 1262a of the 1 st plate-like portion unit 1262-9 provided on the right end in the front view, and has a width in the up-down direction that is the same as the width in the up-down direction of each 1 st plate-like portion 1262a of the 1 st plate-like portion units 1262-1 to 1262-9 (may be. The left end of the 2 nd plate-like portion 1264 in front view is positioned on the left side surface side of the side portion on the left side surface side of the 1 st plate-like portion 1262a of the 1 st plate-like portion unit 1262-1, and the held plate 1348b is fixed to the plate portion 1341, and the right end of the 2 nd plate-like portion 1264 in front view is positioned on the right side surface side of the side portion on the right side surface side of the 1 st plate-like portion 1262a of the 1 st plate-like portion unit 1262-9, and the held plate 1348b is fixed to the plate portion 1341. That is, the 2 nd plate-like portion 1264 is present on the back side of each 1 st plate-like portion of the 1 st plate-like portion units 1262-1 to 1262-9 in parallel with each 1 st plate-like portion of the 1 st plate-like portion units 1262-1 to 1262-9. The 2 nd plate portion 1264 is formed of a non-magnetic material that is not attracted to the magnet (a material that is not attracted to the magnet).

The 2 nd plate-like portion 1264 is formed to be larger than the opening 1342c in size and is provided to cover the opening 1342c from the front side.

The magnet portion 1270 is formed of an electromagnet, as with the magnet portion 1250, and the tip portion thereof is disposed in the opening 1342c, so that the tip of the magnet portion 1270 is in contact with the surface on the rear surface side of the 2 nd plate-like portion 1264. The surface of the tip of the magnet 1270 (the surface on the 2 nd plate-like portion 1264 side) serves as an attracting surface. One magnet unit 1270 is provided on the downstream holding portion 1260, and is formed to have the same size and shape (may have substantially the same size and shape) as the magnet unit 1250. When the magnet 1270 is driven by the control circuit 90, the 1 st plate-like portion 1262a of the 1 st plate-like portion unit corresponding to the position of the magnet 1270 in the 1 st plate-like portion units 1262-1 to 1262-9 is attracted by the magnetic force, and the gap between the 1 st plate-like portion 1262a and the 2 nd plate-like portion 1264 is closed. The magnet portion 1270 is attached to the lower end side of the front surface side of the plate-like portion 1360e of the support portion 1360, and is provided in a direction perpendicular to the back surface side surface of the plate portion 1341. That is, the magnet unit 1270 is fixedly provided on the arm 1312 side.

The magnet unit 1250 and the magnet unit 1270 are provided at the same position in the left-right direction, and the same upper thread is gripped when the magnet unit 1250 and the magnet unit 1270 are driven. For example, in the examples of fig. 30, 31, 33, 34, and 35, since the magnet 1250 is located on the back surface of the 1 st plate-like portion unit 1242-8 and the magnet 1270 is located on the back surface of the 1 st plate-like portion unit 1262-8, the same upper thread is gripped.

In addition, guide members (2 nd guide members) 1272 and 1274 are provided on the upper side and the lower side of the 1 st plate-like portion 1262a in the 1 st plate-like portion units 1262-1 to 1262-9, respectively, as viewed from the front, the guide members 1272 and 1274 are assembled such that an upper line J passes through the rear side of the 1 st plate-like portion in a diagonal manner, the guide member 1272 is provided on the left side of the 1 st plate-like portion as viewed from the front, and the guide member 1274 is provided on the right side of the 1 st plate-like portion as viewed from the front. Thus, the path of the upper thread J existing on the rear surface side of the 1 st plate-like portion can be made longer, and the upper thread J can be reliably gripped by the 1 st plate-like portion and the 2 nd plate-like portion 1264.

The rotating unit 1280 is provided at a position intermediate in the vertical direction between the upstream gripping unit 1240 and the downstream gripping unit 1260, and is provided downstream of the upstream gripping unit 1240 in the needle thread supplying direction and upstream of the downstream gripping unit 1260 in the needle thread supplying direction. The turning part 1280 turns the needle thread between the grip body 1241 and the grip body 1261 (or a part (position) between the grip body 1241 and the grip body 1261 of the needle thread).

The rotating unit 1280 includes a rotating arm 1281 and an needle thread motor 1286 for rotating the rotating arm 1281. As shown in fig. 31, 33, 34, and 35, the rotary arm 1281 includes a rod-shaped body 1282 and a hook 1284 provided at one end of the body 1282. An output shaft 1286a of the needle thread motor 1286 is fixed to the other end of the body portion 1282. Specifically, the output shaft 1286a of the needle thread motor 1286 is assembled such that the center axis thereof passes through the center axis of the body portion 1282 in the side view. The hook portion 1284 is in the shape of an arc (or a substantially arc) rod, and the needle thread J can be locked by the hook portion 1284 by rotating the rotating arm 1281. That is, the hook portion 1284 is rotated upward about the output shaft 1286a of the needle thread motor 1286 (specifically, the axis (rotation center) of the output shaft 1286 a) by the rotating arm 1281, and is brought into contact with and locked to the needle thread J disposed in parallel with the axis of the output shaft 1286a of the needle thread motor 1286. The rotating arm 1281 is provided at a position between the magnet unit 1250 and the magnet unit 1270 and at the same position as the magnet units 1250 and 1270 in the right and left direction, and can lock the selected needle thread.

The needle thread motor 1286 is fixedly provided on the L-shaped metal 1360f, and thus the needle thread motor 1286 is fixedly provided on the arm 1312 side. When the needle thread motor 1286 rotates, the rotating arm 1281 rotates upward from a retracted position (position 1281 (B) in fig. 34 and 35) which is obliquely downward from the front side, and protrudes to the front side from the opening 1342B of the plate portion 1341. The direction of the output shaft 1286a of the needle thread motor 1286 (the direction of the axis of the output shaft 1286 a) is the left-right direction (i.e., the horizontal direction parallel to the surface on the back side of the plate portion 1341). When the pivot arm 1281 is at the retracted position, even if the needle bar case 1314 slides in the left-right direction, the pivot arm 1281 does not come into contact with the plate portion 1341 and members (e.g., the needle thread supporting member 1288, the guide member 1346b, etc.) provided on the plate portion 1341. That is, the retracted position is a position where the needle bar case 1314 does not contact the needle bar case (particularly, the plate portion 1341 and a member provided on the plate portion 1341) even if the swing arm 1281 slides in the left-right direction, and at least the arm swing arm 1281 swings to a position lower than a position where the arm swing arm contacts the needle thread supported by the needle thread supporting member 1288, and the tip of the swing arm 1281 does not reach the opening portion 1342 b.

The needle thread supporting member 1288 is provided to face both sides of the opening 1342b of the plate portion 1341. That is, the needle thread supporting member 1288 is formed in an arc shape by folding back a wire, and the pair of needle thread supporting members 1288 have the same structure.

The needle thread supporting member 1288 includes a base end portion 1288a, an arc-shaped member 1288b continuously provided from a lower end of the base end portion 1288a, a connecting member 1288c continuously provided from an end of the arc-shaped member 1288b opposite to the base end portion 1288a, and an arc-shaped member 1288d continuously provided from an end of the connecting member 1288c opposite to the arc-shaped member 1288b, and the needle thread supporting member 1288 is integrally formed of a wire material.

Here, the base end portion 1288a is formed linearly in the vertical direction, and the upper end of the base end portion 1288a is attached to the upper side of the opening 1342b on the rear surface side of the plate portion 1341. The arc-shaped member 1288b is formed concentrically (or substantially concentrically) with the rotation center of the needle thread motor 1286, and is formed to face the opening 1342 b. The arc member 1288b is provided in the opening 1342b except for a part thereof. The connecting member 1288c is formed in a substantially circular arc shape, and has a front end protruding to the front side beyond the front surface of the plate portion 1341, and the other portion is provided in the opening 1342 b. The arc-shaped member 1288d is formed on the side of the arc-shaped member 1288b opposite to the side of the axis (axis passing through the rotation center) of the output shaft of the needle thread motor 1286 so as to be concentric with the rotation center of the needle thread motor 1286 (or so as to be substantially concentric with the arc-shaped member 1288 b) substantially in parallel therewith, and the upper end thereof is bent toward the front side. The arc member 1288d protrudes to the front side from the front side surface of the plate portion 1341. That is, the arc-shaped member 1288b and the arc-shaped member 1288d are formed in a concentric circle shape with the rotation center of the needle thread motor 1286 in a side view, and the arc-shaped member 1288b and the arc-shaped member 1288d are formed on one needle thread supporting member 1288 along a plane perpendicular to the axis (axis passing through the rotation center) of the output shaft of the needle thread motor 1286, and are formed at intervals in a direction perpendicular to the axis of the output shaft. The arc-shaped member 1288b and the arc-shaped member 1288d are formed at the same position in the right and left direction on the single needle thread supporting member 1288. Further, a pair of needle thread supporting members 1288 provided for one needle thread are provided at a distance in the left-right direction. The connecting member 1288c connects the lower end of the arc member 1288b and the lower end of the arc member 1288 d.

