HK1220237B - Sewing machine - Google Patents

Description

Sewing machine

Technical Field

The present invention relates to a sewing machine, and more particularly to a sewing machine for embroidery.

Background

Conventionally, as a method for forming hollow embroidery (hollow three-dimensional embroidery), the following methods are known: the embroidery is performed in a state where a plate-shaped member is overlapped on a cloth to be embroidered, and then the plate-shaped member is dissolved to form hollow embroidery.

For example, in the method for producing embroidery having a hollow three-dimensional pattern disclosed in patent document 1, a base fabric is embroidered using a water-insoluble embroidery thread and an embroidery back thread, a nonwoven fabric or/and a woven fabric made of water-soluble fibers are overlapped and embroidered, and then the water-soluble fibers are dissolved and removed in water at a temperature higher by at least 10 ℃ than the dissolution temperature of the water-soluble fibers, thereby obtaining hollow embroidery.

In addition, in the embroidery emblem and the processing method thereof in patent document 2, a hollow embroidery emblem in which a core material of a voile yarn is integrally provided inside is obtained through the following steps: an embroidering step of embroidering by superposing a synthetic resin sheet dissolved in an organic solvent on the surface of the voile; a cutting step of cutting off an excess synthetic resin sheet except for the embroidery portion formed in the embroidery step; a plate dissolving step of bringing the embroidery part, the voile and the synthetic resin plate inside the embroidery part into contact with an organic solvent to dissolve and remove the synthetic resin plate remaining inside the embroidery part; and a thermal cutting step of cutting the voile by heating along the outer periphery of the embroidery portion.

In the embroidery assisting member, the embroidery method using the same, and the embroidery product in patent document 3, the embroidery method using the spacer is to obtain hollow three-dimensional embroidery by a step of placing the spacer on the base fabric, a step of sewing the base fabric with the embroidery thread through the spacer, and a step of dissolving the spacer with tetrachloroethylene.

The applicant has also filed patent documents 4 and 5 for a sewing machine including: an upstream side gripping part having an upstream side gripping part body for gripping the upper thread; a downstream side grip portion provided downstream of the upstream side grip portion in the path of the upper thread, and having a downstream side grip portion body gripping the upper thread therebetween; and a rotating part which rotates the upper thread between the upstream side holding part main body and the downstream side holding part main body.

Documents of the prior art

Patent document

Patent document 1: japanese unexamined patent publication No. 11-21758

Patent document 2: japanese laid-open patent publication No. 2003-250611

Patent document 3: international publication No. 98/59101 pamphlet

Patent document 4: international publication No. 2012/014610 pamphlet

Patent document 5: international publication No. 2013/047477 pamphlet

However, in the method for producing hollow embroidery described in patent documents 1 to 3, since the plate-like member is embroidered in a state where the plate-like member is overlaid on the cloth to be embroidered and then the plate-like member is dissolved, the plate-like member is required in addition to the cloth to be embroidered, which causes a problem of increasing the number of steps because a cost for the other members is required and an operation for dissolving the plate-like member is required. Further, since the plate-like members are overlapped and embroidered, there are problems as follows: the length of the upper thread (height of the hollow embroidery) in each stitch cannot be adjusted, and extremely fine hollow embroidery cannot be obtained.

Disclosure of Invention

Therefore, an object of the present invention is to provide a sewing machine: a plate-like member overlapping with the cloth to be embroidered is not required, the plate-like member is not dissolved, the length of the upper thread can be adjusted according to each stitch, and extremely fine hollow embroidery can be obtained.

The present invention was made to solve the above problems, and the 1 st configuration is a sewing machine including: a thread take-up lever (12a) formed so as to be swingable; a needle (12ba) supported by the needle bar moving up and down, through which the upper thread is inserted; a shuttle (12d) which hooks the upper thread inserted in the sewing needle to form a stitch (the shuttle may be configured to hook the upper thread inserted in the sewing needle and interweave with the lower thread to form a stitch); an upstream side gripping part (40) which has an upstream side gripping part body (41) and an upstream side driving part (50), wherein the upstream side gripping part body (41) clamps the upper thread, and the upstream side driving part (50) switches the closed state of gripping the upper thread and the open state of releasing the upper thread gripping with respect to the upstream side gripping part body; a downstream side grip (60) which is provided on the downstream side of the upstream side grip in the path of the upper thread and on the upstream side of the take-up lever, and which has a downstream side grip body (61) and a downstream side drive part (70), wherein the downstream side grip body (61) grips the upper thread, and the downstream side drive part (70) switches between a closed state in which the upper thread is gripped by the downstream side grip body and an open state in which the upper thread gripping is released; a rotating part (80) which is a rotating part for rotating the 1 st upper thread part (Ja) between the upstream side holding part main body and the downstream side holding part main body in the upper thread to make the upper thread bend through the 1 st upper thread part, and comprises a rotating arm (81) and an upper thread motor (86), wherein the rotating arm (81) is connected with the upper thread, the upper thread motor (86) is the upper thread motor for rotating the rotating arm, the rotating arm rotates to the 1 st direction which is the direction of the increasing bending degree of the upper thread and the 2 nd direction which is the direction opposite to the 1 st direction, and the rotating arm rotates in the rotating range between the 1 st end position which is the terminal of the 1 st direction and the 2 nd end position which is the terminal of the 2 nd direction; the disclosed device is characterized by being provided with: a needle thread fixing part (230, 216f) for fixing the 2 nd needle thread part (Jb) which is a part between the cloth and the thread take-up lever in the position which is separated from the cloth surface and is deviated towards the direction of the cloth surface relative to the needle inserting position of the sewing needle; a drive unit (240) for fixing the upper thread, which switches the fixing state of the upper thread by the upper thread fixing unit and the releasing state of releasing the fixing of the upper thread by the upper thread fixing unit; and a control unit (90) that controls the operation of the upstream side drive unit, the downstream side drive unit, the needle thread motor, and the needle thread fixing drive unit (which may be referred to as a "needle thread fixing unit"), wherein the needle thread motor is controlled so that the rotating arm is rotated in the 2 nd direction by an angle corresponding to a stitch reference length in the 1 st interval that is at least a partial interval from the shuttle top dead center to the take-up lever bottom dead center, the stitch reference length is the needle thread length of a stitch in a state where the n +1 th stitch is fixed to the fixing unit, the n +1 th stitch is the next stitch to the n th stitch that is the closest stitch among the needle threads already formed on the cloth, wherein n is an integer, and the rotating arm is rotated in the 1 st direction and the n th stitch is subtracted from the reference length of the n th stitch in the 2 nd interval that is at least a partial interval from the take-up lever bottom dead center to the take-up lever top dead center The angle corresponding to the length obtained by the remaining length of the upper thread as the length of the upper thread protruding from the cloth surface is such that in the 3 rd section which is at least a part of the section from the end position of the 2 nd section to the hook noodle thread, the rotating arm is rotated in the 1 st direction to the 1 st end position, the upstream side gripping part is closed at any position in the section from the end position of the 3 rd section to the hook noodle thread by controlling the upstream side driving part, the upstream side gripping part is opened at any position in the section from the end position of the 2 nd section to the start position of the 3 rd section, the downstream side gripping part is closed at any position in the section from the end position of the 2 nd section to the switching position for switching from the closed state to the open state of the upstream side gripping part by controlling the downstream side driving part, and the switching position for switching from the open state to the closed state of the upstream side gripping part is switched to the position of the hook noodle thread At any position in the set section, the downstream side holding part is opened, and the upper thread fixing driving part is controlled, so that the 2 nd upper thread part is fixed by the upper thread fixing part at least when the shuttle hook inserts the thread when the needle is inserted into the cloth needle.

In the sewing machine of the 1 st configuration, the rotating arm rotates by an angle corresponding to a stitch reference length which is a length of a stitch in a state where the (n +1) th stitch is fixed to the upper thread fixing portion in the 1 st section, so that an upper thread having a length necessary for the (n +1) th stitch is prepared between the cloth and the rotating arm. In addition, when the shuttle descends from the upper stop point of the shuttle and hooks the upper thread, the 2 nd upper thread part is fixed by the upper thread fixing part, so the shuttle does not pull up the upper thread from the stitch (i.e. the nth stitch) fixed by the upper thread fixing part. Further, since the upstream side grip portion is in the closed state and the downstream side grip portion is in the open state, the upper thread is not pulled up from the upstream side of the upstream side grip portion.

Then, in the 2 nd interval, the thread take-up lever is raised, but when the thread take-up lever is raised, the rotating arm rotates in the 1 st direction to pull out the upper thread from the n-th stitch, so that the remaining length of the upper thread of the n-th stitch is shortened accordingly. Therefore, the height of the hollow embroidery can be controlled by the stitch by defining the remaining length of the upper thread for each stitch.

Then, the needle is inserted into the cloth, but when the needle is inserted into the cloth, the upper thread is fixed by the upper thread fixing section, and therefore the upper thread is folded back at the position of the upper thread fixing section.

In the 3 rd section, the needle thread is pulled out from the upstream side of the upstream side grip part because the upstream side grip part is in the open state and the downstream side grip part is in the closed state while rotating in the 1 st direction. Therefore, the knitting yarn is not insufficient in the subsequent stitches.

As described above, according to the sewing machine of the present invention, since the hollow embroidery is formed by fixing the upper thread by the thread hooking lever, the plate-shaped member for overlapping the upper thread with the cloth to be embroidered by the upper thread fixing portion is not required, and the plate-shaped member is not dissolved, and the length of the upper thread can be adjusted for each stitch by the rotation angle of the rotating arm in the 2 nd section, so that the sewing machine capable of obtaining the extremely fine hollow embroidery can be provided. In addition, by lengthening the length of the face thread (i.e., the remaining length of the face thread), the cloth is not excessively tightened by forming the stitch, the embroidered cloth is not wrinkled (i.e., becomes uneven), and the stitch can be made to be flexible.

In the above configuration 1, the control unit may be as follows. That is, it is also possible to: a control unit (90) for controlling the operation of the upstream side drive unit, the downstream side drive unit, the upper thread motor and the upper thread fixing drive unit (which may be referred to as an upper thread fixing unit), wherein the upper thread motor is controlled so that the rotating arm is rotated in the 2 nd direction by an angle corresponding to a stitch reference length in the 1 st interval which is at least a partial interval from the upper stop point of the shuttle to the lower stop point of the thread take-up lever, the stitch reference length being the upper thread length of a stitch in a state where the n +1 th stitch is fixed to the fixing unit, the n +1 th stitch being the next stitch to the n th stitch which is the closest stitch among stitches already formed on the cloth, wherein n is an integer, and in the 2 nd interval which is at least a partial interval from the lower stop point of the thread take-up lever to the upper stop point of the thread take-up lever, the method comprises rotating a rotating arm in a 1 st direction by an angle corresponding to a length obtained by subtracting a remaining length of a face thread, which is a length of a face thread protruding from a cloth surface, from a stitch reference length of an n-th stitch, rotating the rotating arm in the 1 st direction to a 1 st end position in a 3 rd section, which is a section from an end position of a 2 nd section to a time section of a hook face thread, closing an upstream side grip portion at any position (which may be any time position in the time section) in the time section from the end position of the 3 rd section to the hook face thread by controlling an upstream side driving portion, opening the upstream side grip portion at any position in the time section from the end position of the 2 nd section to a start position of the 3 rd section, and controlling a downstream side driving portion, therefore, the downstream side holding part is in the closed state at any position in the time interval from the ending position of the 2 nd section to the switching position for switching from the closed state to the open state of the upstream side holding part, and the upper thread fixing driving part is controlled to make the downstream side holding part in the open state at any position in the time interval from the switching position for switching from the open state to the closed state of the upstream side holding part to the position of the hook hanging thread, so that the 2 nd upper thread part is fixed by the upper thread fixing part at least when the hook hanging thread is inserted into the cloth needle by the sewing needle.

In the above configuration 1, the control unit may be as follows. That is, it is also possible to: the control unit (90) controls the operation of the upstream side drive unit, the downstream side drive unit, the upper thread motor and the upper thread fixing drive unit (may be referred to as an upper thread fixing unit), and controls the upper thread motor so that the rotating arm is rotated in the 2 nd direction by an angle corresponding to a stitch reference length in the 1 st interval which is at least a partial interval from the shuttle top dead center to the take-up lever bottom dead center, the stitch reference length being the upper thread length of a stitch in a state where the n +1 th stitch is fixed to the upper thread fixing unit, the n +1 th stitch being the next stitch of the n th stitch which is the closest stitch already formed on the cloth, wherein n is an integer, and the rotating arm is rotated in the 1 st direction and the n th stitch is subtracted from the reference length of the n th stitch in the 2 nd interval which is at least a partial interval from the take-up lever bottom dead center to the take-up lever top dead center as the closest stitch An angle corresponding to a length obtained by remaining length of an upper thread of a length of an upper thread protruding from a cloth surface is such that, in a 3 rd section which is at least a partial section from an end of a 2 nd section to a time when the upper thread is hooked by a hook, a swing arm is swung in a 1 st direction to a 1 st end position, an upstream side grip section is made to be in a closed state at any timing in a section from an end of the 3 rd section to a time when the upper thread is hooked by controlling an upstream side drive section, and the upstream side grip section is made to be in an open state at any timing in a section from an end of the 2 nd section to a start of the 3 rd section, and a downstream side drive section is controlled such that the downstream side grip section is made to be in a closed state at any timing in a section from an end of the 2 nd section to a time when switching from the closed state of the upstream side grip section to the open state, and the downstream side grip section is hooked at any timing in a section when switching from the open state of the upstream side grip section to the open state, the downstream side holding part is set to be in an open state, and the upper thread fixing driving part is controlled, so that the 2 nd upper thread part is fixed by the upper thread fixing part at least when the shuttle hook facing the thread is inserted into the cloth by the sewing needle.

In addition, the feature of the 2 nd configuration is that, in the 1 st configuration, a presser foot (12c) reciprocating between a cloth surface contact position contacting with the cloth surface and a cloth surface separation position separated from the cloth surface is provided, and the upper thread fixing portion is provided at the presser foot.