In this way, by inserting the needle thread from above the pair of needle thread supporting members 1288 to a position between the arc-shaped member 1288b and the arc-shaped member 1288d and disposing the needle thread on the pair of connecting members 1288c, the needle thread J can be disposed between the pair of connecting members 1288c in the left-right direction, and even when the needle thread J is pulled up by the rotating arm 1281, the needle thread J is positioned between the arc-shaped member 1288b and the arc-shaped member 1288 d. That is, the needle thread supporting member 1288 supports the needle thread in the left-right direction at the position of the opening 1342b (i.e., the position of the opening 1342b (specifically, the position on the lower side of the opening 1342 b) in the up-down and left-right directions), and more specifically, supports the needle thread in the left-right direction when viewed from the front side on the front side of the opening 1342b (may be the "position on the front side of the opening 1342 b"). The needle thread supporting member 1288 may be supported in the left-right direction within the opening 1342b (i.e., at a position between the front surface and the back surface of the plate portion 1341 in the front-back direction).

Further, a rod-shaped guide member (1 st needle thread path reversing member) 1290 for guiding the needle thread J fed from above (i.e., fed from the upstream side gripping unit 1240) to the needle thread supporting member 1288 is fixedly provided on the front side of the plate portion 1341 at a position near the lower side of each opening 1342 b. The needle thread guided from above is reversely guided to the needle thread supporting member 1288 by the guide member 1290.

The support 1360 is attached to the upper surface 1312a of the arm 1312, and includes an L-shaped metal 1360a attached to the arm 1312, an L-shaped metal 1360b fixed to the L-shaped metal 1360a, a rod-shaped plate portion 1360c fixed to the L-shaped metal 1360b, an L-shaped metal 1360d fixed to the rod-shaped plate portion 1360c, a plate-shaped portion 1360e fixed to the L-shaped metal 1360d, and an L-shaped metal 1360f fixed to a front surface side of the plate-shaped portion 1360 e.

Here, the plate-like portion 1360e is provided in parallel (or substantially in parallel) to the plate portion 1341. Further, one plate-like portion 1360 f-1 of the L-shaped metal member 1360f is fixed to the plate-like portion 1360e, and the other plate-like portion 1360 f-2 standing from the plate-like portion 1360 f-1 is provided at right angles to the plate-like portion 1360 e. Thus, the plate-like portion 1360 f-2 is perpendicular to the plate portion 1341. One plate-like portion 1360 d-1 of the L-shaped metal member 1360d is fixed to the plate-like portion 1360e, and the other plate-like portion 1360 d-2 standing from the plate-like portion 1360 d-1 is provided at right angles to the plate portion 1341.

The support 1360 may be a part of the structure of the arm 1312, and the arm 1312 may be an arm body, and the arm may have the arm body and the support 1360.

The control circuit 90 controls the operations of the spindle motor 20, the needle thread motor 1286, the magnet unit 1250, and the magnet unit 1270, and controls the operations of the respective units based on data stored in the storage device 92. That is, the control circuit 90 creates spindle data (see fig. 7) based on the embroidery data read from the storage device 92, and controls the operation of the spindle motor 20 according to the created spindle data.

The control circuit 90 creates needle thread control torque data (see fig. 9) based on the embroidery data read from the storage device 92, and performs torque control on the needle thread motor 1286 based on the needle thread control torque data in the torque control section. The control circuit 90 generates angle-corresponding data as shown in fig. 15 in the position control area, and performs position control based on the angle-corresponding data.

In a section from the end point of the position control section to the end point of the torque control section, the control circuit 90 controls the magnet units 1250, 1270 to close the upstream side grip 1240 and open the downstream side grip 1260, and in a section from the end point of the torque control section to the end point of the position control section, the control circuit 90 controls the magnet units 1250, 1270 to open the upstream side grip 1240 and close the downstream side grip 1260.

The control circuit 90 includes a CPU90a, a PWM circuit 90b, and a current sensor 90c, as shown in fig. 5, in the same manner as in embodiments 1 and 2. The configurations of the CPU90a, the PWM circuit 90b, and the current sensor 90c are the same as those in embodiments 1 and 2, and therefore, detailed description thereof is omitted. In example 3, the magnet unit 1250 is used in place of the solenoid 50 in fig. 5, and the magnet unit 1270 is used in place of the solenoid 70.

An encoder 21 for detecting the angle of the spindle motor 20 (the position in the rotational direction of the spindle motor 20) is provided between the spindle motor 20 and the control circuit 90, an encoder 1287 for detecting the angle of the needle thread motor 1286 (the position in the rotational direction of the needle thread motor 1286) is provided between the needle thread motor 1286 and the control circuit 90, and the angle (the position in the rotational direction) of each motor is detected by information from each encoder in the control circuit 90.

The shuttle 12c is supported by a shuttle base (not shown) provided below the head 1207 and below the upper surface of the sewing machine table, specifically, below the sewing machine table.

The spindle 22 is rotated by a spindle motor 20, and the rotational force thereof is transmitted through a predetermined power transmission mechanism, thereby driving the take-up levers 12 a-1 to 12 a-9, the needle bars 12 b-1 to 12 b-9, the mechanical elements of the presser foot, and the shuttle 12 c. The spindle motor 20 is configured to rotate in one direction. In the case of a multi-head embroidery sewing machine having a plurality of heads, for example, a common main shaft is provided for each head, and a main shaft motor for rotating the main shaft is provided.

The storage device 92 stores embroidery data for embroidering. The embroidery data is, for example, data in which a stitch width, a stitch direction, a thread type (which of a plurality of types of threads is used), and thread properties (thread material and thread thickness) are set for each stitch.

As in example 1, the storage device 92 stores data regarding the start point and the end point of the torque control section as information on the spindle angle, and stores data regarding the start point and the end point of the position control section as information on the spindle angle, as shown in fig. 6. The start point and the end point of the torque control section and the start point and the end point of the position control section are the same as those in embodiment 1, and therefore, detailed description thereof is omitted.

In addition, when the path of the needle thread J is described, since 9 lines are the same path, in the case of taking a needle thread at the right end in a front view as an example, the needle thread J guided from the thread winding (not shown) comes into contact with the guide member 1252 from the needle thread guide 1300, passes between the 1 st plate-like portion and the 2 nd plate-like portion 1244 of the 1 st plate-like portion unit 1242-9 of the upstream gripping portion 1240, comes into contact with the guide member 1254, and is then turned over by the guide member 1290 to reach the needle thread supporting member 1288. The needle thread J passed through the pair of needle thread supporting members 1288 is passed between the 1 st plate-like portion and the 2 nd plate-like portion 1264 of the 1 st plate-like portion unit 1262-9 of the downstream side gripping portion 1260 in contact with the guide member 1272, and then is contacted with the guide member 1274. In addition, the upper thread J passes through the upper thread guide 1302 and the thread tension spring 1337 to the thread take-up lever 12 a-9, and passes from the thread take-up lever 12 a-9 to the sewing needle of the needle bar 12 b-9 through the upper thread guide 1338. The face line is from the upstream side to the downstream side in the above order.

Next, the operation of the sewing machine 1205 configured as described above will be described. First, the operation of the needle thread motor 1286 and the magnet units 1250 and 1270 will be described.

First, the control circuit 90 creates spindle data for each stitch based on the embroidery data stored in the storage device 92, as in embodiment 2 (see fig. 7). The method of creating the spindle data by the control circuit 90 is the same as that of embodiment 2, and therefore, a detailed description thereof is omitted.

Further, the control circuit 90 creates, for each stitch, the torque data for controlling the torque of the needle thread motor 1286 based on the embroidery data stored in the storage device 92, as in example 2 (see fig. 9). The method of generating the torque data for controlling the needle thread is the same as in example 2, and thus the detailed description thereof is omitted.

In actual embroidery sewing, similarly to the operation in embodiment 2, according to the flow charts of FIGS. 10 to 13 and 17, however, in embodiment 3, since the needle bar is provided in plurality, the needle bar is selected from among a plurality of needle bars (i.e., the selection line), therefore, in the flowchart of FIG. 10, when the spindle angle is detected (S1) and the spindle angle corresponding to the initial position of one stitch (for example, 0 degree in FIG. 18) (i.e., when transferring to the next stitch), or when the selected needle thread is changed, a step of controlling the sliding operation of the needle bar case 1314 is provided between step S1 and step S2, in this step, the needle bar case 1314 is slid, the magnet portions 1250 and 1270 are arranged at the positions of the selected thread, and the rotating arm 1281 of the rotating portion 1280 is moved to the position of the opening 1342b corresponding to the selected thread, whereby the selected thread can be locked and pulled up.

When the needle bar case 1314 is slid with respect to the arm 1312, the rotary arm 1281 is rotated downward to the retracted position 1281 (B) in fig. 35, so that the rotary arm 1281 does not contact the plate portion 1341 and the members provided on the plate portion 1341.

In addition, the torque control subroutine of step S3 in fig. 10 operates as shown in the flowchart in fig. 11, similarly to embodiments 1 and 2.

In addition, the position control subroutine of step S5 in fig. 10 operates as shown in the flowcharts shown in fig. 12 and 13, similarly to example 1.

In addition, as for the switching control of the upstream side grip 1240 and the downstream side grip 1260, as in embodiments 1 and 2, as shown in fig. 17 and 18, from the end point of the torque control section to the needle thread motor 1286 to the end point of the position control section, the grip body 1241 of the upstream side grip 1240 is opened and the grip body 1261 of the downstream side grip 1260 is closed, and from the end point of the position control section to the end point of the torque control section, the grip 1241 of the upstream side grip 1240 is closed and the grip body 1261 of the downstream side grip 1260 is opened. When the grip main bodies 1241 and 1261 are closed, the gripped upper thread is fixed, and when the grip main bodies 1241 and 1261 are opened, the fixing of the upper thread is released.

Further, by driving the magnet part 1250, the 1 st plate-like part of the 1 st plate-like part unit corresponding to the position of the magnet part 1250 among the 1 st plate-like part units 1242-1 to 1242-9 is attracted by a magnetic force, and a state is established in which a gap between the 1 st plate-like part 1242a and the 2 nd plate-like part 1244 is strongly closed, and the grip part main body 1241 is closed, and a closed state is established in which the 1 st plate-like part 1242a and the 2 nd plate-like part 1244 grip the upper thread J therebetween. For example, as shown in fig. 31, 34, and 35, when the magnet 1250 is positioned on the rear surface side of the 1 st plate-like portion 1242a of the 1 st plate-like portion unit 1242-8, the magnet 1250 is driven to strongly close the gap between the 1 st plate-like portion 1242a and the 2 nd plate-like portion 1244, and the upper thread between the 1 st plate-like portion 1242a and the 2 nd plate-like portion 1244 is gripped. When the magnet part 1250 is not driven, the gap between the 1 st plate-like part 1242a and the 2 nd plate-like part 1244 is not strongly closed (that is, only the 1 st plate-like part and the 2 nd plate-like part are in contact with each other), and therefore the grip part main body 1241 is opened, and the open state in which the gripping of the upper thread is released is achieved. In this way, the magnet 1250 as the upstream side driving portion is switched between the closed state in which the upper thread is gripped and the open state in which the gripping of the upper thread is released with respect to the grip portion main body 1241.

Similarly, by driving the magnet portion 1270, the 1 st plate-like portion of the 1 st plate-like portion unit corresponding to the position of the magnet portion 1270 in the 1 st plate-like portion units 1262-1 to 1262-9 is attracted by magnetic force, and a gap between the 1 st plate-like portion 1262a and the 2 nd plate-like portion 1264 is strongly closed, and the grip main body 1261 is closed, and a closed state is achieved in which the 1 st plate-like portion 1262a and the 2 nd plate-like portion 1264 grip the upper line J therebetween. For example, as shown in fig. 31, 34, and 35, when the magnet portion 1270 is positioned on the rear surface side of the 1 st plate-like portion 1262a of the 1 st plate-like portion unit 1262-8, the gap between the 1 st plate-like portion 1262a and the 2 nd plate-like portion 1264 is strongly closed by driving the magnet portion 1270, and the upper line between the 1 st plate-like portion 1262a and the 2 nd plate-like portion 1264 is gripped. When the magnet portion 1270 is not driven, the gap between the 1 st plate-like portion 1262a and the 2 nd plate-like portion 1264 is not strongly closed (that is, only the 1 st plate-like portion and the 2 nd plate-like portion are in contact with each other), and therefore the grip portion main body 1261 is opened, and the upper thread grip is released. In this way, the magnet portion 1270 as the downstream side driving portion is switched between the closed state in which the gripping portion body 1261 grips the upper thread and the open state in which the gripping of the upper thread is released.

That is, when the operation of the area control unit 1230 is described, the pivot arm 1281 is at the position of the top dead center (initial position) at the end position of the position control section. That is, the hook portion 1284 of the rotating arm 1281 is in an obliquely upward position (the position shown in 1281 (a) in fig. 34 and 35). In this initial position, the tip of the rotary arm 1281 is exposed from the opening 1342b on the front side of the plate 1341. In addition, when the selected needle thread is changed, the rotating arm 1281 is retracted, and therefore the rotating arm 1281 is rotated to the retracted position. At this time, the turning arm 1281 is turned downward.

Next, when entering the torque control section, the needle thread motor 1286 is torque-controlled in a state where the grip portion main body 1241 is closed and the grip portion main body 1261 is opened, and a rotational force is applied upward to the rotating arm 1281 by the needle thread motor 1286. In this way, in a state where the rotating arm 1281 pulls the needle thread J against the take-up lever 12 a-1 or the like in the pulling direction (pulling-up direction) of the needle thread J, the take-up lever 12 a-1 or the like rotates upward to pull up the needle thread J with respect to the processing cloth. Thus, the rotating arm 1281 rotates in a direction (downward) in which the thread take-up lever 12 a-1 or the like pulls up the thread J (i.e., the thread take-up lever 12a shifts to the top dead center (the other dead center)).

Further, as in examples 1 and 2, the torque value set in the upper thread control torque data is set to a value at which the rotating arm 1281 rotates in a direction (downward) in which the picker 12 a-1 or the like tensions the upper thread J as the picker 12 a-1 or the like tensions the upper thread J, and the picker 12a does not get in the way of tensioning the upper thread J.

Next, when entering the position control section, the needle thread motor 1286 is position-controlled in a state where the grip portion main body 1241 is opened and the grip portion main body 1261 is closed, and the rotating arm 1281 rotates in a direction (upward) in which the needle thread J is pulled out. In fig. 34 and 35, 1281 (a) shows a state in which the needle thread motor 1286 returns to the initial position at the end point of the position control section and the rotating arm 1281 is rotated to the initial position (may be the origin position).

As described above, in the control section for each stitch, in the torque control section including at least a part of the section from the bottom dead center to the top dead center of the thread take-up lever 12 a-1, which is the section in which the thread take-up lever 12 a-1 or the like tensions the upper thread with respect to the processing cloth to be sewn with the upper thread, in the state in which the grip main body 1241 is in the closed state and the grip main body 1261 is in the open state, the torque control for applying the rotational force to the rotating arm 1281 based on the torque value is performed so as to apply the tension to the upper thread in the direction against the tension of the thread take-up lever 12 a-1 or the like, while in the position control section which is at least a part of the section other than the torque control section, in the state in which the grip main body 1241 is in the open state and the grip main body 1261 is in the closed state, the initial position of the angle of the upper thread motor 1286 which is the position in the rotational direction of the upper thread motor 1286 is returned by the angle, position control is performed to give a rotational force to the rotating arm 1281 based on position data of the angle of the needle thread motor 1286, and the needle thread is pulled out from the upstream.

The control of the spindle motor 20 is performed according to the flowcharts shown in fig. 21 and 22, as in embodiment 1, but in embodiment 3, since the needle bar is provided in plural as in embodiment 2, the needle bar is selected from among plural needle bars (i.e., the selection line), therefore, in step S51 of the flowchart of FIG. 21, when the spindle angle is read from the spindle data, if the spindle angle is the spindle angle corresponding to the initial position of one stitch (for example, 0 degree in FIG. 18), or if the selected line is changed, the process of controlling the sliding motion of the needle bar cassette 1314 is performed between step S51 and step S52, in this step, the needle bar case 1314 is slid, the magnet portions 1250 and 1270 are arranged at the selected line positions, at the same time, the rotating arm 1281 of the rotating unit 1280 comes to the position of the opening 1342b corresponding to the selected thread, and the selected thread can be locked to be pulled up.

Since the control of the spindle motor 20 is the same as that of embodiment 1 except that the control of the sliding operation of the needle bar case 1314 is provided, the detailed description thereof is omitted.

As described above, according to the sewing machine of the embodiment 3, since the torque control is performed with respect to the upper thread in the torque control section, the magnitude of the tension with respect to the upper thread can be controlled, and particularly, since the torque control can be performed in accordance with the stitch in the torque control section by the torque data for upper thread control (fig. 9), the tension applied to the upper thread can be controlled in accordance with the stitch, and the firmness of the seam can be adjusted in accordance with each stitch.

In the case of a multi-needle head, when the stitches are formed by different needle threads, the torque values in the needle thread control motor data are made the same, so that the tensions acting on the needle threads can be controlled to be equal. In the case of a multi-head embroidery sewing machine, the torque data for controlling the upper thread used in the torque control section is the torque data for controlling the upper thread common to the heads, so that the tensions acting on the upper threads can be equalized in the heads.

Further, by providing the upper thread controlling section 1230 instead of the clamp and the rotary tensioner in the conventional sewing machine (see fig. 47), the grip main body 1241 is opened in the position control section for pulling out the upper thread J, and only the upper thread guide 1300 is present upstream of the rotating arm 281 of the rotating section 1280 without frictional resistance between the clamp and the rotary tensioner, and since the grip main body 1261 is closed, the movement of the thread take-up lever 12a does not become an obstacle when pulling out the upper thread, and therefore, the upper thread can be smoothly pulled out from the thread winding, and the possibility of thread breakage can be reduced.

Further, compared to the conventional sewing machine shown in fig. 48, the sewing machine 1205 can be configured by mounting the needle thread adjusting member mounting portion 2340 of the needle thread guides 1300 and 1302 instead of the thread tension plate 95, rotating the tension tool 94, mounting the needle thread controlling mounting portion 1340 to which the grip main bodies 1241 and 1261 and the needle thread supporting member 1288 are mounted on the needle bar case main body 1330, and further mounting the magnet portions 1250 and 1270 and the rotating portion 1280 on the arm 1312 side via the supporting portion 1360, and by configuring the control circuit 90 and the storage portion 92 as in this embodiment, and the structure of the needle bar case main body 1330 and the structure thereof can be made use of the structure of the conventional sewing machine as compared to the conventional sewing machine, and therefore, the manufacturing cost can be reduced.