In addition, the 3 rd configuration is characterized in that, in the 2 nd configuration, the presser foot has a presser foot main body portion (210), the presser foot main body portion (210) has a cloth surface contact portion (may be a tip configuration portion, the other is the same) that contacts the cloth surface when the presser foot is located at the cloth surface contact position (216), and the upper thread fixing portion has: a rod-shaped thread hooking rod (which can also be a thread hooking component) (236); a thread hooking rod supporting part (which can be a swing reciprocating part, the other parts are the same) (231) for supporting the thread hooking rod; and an upper thread receiving portion (216f) which is provided at a position shifted in the direction of the cloth surface relative to the needle insertion position of the sewing needle in the cloth surface contact portion, and which clamps the upper thread hooked by the upper thread hooking lever together with the upper thread hooking lever and fixes the upper thread, wherein the upper thread hooking lever supporting portion is moved relative to the presser foot main body portion in such a manner that the upper thread hooking lever swings by the drive of the upper thread fixing drive portion, and when the upper thread hooking lever swings, the upper thread fixing drive portion stops driving at least in a section from when the sewing needle inserts the needle into the cloth needle to when the upper thread is hooked, and a fixed state is achieved in which the upper thread hooking lever and the upper thread receiving portion clamp the upper thread. Therefore, the upper thread can be clamped and fixed by the thread hooking rod and the upper thread receiving part.

The above-described configuration 3 may be as follows. That is, it is also possible to: "a sewing machine, characterized by, the presser foot has presser foot main body part (210), the said presser foot main body part (210) has the cloth cover contact part (can also be regarded as the top end and form the part) that contacts with the cloth cover under the condition that the presser foot is located in cloth cover contact position (216), the upper thread fixed part has: a thread hooking rod supporting part (231) which swings transversely relative to the presser foot main body part to the 1 st transverse direction and reciprocates transversely to the 2 nd transverse direction in the direction vertical to the 1 st transverse direction by utilizing a crank mechanism driven by the upper thread fixing driving part; a rod-shaped hook wire rod (236) fixed to the hook wire rod support portion; and an upper thread receiving part (216f) which is provided at a position shifted in the direction of the cloth surface relative to the needle insertion position of the sewing needle in the cloth surface contact part, and which holds the upper thread hooked by the hook lever together with the hook lever and fixes the upper thread, wherein the upper thread fixing driving part is driven to reciprocate the hook lever supporting part in the 2 nd horizontal direction while swinging in the 1 st horizontal direction, so that the hook lever swings, and when the hook lever swings, the upper thread fixing driving part stops driving at least in a section from when the sewing needle inserts the needle into the cloth needle to when the hook lever hooks the upper thread, and the hook lever and the upper thread receiving part hold the upper thread together and fix the upper thread. ".

The above-described configuration 3 may be as follows. That is, it is also possible to: "a sewing machine, characterized in that, in the above 2 nd configuration, the presser foot has a presser foot main body portion (210), and the presser foot main body portion (210) has: a cloth cover contact part (216) which is connected with the cloth cover when the needle is sewed and inserted; and a main body constituting part (214) which is formed on the back surface side of the cloth surface contact part under the condition that one side in the transverse direction is set as the back surface side in the presser foot, wherein the upper thread fixing part comprises: a thread hooking rod support part (231) which reciprocates in the front-rear direction while swinging in the left-right direction with respect to the main body constituent part by a crank mechanism driven by the upper thread fixing drive part; a rod-shaped thread hooking rod (236) with the upper thread fixing part fixed on the thread hooking rod supporting part; and an upper thread receiving part (216f) which is arranged at a position deviated to the direction of the upper surface of the cloth relative to the needle inserting position of the sewing needle in the cloth surface contact part, clamps the upper thread hooked by the hook wire rod together with the hook wire rod and fixes the upper thread, and is driven by the upper thread fixing driving part, so that the hook wire rod supporting part swings horizontally towards the 1 st and reciprocates horizontally towards the 2 nd, thereby the hook wire rod rotates, when the hook wire rod rotates, at least in the interval from the time when the sewing needle inserts the needle into the cloth to the time when the upper thread is hooked, the upper thread fixing driving part stops driving, and the hook wire rod and the upper thread receiving part clamp the upper thread together and are fixed in a fixed state. ".

In the above configuration 3, the feature of the 4 th configuration is that the thread hooking lever support is reciprocated in the 2 nd transverse direction perpendicular to the 1 st transverse direction while swinging in the 1 st transverse direction with respect to the presser foot main body portion by the crank mechanism driven by the upper thread fixing drive portion, and the thread hooking lever is rotated by the reciprocating movement in the 2 nd transverse direction while swinging in the 1 st transverse direction by the thread hooking lever support.

In addition, according to the 5 th aspect, in the 3 rd or 4 th aspect, the needle thread receiving portion includes: an elastic part (216 f-1) which is arranged at a position deviated to the direction of the cloth surface relative to the inserting needle position of the sewing needle in the cloth surface contact part; and an upper thread receiving part main body (216 f-2) which is arranged on the elastic part and clamps the upper thread together with the thread hooking rod.

Therefore, the elastic part is mounted on the upper thread receiving part main body, so that the upper thread can be reliably clamped and fixed by the thread hooking rod and the upper thread receiving part main body.

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that in the above-mentioned 3 rd, 4 th or 5 th configuration, the cloth surface contact portion has a pair of lateral plate portions provided in parallel with each other in the lateral direction, an insertion portion for inserting a sewing needle is provided in each of the pair of lateral plate portions, and the hook thread lever is turned in the vertical direction at a position between the pair of lateral plate portions. ".

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that in the above-mentioned 3 rd, 4 th or 5 th configuration, a connecting portion for connecting between a pair of lateral plate portions is provided at a position offset in a direction of a cloth surface (may be a cloth upper surface) with respect to a needle insertion position of a sewing needle, and an upper thread receiving portion is provided at the connecting portion. ".

In addition, in the above configuration 3 or 4, the presser foot main body portion is provided with a main body constituent portion (214) continuously provided from the cloth surface contact portion so as to face the hook thread lever support portion, one of the main body constituent portion and the hook thread lever support portion is formed with a shaft portion (215) through which a long hole-shaped opening portion (232k) is formed through which the shaft portion is inserted, and the other is formed with an elongated hole-shaped opening portion (232k) through which the shaft portion is inserted, and the hook thread lever is turned by rotating an end portion region of the hook thread lever support portion on the side opposite to the hook thread lever.

In the above-described configuration 3 or 4, the upper thread fixing drive section is a motor fixed to the presser foot main body section, and the thread hooking lever support section reciprocates in the 2 nd transverse direction while swinging in the 1 st transverse direction with respect to the presser foot main body section by a rotational force of the motor.

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that in the above-mentioned 6, a support portion supporting the upper thread fixing drive portion is provided on the side opposite to the cloth surface contact portion of the main body constituent portion of the presser foot main body portion (may be provided on the back side of the main body constituent portion), the upper thread fixing drive portion is a motor fixed to the support portion, a rotary plate is attached to a rotary shaft of the motor, and an end region on the back side of the hook thread lever support portion is connected to a position eccentric from a rotation center of the rotary plate, and the hook thread lever support portion reciprocates in the 2 nd horizontal direction (may be provided in the front-rear direction) while swinging in the 1 st horizontal direction (may be provided in the left-right direction) with respect to the main body constituent portion by a rotational force of the motor. ".

In the above-described configuration 3 or 4, the upper thread fixing drive portion is a motor fixed to a box portion of a frame of the sewing machine, and the hook lever support portion reciprocates in the 2 nd transverse direction while swinging in the 1 st transverse direction with respect to the presser foot main body portion by a rotational force of the motor.

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that, in the above-mentioned 6, the upper thread fixing drive part is a motor fixed to a housing part constituting a frame of the sewing machine, a rotary plate coaxial with a rotation center of the motor is provided to be reciprocatingly movable relative to the motor, and a transmission part for transmitting a rotational force of the motor to the rotary plate is provided, and an end region on a side opposite to the hook thread lever to which the hook thread lever support part is connected at a position eccentric from the rotation center of the rotary plate, the hook thread lever support part is reciprocated by the rotational force of the motor in a 2 nd transverse direction while swinging in a 1 st transverse direction relative to the main body constituting part. ".

In addition, according to the 9 th aspect, in the 1 st aspect, the upper thread fixing section includes: a rod-shaped wire hooking rod (236); a hook wire rod support part (231) which supports the hook wire rod; and upper thread receiving portions (216f, 214c) which hold the upper thread hooked by the upper thread hooking lever together with the upper thread hooking lever and fix the upper thread, and an upper thread fixing portion body (212-1) which supports the upper thread receiving portions, wherein the upper thread hooking lever supporting portion moves relative to the upper thread fixing portion body in a manner that the upper thread hooking lever rotates by the driving of the upper thread fixing driving portion. Therefore, the upper thread can be clamped and fixed by the thread hooking rod and the upper thread receiving part.

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, wherein in the above-mentioned 9 configuration, the thread hooking lever supporting portion reciprocates in the 2 nd lateral direction in a direction perpendicular to the 1 st lateral direction while swinging in the 1 st lateral direction with respect to the upper thread fixing portion main body by a crank mechanism driven by the upper thread fixing driving portion, and the thread hooking lever rotates by the reciprocating motion in the 2 nd lateral direction while swinging in the 1 st lateral direction by the thread hooking lever supporting portion. ".

In addition, according to a 10 th aspect of the present invention, in the 9 th aspect, the upper thread receiving portion includes: elastic parts (216 f-1, 214 c-1) provided to the upper thread fixing part body; and an upper thread receiving part main body (216 f-2, 214 c-2) which is installed on the elastic part and clamps the upper thread together with the thread hooking rod for fixing.

Therefore, the elastic part is mounted on the upper thread receiving part main body, so that the upper thread can be reliably clamped and fixed by the thread hooking rod and the upper thread receiving part main body.

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that, in the above-mentioned 9 th or 10 th configuration, a main body constituting part (214) opposed to the hook thread lever supporting part is provided in the upper thread fixing part main body, a shaft part (215) is inserted in one of the main body constituting part and the hook thread lever supporting part, and an elongated hole-shaped opening part (232k) through which the shaft part is inserted is formed in the other, and the hook thread lever is rotated by rotating an end part region of the hook thread lever supporting part on the side opposite to the hook thread lever. ".

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that, in the above 9 th or 10 th configuration, the upper thread fixing drive section is a motor fixed to the upper thread fixing section main body, and the hook thread lever support section is reciprocated laterally toward the 2 nd side while swinging laterally toward the 1 st side with respect to the upper thread fixing section main body by a rotational force of the motor".

Further, the following configuration may be adopted. That is, it is also possible to: "a sewing machine, characterized in that, in the above 9 th or 10 th configuration, the upper thread fixing drive part is a motor fixed to a box part constituting a frame of the sewing machine, and the hook thread lever support part reciprocates in the 2 nd lateral direction while swinging in the 1 st lateral direction with respect to the main body constituting part by a rotational force of the motor. ".

In addition, the 11 th configuration is characterized in that, in any one of the 1 st to 4 th configurations or the 9 th or 10 th configuration, a storage unit (92) for storing embroidery data in which data of a stitch length and a remaining length of the upper thread is stored for each stitch is provided in the sewing machine, the control unit creates angle correspondence data for each stitch, the angle correspondence data specifying an angle of the upper thread motor as a position in a rotational direction of the upper thread motor for a position in the rotational direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever, based on the embroidery data, and the control unit 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 main shaft motor rotates and the angle of the main shaft motor changes, based on the angle correspondence data.

In addition, in any one of the above-mentioned 1 to 4 configurations or the 9 th or 10 th configuration, the sewing machine is provided with a storage unit (92) for storing embroidery data in which data of a stitch length and a remaining length of an upper thread is stored for each stitch, the control unit creates data for a swing arm which stores data of an angle corresponding to a stitch reference length used in the 1 st section for each stitch, stores data of an angle corresponding to a stitch reference length used in the 2 nd section for each stitch, creates data of an angle corresponding to each stitch based on the embroidery data and the data for the swing arm which defines an angle of the upper thread motor as a position in a rotation direction of the upper thread motor as a position in the rotation direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever, the control unit controls the position of the facial thread motor to the angle of the facial thread motor corresponding to the angle of the main shaft motor as the main shaft motor rotates and the angle of the main shaft motor changes based on the angle corresponding data.

Further, the 13 th configuration is characterized in that, in any one of the 1 st to 4 th configurations or the 9 th or 10 th configuration, an upper thread supporting member (88) is provided, the upper thread supporting member (88) laterally supports a range of both sides of a 1 st upper thread portion including the 1 st upper thread portion in the upper threads, a direction of a rotation shaft of the rotating arm is a lateral direction, a 1 st direction in a rotation direction of the rotating arm is a rotation direction toward an upper side, and a 2 nd direction is a rotation direction toward a lower side.

Further, a 14 th configuration is a sewing machine including: a thread take-up lever (12a) which is formed to be capable of swinging, a swinging shaft of which is arranged in the left-right direction, and an upper thread hanging and clamping part for hanging and clamping the upper thread which is arranged on the front side of the swinging shaft; a needle (12ba) supported by the needle bar moving up and down, through which the upper thread is inserted; a shuttle (12d) which hooks the upper thread inserted in the sewing needle to form a stitch (the shuttle may be 'formed by hooking the upper thread inserted in the sewing needle and interweaving the upper thread with the lower thread'); an upstream side gripping part (40) which has an upstream side gripping part body (41) and an upstream side driving part (50), wherein the upstream side gripping part body (41) clamps the upper thread, and the upstream side driving part (50) switches the closed state of gripping the upper thread and the open state of releasing the upper thread gripping with respect to the upstream side gripping part body; a downstream side grip (60) which is provided on the downstream side of the upstream side grip in the path of the upper thread and on the upstream side of the take-up lever, and which has a downstream side grip body (61) and a downstream side drive part (70), wherein the downstream side grip body (61) grips the upper thread, and the downstream side drive part (70) switches between a closed state in which the upper thread is gripped by the downstream side grip body and an open state in which the upper thread gripping is released; a rotating part (80) which is a rotating part for rotating the 1 st upper thread part (Ja) of the upper thread as the part between the upstream side holding part main body and the downstream side holding part main body to be in a state of bending the upper thread via the 1 st upper thread part, and is provided with a rotating arm (81) and an upper thread motor (86), wherein the rotating arm (81) is a rotating arm connected with the upper thread, the direction of the rotating shaft is the left-right direction, the upper thread motor (86) is an upper thread motor for rotating the rotating arm, the rotating arm rotates towards the direction of the larger bending degree of the upper thread, the 1 st direction as the rotating direction towards the upper side and the 2 nd direction as the direction opposite to the 1 st direction, and rotates in the rotating range between the 1 st end position as the 1 st direction terminal and the 2 nd end position as the 2 nd direction terminal; the disclosed device is characterized by being provided with: an upper thread supporting member (88) which supports the range of two sides of the 1 st upper thread part including the 1 st upper thread part in the upper thread in the left and right direction; a presser foot which moves between a cloth surface contact position contacting with a cloth surface and a cloth surface separation position separating from the cloth surface, the presser foot comprises a presser foot main body part (210) and surface thread fixing parts (230, 216f), the surface thread fixing parts (230, 216f) fix a 2 nd surface thread part (Jb) which is a part between the cloth and a thread take-up lever in the surface thread at a position higher than the upper surface of the cloth and at a position offset to the upper surface of the cloth relative to the needle inserting position of a sewing needle, the presser foot main body part comprises a cloth surface contact part (216) and a main body constituting part (214), the cloth surface contact part (216) contacts with the cloth surface under the condition that the presser foot is at the cloth surface contact position, the main body constituting part (214) is formed at the back surface side than the cloth surface contact part, the surface thread fixing part comprises a rod-shaped thread hooking rod (236), a thread hooking rod supporting part (231) and a surface thread receiving part (216f), the thread hooking rod supporting part (231) is a hooking rod supporting part supporting the thread hooking rod, the upper thread receiving part (216f) is an upper thread receiving part for fixing the upper thread together with the thread hooking rod, and is provided with an elastic part (216 f-1) and a main body (216 f-2) of the upper thread receiving part, wherein the elastic part (216 f-1) is arranged at a position deviated to the direction of the upper surface of the cloth relative to the inserting needle position of the sewing needle in the cloth surface contact part, the main body (216 f-2) of the upper thread receiving part enables the main body of the upper thread receiving part arranged on the elastic part to be fixed together with the thread hooking rod, and the thread hooking rod rotates by swinging towards the left and right directions and reciprocating towards the front and back directions through the thread hooking rod supporting part; a facial thread fixing drive unit (240) which drives the crank mechanism and switches between a fixing state in which the facial thread is fixed by the facial thread fixing unit and a release state in which the fixing of the facial thread by the facial thread fixing unit is released; a storage unit (92) for storing embroidery data, wherein the embroidery data stores data of stitch length and residual length of the surface thread for each stitch; and a control unit (90) that controls the operation of the upstream side drive unit, the downstream side drive unit, the needle thread motor, and the needle thread fixing drive unit (which may be referred to as a "needle thread fixing unit"), wherein the needle thread motor is controlled so that the rotating arm is rotated in the 2 nd direction by an angle corresponding to a stitch reference length in the 1 st interval that is at least a partial interval from the shuttle top dead center to the take-up lever bottom dead center, the stitch reference length is the needle thread length of a stitch in a state where the n +1 th stitch is fixed to the fixing unit, the n +1 th stitch is the next stitch to the n th stitch that is the closest stitch among the needle threads already formed on the cloth, wherein n is an integer, and the rotating arm is rotated in the 1 st direction and the n th stitch is subtracted from the reference length of the n th stitch in the 2 nd interval that is at least a partial interval from the take-up lever bottom dead center to the take-up lever top dead center An angle corresponding to the length obtained by the remaining length of the upper thread as the length of the upper thread protruding from the cloth surface is made to rotate the rotating arm to the 1 st end position in the 3 rd section as at least a partial section from the end position of the 2 nd section to the section of the hook fine dried thread, when controlling the upper thread motor, angle corresponding data is made for each stitch based on embroidery data, the angle corresponding data defines the angle of the upper thread motor as the position of the rotation direction of the upper thread motor according to the angle of the main shaft motor as the position of the rotation direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever, the control part 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 according to the angle corresponding data by controlling the upstream side driving part, thereby, the upstream side grip portion is closed at any position in a section from the end position of the 3 rd section to the hook face thread, the upstream side grip portion is opened at any position in a section from the end position of the 2 nd section to the start position of the 3 rd section, the downstream side grip portion is closed at any position in a section from the end position of the 2 nd section to the switching position for switching the closed state of the upstream side grip portion to the open state by controlling the downstream side drive portion, and the downstream side grip portion is opened at any position in a section from the switching position for switching the open state of the upstream side grip portion to the closed state to the position of the hook face thread, and the drive of the face thread fixing drive portion is stopped by controlling the face thread fixing drive portion at least in a section from when the stitch needle is inserted into the stitch needle to when the hook face thread is hooked, the upper thread receiving part is fixed by the upper thread hooking rod and the upper thread receiving part.

In the sewing machine of 14 th constitution, the rotating arm rotates the angle corresponding to the stitch reference length in the 1 st interval, the stitch reference length is the length of the stitch in the state that the n +1 th stitch is fixed on the upper thread fixing part, the upper thread of the length required by the n +1 th stitch is prepared between the cloth and the rotating arm. In addition, since the 2 nd upper thread portion is fixed by the upper thread fixing portion when the hook descends from the hook upper dead point to hook the upper thread, the hook does not pull up the upper thread from the stitch (i.e., the nth stitch) fixed by the upper thread fixing portion. Further, since the upstream side grip portion is in the closed state and the downstream side grip portion is in the open state, the upper thread is not pulled up from the upstream side of the upstream side grip portion.

Then, in the 2 nd interval, the thread take-up lever is raised, but when the thread take-up lever is raised, the rotating arm rotates in the 1 st direction to pull out the upper thread from the n-th stitch, so that the remaining length of the upper thread of the n-th stitch is shortened accordingly. Thus, the height of the hollow embroidery can be controlled by the stitch by defining the remaining length of the upper thread for each stitch.

Then, the needle is inserted into the cloth, but when the needle is inserted into the cloth, the upper thread is fixed by the upper thread fixing section, and therefore the upper thread is folded back at the position of the upper thread fixing section.

In the 3 rd section, the needle thread is pulled out from the upstream side of the upstream side grip part because the upstream side grip part is in the open state and the downstream side grip part is in the closed state while rotating in the 1 st direction. Therefore, the knitting yarn is not insufficient in the subsequent stitches.

As described above, according to the sewing machine of the present invention, since the hollow embroidery is formed by fixing the upper thread by the thread hooking lever, the plate-shaped member for overlapping the upper thread with the cloth to be embroidered by the upper thread fixing portion is not required, and the plate-shaped member is not dissolved, and the length of the upper thread can be adjusted for each stitch by the rotation angle of the rotating arm in the 2 nd section, so that the sewing machine capable of obtaining the extremely fine hollow embroidery can be provided. In addition, by lengthening the length of the face thread (i.e., the remaining length of the face thread), the cloth is not excessively tightened by forming the stitch, the embroidered cloth is not wrinkled (i.e., becomes uneven), and the stitch can be made to be flexible.

In the 14 th configuration, the control unit may be as follows. That is, it is also possible to: a control unit (90) for controlling the operation of the upstream side drive unit, the downstream side drive unit, the upper thread motor and the upper thread fixing drive unit (which may be referred to as an upper thread fixing unit), wherein the upper thread motor is controlled so that the rotating arm is rotated in the 2 nd direction by an angle corresponding to a stitch reference length in the 1 st interval which is at least a partial interval from the shuttle top dead center to the take-up lever bottom dead center, the stitch reference length being the upper thread length of a stitch in a state where the n +1 th stitch is fixed to the upper thread fixing unit, the n +1 th stitch being the next stitch to the n th stitch which is the closest stitch among stitches already formed on the cloth, wherein n is an integer, and the n is the 2 nd interval which is at least a partial interval from the take-up lever bottom dead center to the take-up lever top dead center, rotating the rotating arm in the 1 st direction by an angle corresponding to a length obtained by subtracting the remaining length of the upper thread of the n-th stitch as the length of the upper thread protruding from the cloth surface from the stitch reference length of the n-th stitch, rotating the rotating arm in the 1 st direction to the 1 st end position in the 3 rd section of at least a partial section of a time section from the end position of the 2 nd section to the hook thread, and when controlling the upper thread motor, creating angle corresponding data for each stitch, the angle corresponding data specifying the angle of the upper thread motor as the position of the rotation direction of the upper thread motor as the angle of the main shaft motor as the position of the rotation direction of the main shaft motor rotating the main shaft for transmitting power to the thread take-up lever, based on the angle corresponding data, the control unit 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 is changed with the rotation of the main shaft motor and the angle of the main shaft motor, by controlling the upstream side driving part so that the upstream side gripping part is in a closed state at any position in a time interval from the end position of the 3 rd interval to the hook face line (which may be any time position in the time interval; the other is the same), and so that the upstream side gripping part is in an open state at any position in a time interval from the end position of the 2 nd interval to the start position of the 3 rd interval, the downstream side driving part is controlled so that the downstream side gripping part is in a closed state at any position in a time interval from the end position of the 2 nd interval to a switching position for switching the upstream side gripping part from the closed state to the open state, and so that the downstream side gripping part is in an open state at any position in a time interval from the switching position for switching the upstream side gripping part from the open state to the closed state to the position of the hook face line, the upper thread fixing driving part is controlled to stop driving at least in a time interval from when the needle is inserted into the cloth to when the shuttle hooks the upper thread, and the upper thread fixing driving part is set to be in a fixed state that the upper thread is clamped and fixed by the upper thread receiving part and the upper thread hooking rod. ".

In the 14 th configuration, the control unit may be as follows. That is, it is also possible to: a control unit (90) for controlling the operation of the upstream side drive unit, the downstream side drive unit, the upper thread motor and the upper thread fixing drive unit (which may be referred to as an upper thread fixing unit), wherein the upper thread motor is controlled so that the rotating arm is rotated in the 2 nd direction by an angle corresponding to a stitch reference length in the 1 st interval which is at least a partial interval from the shuttle top dead center to the take-up lever bottom dead center, the stitch reference length is the upper thread length of a stitch in a state where the n +1 th stitch is fixed to the fixing unit, the n +1 th stitch is a next stitch to the n th stitch which is the closest stitch among stitches already formed on the cloth, wherein n is an integer, and the rotating arm is rotated in the 1 st direction and the n th stitch is subtracted from the reference length of the n th stitch in the 2 nd interval which is at least a partial interval from the take-up lever bottom dead center to the take-up lever top dead center An angle corresponding to the length obtained by the remaining length of the upper thread as the length of the upper thread protruding from the cloth surface is made to rotate the rotating arm to the 1 st end position in the 3 rd section as at least a partial section from the end of the 2 nd section to the time when the upper thread is hooked by the shuttle, when controlling the upper thread motor, angle corresponding data is made for each stitch based on embroidery data, the angle corresponding data specifies the angle of the upper thread motor as the position of the rotation direction of the upper thread motor according to the angle of the main shaft motor as the position of the rotation direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever, the control part 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 according to the rotation of the main shaft motor and the angle change of the main shaft motor based on the angle corresponding data, by controlling the upstream side driving part, whereby the upstream side grip portion is closed at any time in a section from the end of the 3 rd section to the time when the upper thread is hooked, and the upstream side grip portion is closed at any time in a section from the end of the 2 nd section to the start of the 3 rd section, the downstream side grip portion is closed at any time in a section from the end of the 2 nd section to the time when the upstream side grip portion is switched from the closed state to the open state by controlling the downstream side drive portion, and the downstream side grip portion is opened at any time in a section from the time when the upstream side grip portion is switched from the open state to the closed state to the time when the upper thread is hooked, and the upper thread fixing drive portion is stopped at least in a section from the time when the stitch needle is directed to the stitch needle to the time when the upper thread is hooked by controlling the upper thread fixing drive portion, the upper thread receiving part is fixed by the upper thread hooking rod and the upper thread receiving part. ".

In the 15 th configuration, in the 14 th configuration, the control unit creates data for the rotary arm storing data of an angle corresponding to the reference stitch length used in the 1 st section for each stitch and storing data of an angle corresponding to the reference stitch length used in the 2 nd section for each stitch, and creates the angle correspondence data based on the embroidery data and the data for the rotary arm.

In the 16 th configuration, in the 2 nd configuration, the control unit may rotate the swing arm in the 1 nd section by an angle obtained by subtracting a remaining length of the face thread as a length of the face thread protruding from the cloth surface in the n-th stitch from a stitch reference length in the n-th stitch, instead of rotating the swing arm in the 1 st direction by an angle corresponding to a length obtained by subtracting the remaining length of the face thread as the length of the face thread protruding from the cloth surface in the n-th stitch from the stitch reference length in the n-th stitch, and may rotate the swing arm in the 1 st direction by an angle obtained by subtracting the remaining length of the face thread as the length of the face thread protruding from the cloth surface in the n-th stitch from the stitch reference length in the n-th stitch.

According to the sewing machine according to the present invention, since the upper thread is fixed by the upper thread fixing portion to form the hollow embroidery, a plate-shaped member for overlapping the upper thread with the cloth to be embroidered is not required, and the plate-shaped member is not dissolved, and the length of the upper thread (i.e., the remaining length of the upper thread) can be adjusted for each stitch by the rotation angle of the rotating arm in the 2 nd section, so that the sewing machine capable of obtaining the extremely fine hollow embroidery can be provided. In addition, by lengthening the length of the face thread (i.e., the remaining length of the face thread), the cloth is not excessively tightened by forming the stitch, the embroidered cloth is not wrinkled (i.e., becomes uneven), and the stitch can be made to be flexible.

Drawings

Fig. 1 is an explanatory view showing a configuration of a sewing machine.

Fig. 2 is a front view showing the sewing machine.

Fig. 3 is a left side view, partially in section, showing the sewing machine.

Fig. 4 is a rear perspective view of the 1 st plate-like portion unit.

Fig. 5 is a main part perspective view showing the sewing machine.

Fig. 6 is a partially enlarged view of fig. 3.