Further, when the thread breakage occurs, since the rotating arm 1281 is not rotated downward in the torque control section, that is, the rotating arm 1281 is not pulled downward in the direction opposite to the direction in which the rotational force is applied by the needle thread motor 1286, the thread breakage can be detected by detecting that the rotating arm 1281 is not rotated downward, and further, when the thread breakage does not occur, since the rotating arm 1281 is rotated downward in the torque control section, the thread breakage can be accurately detected.

In the position control section, the current position (angle) of the needle thread motor 1286 is detected in the position control section, angle correspondence data for controlling the position to the angle of the initial position of the needle thread motor 1286 is created, and control to return to the initial position of the needle thread motor 1286 by the position control is performed based on the angle correspondence data, so that only the consumed amount of needle thread can be pulled out by pulling up the rotating arm 1281 in the torque control section, and the amount of accumulated thread due to pulling out the needle thread is not too large or too small.

Further, when the structure including the upstream grip 1240, the downstream grip 1260 and the rotating unit 1280 is applied to a multi-needle handpiece, the structure is configured by providing only the magnet unit 1250 of the upstream grip 1240, the magnet unit 1270 of the downstream grip 1260 and the rotating unit 1280, respectively, and therefore, the manufacturing cost can be effectively reduced.

Example 4

Next, the sewing machine of example 4 will be explained. The sewing machine of example 4 has the same structure as that of example 3, but has different structures of the supporting magnet parts 1250, 1270 and the rotating part 1280.

That is, in the case of the sewing machine according to embodiment 4 described with reference to fig. 37 and 38, the sliding member 1350 is fixedly provided on the surface of the upper plate portion 1341 of the needle thread control mounting portion 1340 on the rear side, and the sliding member 1352 is fixedly provided on the upper surface of the needle bar case main body 1330. Fig. 38 is a main part sectional view of the needle thread controlling attachment portion 1340 and the needle thread controlling portion 1230, which is cut at a position P-P in fig. 32. In addition, in fig. 38, the upper line drawing is omitted.

That is, the sliding member 1350 is provided in the upper end region of the back surface side of the plate portion 1341 and is formed of an L-shaped plate-like portion. That is, the sliding member 1350 has a plate-like portion 1350a extending in the left-right direction and a plate-like portion 1350b extending downward from an end of the rear surface of the plate portion 1350a at a right angle to the rear surface of the plate portion 1341. Both the plate-shaped portions 1350a and 1350b are rectangular, and the plate-shaped portions 1350b are provided parallel to the plate portion 1341.

The sliding member 1352 includes a plate-like portion 1352a fixed to the upper surface of the needle bar case body 1330 and extending in the left-right direction, and a plate-like portion 1352b formed obliquely upward from the end portion on the rear surface side of the plate-like portion 1352 a. The plate-shaped portions 1352a and 1352b are rectangular, and the plate-shaped portions 1352b are provided parallel to the plate portion 1341. The distance between the plate portion 1352b and the plate portion 1341 is the same as the distance between the plate portion 1350b and the plate portion 1341, and the surface on the back side of the plate portion 1350b and the surface on the back side of the plate portion 1352b are disposed on the same plane. The plate-like portions 1350a, 1350b, 1352a, and 1352b are formed to have the same thickness.

The side portion of the lower end of the plate-shaped portion 1350b and the side portion of the upper end of the plate-shaped portion 1352b function as rail portions for the support portion 1370 to slide in the left-right direction.

The sliding member 1352 is provided on the upper surface of the needle bar case main body 1330, but is not limited thereto, and may be attached to the rear surface of the plate portion 1341. Further, side surface portions for connecting the sliding member 1350 and the sliding member 1352 to each other may be provided on both side surfaces of the sliding member 1350 and the sliding member 1352, the sliding member 1350 and the sliding member 1352 may be integrally formed, and the sliding members 1350 and 1352 may be integrally formed on the upper surface of the needle bar case main body 1330.

The support portion (magnet portion, motor support member) 1370 is a member that supports the magnet portions 1250, 1270 and the rotation portion 1280, and includes a plate portion 1372, an L-shaped metal member 1374 fixed to a surface of the plate portion 1372 on the front side, and an L-shaped metal member 1376 fixed to a surface of the plate portion 1372 on the rear side.

That is, the plate portion 1372 has a rectangular plate shape, and the vertical length L1 is longer than the length L2 between the lower end of the plate portion 1350b and the upper end of the plate portion 1352 b. A wheel portion 1373 is rotatably attached to the plate portion 1372 at four corner positions on the back surface side of the plate portion 1372. That is, the wheel portion 1373 includes a pair of disk portions 1373a provided at a distance from each other and a cylindrical portion 1373b provided between the pair of disk portions 1373a, and the cylindrical portion 1373b is formed to be rotatable with respect to a shaft portion 1373c fixed to the plate portion 1372. The lower end of the plate-shaped portion 1350b is positioned between the pair of circular plate portions 1373a of the two upper wheel portions 1373, the lower end of the plate-shaped portion 1350b is in contact with the cylindrical portion 1373b, the upper end of the plate-shaped portion 1352b is positioned between the pair of circular plate portions 1373a of the two lower wheel portions 1373, and the upper end of the plate-shaped portion 1352b is in contact with the cylindrical portion 1373 b. As the plate portion 1372 slides in the left-right direction, the wheel portion 1373 rotates along the plate portions 1350b and 1352b, and the support portion 1370 slides smoothly in the left-right direction. Plate portion 1372 is parallel to plate portion 1341.

One plate portion 1374-1 of the L-shaped metal member 1374 is fixed to the plate portion 1372, and the other plate portion 1374-2 standing from the plate portion 1374-1 is provided at a right angle to the plate portion 1374-1. Thus, plate portion 1374-2 is at a right angle with respect to plate portion 1341. One plate portion 1376-1 of the L-shaped metal members 1376 is fixed to the plate portion 1372, and the other plate portion 1376-2 standing from the plate portion 1376-1 is connected to the lower end of the plate portion 1376-1 and is provided in the horizontal direction. The plate portion 1376-2 is formed with a groove portion 1376-2 a with which the rod plate portion 1380c engages.

Further, a slide restricting portion 1380 is provided on the upper surface portion 1312a of the arm 1312, and the slide restricting portion 1380 includes an L-shaped metal 1380a attached to the arm 1312, an L-shaped metal 1380b fixed to the L-shaped metal 1380a, and a rod-shaped plate 1380c fixed to the L-shaped metal 1380 b. As shown in fig. 37, a plate-like portion erected on an L-shaped metal 1380a is provided with a long hole 1380 a-1 in the transverse direction, a bolt 1380 b-1 attached to the L-shaped metal 1380b is inserted into the long hole 1380 a-1, and a nut 1380 b-2 is screwed to the bolt 1380 b-1, whereby the L-shaped metal 1380b is fixedly attached to the L-shaped metal 1380 a. Further, since the bolt 1380 b-1 is inserted into the elongated hole 1380 a-1, the attachment position of the L-shaped metal piece 1380b to the L-shaped metal piece 1380a can be adjusted in the right-left direction. The end of the rod-like plate 1380c on the front side is engaged with the groove 1376-2 a of the L-shaped metal 1376. In this way, the slide restricting portion 1380 restricts the slide of the support portion 1370 in the left-right direction by the state in which the rod plate portion 1380c is engaged with the groove portion of the plate portion 1376-2, and the support portion 1370 is positioned in the left-right direction, and the magnet portions 1250, 1270 and the rotating portion 1280 are fixedly provided on the arm 1312 side by the state in which the rod plate portion 1380c is engaged with the groove portion of the plate portion 1376-2.

The slide restricting unit 1380 may be a part of the components of the arm 1312, the arm 1312 may be an arm body, and the arm may have the arm body and the slide restricting unit 1380.

In embodiment 4, the configuration other than the above configuration is the same as that of embodiment 3, and therefore, detailed description thereof is omitted.

In the sewing machine according to embodiment 4, since the support 1370 is formed to be slidable with respect to the sliding members 1350 and 1352, the position in the left-right direction can be finely adjusted and the positions in the left-right direction of the upstream-side magnet portion, the downstream-side magnet portion, and the rotating arm can be finely adjusted when the support 1370 is provided on the rear surface side of the plate portion 1341. That is, the support 1370 is slid in the left-right direction to be adjusted to a proper position, the rod plate 1380c is engaged with the L-shaped metal 1376, and the L-shaped metal 1380b is fixed to the L-shaped metal 1380a by tightening the nut 1380 b-2. Further, the nut 1380 b-2 may be loosened with respect to the bolt 1380 b-1, the rod-like plate portion 1380c may be engaged with the L-shaped metal member 1376, the L-shaped metal member 1380b may be moved in the left-right direction with respect to the L-shaped metal member 1380a, the support portion 1370 may be slid with respect to the sliding members 1350 and 1352, the position of the support portion 1370 may be adjusted, and the nut 1380 b-2 may be fastened.