Fig. 7 is a main part perspective view of the presser foot.

Fig. 8 is a sectional view a-a of fig. 6.

Fig. 9 is a sectional view B-B of fig. 6.

Fig. 10 is an explanatory diagram for explaining the operation of the thread hooking lever.

Fig. 11 is a main part explanatory view of the sewing machine.

Fig. 12 is an explanatory diagram showing a configuration of the storage device.

Fig. 13 is an explanatory diagram showing a configuration of embroidery data.

Fig. 14 is an explanatory diagram showing a configuration of the position data.

Fig. 15 is an explanatory diagram showing spindle data.

Fig. 16 is an explanatory diagram showing an example of spindle data.

Fig. 17 is an explanatory diagram showing data for a rotary arm.

Fig. 18 is an explanatory diagram showing angle correspondence data.

Fig. 19 is an explanatory view showing an operation of the sewing machine.

Fig. 20 is an explanatory view showing an operation of the sewing machine.

Fig. 21 is an explanatory diagram for explaining the stitch reference length.

Fig. 22 is a flowchart for explaining an operation in the sewing machine.

Fig. 23 is a flowchart showing a control method of the needle thread motor.

Fig. 24 is a flowchart showing a control method of the needle thread motor.

Fig. 25 is an explanatory diagram for explaining a position control method of the needle thread motor.

Fig. 26 is an explanatory diagram illustrating stitch directions in the embroidery data.

Fig. 27 is a cross-sectional view showing another example of the presser foot.

Fig. 28 is a cross-sectional view showing another example of the presser foot.

Fig. 29 is a partial sectional main portion left side view showing the sewing machine.

Fig. 30 is a perspective view of a main part for explaining the upper thread fixing unit.

Description of the reference numerals

5 Sewing machine

7 machine head

10 mechanical element group

12a thread take-up lever

12b needle bar

12ba suture needle

12bb pinhole

12c presser foot

12d shuttle

12e sewing frame

12f upper thread fixing unit

14a needle bar arch seat

14b needle bar upper and lower parts

14c base needle bar

20 spindle motor

21 encoder

22 spindle

24-frame driving device

40 upstream side holding part

41. 61 grip part body

42. 62 st plate-shaped part unit

42a, 62a 1 st plate-like portion

44. 64 nd 2 nd plate-like part

50. 70 magnet part

52. 54, 72, 74, 100 guide member

60 downstream side holding part

80 rotating part

81 rotating arm

82 main body part

84 hook part

86 motor for facial line

88 facial line supporting component

90 control circuit

92 storage device

102 thread-clamping bullet

110 case body

110a, 110b hanging and clamping hole

120 frame

210 body portion

212 base portion

212-1 facial line fixing part body

214 main body constituent part

214a through hole

215 shaft portion

216 tip constituent part

216a, 216c, 216e, 218a, 234 risers

216b, 216d, 218b, 232 horizontal plate part

216bk, 216dk openings

216f, 214c face line receiving portion

216 f-1 elastic part

216 f-2 plate-like portion

218 base end portion

230 oscillating reciprocating mechanism part

231 hook wire rod support part

236 thread hooking rod

238 rotating disc

240 hook wire rod driving motor

Detailed Description

In the present invention, the following objects are achieved by providing a sewing machine: it does not need a plate-shaped member overlapped with the cloth to be embroidered, does not need to dissolve the plate-shaped member, and can adjust the length of the upper thread according to each stitch, and can obtain extremely fine hollow embroidery.

The sewing machine 5 according to the present embodiment is an embroidery sewing machine, and is configured as shown in fig. 1 to 14, and includes a head (embroidery head) 7, a shuttle 12d, a sewing frame 12e, a frame driving device 24, and a storage device 92.

Here, the head 7 is provided above the sewing machine table 3 having a substantially flat plate shape. That is, a frame 120 (see fig. 2 and 3) is provided upright from the upper surface of the sewing machine table, and a head 7 is provided on the front side of the frame 120. The sewing machine bed 3 is substantially flat and has a plate-shaped bed body 4 and a needle plate 5 provided in an opening formed in the bed body 4, as shown in fig. 6. Needle plate 5 is provided with needle holes 5 a.

The head 7 is configured as shown in fig. 1 to 11, and includes a mechanical element group 10, a spindle motor 20, a spindle 22, an upstream side grip portion 40, a downstream side grip portion 60, a rotation portion 80, a needle thread support member 88, a control circuit 90, needle thread guides 104 and 106, and a housing portion 110. The upstream side grip 40 and the downstream side grip 60 constitute an upper thread control unit.

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 12c as mechanical elements. The thread take-up lever 12a and the needle bar 12b are driven by transmitting the rotational force of the main shaft 22 via a power transmission unit such as a cam mechanism or a belt mechanism, as in the case of the conventional sewing machine.

The thread take-up lever 12a is provided in the box body 110, is formed to be swingable about an axis (rotation center) in the left-right direction (X1-X2 direction), and is rotatable 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 case portion 110 so as to swing about a rotation center (which may be a swing center) 12 ab. An upper thread is inserted through the thread take-up lever 12a and inserted through the sewing needle 12 ba. The tip end of the thread take-up lever 12a projects from the opening 116d provided in the front surface portion 110-1 of the case portion 110 toward the front surface side (Y1 side). Further, a thread take-up spring (may be a thread take-up spring (generally referred to as a thread hanging spring)) 102 is fixedly provided on the front surface portion 110-1 of the case portion 110 at a position near the lower side of the opening 116d, and the thread take-up spring 102 is used for guiding the upper thread J fed from above (that is, fed from the downstream side grip portion 60) 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 guided to the thread take-up lever by the thread tension spring 102, and tension is applied to the upper thread J. Instead of the wire-clamping spring 102, a rod-shaped guide member may be used as the guide member 100.

The needle bar 12b is provided to be movable vertically with respect to the box portion 110, a sewing needle 12ba is fixedly provided at a lower end of the needle bar 12b (an upper thread is inserted into a needle hole 12bb of the sewing needle 12ba), and a needle bar abutment 14a is fixedly provided at a substantially intermediate position in the vertical direction of the needle bar 12 b.

Further, a base needle bar 14c is provided in the vertical direction in the case portion 110, and a needle bar vertical member (a needle bar vertical movement member or a needle bar elevating body may be used) 14b that engages with the needle bar abutment 14a is provided on the base needle bar 14c so as to be movable vertically along the base needle bar 14 c. The needle bar upper and lower member 14b is moved up and down by using a mechanism for moving the needle bar upper and lower member 14b up and down, so that the needle bar abutment 14a is moved up and down and the needle bar 12b is moved up and down.

The vertical movement mechanism 14 as a mechanism for moving the needle bar 12b vertically includes a needle bar abutment 14a, a needle bar vertical member 14b, and a crank lever 14d for moving the needle bar vertical member 14b vertically, and a transmission mechanism (not shown) for transmitting a rotational force of the main shaft 22 is connected to the crank lever 14d, and the crank lever 14d is rotated by the rotation of the main shaft 22, whereby the needle bar vertical member 14b moves vertically along the base needle bar 14c, and the needle bar 12b reciprocates vertically.

The presser foot 12c is provided on the bottom surface side of the casing 110 so as to be vertically movable with respect to the casing 110, and includes a hook lever (may be a rod-shaped member) 236 on which the upper thread is hooked in the lateral direction.

That is, as shown in fig. 2 and 6 to 9, the presser foot 12c includes a main body portion 210, a swing reciprocating mechanism portion (which may be a rotating mechanism portion or a revolving mechanism portion) 230 that swings while reciprocating with respect to the main body portion 210, and a hook lever drive motor (upper thread fixing drive portion) 240 for operating the swing reciprocating mechanism portion 230. Further, fig. 8 is a sectional view a-a in fig. 6, fig. 9 is a sectional view B-B in fig. 6, and fig. 9 is a cut position drawn with an offset halfway.

Here, the body portion (presser foot body portion) 210 includes a base portion 212 and a shaft portion 220 fixed to the base portion 212.

The base portion 212 has: a main body constituting portion (may be a central constituting portion) 214 having a square (specifically, rectangular) plate shape; a leading end structure portion (which may be a leading end portion) (a cloth surface contact portion) 216 continuously provided from an end portion (one of a pair of short sides) on the front surface side of the main body structure portion 214; a needle thread receiving portion 216f attached to the inner surface of the vertical plate portion 216e of the distal end forming portion 216; and a base end portion 218 continuously provided from an end portion (the other short side of the pair of short sides) on the back surface side of the main body constituent portion 214. The shaft portion 215 (described later) of the base portion 212 is integrally formed with the structure other than the surface line receiving portion 216 f. The top end formation portion 216 corresponds to "a cloth contact portion that comes into contact with the cloth when the presser foot is located at the cloth contact position".

As shown in fig. 8, a through hole 214a is provided in the main body constituting portion 214, and a shaft portion 215 is provided in the through hole 214 a. That is, the shaft portion 215 has: a head 215a having a larger diameter than the through hole 214 a; a shaft body 215b which is provided continuously from the head 215a and is inserted through the through hole 214 a; and a retaining portion 215c fixedly provided at an end portion of the shaft body 215b opposite to the head portion 215 a. That is, the shaft portion 215 is fixed to the main body constituent portion 214, and is inserted into the main body constituent portion 214 so as not to be movable in a direction perpendicular to the axis of the shaft portion 215 with respect to the main body constituent portion 214. The main body constituting portion 214 faces the hook lever supporting portion 231 (particularly, the lateral plate portion 232). The shaft portion 215 is configured to rotate about the axis of the shaft portion 215 with respect to the main body constituent portion 214, but a head portion 215a of the shaft portion 215 may be fixed to the main body constituent portion 214.

Further, the distal end structure portion 216 includes: a horizontally long rectangular riser portion 216a continuously provided downward from an end portion on the front surface side of the main body constituting portion 214; a horizontal plate portion 216b provided continuously from the lower end of the vertical plate portion 216a toward the front side; a vertical plate portion 216c provided continuously downward from an end portion on the front surface side of the horizontal plate portion 216 b; a horizontally long rectangular horizontal plate portion 216d provided continuously from the lower end of the vertical plate portion 216c to the back surface side; and a vertical plate portion 216e (see fig. 8 and 9) formed perpendicular to the horizontal plate portion 216b and the horizontal plate portion 216d between the end portion on the right side surface side of the horizontal plate portion 216b and the end portion on the right side surface side of the horizontal plate portion 216 d. The vertical plate portion 216a is perpendicular to the main body constituting portion 214 and the horizontal plate portion 216b, and the vertical plate portion 216c is perpendicular to the horizontal plate portion 216b and the horizontal plate portion 216 d.

The lateral plate portion 216b and the lateral plate portion 216d are formed in a square (specifically, rectangular) plate shape and are formed in parallel to each other. The horizontal plate portion 216b is provided with a circular opening 216bk, and the horizontal plate portion 216d is provided with a circular opening 216 dk. The opening portion 216bk and the opening portion 216dk are hole portions for inserting the needle thread and the sewing needle 12ba therethrough, the opening portion 216bk and the opening portion 216dk are formed to have the same (or substantially the same) diameter, and the opening portion 216bk and the opening portion 216dk are provided at the same position in the lateral direction (i.e., in a direction other than the vertical direction). That is, the openings 216bk and 216dk are insertion parts for inserting the sewing needle. As described above, the horizontal plate portion 216b and the horizontal plate portion 216d are formed in the same shape. When the sewing needle 12ba pins the cloth, the presser foot 12c is lowered toward the cloth side, and the distal end formation portion 216 is in contact with the cloth surface, but in a state where the distal end formation portion 216 is in contact with the cloth surface, the lower surface of the lateral plate portion 216d is in contact with the cloth surface.

The distance h1 (see fig. 6) between the lateral plate portion 216b and the lateral plate portion 216d is formed larger than the diameter of the hook rod 236, and the hook rod 236 is formed so as to be turnable at a position between the lateral plate portion 216b and the lateral plate portion 216 d. In addition, since the thread hooking lever 236 presses the upper thread in a state where the lower surface of the lateral plate portion 216d of the distal end constituent portion 216 is in contact with the cloth during an actual sewing operation, a space is provided between the height of the upper surface of the cloth and the height of the thread hooking lever 236, for example, a space h2 is provided between the lower surface of the lateral plate portion 216d and the upper end of the thread hooking lever 236 (see fig. 6). Thereby, the thread hooking rod 236 fixes the upper thread at a position apart from the cloth surface. The interval h2 is equal to the hook bar height in the following formula 1.

The lateral plate portions 216b and 216d are formed to have a length in the lateral direction (X1-X2 direction) longer than the length in the lateral direction of the main body constituent member 214, and the lateral positions of the side portions on the right side surface of the lateral plate portions 216b and 216d coincide with the lateral positions of the side portions on the right side surface of the main body constituent member 214 (in a plan view, the side portions on the right side surface of the lateral plate portion 216b and the side portions on the right side surface of the main body constituent member 214 are on a straight line), so that the lateral plate portions 216b and 216d are formed to protrude toward the left side surface with respect to the main body constituent member 214.

The upper thread receiving portion 216f includes: an elastic portion 216 f-1 provided on the inner surface of the vertical plate portion 216 e; and a plate-like portion (needle thread receiving portion main body) 216 f-2 fixedly provided at an end portion of the elastic portion 216 f-1 on the opposite side to the vertical plate portion 216 e. The elastic portion 216 f-1 is a coil spring, and has one end fixed to the vertical plate portion 216e and the other end fixed to the plate portion 216 f-2. The plate-like portion 216 f-2 is formed of, for example, metal or synthetic resin. The upper thread receiving portion 216f is fixed together with the hook lever 236 across the upper thread, and when the upper thread pressed toward the upper thread receiving portion 216f by the hook lever 236 comes into contact with the plate portion 216 f-2, the upper thread is sandwiched between the hook lever 236 and the plate portion 216 f-2. That is, the axis (center line) of the coil spring constituting the elastic portion 216 f-1 is formed in the left-right direction (direction X1-X2), and the extension line of the axis of the coil spring is formed so as to pass through the centers of (or the vicinity of) the openings 216bk, 216dk in a plan view. That is, the elastic portion 216 f-1 biases the looped hook wire rod 236 substantially in the left side direction (direction X1), and at least the elastic portion 216 f-1 biases the looped hook wire rod 236 in the lateral direction. Further, since the elastic portion 216 f-1 is provided, the direction of the plate-like portion 216 f-2 is variable, and even if the direction of the hook lever 236 is changed by the turning of the hook lever 236, the upper thread (i.e., the 2 nd upper thread portion Jb (see fig. 20) which is a portion between the cloth in the upper thread and the thread take-up lever 12a) can be sandwiched by the hook lever 236 and the plate-like portion 216 f-2. The upper thread receiving portion 216f has the same configuration as the upper thread receiving portion 214c of the upper thread fixing unit 12f of fig. 30, and the plate portion 216 f-2 has the same configuration as the plate portion 214 c-2 of fig. 30.

The upper thread receiving portion 216f is provided at a position shifted in the cloth surface direction (i.e., shifted toward X2 side) with respect to the needle insertion position of the sewing needle 12ba, and the thread hooking lever 236 fixes the upper thread at a position separated from the cloth surface (i.e., the cloth upper surface), so that the rocking reciprocation mechanism portion 230 (particularly the thread hooking lever 236) and the upper thread receiving portion 216f of the main body portion 210 fix the 2 nd upper thread portion, which is a portion between the cloth and the thread hooking lever in the upper thread, at a position located above the cloth upper surface and shifted in the cloth upper surface direction with respect to the needle insertion position of the sewing needle. That is, the rocking reciprocation mechanism 230 (particularly the hook thread lever support 231 and the hook thread lever 236) and the upper thread receiving portion 216f of the main body 210 constitute "an upper thread fixing portion that fixes the 2 nd upper thread portion, which is a portion between the cloth and the thread take-up lever in the upper thread, at a position separated from the cloth surface and at a position shifted in the cloth surface direction with respect to the needle-inserting position of the sewing needle".

Since the upper thread receiving portion 216f is provided at a position shifted in the cloth surface direction with respect to the needle insertion position of the sewing needle 12ba, when the sewing needle 12ba inserts the needle in a state where the upper thread is pressed by the hook lever 236 and the upper thread receiving portion 216f, the upper thread passes through the hook lever 236 (i.e., is folded back at the position of the hook lever 236).

The openings 216bk and 216dk may not be circular, and may be cut-out portions instead of the openings 216bk and 216 dk. That is, when the cutout portion is formed, the opening portion 216bk is formed to the distal end side of the lateral plate portion 216b, the opening portion 216dk is formed to the distal end side of the lateral plate portion 216d, and the opening portion 216bk is formed in the vertical plate portion 216c so as to connect the opening portion 216bk and the opening portion 216dk, and as a result, the cutout portion from the lateral plate portion 216bk to the lateral plate portion 216dk via the vertical plate portion 216c is formed.

Further, the base end portion 218 includes: a horizontally long rectangular riser portion 218a continuously provided upward from an end portion on the back side of the main body constituting portion 214; and a horizontal plate portion 218b provided continuously from the upper end of the vertical plate portion 218a to the back surface side. The vertical plate portion 218a is perpendicular to the main body constituting portion 214, and the horizontal plate portion 218b is perpendicular to the vertical plate portion 218 a. The vertical plate portion 218a and the horizontal plate portion 218b are formed to have substantially the same length in the left-right direction, and the vertical plate portion 218a and the horizontal plate portion 218b are formed to have substantially the same length in the left-right direction as the main body constituent portion 214.

The shaft portion 220 is provided at a fixed position from the end portion of the base end portion 218 on the front side of the upper surface of the lateral plate portion 218b, and the shaft portion 220 is vertically erected on the upper surface of the lateral plate portion 218 b.

The needle thread fixing section body 212-1, which supports the needle thread receiving section 216f, is configured in addition to the needle thread receiving section 216f in the base section 212.

Further, the oscillating reciprocating mechanism 230 includes: a horizontal plate portion 232 supported by the shaft portion 215; a vertical plate portion 234 provided continuously downward from the front end of the horizontal plate portion 232; a hook wire rod 236 fixed to the vertical plate portion 234; and a rotating disk 238 rotatably mounted with respect to the lateral plate portion 232.

The lateral plate portion 232 has a band plate shape, has an upper surface shape in which one short side of the rectangle coincides with the semicircular shape, and has a width in the short side direction substantially equal to a width in the short side direction of the main body constituting portion 214. Further, the horizontal plate portion 232 has an opening 232k in a long hole shape in the front-rear direction. The shaft main body 215b of the shaft 215 is inserted into the opening 232K, and the shaft main body 215b is slidable relative to the horizontal plate 232 in the longitudinal direction of the opening 232K.

The vertical plate 234 is a rectangular plate, and is perpendicular to the horizontal plate 232, and the position of the end on the right side surface of the vertical plate 234 in the left-right direction matches the position of the end on the right side surface of the horizontal plate 232 in the left-right direction, but the vertical plate 234 protrudes to the left side surface side than the horizontal plate 232, and the end on the left side surface of the vertical plate 234 is located to the left side surface side than the end on the left side surface of the horizontal plate 232. The riser 234 is provided with a hole for inserting the hook rod 236. The horizontal plate portion 232 and the vertical plate portion 234 constitute a hook lever support portion (may be a swing reciprocating portion) 231.

In addition, the thread hooking rod 236 has: a cylindrical wire hooking rod body 236 a; and a head portion 236b provided at an end of the hook wire rod main body 236a, having a diameter larger than that of the hook wire rod main body 236a, and fixing the hook wire rod 236 to the vertical plate portion 234 by inserting the hook wire rod main body 236a into a hole portion of the vertical plate portion 234. The hook wire rod 236 is formed of, for example, metal. As a method of fixing the hook wire rod 236 to the riser 234, for example, the following is considered: a screw groove is provided on the head portion 236b side of the hook lever main body 236a, a screw groove is formed in a hole portion of the riser portion 234, and the hook lever main body 236a is screwed with the riser portion 234.

The rotary plate 238 is formed in a circular plate shape, the output shaft 242a of the hook wire driving motor 240 is fixed to the center position of the rotary plate 238, the rotary plate 238 and the horizontal plate portion 232 are connected at a position apart from the output shaft 242a of the hook wire driving motor 240 (i.e., a position eccentric from the rotation center of the rotary plate 238), specifically, a through hole for inserting the shaft portion 239 is formed at a position eccentric from the rotation center of the rotary plate 238, a through hole for inserting the shaft portion 239 is formed at the center position in the left-right direction of the end region on the back surface side of the horizontal plate portion 232, and the rotary plate 238 and the horizontal plate portion 232 are connected by inserting the shaft portion 239 into each through hole. That is, the shaft portion 239 includes: a head 239a having a diameter larger than the through hole of the rotary disk 238; a shaft body 239b which is provided continuously from the head portion 239a and is inserted through the through holes; and a retaining portion 239c fixed to an end portion of the shaft body 239b on the opposite side from the head portion 239 a.

The hook wire driving motor 240 is fixedly provided to the base portion 212 (specifically, the horizontal plate portion 218b of the base end portion 18), and the output shaft 240a of the hook wire driving motor 240 is positioned in the vertical direction with respect to the upper surface of the horizontal plate portion 232, and the output shaft 240a is perpendicular to the pair of upper and lower planes of the rotating disk 238, so that the rotating disk 238 and the horizontal plate portion 232 are formed in parallel.

Since the presser foot 12c is configured as described above, the rotation disc 238 rotates by the driving of the hook lever driving motor 240, the rear surface side of the lateral plate portion 232 rotates by the rotation disc 238 rotating, and the shaft portion main body 215b passes through the opening portion 232k by the rear surface side of the lateral plate portion 232 rotating, so that the lateral plate portion 232 reciprocates in the front-rear direction (2 nd lateral direction) while swinging in the left-right direction (1 st lateral direction). By the reciprocating movement in the front-rear direction while the lateral plate portion 232 swings in the left-right direction, the hook lever 236 also similarly swings in the left-right direction and reciprocates in the front-rear direction, and the hook lever 236 turns along a lateral surface (plane) (may be a horizontal surface (plane) (may be a substantially horizontal direction)) (that is, the hook lever 236 turns along a surface parallel to (may be substantially parallel to) the cloth surface). The hook lever 236 may be rotated along a surface (plane) that is perpendicular (or substantially perpendicular) to the direction of the 2 nd surface line portion (which may be a direction including the range on both sides of the 2 nd surface line portion) (the vertical direction). Thus, the distal end 236Q of the hook wire 236 turns along a surface in the lateral direction (may be a horizontal direction), and forms a substantially elliptical trajectory in a plan view as shown in fig. 10. Further, in a plan view of the presser foot 12c, a trajectory of an intersection point 236P of the front side edge portion of the riser portion 234 and an axis 236g (a center line in the width direction) of the hook lever main body 236a is shown in fig. 10.

That is, the swing reciprocating mechanism portion 230 reciprocates in the front-rear direction while swinging in the left-right direction with respect to the main body structure portion 214 of the base portion 212 by a crank mechanism. Here, the crank mechanism can be said to be constituted by the rotary plate 238, the lateral plate portion 232, and the shaft portion 215, and the lateral plate portion 232 is connected to the rotation center of the rotary plate 238 at an eccentric position.

As shown in fig. 10, the locus of the tip 236Q of the hook wire 236 is outside the edge of the opening 216bk and the opening 216dk in a plan view. That is, the configuration of the oscillating reciprocating mechanism portion 230 (for example, the length of the oscillating reciprocating mechanism portion 230 in the longitudinal direction, the length of the thread hooking rod 236, the mounting position of the thread hooking rod 236, and the eccentric length of the rotary disk 238 (the length between the center of the output shaft 240a and the center of the shaft portion 239)) is set to: the locus of the tip 236Q of the hook lever 236 is outside the edge of the opening 216bk and the opening 216 dk. Thus, in fig. 10, when the thread hooking lever 236 returns to the opposite side from the 290 degree position, the thread hooking lever 236 is unlikely to be hooked to the upper thread.

In addition, the presser foot 12c is moved up and down by the up-down movement mechanism 250. That is, the up-down movement mechanism 250 includes: a fixing member 252 fixed to the shaft portion 220; a shaft 254 fixedly provided to the casing 110; a presser foot vertical member 256 movable vertically along the shaft 254; and a crank lever 258. The fixing member 252 is configured similarly to the needle bar abutment 14a, and the shaft 254 is formed perpendicularly to the bottom surface portion 110-3 of the housing portion 110. Further, the presser foot vertical member 256 is engaged with the fixing member 252. A transmission mechanism (not shown) for transmitting the rotational force of the main shaft 22 is connected to the crank lever 258, and when the main shaft 22 rotates and the crank lever 258 rotates, the presser foot vertical member 256 moves vertically along the shaft 254, and the presser foot 12c reciprocates vertically.

The presser foot 12c moves (may be made to reciprocate) between a bottom dead center (a cloth-contacting position) contacting the cloth surface and a top dead center (a cloth-separating position) separated from the cloth surface, and the bottom dead center is located in a section of a predetermined range, the start position of the bottom dead center section is any position (a position of about 100 degrees in fig. 19) from a position at which the frame driving device 24 stops to a position at which the stitch 12ba stitches on the cloth, and the end position of the bottom dead center section is any position (about 250 degrees in fig. 19) from a position at which the needle bar 12b is raised and the stitch 12ba is pulled out from the cloth (a position at which the stitch 12ba is released from the stitch state) to an operation of the frame driving device 24. That is, when the frame driving device 24 operates, the cloth cannot be pressed, and since the cloth needs to be pressed in advance when the stitch 12ba stitches the cloth, the start position of the lower dead zone is as described above, and since the cloth needs to be pressed in advance when the stitch 12ba stitches the cloth, and since the cloth cannot be pressed when the frame driving device 24 operates, the end position of the lower dead zone is as described above. Further, the presser foot 12c rises from the bottom dead center section end position, reaches the top dead center at a position of about 340 degrees, then maintains the top dead center up to a position of about 10 degrees, and then descends.

The shuttle 12d is provided below the head 7 and below the upper surface of the sewing machine table, and specifically, is supported below the needle hole 5a of the needle plate 5 by a shuttle base (not shown) provided below the sewing machine table. A bobbin is accommodated in the bobbin 12d, and a bobbin thread is wound around the bobbin. The hook 12d is rotated by the rotational force of the spindle 22, and the tip 12 d-1 (see fig. 1) provided on the hook 12d is hooked on the upper thread, so that the hook 12d catches and pulls up the upper thread, and the upper thread is interlaced with the lower thread by the rotational motion, thereby forming a stitch. The shuttle 12d is driven by transmitting the rotational force of the main shaft 22 via a power transmission unit such as a cam mechanism or a belt mechanism, as in the conventional sewing machine.

The sewing frame 12e is a member for stretching a holding cloth (specifically, a processing cloth to be embroidered), and is provided above (or may be an upper surface of) the sewing machine bed.

The spindle 22 is rotated by the spindle motor 20, and the rotational force thereof is transmitted by 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 12c, and the shuttle 12 d. The spindle motor 20 is configured to rotate in one direction.

The frame driving device 24 moves the sewing frame 12e in the X-axis direction (X1-X2 direction) and the Y-axis direction (Y1-Y2 direction) in accordance with a command from the control circuit 90, and moves the sewing frame 12e in synchronization with the vertical movement of the needle bar 12 b. Specifically, the frame driving device 24 is configured by a servomotor for moving the sewing frame 12e in the X-axis direction, a servomotor for moving the sewing frame 12e in the Y-axis direction, and the like.

The upstream gripping portion 40 is provided above the head 7, that is, above the rotating portion 80, and includes: a grip body (upstream grip body) 41; and a magnet portion (upstream-side driving portion, upstream-side magnet portion) 50 provided on the back surface side of the grip main body 41.

The grip body 41 includes: the 1 st plate-like portion unit 42; and a 2 nd plate-like portion (upstream side 2 nd plate-like portion) 44 provided on the back side of the 1 st plate-like portion 42a and on the front side of the front surface portion 110-1 of the case portion 110 in the 1 st plate-like portion unit 42.