The operation of the sewing machine according to embodiment 4 is the same as that of embodiments 2 and 3, and thus detailed description thereof is omitted.

Example 5

Next, the sewing machine of example 5 will be explained. The sewing machine of embodiment 5 has substantially the same structure as the sewing machine of embodiment 3, but the grip main bodies 1241 and 1261 have different structures.

That is, as shown in fig. 39 to 41, the grip body 1241 of the upstream grip 1240 includes the 1 st plate-like portion unit 1400 and the 2 nd plate-like portion 1408, and the 1 st plate-like portion unit 1400 is provided for each face line. Fig. 39 is a main part sectional view of the needle thread control mounting portion 1340 and the needle thread control portion 1230. Fig. 39 is not drawn with an upper line.

Here, the 1 st plate-like portion unit 1400 has a support member (upstream-side 1 st plate-like portion support member) 1401 attached to the position of the opening 1342a of the face on the front side of the plate portion 1341, a coil-like spring (upstream-side coil-like spring) 1402 into which a shaft portion 1401c of the support member 1401 is inserted, a 1 st plate-like portion (upstream-side 1 st plate-like portion 1401) 1404 into which the shaft portion 1401c is inserted and which is provided on the back face side of the coil-like spring 1402 on the shaft portion 1401c, and a protective plate-like portion (upstream-side protective plate-like portion) 1406 fixed to the tip of the shaft portion c.

The support member 1401 has a square (rectangular) plate-like portion 1401a, a columnar portion 1401b protruding from four corners of the plate-like portion 1401a to one side of the back surface, and a shaft portion (1 st shaft portion) 1401c protruding from a central region on the back surface side of the plate-like portion 1401a to one side of the back surface. The two upper cylindrical portions 1401b are fixed to the plate portion 1341 above the opening 1342a, and the two lower cylindrical portions 1401b are fixed to the plate portion 1341 below the opening 1342 a. The length of the columnar portion 1401b and the shaft portion 1401c is set such that the surface on the rear side of the protective plate portion 1406 and the surface on the front side of the 2 nd plate portion 1408 are in contact with each other.

The coil spring 1402 is attached to the shaft portion 1401c by inserting the shaft portion 1401c into the coil spring 1402, and biases the 1 st plate portion 1404 toward the protective plate portion 1406. The elastic force of the coil spring 1402 is a force of a degree that the surface on the back side of the 1 st plate-like portion 1404 and the surface on the front side of the protective plate-like portion 1406 are overlapped with each other and the surface on the back side of the protective plate-like portion 1406 and the surface on the front side of the 2 nd plate-like portion 1408 are overlapped with each other in a state where the 1 st plate-like portion 1404 is not attracted to the magnet portion 1250, but the face line is not fixed by the 1 st plate-like portion 1404 and the protective plate-like portion 1406.

The 1 st plate-like portion 1404 has a circular plate-like shape, and a hole 1404a for inserting the shaft portion 1401c is provided in the center thereof. The 1 st plate-like portion 1404 is attached to the shaft portion 1401c by inserting the shaft portion 1401c into the hole portion 1404 a. Thus, the 1 st plate-like portion 1404 is suspended on the plate portion 1341 side via the support member 1401. Thus, the 1 st plate-like portion 1404 slides in the direction perpendicular to the surface on the front side of the 2 nd plate-like portion 1408, and the distance between the protective plate-like portion 1406 and the 2 nd plate-like portion 1408 is variable. The hole 1404a is formed to have a diameter smaller than that of the coil spring 1402, and the coil spring 1402 is not dropped from the hole 1404a to the back side. The 1 st plate-like portion 1404 is formed of a metal attracted by a magnet such as iron.

The protective plate 1406 is a member for preventing the 2 nd plate 1408 from being worn by the upper thread, and has a circular plate shape and is fixed to the tip of the shaft 1401 c. The protective plate 1406 is formed of a non-magnetic material that is not attracted to the magnet (a material that is not attracted to the magnet), and is preferably a metal non-magnetic material (e.g., stainless steel or aluminum).

The 2 nd plate-like portion 1408 is formed into a plate shape having a substantially コ -shaped cross section and is formed of a synthetic resin film. The 2 nd plate-like portion 1408 is fitted into a cutout portion formed along the front side of the upper side portion and the lower side portion of the opening 1342 a. That is, the 2 nd plate-like portion 1408 passes through the 2 nd plate-like portion main body portion Pt-1 having an elongated rectangular plate shape, the protrusion Pt-2 having an elongated rectangular plate shape continuously provided from the upper side of one long side of the 2 nd plate-like portion main body portion Pt-1 to the back side, and the protrusion Pt-3 having an elongated rectangular plate shape continuously provided from the lower side of the other long side of the 2 nd plate-like portion main body portion Pt-1 to the back side, and the 2 nd plate-like portion main body portion Pt-1 grips the face line together with the second plate-like portion 1404.

The upper thread J is disposed between the 1 st plate-like portion 1404 and the protective plate-like portion 1406, and is disposed in a diagonal shape of the plate-like portion 1401a (in a direction from top left to bottom right when viewed from the front) so as not to contact the shaft portion 1401c or the coil-like spring 1402, as shown in fig. 41.

By configuring the grip main body 1241 as described above, the 1 st plate-like portion 1404 and the protective plate-like portion 1406 are biased toward the 2 nd plate-like portion 1408 by the coil-like spring 1402, and even when the 1 st plate-like portion 1404 is attracted by the magnet 1250, the 1 st plate-like portion 1404 and the protective plate-like portion 1406 are in contact with each other and the 2 nd plate-like portion 1408 is in contact with each other, so that it is possible to prevent a vibration sound generated by repeating opening and closing of the grip main body 1241 and a vibration sound generated by vibration of the handpiece. That is, in the case of examples 2 to 4 described above, since the 1 st plate-like portion is simply suspended, a sound of the 1 st plate-like portion contacting the 2 nd plate-like portion is generated when the 1 st plate-like portion is attracted by the magnet portion, a vibration sound is generated by the 1 st plate-like portion repeatedly contacting the 2 nd plate-like portion due to repeated opening and closing of the grip portion body, and a sound of the 1 st plate-like portion contacting the 2 nd plate-like portion is generated due to vibration of the handpiece. That is, in actual embroidery sewing, not only the 1 st plate-like portion unit 1400 corresponding to the selected needle bar but also the 1 st plate-like portion 1404 and the protective plate-like portion 1406 are biased toward the 2 nd plate-like portion 1408 side by the coil spring 1402 in the 1 st plate-like portion unit 1400 corresponding to the unselected needle bar, so that a vibration sound generated by repetition of opening and closing of the grip main body 1241 and a vibration sound generated by vibration of the hand piece are prevented. Further, since the protective plate 1406 is provided between the 2 nd plate 1408 and the upper thread, the 2 nd plate 1408 can be prevented from being worn out due to the upper thread contacting the 2 nd plate 1408. That is, in the case of the above examples 2 to 4, since the upper thread is in contact with the 2 nd plate-like portion, in the case of the 2 nd plate-like portion made of a synthetic resin film, since the upper thread moves on the path, there is a possibility that the 2 nd plate-like portion is worn by friction with the upper thread, but by providing the protective plate-like portion 1406, it is possible to prevent the wear of the 2 nd plate-like portion 1408. Further, by making the protective plate-like portion 1406 of metal, abrasion of the protective plate-like portion 1406 itself can be prevented.

Further, the grip body 1261 of the downstream-side grip 1260 has the same structure as the grip body 1241, and as shown in fig. 39 to 41, includes a 1 st plate-like portion unit 1410 and a 2 nd plate-like portion 1418, and the 1 st plate-like portion unit 1410 is provided for each surface line.

Here, the 1 st plate-like portion unit 1410 has a (downstream side 1 st plate-like portion supporting member) supporting member 1411 attached to the position of the opening portion 1342c of the surface on the front side of the plate portion 1341, a coil-like spring (downstream side coil-like spring) 1412 penetrated by the shaft portion 1411c of the supporting member 1411, a 1 st plate-like portion (downstream side 1 st plate-like portion) 1414 penetrated by the shaft portion 1411c and provided on the shaft portion 1411c on the back side of the coil-like spring 1412, and a protective plate-like portion (downstream side protective plate-like portion) 1416 fixed to the tip of the shaft portion 1411.

The supporting member 1411 has the same structure as the supporting member 1401, and includes a plate-like portion 1411a, a columnar portion 1411b, and a shaft portion (2 nd shaft portion) 1411 c. Since the plate-like portion 1411a has the same configuration as the plate-like portion 1401a, the cylindrical portion 1411b has the same configuration as the cylindrical portion 1401b, and the shaft portion 1411c has the same configuration as the shaft portion 1401c, detailed description thereof will be omitted. The two upper cylindrical portions 1411b are fixed to the plate portion 1341 above the opening 1342c, and the two lower cylindrical portions 1411b are fixed to the plate portion 1341 below the opening 1342 c.

The coil spring 1412 is configured similarly to the coil spring 1402, and the protective plate portion 1416 is configured similarly to the protective plate portion 1406, so detailed description thereof is omitted.

The 1 st plate-like portion 1414 has the same configuration as the 1 st plate-like portion 1404, and the 2 nd plate-like portion 1418 has the same configuration as the 2 nd plate-like portion 1408, and therefore, detailed description thereof is omitted. A hole 1414a into which the shaft portion 1411c is inserted is formed in the 1 st plate-like portion 1414.