Here, as shown in fig. 4, the 1 st plate-like portion unit 42 includes: a 1 st plate-like portion (upstream side 1 st plate-like portion) 42a having a square plate shape; and a hooking and locking portion (mounting member) 42b formed to protrude from the upper end of the 1 st plate-like portion 42a toward the back surface side, the hooking and locking portion 42b having a substantially L-shaped plate shape (a shape obtained by folding a rectangular plate shape into a substantially L shape). The 1 st plate-like portion unit 42 is integrally formed by a magnet (ferromagnetic material) that is a material attracted by a magnet. That is, the 1 st plate-like portion unit 42 is formed of a metal attracted by a magnet such as iron. The 1 st plate-like portion unit 42 is hooked to a hook hole 110a provided in the front surface portion 110-1 of the casing portion 110 by the hook portion 42b, and the 1 st plate-like portion 42a is hung (may be hung) from the front surface portion 110-1. Thereby, the 1 st plate-like portion 42a slides in the vertical direction with respect to the front surface side surface of the 2 nd plate-like portion 44, and the interval with the 2 nd plate-like portion 44 is variable.

The 2 nd plate-like portion 44 is 1 plate-like member provided on the back surface side of the 1 st plate-like portion 42a in the 1 st plate-like portion unit 42, and has an elongated rectangular plate shape. That is, the 2 nd plate-like portion 44 is formed to have a length in the left-right direction longer than that of the 1 st plate-like portion 42a, and is formed to have a length in the up-down direction substantially equal to (strictly, slightly shorter than) that of the 1 st plate-like portion 42 a. The left end of the 2 nd plate-like portion 44 in the 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 42a and fixed to the front surface portion 110-1 by the presser 46, and the right end of the 2 nd plate-like portion 44 in the 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 42a and fixed to the front surface portion 110-1 by the presser 46. That is, the 2 nd plate-like portion 44 is present on the back surface side of the 1 st plate-like portion 42a of the 1 st plate-like portion unit 42 in parallel with the 1 st plate-like portion 42 a. The 2 nd plate-like portion 44 is formed of a material that is not attracted to a magnet (a material without a magnet), that is, a non-magnetic body, and is formed of a synthetic resin film, for example. Further, the 2 nd plate-like portion 44 may be made of aluminum or stainless steel.

An elongated rectangular opening (2 nd opening) 116a is formed in the lateral direction in an upper portion of the front surface portion 110-1 of the case portion 110, and the 2 nd plate-like portion 44 is provided so as to cover the opening 116a from the front surface side. That is, the opening 116a is formed smaller than the 2 nd plate-like portion 44, the 2 nd plate-like portion 44 is larger in vertical width than the tip portion of the magnet portion 50, and the tip portion of the magnet portion 50 is formed so as to be insertable into the opening 116 a.

Further, a hook portion 42b for hooking and hooking the 1 st plate-like portion unit 42 is provided above the opening 116a in the front portion 110-1. The hooking hole 110a is formed to penetrate the front surface portion 110-1.

Magnet portion 50 is formed by an electromagnet, and its tip portion is disposed in opening 116a, and is formed so that the tip of magnet portion 50 contacts the surface on the back side of 2 nd plate-like portion 44. The surface at the tip end of the magnet portion 50 (the surface on the 2 nd plate-like portion 44 side) serves as an attracting surface. The magnet portion 50 has a substantially quadrangular prism shape (the same applies to the magnet portion 70). The magnet portions 50 and 70 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. The upstream holding portion 40 includes 1 magnet portion 50. Then, by driving the magnet portion 50 by the control circuit 90, the 1 st plate-like portion 42a is attracted by the magnetic force, and the gap between the 1 st plate-like portion 42a and the 2 nd plate-like portion 44 is closed. The magnet portion 50 is supported by the support portion 112a of the box portion 110.

Further, rod-shaped guide members (1 st guide member) 52, 54 are provided on the upper side and the lower side of the 1 st plate-like portion unit 42 in the front view. That is, the guide members 52, 54 are fixed to the front portion 110-1 of the casing portion 110. The guide members 52 and 54 are arranged so that the upper thread J diagonally passes through the back surface side of the 1 st plate-like portion, the guide member 52 is provided on the left side of the upper side of the 1 st plate-like portion 42a in the front view, and the guide member 54 is provided on the right side of the lower side of the 1 st plate-like portion 42a in the front view. This can extend the path of the upper thread J existing on the back surface side of the 1 st plate-like portion 42a, and the upper thread J can be reliably gripped by the 1 st plate-like portion 42a and the 2 nd plate-like portion 44.

The downstream side grip 60 is provided at a substantially middle position in the vertical direction of the handpiece 7, that is, below the rotating portion 80, and includes a grip body (downstream side grip body) 61 and a magnet portion (downstream side driving portion, downstream side magnet portion) 70 provided on the back side of the grip body 61.

Here, the grip body 61 has the same configuration as the grip body 41, and includes: the 1 st plate-like portion unit 62; and a 2 nd plate-like portion (downstream side 2 nd plate-like portion) 64 provided on the back side of the 1 st plate-like portion 62a in the 1 st plate-like portion unit 62 and on the front side of the front surface portion 110-1 of the case portion 110.

Here, as shown in fig. 4, the 1 st plate-like portion unit 62 includes: a 1 st plate-like portion (downstream side 1 st plate-like portion) 62a having a square plate shape; and a hook portion (attachment member) 62b formed to protrude from the upper end of the 1 st plate portion 62a toward the back surface side, the hook portion 62b having a substantially L-shaped plate shape (a shape obtained by folding a rectangular plate shape into a substantially L shape). The 1 st plate-like portion unit 62 is integrally formed by a magnet (ferromagnetic material) that is a material attracted by a magnet. That is, the 1 st plate-like portion unit 62 is formed of a metal attracted by a magnet such as iron. The 1 st plate-like portion unit 62 is hooked to the hooking hole 110b provided in the front surface portion 110-1 of the casing portion 110 by the hooking portion 62b, and the 1 st plate-like portion 62a is suspended from the front surface portion 110-1 (may be in a suspended state). Thereby, the 1 st plate-like portion 62a slides in the vertical direction with respect to the front surface side surface of the 2 nd plate-like portion 64, and the interval with the 2 nd plate-like portion 64 is variable.

The 2 nd plate-like portion 64 has the same configuration as the 2 nd plate-like portion 44, and is 1 plate-like member provided on the back surface side of the 1 st plate-like portion 62a in the 1 st plate-like portion unit 62, and has an elongated rectangular plate shape. That is, the 2 nd plate-like portion 64 is formed to have a length in the left-right direction longer than that of the 1 st plate-like portion 62a, and is formed to have a length in the up-down direction substantially equal to (strictly, slightly shorter than) that of the 1 st plate-like portion 62 a. The left end of the 2 nd plate-like portion 64 in the 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 62a and fixed to the front surface portion 110-1 by the presser 66, and the right end of the 2 nd plate-like portion 44 in the 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 62a and fixed to the front surface portion 110-1 by the presser 66. That is, the 2 nd plate-like portion 64 is present on the back surface side of the 1 st plate-like portion 62a of the 1 st plate-like portion unit 62 in parallel with the 1 st plate-like portion 62 a. The 2 nd plate-like portion 64 is formed of a material that is not attracted to a magnet (a material without a magnet), that is, a non-magnetic material, for example, a synthetic resin film. The 2 nd plate-like portion 64 may be formed of aluminum or stainless steel.

A horizontally elongated rectangular opening (opening No. 3) 116c is formed in a substantially central portion in the vertical direction of the front surface portion 110-1 of the case portion 110, and the 2 nd plate-like portion 64 is provided so as to cover the opening 116c from the front surface side. That is, opening 116c is formed to be smaller than 2 nd plate-like part 64, and the vertical width of 2 nd plate-like part 64 is larger than the tip portion of magnet 70, so that the tip portion of magnet 70 can be inserted through opening 116 c.

Further, a hooking hole 110b for hooking and hooking the hooking portion 62b of the 1 st plate-like portion unit 62 is provided above the opening 116c in the front surface portion 110-1. The hooking hole 110b is formed to penetrate the front surface portion 110-1.

Further, magnet portion 70 is formed by an electromagnet in the same manner as magnet portion 50, and its tip portion is disposed in opening 116c, and is formed so that the tip of magnet portion 70 contacts the surface on the back side of 2 nd plate-like portion 64. The surface at the tip end of the magnet portion 70 (the surface on the 2 nd plate-like portion 64 side) serves as an attracting surface. The magnet portion 70 has a substantially quadrangular prism shape and is formed in the same shape as (may be substantially the same shape as) the magnet portion 50. The downstream holding portion 60 is provided with 1 magnet portion 70. Then, by driving the magnet portion 70 by the control circuit 90, the 1 st plate-like portion 62a is attracted by the magnetic force, and the gap between the 1 st plate-like portion 62a and the 2 nd plate-like portion 64 is closed. The magnet portion 70 is supported by the support portion 112b of the box portion 110.

Further, rod-shaped guide members (1 st guide member) 72, 74 are provided on the upper side and the lower side of the 1 st plate-like portion unit 62 in the front view. That is, the guide members 72, 74 are fixed to the front portion 110-1 of the casing portion 110. The guide members 72 and 74 are disposed so that the upper thread J diagonally passes through the back surface side of the 1 st plate-like portion, the guide member 72 is disposed on the left side of the 1 st plate-like portion 62a in the front view, and the guide member 74 is disposed on the right side of the 1 st plate-like portion 62a in the front view. This can extend the path of the upper thread J existing on the back surface side of the 1 st plate-like portion 62a, and can more reliably grip the upper thread J on the 1 st plate-like portion 62a and the 2 nd plate-like portion 64.

The rotating portion 80 is provided at a substantially middle position in the vertical direction between the upstream side gripping portion 40 and the downstream side gripping portion 60, and is provided on the downstream side in the upper thread supply direction of the upstream side gripping portion 40 and on the upstream side in the upper thread supply direction of the downstream side gripping portion 60. The rotating unit 80 rotates the upper thread between the grip body 41 and the grip body 61 (which may be a portion (position) between the grip body 41 and the grip body 61 in the upper thread). The rotation section 80 includes a rotation arm 81 and a needle thread motor 86 for rotating the rotation arm 81.

As shown in fig. 5, the rotating arm 81 has a rod-like body portion 82 and a hook portion 84 provided at one distal end of the body portion 82. An output shaft of the needle thread motor 86 is fixed to the other end of the body 82. The hook portion 84 has a substantially U-shaped plate shape, and the rotation arm 81 rotates to hook (or "hook") the needle thread J with the hook portion 84. That is, the hook portion 84 has a groove portion 84a provided in parallel with the axis of the output shaft of the needle thread motor 86, and is configured such that: the rotating arm 81 rotates upward around the output shaft (rotation center) of the upper thread motor 86, and thereby the upper thread J can be caught by the upper thread J disposed in parallel with the axis of the output shaft of the upper thread motor 86. That is, the rotating arm 81 is provided between the magnet portion 50 and the magnet portion 70, and the needle thread can be hooked by the rotating arm 81. In the needle thread, a portion which is hooked to the rotating arm 81 (may be referred to as "hook") and rotated by the rotating arm 81 becomes the 1 st needle thread portion Ja. The upper thread is bent by the rotation of the rotation arm 81 upward, and the 1 st upper thread portion Ja is formed. Note that the diagram shown inside the circle in fig. 5 is a diagram in which only the configuration of the rotating arm 81 is depicted in order to facilitate understanding of the configuration of the rotating arm 81.

The needle thread motor 86 is fixedly provided to the support portion 112c of the case portion 110. The axis of the output shaft of the needle thread motor 86 is oriented in the left-right direction.

With respect to the lower limit position (position shown by 81(B) in fig. 3 and 4) in the range of rotation of the rotating arm 81 (the 2 nd end position which is the terminal end of the 2 nd direction), in a state where the upper thread is linearly supported in the lateral direction by the pair of upper thread supporting members 88 (i.e., a state where the upper thread is supported in the lateral direction by the connecting members 88c of the pair of upper thread supporting members 88), it is a state where the upper thread comes into contact with the groove portion 84a of the hook portion 84 of the rotating arm 81 (i.e., the position of the upper thread supported by the connecting members 88c of the pair of upper thread supporting members 88 and the position of the groove portion 84a of the hook portion 84 are the same (may be substantially the same) in height, and in the lower limit position of the rotating arm 81, the upper thread comes into contact with the pair of upper thread supporting members 88 and the rotating arm 81, and the portion between, the rotation direction of the rotating arm 81 with respect to the lower limit position is a direction in which a position between the pair of upper thread supporting members 88 in the upper thread is pulled in a right angle direction (which may be also set to a substantially right angle direction) from a state in which the upper thread is supported in the lateral direction by the pair of upper thread supporting members 88, and the upper limit position (a position shown by 81(a) in fig. 3) (a 1 st end position which is a terminal end in the 1 st direction) of the rotating arm 81 is a position of an end on the opposite side from the lower limit position in the rotation range of the rotating arm.

The degree of curvature of the upper thread is increased in the direction (1 st direction) in which the rotating arm 81 is raised, and the degree of curvature of the upper thread is decreased in the direction (2 nd direction) in which the rotating arm 81 is lowered. In fig. 3, the direction from 81(B) to 81(a) is the direction in which the rotating arm 81 rises, and the direction from 81(a) to 81(B) is the direction in which the rotating arm 81 falls.

Further, in the lower limit position in the pivoting range of the pivoting arm 81, the position of the groove portion 84a of the hook portion 84 supporting the upper thread may be located above the position of the connecting member 88c of the pair of upper thread supporting members 88 supporting the upper thread, and in the lower limit position of the pivoting arm 81, the upper thread may be in contact with the pair of upper thread supporting members 88 and the pivoting arm 81, and the portion of the upper thread between the pair of upper thread supporting members 88 may be curved around the portion supported by the pivoting arm 81 in the main view.

The rotation operation of the needle thread motor 86 is controlled by the control circuit 90, and the position is controlled based on the angle correspondence data (fig. 18) created for each stitch. As will be described in detail later.