By configuring the grip main body 1261 as described above, similarly to the grip main body 1241, since the 1 st plate-like portion 1414 and the protective plate-like portion 1416 are biased toward the 2 nd plate-like portion 1418 side by the coil spring 1412, it is possible to prevent a vibration sound generated by repetition of opening and closing of the grip main body 1261.

Further, since the plate-like portion 1416 for protection is provided between the 2 nd plate-like portion 1418 and the face thread, similarly to the grip main body 1241, it is possible to prevent the wear of the 2 nd plate-like portion 1418 caused by the contact of the face thread with the 2 nd plate-like portion 1418.

In example 5, the configuration other than the above configuration is the same as that of example 3, and therefore, detailed description thereof is omitted. In the above description, the structure of the grip main bodies 1241 and 1261 was described as the structure of embodiment 5 in the sewing machine of embodiment 3, but the structure of the grip main bodies 1241 and 1261 may be the structure of embodiment 5 in the sewing machine of embodiment 4.

Example 6

Next, the sewing machine of example 6 will be explained. The sewing machine according to embodiment 6 is substantially the same as the sewing machine according to embodiment 3, but differs in the structure of the grip main bodies 1241, 1261, and in that the plate-like portion 1360e of the support portion 1360 is provided with protruding members 1362, 1364 for pressing the sliding members 1421, 1431 to the front side.

That is, as shown in fig. 42 to 45, the grip body 1241 of the upstream grip 1240 includes a 1 st plate-like portion unit 1420 and a 2 nd plate-like portion 1426, and the 1 st plate-like portion unit 1420 is provided for each face line. Fig. 42 is a main part sectional view of the needle thread control mounting portion 1340 and the needle thread control portion 1230. In fig. 42, the upper line drawing is omitted.

Here, the 1 st plate-like portion unit 1420 includes a slide member (upstream slide member) 1421, a 1 st plate-like portion 1422 into which the slide member 1421 is inserted, and a coil-like spring (upstream urging member) 1424 provided on the slide member 1421 on the back side of the 1 st plate-like portion 1422 with the slide member 1241 inserted therein.

The slide member 1421 includes a slide member body 1421a, and a separation preventing portion 1421b fixed to an end portion on the rear surface side of the slide member 1421, the slide member body 1421a includes a linear rod-shaped shaft portion 1421 a-1, and a separation preventing portion 1421 a-2 provided at an end portion on the front surface side of the shaft portion 1421 a-1, and the slide member body 1421a is integrally formed as a whole. Each of the separation preventing portions 1421b and 1421 a-2 has a circular plate shape and is formed to have substantially the same diameter. A circular hole 1342f for inserting the shaft part 1421 a-1 is formed for each needle bar above the opening 1342a of the plate part 1341, and the slide member 1421 is supported by the hole 1342f and slides in the axial direction of the slide member 1421 (i.e., the front-rear direction of the handpiece).

The 1 st plate-like portion (upstream 1 st plate-like portion) 1422 is formed in a rectangular plate shape, and a hole 1422a for inserting the shaft portion 1421 a-1 is formed in the upper side thereof, and the diameter of the hole 1422a is formed smaller than the diameters of the separation preventing portions 1421b, 1421 a-2. The 1 st plate portion 1422 is made of a metal attracted by a magnet such as iron. The 1 st plate portion 1422 is fixed to the shaft portion 1421 a-1 by inserting the shaft portion 1421 a-1 into the hole portion 1422 a. Thus, the 1 st plate-like portion 1422 is suspended on the plate portion 1341 side via the sliding member 1421, and is formed to be slidable in the front-rear direction along the axial direction of the shaft portion 1421 a-1. Thus, the 1 st plate 1422 slides in the direction perpendicular to the front surface of the 2 nd plate 1426, and the distance from the 2 nd plate 1426 is variable.

The coil spring 1424 is attached to the shaft portion 1421 a-1 by inserting the shaft portion 1421 a-1 into the coil spring 1424, and biases the separation preventing portion 1421b to the back surface side, so that the 1 st plate portion 1422 and the 2 nd plate portion 1426 come into contact with each other when the separation preventing portion 1421b is not pressed to the front surface side by the protruding member 1362. The elastic force of the coil-shaped spring 1242 is such that, in a state where the slide member 1421 is not pressed by the protrusion member 1362 (the state shown in fig. 44 a), the surface on the back surface side of the 1 st plate-shaped portion 1422 and the surface on the front surface side of the 2 nd plate-shaped portion 1426 are brought into contact with each other and overlapped with each other. That is, in the state of fig. 44 (a), since the 1 st plate-like part 1422 is pushed toward the 2 nd plate-like part 1426, the 2 nd plate-like part 1422 cannot slide in the front-rear direction.

The 2 nd plate-like portion 1426 has the same configuration as the 2 nd plate-like portion 1408 of example 5, is formed into a plate shape having a substantially コ -shaped cross section, and is formed of a synthetic resin film. The 2 nd plate-like portion 1426 is fitted into a cutout portion formed along the front side of the upper side portion and the lower side portion of the opening 1342 a.

Further, a protrusion member (upstream side pressing operation member) 1362 is provided at a center position in the left-right direction of the magnet portion 1250 so as to stand and be fixed vertically to a surface of the plate-like portion 1360e from a surface of the support portion 1360 on the front side of the plate-like portion 1360 e. The protrusion 1362 is formed in a substantially shaft shape with an increased diameter at the tip. That is, the protrusion member 1362 includes a shaft portion 1362a and a head portion 1362b provided at the tip of the shaft portion and having a diameter (maximum diameter) larger than that of the shaft portion, and the front side of the head portion 1362b is formed in a substantially hemispherical shape so as to easily press the sliding member 1421 toward the front side. That is, the front end of the head 1362b is spherical. The length ha-1 of the protruding member 1362 in the axial direction is formed to be longer than the length ha-2 between the sliding member 1421 and the plate-like portion 1360e in a state where the sliding member 1421 is not pressed by the protruding member 1362, and when the magnet portion 1250 comes to a position on the back side of the 1 st plate-like portion 1422 corresponding to the selected needle bar, the protruding member 1362 presses the separation preventing portion 1421b of the sliding member 1421 to the front side, and the 1 st plate-like portion 1422 can slide in the front-rear direction.

In the above configuration of embodiment 6, as shown in fig. 44 (a), the magnet portion 1250 is not present on the back surface side of the 1 st plate-like portion 1422 and the slide member 1241 is not pressed by the protrusion member 1362 with respect to the 1 st plate-like portion 1422 corresponding to the needle bar other than the selected needle bar, so that the 1 st plate-like portion 1422 is pushed to the 2 nd plate-like portion 1426 side and the 1 st plate-like portion 1422 cannot slide in the front-rear direction.

On the other hand, as shown in fig. 44 (b), with respect to the 1 st plate-like part 1422 corresponding to the selected needle bar (i.e., the 1 st plate-like part on the upstream side of the attraction target), since the magnet part 1250 is present on the back surface side of the 1 st plate-like part 1422, and the protrusion member 1362 presses the falling-off prevention part 1421b of the slide member 1421 toward the front surface side, the 1 st plate-like part 1422 can slide in the front-back direction, the 1 st plate-like part 1422 is attracted by the magnet part 1250, and the upper thread is gripped by the 1 st plate-like part 1422 and the 2 nd plate-like part 1426, and the upper. When the magnet part 1250 does not attract the 1 st plate-like part 1422, the 1 st plate-like part 1422 is not pushed to the back side by the sliding member 1421, and therefore the holding of the upper thread is released.

According to the above configuration, since the 1 st plate-like portion 1422 is pushed toward the 2 nd plate-like portion 1426 with respect to the 1 st plate-like portion 1422 corresponding to the needle bar other than the selected needle bar, no sound is generated due to the contact between the 1 st plate-like portion 1422 and the 2 nd plate-like portion 1426, and no vibration sound is generated even if the head vibrates. Further, the 1 st plate-like portion 1422 corresponding to the selected needle bar is not pushed to the back side by the slide member 1421 with respect to the 1 st plate-like portion 1422, so that the needle thread can be sufficiently released from gripping.

That is, in the case of the above-described embodiment 5, since the 1 st plate-like portion 1404 (1414) is constantly urged by the protective plate-like portion 1406 (1416), the release of the gripping of the upper thread may be insufficient even when the 1 st plate-like portion is not attracted by the magnet portion, but in the present embodiment, the release of the upper thread can be sufficiently performed when the 1 st plate-like portion is not attracted by the magnet portion.

As shown in fig. 42 to 45, the grip body 1261 of the downstream grip 1260 includes a 1 st plate-like portion unit 1430 and a 2 nd plate-like portion 1436, and the 1 st plate-like portion unit 1430 is provided for each face line.

Here, the 1 st plate-like portion unit 1430 has the same configuration as the 1 st plate-like portion unit 1420, and includes a sliding member (downstream side sliding member) 1431, a 1 st plate-like portion 1432 into which the sliding member 1431 is inserted, and a coil-shaped spring (downstream side urging member) 1434 provided on the sliding member 1431 on the back side of the 1 st plate-like portion 1432 and into which the sliding member 1431 is inserted.