The upper thread supporting member 88 is provided on both sides of the opening 116b in the front surface portion 110-1 of the casing portion 110. The upper thread supporting member 88 is used for supporting the upper thread J in the left-right direction. That is, the upper thread supporting members 88 are provided in a pair on both sides of the opening 116b, and each upper thread supporting member 88 has the same configuration and is formed by folding a wire in a shape of an arc. Specifically, the upper thread supporting member 88 is formed in a shape in which an arc-shaped member 88a, an arc-shaped member 88b, and a connecting member 88c are integrally formed, the arc-shaped member 88a is formed in a concentric circle shape (may be formed in a substantially concentric circle shape) with the rotation center of the upper thread motor 86, the arc-shaped member 88b is formed substantially in parallel with the arc-shaped member 88a in a concentric circle shape (may be formed in a substantially concentric circle shape) with the rotation center of the upper thread motor 86 on the side of the arc-shaped member 88a opposite to the side of the axis line (axis line passing through the rotation center) of the output shaft of the upper thread motor 86, and the connecting member 88c connects the arc-shaped member 88a and the arc-shaped member 88b at the lower end position to. That is, the arc-shaped member 88a and the arc-shaped member 88b are formed concentrically with the rotation center of the needle thread motor 86 in a side view, and in the 1-surface thread supporting member 88, the arc-shaped member 88a and the arc-shaped member 88b are formed along a surface perpendicular to the axis of the output shaft of the needle thread motor 86 (the axis passing through the rotation center), and are formed with an interval in the direction perpendicular to the axis of the output shaft. The arc-shaped member 88a and the arc-shaped member 88b are formed at the same position in the left-right direction. The pair of upper thread supporting members 88 are provided with a gap in the left-right direction. Further, a part of the arc-shaped member 88a and a part of the connecting member 88c are provided in the opening 116b, and the arc-shaped member 88b projects from the front surface side of the front surface portion 110-1 toward the front surface side. Accordingly, the upper thread is inserted from the upper side of the pair of upper thread supporting members 88 to the position between the arc-shaped member 88a and the arc-shaped member 88b and is arranged on the pair of connecting members 88c, so that the upper thread J can be arranged in the left-right direction between the connecting members 88c of the pair of upper thread supporting members 88, and when the upper thread J is lifted by the rotating arm 81, the upper thread J is also positioned between the arc-shaped member 88a and the arc-shaped member 88 b. That is, the upper thread supporting member 88 supports the upper thread in the left-right direction at the position of the opening portion 116b (i.e., the position of the opening portion 116b (specifically, the position on the lower side in the opening portion 116 b) in the up-down and left-right directions), more specifically, on the front surface side of the opening portion 116b (which may also be set as "the position on the front surface side of the opening portion 116 b") and in the left-right direction as a main view. As described above, the upper thread supporting member 88 supports the range of both sides of the 1 st upper thread portion including the 1 st upper thread portion of the upper threads in the left-right direction. Further, the upper thread supporting member 88 may be configured to support the upper thread in the left-right direction in the opening 116b (i.e., a position between the front surface side surface and the rear surface side surface of the front surface portion 110-1 in the front-rear direction).

Further, a rod-shaped guide member (1 st needle thread path reversing member) 100 for guiding the needle thread J fed from above (i.e., from the upstream side holding portion 40) to the needle thread supporting member 88 is fixedly provided on the front surface portion 110-1 of the casing portion 110 at a position near the lower side of the opening portion 116 b. The upper thread guided from above is reversed by the guide member 100 and guided to the upper thread supporting member 88.

The control circuit (control unit) 90 controls the operations of the spindle motor 20, the needle thread motor 86, the hook thread lever drive motor 240, the magnet unit 50, the magnet unit 70, and the frame drive device 24, and controls the operations of the respective units in accordance with data stored in the storage device 92. That is, the control circuit 90 creates spindle data (see fig. 15) 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 calculates the arm descending amount in the descending section (1 st section) of the swing arm and the arm ascending amount in the ascending section (2 nd section) of the swing arm based on the embroidery data, and creates data for the swing arm (see fig. 17).

That is, the arm lowering amount is a lowering amount by which the arm 81 is turned downward in the arm lowering section, and is specifically defined by the rotation angle of the needle thread motor 86. The lowering amount of the rotating arm is defined as a lowering amount corresponding to the length shown in the following formula 1.

[ mathematical formula 1]

In the formula, a is the height of the thread hooking rod

b, stitch length

c, cloth thickness

That is, as shown in fig. 21, the length between one end (end at the position of the lower surface of the cloth) and the other end (end at the position of the lower surface of the cloth) of the stitch (which may be "hooked up") hooked on the hook lever 236 (i.e., the length of the face thread from one end to the other end (i.e., the length along the face thread)) is expressed by the above-mentioned equation 1, in a stitch (a stitch n +1 (an n +1 th stitch) (n is an integer) hooked by the hook lever 236 in fig. 20), it is necessary to ensure that a needle thread having a length (a stitch reference length (a length of the stitch in a state of being fixed to the needle thread fixing section (i.e., a needle thread length of the stitch)) represented by the formula 1 is located on the downstream side of the rotating arm 81, therefore, a drop amount (i.e., an angle corresponding to the length) corresponding to the length represented by the above formula 1 (an angle corresponding to the stitch reference length) is defined. That is, when a correspondence table between the calculation result of expression 1 (i.e., the needle thread length) and the rotation angle of the needle thread motor 86 is prepared in advance, the rotation arm lowering amount is calculated using the calculation result calculated according to expression 1 and the correspondence table. That is, the control circuit 90 calculates the amount of lowering of the rotary arm for each pin, and creates data for the rotary arm. In formula 1, a (hook bar height) is a length in a height direction (vertical direction with respect to the cloth surface) from the upper surface of the cloth U to the hook bar 236 (strictly, the upper end position of the hook bar 236), b (stitch length) is a length of a stitch along the upper surface of the cloth U, and c (cloth thickness) is a length in a thickness direction of the cloth U.

The arm lift amount is an amount of lift for pivoting the arm 81 upward in the arm lift section (2 nd section), and is specifically defined by the rotation angle of the needle thread motor 86. The swing arm lift amount is determined as a lift amount corresponding to a value obtained by subtracting the needle thread remaining length L2 (the needle thread remaining length is stored in the embroidery data) from the needle thread length (the length calculated by equation 1 (stitch reference length)) corresponding to the swing arm drop amount. That is, a correspondence table of the value obtained by the subtraction and the rotation angle of the needle thread motor 86 is prepared in advance, and the arm lift amount is obtained using the value obtained by the subtraction and the correspondence table. That is, the control circuit 90 calculates the boom raising amount for each pin, and creates boom data.

In the operation of the next stitch (2 nd stitch) of a certain stitch (1 st stitch), the remaining length of the needle thread of the 1 st stitch is adjusted by raising the swing arm 81 in accordance with the swing arm raising amount, and therefore the swing arm raising amount for the 2 nd stitch is a value calculated from the remaining length of the needle thread of the 1 st stitch. That is, in fig. 20, the rotation arm raising amount with respect to the stitch n +1 is a rotation angle corresponding to a value obtained by subtracting the remaining length of the needle thread of the stitch n from the stitch reference length of the stitch n (the previous stitch of the stitch n + 1). Further, in fig. 20, the stitch n becomes the nearest stitch among stitches already formed on the cloth.

Further, the swing arm raising amount is "a rotation angle corresponding to a value obtained by subtracting the remaining needle thread length of the stitch n from the needle thread length of the stitch n corresponding to the swing arm lowering amount", but may be "a rotation angle calculated by subtracting an angle corresponding to the remaining needle thread length of the stitch n from an angle corresponding to the swing arm lowering amount of the stitch n".

The control circuit 90 creates angle-corresponding data (see fig. 18) based on the position data read from the storage device 92 and the created data for the swing arm, and controls the position of the needle thread motor 86 based on the angle-corresponding data.

That is, since the position data stores the start position and the end position of the descending section of the swing arm, the start position and the end position of the ascending section of the swing arm, and the start position and the end position of the needle thread withdrawing section (3 rd section) of the swing arm, and the swing arm data stores the swing arm descending amount and the swing arm ascending amount for each stitch, corresponding angle correspondence data defining the spindle angle 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) is created for each stitch based on these data.

When the angle-corresponding data is created, the rotating arm 81 is set to the upper limit position at the end position of the upper thread withdrawal section. The upper limit position of the swing arm 81 is an end position in the swing direction when the swing arm 81 pulls out the upper thread from the upstream side of the swing arm 81.

In the descending section of the swing arm 81, the needle thread motor angle is determined by the spindle angle in accordance with the starting position and the ending position of the descending section and the arm descending amount so that the needle thread motor 86 rotates the arm descending amount in the descending direction between the starting position and the ending position of the descending section. Thereby, the rotating arm 81 rotates by an angle corresponding to the stitch reference length with respect to the stitch n + 1.

In the rising section of the swing arm 81, the needle thread motor angle is determined in accordance with the start position and the end position of the rising section and the arm rising amount so that the needle thread motor 86 rotates the arm rising amount in the rising direction between the start position and the end position of the rising section. Thereby, the rotating arm 81 is raised by an angle corresponding to a length obtained by subtracting the remaining length of the face thread in the stitch n, which is the length of the face thread protruding from the cloth surface, from the stitch reference length in the stitch n.

In the needle thread withdrawal section of the swing arm 81, the needle thread motor angle is determined by the spindle angle in accordance with the start position and the end position of the needle thread withdrawal section so that the swing arm 81 swings from the end position of the ascending section of the swing arm 81 to the upper limit position (1 st end position) of the swing arm 81.

In addition, when the angle-corresponding data is created, the spindle angle a corresponding to the start position of each target section (for example, a descending section, an ascending section, and a needle line withdrawal section) is set at a predetermined interval (unit angle)_xTo the main shaft angle a corresponding to the end position of the section_yIs divided equally (i.e., divided equally by 1/N (N is an integer) (i.e., divided equally by 1/1 of the integer)), as shown in FIG. 25, in a section A (which may be a 1 st section) from the start position to a predetermined section (for example, the main shaft angle a)_x～a_x+3) In the above-described embodiment, the amount of change in the motor angle for the needle thread per unit angle gradually increases, thereby increasing the rotational speed of the rotating arm 81 and causing the rotation speed to be in the B section (which may be the 2 nd section) continuous with the a section (for example, the main shaft angle a)_x+3～a_y-3) In the above-described embodiments, the change amount of the motor angle for the face line per unit angle is constant, and is in a section C (which may be a 3 rd section) continuous with the section B (for example, the spindle angle a)_y-3～a_y) (the end position of the section C is the end position of the target section), the amount of change in the motor angle for the needle thread per unit angle gradually decreases, thereby decreasing the rotational speed of the rotating arm 81. Here, the angular range of the section a and the angular range of the section C are shorter than the section B. In the above description, the target section is divided into the section a, the section B, and the section C, but the section B may be omitted and the section C may be continued after the section a.

In addition, when the angle-corresponding data is created, in the adjacent section among the descending section, the ascending section, and the needle thread withdrawal section, if there is a gap between the end position of a certain section and the start position of the next section (that is, if the end position of a certain section and the start position of the next section do not coincide with each other), the needle thread motor angle at the end position of a certain section is maintained until the start position of the next section. For example, in the example of fig. 19, the end position of the rising section is about 60 degrees, the start position of the needle thread withdrawing section is about 110 degrees, and the end position of the rising section and the start position of the needle thread withdrawing section are spaced apart from each other, so that the needle thread motor angle at the end position of the rising section is maintained from the end position of the rising section to the start position of the needle thread withdrawing section.

In addition, the control circuit 90 controls the driving of the hook lever driving motor 240 in accordance with the position data shown in fig. 14. That is, when the main shaft angle is at the drive start position, the drive of the hook lever drive motor 240 is started, and when the main shaft angle is at the drive end position, the drive of the hook lever drive motor 240 is ended. The control circuit 90 controls the thread hooking lever drive motor 240 to hook (or "catch") the upper thread at least when the needle is inserted into the cloth, and the 2 nd upper thread portion is fixed by the upper thread fixing portion.

The control circuit 90 controls the driving of the magnet unit 50 according to the position data shown in fig. 14. That is, when the spindle angle is the drive start position of the magnet portion (upstream side gripper), the drive of the magnet portion 50 is started, and when the spindle angle is the drive end position of the magnet portion (upstream side gripper), the drive of the magnet portion 50 is ended. In the section where the magnet portion 50 is driven, the upstream holding portion 40 is closed.

The control circuit 90 controls the driving of the magnet unit 70 according to the position data shown in fig. 14. That is, when the main shaft angle is the drive start position of the magnet portion (downstream side gripper), the drive of the magnet portion 70 is started, and when the main shaft angle is the drive end position of the magnet portion (downstream side gripper), the drive of the magnet portion 70 is ended. In the section where the magnet portion 70 is driven, the downstream side grip portion 70 is in the closed state.

In addition, the control circuit 90 controls the driving of the frame driving device 24 according to the position data shown in fig. 14. That is, when the main shaft angle is at the drive start position, the frame driving device 24 starts to be driven, and when the main shaft angle is at the drive end position, the frame driving device 24 ends to be driven.

Specifically, as shown in fig. 11, 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 to be 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 generates angle correspondence data for controlling the needle thread motor 86 in accordance with the embroidery data read from the storage device 92, and controls the needle thread motor as shown in the timing chart shown in fig. 19 and the flowcharts shown in fig. 22 to 24. As will be described in detail later. Fig. 19 shows an example of the operation in the control section for 1 pin, and the control section for 1 pin corresponds to 1 rotation of the spindle 22. The horizontal axis in fig. 19 corresponds to the angle of the spindle motor 20 (the position in the rotational direction of the spindle motor 20).

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 (see fig. 1) 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 control circuit 90 detects the angle of each motor (the position in the rotational direction) using information from each encoder.

As shown in fig. 12, the storage device 92 stores embroidery data 92a and position data 92 b. That is, the storage device 92 is a storage unit for storing these data.

As shown in fig. 13, the embroidery data 92a stores data of a stitch length (i.e., a length of a stitch width) (which may also be referred to as a stitch width), a stitch direction (i.e., a value indicating the stitch direction), and an upper thread remaining length (which may also be referred to as an upper thread remaining height) for each stitch. The embroidery data 92a is inputted from the outside through the input/output device 94 and stored in the storage device 92.