The slide member 1431 has a structure similar to that of the slide member 1421, and includes a slide member main body 1431a and a separation preventing portion 1431b fixed to an end portion on the back surface side of the slide member main body 1431, the slide member main body 1431a includes a rod-shaped linear shaft portion 1431 a-1 and a separation preventing portion 1431 a-2 provided at an end portion on the front surface side of the shaft portion 1431 a-1, and the slide member main body 1431a is integrally formed as a whole. A circular hole 1342g for inserting the shaft portion 1431 a-1 is formed for each needle bar above the opening 1342c of the plate portion 1341, and the slide member 1431 is slidably supported by the hole 1342 g.

The 1 st plate-like portion (downstream 1 st plate-like portion) 1432 has the same configuration as the plate-like portion 1422, and is formed with a hole portion 1432g for inserting the shaft portion 1431 a-1.

The coil spring 1434 has the same configuration as the coil spring 1424, and the 2 nd plate portion 1436 has the same configuration as the 2 nd plate portion 1418 in embodiment 5.

Further, a protrusion member (downstream side pressing operation member) 1364 is erected and fixed vertically to the surface of the plate-like portion 1360e from the surface of the support portion 1360 on the front side of the plate-like portion 1360e, and is provided at the center position in the left-right direction of the magnet portion 1270 in the left-right direction. The protrusion member 1364 is configured similarly to the protrusion member 1362, and when the magnet portion 1270 comes to a position on the rear surface side of the 1 st plate-like portion 1432 (i.e., the downstream 1 st plate-like portion of the attraction target) corresponding to the selected needle bar, the protrusion member 1364 presses the falling-off prevention portion 1431b of the slide member 1431 to the front surface side, and the 1 st plate-like portion 1432 can slide in the front-rear direction.

According to the above configuration, similarly to the grip body 1241, since the 1 st plate-like portion 1432 is pushed toward the 2 nd plate-like portion 1436 with respect to the 1 st plate-like portion 1432 corresponding to the needle stick other than the selected needle stick, a sound generated by the contact between the 1 st plate-like portion 1432 and the 2 nd plate-like portion 1436 is not generated, and a vibration sound is not generated even if the head vibrates. Further, the 1 st plate-like portion 1432 corresponding to the selected needle bar is not pushed to the back side by the slide member 1431 with respect to the 1 st plate-like portion 1432, so that the needle thread grip can be sufficiently released.

In example 6, the configuration other than the above configuration is the same as that of example 3, and therefore, detailed description thereof is omitted. In the above description, the structures of the grip main bodies 1241 and 1261 and the sliding members 1421 and 1431 were described as the structures of the embodiment 6 and the sliding members 1421 and 1431 in the sewing machine according to the embodiment 3, but the structures of the grip main bodies 1241 and 1261 and the sliding members 1421 and 1431 may be the structures of the embodiment 6 and the sliding members 1421 and 1431 in the sewing machine according to the embodiment 4.

In addition, in embodiments 2 to 6 described above, the needle bar case main body may be named "needle bar case".

In the drawings, the Y1-Y2 direction is a direction perpendicular to the X1-X2 direction, and the Z1-Z2 direction is a direction perpendicular to the X1-X2 direction and the Y1-Y2 direction.

Claims

1. A sewing machine characterized by comprising:

an upper thread control section (30, 230) provided on the upstream side in an upper thread path of a thread take-up lever, the upper thread control section having an upstream side grip section (40, 240, 1240), a downstream side grip section (60, 260, 1260), and a rotation section (80, 280, 1280), the upstream side grip section (40, 240, 1240) having an upstream side grip section body (41, 241, 1241) gripping the upper thread, and an upstream side drive section (50, 250) switching between a closed state gripping the upper thread and an open state releasing the gripping of the upper thread with respect to the upstream side grip section body, the downstream side grip section (60, 260, 1260) provided on the downstream side in the upper thread path of the upstream side grip section, having a downstream side grip section body (61, 261, 1261) gripping the upper thread, and a downstream side drive section (70, a downstream side drive section) switching between a closed state gripping the upper thread and an open state releasing the upper thread with respect to the downstream side grip section body, 270) A rotating part (80, 280, 1280) which rotates the upper thread between the upstream side holding part main body and the downstream side holding part main body and is provided with a rotating arm (81, 281, 1281) contacted with the upper thread and a motor (86, 286, 1286) for the upper thread which rotates the rotating arm;

2. The sewing machine of claim 1,

Comprising: arms (312, 1312) constituting a frame body of the sewing machine, needle bar boxes (314, 1314) arranged in a manner that the arms can slide in the left-right direction, a plurality of needle bars (12 b-1 to 12 b-9) arranged on the needle bar boxes, and a needle thread supporting member (288, 1288) provided on the needle bar case and supporting the needle thread in the left-right direction at the position of the 1 st opening, the needle bar case (314, 1314) is provided with a 1 st opening (316 b, 1342 b) at a position between the upstream grip main body and the downstream grip main body in the vertical direction so that the tip of the rotating arm of the rotating part can be exposed to the front side, and 2 nd openings (316 a, 1342 a) provided above the 1 st opening and facing the upstream magnet, and 3 rd openings (316 c, 1342 c) provided below the 1 st opening and facing the downstream-side magnet;

3. The sewing machine according to claim 1, wherein the control section performs control based on torque data defining a torque value for each stitch in the torque control section, detects a current position of an angle of the upper thread motor at a start point of the position control section in the position control section, creates angle correspondence data in which the position in a rotation direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever, that is, the angle of the main shaft motor defines an angle of the upper thread motor from the current position to an initial position of the angle of the upper thread motor, rotates the main shaft motor, and controls the position of the upper thread motor to the angle of the upper thread motor corresponding to the angle of the main shaft motor as the angle of the main shaft motor changes.

4. The sewing machine according to claim 2, wherein the control section performs control based on torque data defining a torque value for each stitch in the torque control section, detects a current position of an angle of the upper thread motor at a start point of the position control section in the position control section, creates angle correspondence data in which the position in a rotation direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever, that is, the angle of the main shaft motor defines an angle of the upper thread motor from the current position to an initial position of the angle of the upper thread motor, rotates the main shaft motor, and controls the position of the upper thread motor to the angle of the upper thread motor corresponding to the angle of the main shaft motor as the angle of the main shaft motor changes.

5. A sewing machine, comprising:

arms (312, 1312) constituting a frame of the sewing machine;

needle bar boxes (314, 1314) which are arranged in a manner that the needle bar boxes can slide in the left-right direction relative to the arms, wherein, a 1 st opening part (316 b, 1342 b) is arranged between the upstream side holding part main body and the downstream side holding part main body in the up-down direction in a mode that the front end of the rotating arm of the rotating part can be exposed at the front side, and a 2 nd opening part (316 a, 1342 a) which is arranged above the 1 st opening part and is used for facing the upstream side magnet part and a 3 rd opening part (316 c, 1342 c) which is arranged below the 1 st opening part and is used for facing the downstream side magnet part are also arranged;

a plurality of needle bars (12 b-1 to 12 b-9) arranged on the needle bar box;

a needle thread supporting member (288, 1288) which is arranged on the needle bar box and supports the needle thread along the left and right direction at the position of the 1 st opening part;

A rotating part (280, 1280) for rotating the upper thread between the upstream side holding part main body and the downstream side holding part main body, which is provided with a rotating arm (281, 1281) contacted with the upper thread supported by the upper thread supporting component, and a motor (286, 1286) for the upper thread fixedly arranged on one side of the arm and rotating the rotating arm;

a control unit (90) for controlling the upper thread motor based on the torque value so as to apply a rotational force to the swing arm in an upward direction in a manner to apply tension to the upper thread in a direction in which the upper thread is tightened by the thread take-up lever based on torque data which is created based on embroidery data and has a torque value defined for each stitch in a torque control section in a state in which the upstream side grip body is closed and the downstream side grip body is opened in each stitch, and for detecting a current position of an angle of the upper thread motor as a position in a rotational direction of the upper thread motor at a start point of the position control section in a state in which the upstream side grip body is opened and the downstream side grip body is closed in a control section for each stitch, and a spindle motor for rotating the spindle (22) for transmitting power to the thread take-up lever or the needle bar is created (a spindle motor (a) 20) The position in the rotating direction of the upper thread motor, that is, the angle of the spindle motor defines angle correspondence data of the angle of the upper thread motor from the current position to the initial position of the angle of the upper thread motor, the spindle motor rotates in such a manner that the angle of the upper thread motor returns to the initial position of the angle of the upper thread motor, and the upper thread is pulled out from the upstream by controlling the position of the upper thread motor to the angle of the upper thread motor corresponding to the angle of the spindle motor with the change of the angle of the spindle motor to give a rotational force upward with respect to the rotating arm, wherein the torque control section is a section including at least a part of a section where the take-up lever is pulled tight with respect to the processing cloth sewn by the upper thread, that is, a section from one dead point of the take-up lever to the other dead point of the upper thread, and in the case where the selected upper thread is changed at the time of control transfer, the rotating arm is rotated downward to retreat to the retreat position, the needle bar box is slid, and the upstream side magnet part, the downstream side magnet part and the rotating arm are moved to the position of the selected facial suture.

6. The sewing machine according to claim 2 or 5, wherein the upper thread is guided downward between the upstream 1 st plate-like portion and the upstream 2 nd plate-like portion in the upstream grip body, and the path is reversed to the upper thread supporting member by the 1 st upper thread path reversing member (290, 1290) provided on the needle bar case, guided downward from the upper thread supporting member, and is reversed to the thread take-up lever by the 2 nd upper thread path reversing member (292, 1337) provided on the needle bar case, guided downward from the thread take-up lever to the sewing needle attached to the needle bar, through between the downstream 1 st plate-like portion and the downstream 2 nd plate-like portion in the downstream grip body.

7. The sewing machine of claim 6, wherein the 1 st upper thread path reversing member includes a main body part (ga-1) having a cylindrical peripheral surface, and a base end part (ga-2) formed continuously from a base end of the main body part and having a diameter smaller than that of the main body part, a recess (1343 b) for inserting an end part of the base end part side of the main body part, and a hole part (1343 a) formed continuously from the recess for inserting the base end part, the base end part being inserted into the hole part, and an end part of the base end part side of the main body part being inserted into the recess at an attachment position on the needle bar case of the 1 st upper thread path reversing member and the 2 nd upper thread path reversing member.

8. The sewing machine according to claim 2 or 5, wherein 1 st guide members (252, 254, 1252, 1254) provided on the upper side and the lower side of the 1 st plate-like portion on the upstream side of the needle bar case are provided on the upstream side grip body at different positions in the left-right direction, the needle thread path between the 1 st plate-like portion on the upstream side and the 2 nd plate-like portion on the upstream side is formed obliquely with respect to the up-down direction, 2 nd guide members (272, 274, 1272, 1274) provided on the upper side and the lower side of the 1 st plate-like portion on the downstream side of the needle bar case are provided on the downstream side grip body at different positions in the left-right direction, and the needle thread path between the 1 st plate-like portion on the downstream side and the 2 nd plate-like portion on the downstream.

9. The sewing machine of claim 8, wherein the 1 st guide member and the 2 nd guide member comprise a main body portion (ga-1) having a cylindrical peripheral surface, and a base end portion (ga-2) continuously provided from a base end of the main body portion and formed to have a diameter smaller than that of the main body portion, and a recess (1343 b) for inserting an end portion of the main body portion on the base end portion side and a hole portion (1343 a) continuously provided from the recess and into which the base end portion is inserted are formed at an attachment position on the needle bar case of the 1 st guide member and the 2 nd guide member, and the base end portion is inserted into the hole portion while the end portion of the main body portion on the base end portion side is inserted.

10. The sewing machine of claim 2 or 5,

the needle bar box is provided with a needle bar box main body (1330) which is provided with a thread take-up lever or a needle bar and can be arranged in a sliding way relative to the arm, and a flat plate-shaped plate part (1341) which is arranged on the upper surface of the needle bar box main body;

the plate portion is provided with a 1 st opening, a 2 nd opening, a 3 rd opening, an upstream side holding portion, a downstream side holding portion, and an upper thread supporting member.

11. The sewing machine according to claim 2 or 5, wherein the arm is fixedly provided with a magnet part for supporting the upstream side magnet part, a magnet part for supporting the downstream side magnet part, a magnet part for the needle thread motor, and a motor supporting member (1360).

12. The sewing machine of claim 2 or 5, having: the needle thread support device comprises an upstream side magnet part, a downstream side magnet part, a magnet part of a needle thread motor, a motor support member (1370), sliding support members (1350, 1352) which are arranged on a needle bar box and support the magnet part and the motor support member and can slide in the left-right direction, and a sliding limiting member (1380) which is fixed on an arm and limits the sliding of the magnet part and the motor support member in the left-right direction to position the support member in the left-right direction, wherein the upstream side magnet part, the downstream side magnet part and the needle thread motor are fixedly arranged on one side of the arm by limiting the sliding limiting member to limit the sliding of the magnet part and the motor support member in the left-right direction.

13. The sewing machine of claim 2 or 5,

14. The sewing machine of claim 2 or 5,

15. A sewing machine, comprising:

arms (312, 1312) constituting a frame of the sewing machine;

a flat plate-like plate portion (1341) provided on the upper surface of the needle bar housing case, wherein a 1 st opening (1342 b) is provided at a position between the upstream side grip body and the downstream side grip body in the vertical direction so that the tip of the rotating arm of the rotating portion can be exposed on the front side, and a 2 nd opening (1342 a) provided above the 1 st opening and facing the upstream side magnet portion and a 3 rd opening (1342 c) provided below the 1 st opening and facing the downstream side magnet portion are provided;

an upstream side grip part (1240) having an upstream side grip part body (1241) and an upstream side magnet part (1250), the upstream side holding part main body (1241) is arranged at the front side of the plate part and holds the upper thread in a clamping way, and comprises upstream side 1 plate-shaped parts (1242 a, 1404 and 1422) which are formed by magnetic bodies of materials attracted by magnets and are arranged according to the needle bars, and an upstream 2 nd plate-like part (1244, 1408, 1426) which is provided on the front surface side of the 2 nd opening part on the back surface side of the upstream second plate-like part and is formed of a non-magnetic material not attracted by the magnet, the upstream side magnet part (1250) is fixedly arranged on one side of the arm, and switches between a closed state that the upstream side 1 st plate-shaped part is attracted from the back side of the upstream side 2 nd plate-shaped part by magnetic force to clamp the upper thread by the upstream side 1 st plate-shaped part and the upstream side 2 nd plate-shaped part and an open state that the upper thread is released by releasing the attraction of the magnetic force;

a needle thread supporting component (1288) which is arranged on the plate part and supports the needle thread along the left and right direction at the position of the 1 st opening part;

a needle thread rotating part (1280) for rotating the needle thread between the upstream side holding part main body and the downstream side holding part main body, which is provided with a rotating arm (1281) connected with the needle thread supported by the needle thread supporting component, and a needle thread motor (1286) fixedly arranged on one side of the arm and used for rotating the rotating arm;

A control unit (90) for controlling the upper thread motor based on the torque value so as to apply a rotational force to the swing arm in an upward direction in a manner to apply tension to the upper thread in a direction in which the upper thread is tightened by the thread take-up lever based on torque data which is created based on embroidery data and has a torque value defined for each stitch in a torque control section in a state in which the upstream side grip body is closed and the downstream side grip body is opened in each stitch, and for detecting a current position of an angle of the upper thread motor as a position in a rotational direction of the upper thread motor at a start point of the position control section in a state in which the upstream side grip body is opened and the downstream side grip body is closed in a control section for each stitch, and a spindle motor for rotating the spindle (22) for transmitting power to the thread take-up lever or the needle bar is created (a spindle motor (a) 20) The position in the rotation direction of the upper thread motor, that is, the angle of the spindle motor defines angle correspondence data of the angle of the upper thread motor from the current position to the initial position of the angle of the upper thread motor, the spindle motor rotates so that the angle of the upper thread motor returns to the initial position of the angle of the upper thread motor, and the upper thread is pulled out from the upstream by controlling the position of the upper thread motor to the angle of the upper thread motor corresponding to the angle of the spindle motor with the change of the angle of the spindle motor, thereby applying a rotational force to the upper arm in the upward direction, wherein the torque control section is a section including at least a part of a section where the take-up lever tensions the upper thread with respect to a processing cloth sewn by the upper thread, that is, a section from one dead point of the take-up lever to the other dead point, and when the selected upper thread is changed at the time of control transition to the next stitch, the rotating arm is rotated downward to retreat to the retreat position, the needle bar accommodating box is slid, and the upstream side magnet part, the downstream side magnet part and the rotating arm are moved to the position of the selected facial suture.

16. The sewing machine according to claim 2, 5 or 15, wherein the upper thread supporting member supports the upper thread on the front side of the 2 nd opening portion.

17. The sewing machine according to claim 3, 4, 5 or 15, wherein in the torque control section, a value of the torque deviation is calculated from a torque value in the torque data and a torque value based on a current value supplied to the needle thread motor, and a current is supplied to the needle thread motor based on the calculated torque deviation.

18. The sewing machine of claim 3 or 4 or 5 or 15,

19. The sewing machine according to claim 1 or 2 or 3 or 4 or 5 or 15, wherein the control section determines the torque control section and the position control section by detecting the main shaft angle based on section data in which information on the main shaft angle is defined as a position in the rotational direction of the main shaft motor at the start point and the end point of the torque control section and at the start point and the end point of the position control section.

20. The sewing machine according to claim 1, 2, 3, 4, 5 or 15, wherein the start point of the position control section is a position in a section from the other dead point of the thread take-up lever to the one dead point and is a position before the top dead point of the shuttle, and the end point of the position control section is a position in a section from the one dead point of the thread take-up lever to the other dead point.

21. The sewing machine according to claim 1, 2, 3, 4, 5 or 15, wherein a section for not supplying current to the needle thread motor is provided between an end point of the torque control section and a start point of the position control section, and a section for not supplying current to the needle thread motor is provided between an end point of the position control section and a start point of the torque control section, and wherein the upstream side grip main body is switched to the closed state and the downstream side grip main body is switched to the open state at the end point of the position control section, and the upstream side grip main body is switched to the open state and the downstream side grip main body is switched to the closed state at the end point of the torque control section.