Here, the stitch length is a length b on the cloth upper surface from one insertion position m1 of the upper thread to the cloth (position where the upper thread intersects with the cloth upper surface) to another insertion position m2 of the upper thread to the cloth in a certain stitch (see fig. 21). That is, the stitch length is the linear distance from one insertion location m1 to the other insertion location m 2.

The stitch direction is data of an angle value with respect to a predetermined direction (for example, one direction in the horizontal direction). For example, in the example of fig. 26, when the predetermined direction is HK, the angle of the pin ST0 is set to the angle α 4, and the angle of the pin ST1 is set to the angle α 1. The value of the angle α 1 is a positive value in the upward direction with respect to the direction HK, and the value of the degree α 4 is a negative value in the downward direction with respect to the direction HK.

Further, the remaining length of the needle thread is the length L2 of the needle thread along from one insertion position m1 to the other insertion position m2 in 1 stitch (refer to fig. 20). That is, the remaining length of the needle thread is the length of the needle thread on the upper side of the cloth upper surface (i.e., the length of the needle thread protruding from the cloth surface) of the stitch, and is the length of the needle thread of the stitch forming the hollow embroidery.

Further, as for the position data 92b, the drive start position and the drive end position of the hook lever drive motor 240, the magnet portion 50, the magnet portion 70, and the frame drive device 24 are stored as information of the spindle angle (i.e., information of the position in the rotational direction of the spindle motor 20), and the start position and the end position of the swing arm lowering section (1 st section), the start position and the end position of the swing arm raising section (2 nd section), and the start position and the end position of the upper thread pulling-out section (3 rd section) are stored as information of the spindle angle (i.e., information of the position in the rotational direction of the spindle motor 20) with respect to the swing arm 81.

Here, the drive start position and the drive end position of the hook lever drive motor 240 are set between a shuttle bottom dead center (which may be a take-up lever bottom dead center) (approximately 290 degrees in fig. 19) and a needle bar inserting position (approximately 110 degrees in fig. 19), and the drive end position is set at a position behind the drive start position (a position behind 360 degrees is a position returned to 0 degrees). In the example of fig. 19, the driving start position of the hook lever driving motor 240 is a position of the shuttle bottom dead center (about 290 degrees), and the driving end position is a position of about 90 degrees.

The drive start position of the magnet portion 50 is set at any position (immediately after (about 190 degrees) from the end position of the thread withdrawal section in fig. 19) of the rotating arm 81 to the position (which may be set as about 200 degrees in fig. 19) where the needle thread is caught by the hook (in fig. 19), and the drive end position of the magnet portion 50 is set at any position (about 100 degrees in fig. 19) from the end position of the rotating arm rising section (about 60 degrees in fig. 19) to the start position of the thread withdrawal section of the rotating arm 81 (about 110 degrees in fig. 19).

The drive start position of the magnet portion 70 is set to any position (position of about 90 degrees in fig. 19) in a section from the end position of the ascending section of the rotating arm 81 to the drive end position of the magnet portion 50 (that is, the switching position from the closed state to the open state of the upstream side grip portion 40) (about 100 degrees in fig. 19), and the drive end position of the magnet portion 70 is set to any position (about 200 degrees in fig. 19) in a section from the drive start position of the magnet portion 50 (that is, the switching position from the open state to the closed state of the upstream side grip portion 40) to the (may be) catching position of the hook thread (about 200 degrees in fig. 19).

The drive start position and the drive end position of the frame driving device 24 are provided in a section where the needle is not provided with a needle. That is, the driving section of the frame driving device 24 is provided in the section where the needle is not provided with a needle. In fig. 19, the driving start position is immediately after (about 260 degrees) the needle bar is pulled out from the cloth, and the driving end position is immediately before (about 100 degrees) the sewing needle is inserted into the cloth.

The start position and the end position in the descending section of the rotating arm are set at any position in the section from the shuttle top dead center (or the needle bar bottom dead center) to the take-up lever bottom dead center (or immediately after the take-up lever bottom dead center) (that is, the descending section is at least a part of the section from the shuttle top dead center (or the needle bar bottom dead center) to the take-up lever bottom dead center (or immediately after the take-up lever bottom dead center)). That is, since the swing arm is lowered in accordance with the pulling-up of the upper thread by the shuttle 12d (specifically, the tip 12 d-1 of the shuttle 12d), the interval from the shuttle top dead center to the shuttle bottom dead center is a lowering interval. In fig. 19, the start position is set at the top dead center position of the shuttle (about 190 degrees), and the end position is set at the bottom dead center position of the thread take-up lever (about 300 degrees). In fig. 19, the shuttle bottom dead center is about 290 degrees.

The start position and the end position in the ascending section of the rotating arm are set at any position in a section from the take-up lever bottom dead center to the take-up lever top dead center (or immediately after the take-up lever top dead center) (that is, the ascending section is at least a part of the section from the take-up lever bottom dead center to the take-up lever top dead center). That is, since the remaining length of the upper thread is determined by raising the rotating arm in accordance with the raising of the upper thread by the take-up lever, the raising interval is set to any interval from the take-up lever bottom dead center to the take-up lever top dead center (or immediately after the take-up lever top dead center). In fig. 19, the start position is set at the position of the take-up lever bottom dead center (about 300 degrees), and the end position is set at the position of the take-up lever top dead center (about 60 degrees). That is, in the example of fig. 19, the end position of the descending section and the start position of the ascending section coincide with each other.

The start position and the end position in the upper thread withdrawal section of the swing arm are set at any position in a section from the end position of the rising section of the swing arm to the position of the hook dried thread (which may be a catching position) and in a section from the end position of the driving of the magnet portion 50 to the start position of the driving of the magnet portion 50 (that is, the upper thread withdrawal section is at least a part of the section from the end position of the rising section to the hook dried thread). That is, in order to pull out the upper thread from the upstream side of the magnet portion 50, the end position needs to be at least before the position where the upper thread is caught, and the upstream side grip portion 40 needs to be in the open state, so the start position is a position after the position where the drive of the magnet portion 50 is released, and the end position is before the drive start position of the magnet portion 50. In fig. 19, the start position is set immediately after (about 110 degrees) the drive end position of the magnet portion 50, and the end position is set immediately before (about 180 degrees) the drive end position of the magnet portion 50 (the position of the needle bar bottom dead center). In the descending section, ascending section, and upper thread withdrawing section of the swing arm, the end position is set at a position behind the start position.

The start point of 1 stitch in the embroidery data 92a shown in fig. 13, the swing arm data shown in fig. 17, and the angle correspondence data shown in fig. 18 may be set to start from any position in the time chart shown in fig. 19, but the swing arm 81 is located at the upper limit position at the end position of the needle thread withdrawal section and the start position in the descent section in the swing arm 81 (and in the case where there is a gap between the end position of the needle thread withdrawal section and the start position in the descent section, the interval between the end position of the needle thread withdrawal section and the start position in the descent section), and therefore it can be said that it is preferable to set the end position of the needle thread withdrawal section or the start position in the descent section as the start point of 1 stitch.

The housing 110 constitutes a frame of the sewing machine 5 (specifically, the head 7) and is fixed to the frame 120.

The casing 110 has a front face 110-1, an upper face 110-2, a bottom face 110-3, side faces 110-4, 110-5, a back face 110-6, supports 112a, 112b connected to each other from the side faces 110-4, 110-5 of the front face 110-1, and a support 112c connected to each other from the side faces 110-4, 110-5.

The surface thread guide 104 is attached to an upper end region (a region above the guide member 52) of the front surface side surface of the front surface portion 110-1, and guides the surface thread so as to be inserted therethrough. The face thread guide 106 is attached to a lower end region of the front surface side surface of the front surface portion 110-1, and guides the face thread so as to be inserted therethrough.

The spindle motor 20, the encoder 21, and the spindle 22 may be provided outside the casing 110 of the head 7.

When describing the path of the needle thread J, the needle thread J guided from the thread winding (not shown) comes into contact with the guide member 52 from the needle thread guide 104, passes between the 1 st plate-like portion unit 42 and the 2 nd plate-like portion 44 of the upstream holding portion 40, comes into contact with the guide member 54, is reversed by the guide member 100, and reaches the needle thread supporting member 88. The upper thread J of the pair of upper thread supporting members 88 comes into contact with the guide member 72, passes between the 1 st plate-like portion unit 62 and the 2 nd plate-like portion 64 of the downstream side holding portion 60, comes into contact with the guide member 74, reaches the thread take-up lever 12a via the thread take-up spring 102, reaches the sewing needle 12ba of the needle bar 12b from the thread take-up lever 12a via the thread guide 106, and further reaches the inside of the opening portion 216bk and the inside of the opening portion 216dk of the distal end constituting portion 216 of the presser foot 12 c. The face line passes from the upstream side to the downstream side in this order.

Next, the operation of the sewing machine 5 will be described. First, the control circuit 90 creates spindle data for each stitch in accordance with the embroidery data stored in the storage device 92 (see fig. 15). Since the information on the stitch length and the stitch direction is stored in the storage device 92 for each stitch of the embroidery to be produced, the spindle data is produced based on the stitch length and the stitch direction of each stitch. As shown in fig. 15, 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 length is large, the amount of change in the spindle angle is reduced, and when the stitch length is small, the amount of change in the spindle angle is increased. In addition, 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. That is, when the angle (angle α 3 in fig. 26) between the direction of the stitch and the direction of the previous stitch is small, the amount of change in the spindle angle is small, and when the angle between the direction of the stitch and the direction of the previous stitch is large, the amount of change in the spindle angle is large.

When the main shaft data is created by the control circuit 90, the entire embroidery data including a plurality of stitches may be created in advance, and the main shaft data of the first several stitches from the stitches actually used for the embroidery sewing by the respective mechanical elements (needle bar, take-up lever, shuttle, etc.) may be created to create the main shaft data and perform the actual embroidery sewing.

As an example of the spindle data, data shown in fig. 16 can be cited. The spindle data shown in fig. 16 is data that is continuously rotated at a constant speed, but if the stitch length of each stitch is the same and the angle of the stitch is the same, such spindle data may be used. In addition, when the stitch length of a certain stitch is large, the time for 1 stitch is prolonged, and when the stitch length is small, the time for 1 stitch is shortened.

Further, the control circuit 90 calculates the boom descending amount in the descending section of the boom and the boom ascending amount in the ascending section of the boom based on the embroidery data, and creates data for the boom (see fig. 17). In addition, while the entire embroidery data including a plurality of stitches is prepared in advance when the data for the swing arm is prepared, the data for the swing arm may be prepared for several stitches before the stitch actually used for the embroidery sewing by each mechanical element (needle bar, take-up lever, shuttle, etc.), and the actual embroidery sewing may be performed while preparing the data for the swing arm.

The control circuit 90 creates the entire embroidery data including a plurality of stitches for the swing arm based on the position data read from the storage device 92 and the created data, but may create angle correspondence data for several stitches ahead of the stitch actually used for embroidery sewing by each mechanical element (needle bar, take-up lever, shuttle, etc.), thereby creating angle correspondence data and performing actual embroidery sewing.

To describe the operation in actual embroidery sewing, as shown in fig. 22, first, the main shaft angle is detected (S1). That is, the spindle angle is detected using information of the encoder 21 connected to the spindle motor 20. The detection of the spindle angle is performed at a predetermined cycle (that is, the processing shown in fig. 22 is performed at a predetermined cycle), for example, at a cycle of about 1 tenths to 1 thousandth of a cycle of 1 stitch.

Then, according to the detected spindle angle (S1), it is determined whether or not the hook lever drive motor 240, the magnet unit 50, the magnet unit 70, the frame drive device 24, and the needle thread motor 86 are in the drive section (S2), and if they are in the drive section, the drive is performed (S3), and if they are not in the drive section, the drive is stopped (S4). Further, regarding the hook bar drive motor 240, the drive section is a section immediately before the drive start position to the drive end position (the drive end position is not entered into the drive section but entered into the stop section), regarding the magnet portion 50, the drive section is a section immediately before the drive start position to the drive end position (the drive end position is not entered into the drive section but entered into the stop section), regarding the magnet portion 70, the drive section is a section immediately before the drive start position to the drive end position (the drive end position is not entered into the drive section but entered into the stop section), regarding the rotating arm 81, the drive section is a section immediately before the start position to the end position of the descending section (the end position is not entered into the drive section but entered into the stop section), is a section immediately before the start position to the end position of the ascending section (the end position is not entered into the drive section but entered into the stop section), the upper thread is a section immediately before the start position to the end position of the upper thread withdrawal section (the end position is not in the drive section but in the stop section).

The hook lever drive motor 240 starts driving at a drive start position (approximately 290 degrees in fig. 19) and ends driving at a drive end position (approximately 90 degrees in fig. 19). As an actual operation of the thread hooking lever 236, in a stop section of the thread hooking lever drive motor 240 of about 90 degrees to about 290 degrees, that is, in a state where the thread hooking lever 236 is stopped, the thread hooking lever 236 is located at a position shown in fig. 10 (b), and at this position, the thread hooking lever 236 is fixed with the plate-like portion 216 f-2 with the upper thread interposed therebetween. Further, between the position of about 290 degrees and the position of about 90 degrees, the hook lever driving motor 240 is driven, the tip 236Q of the hook lever 236 rotates in the direction indicated by w1 in fig. 10, and the intersection point 236P rotates in the direction indicated by w2 in fig. 10, and at the position of about 70 degrees, the hook lever 236 is located at the position indicated by (a) in fig. 10 and contacts the upper thread. That is, the hook thread lever driving motor 240 switches between a fixing state in which the upper thread is fixed by the upper thread fixing section (a stop state of the hook thread lever driving motor 240 at a position of about 90 degrees to about 290 degrees) and a release state in which the fixing of the upper thread by the upper thread fixing section is released (a driving state of the hook thread lever driving motor 240 at a position of about 290 degrees to about 90 degrees).

Describing the operation of 1 stitch with reference to fig. 19 and 20, when the rotating arm 81 starts to descend from the starting position (about 190 degrees) of the descending section of the rotating arm 81, the shuttle 12d becomes the top dead center and catches and pulls up the needle thread, so the needle thread at the position of the rotating arm 81 also descends, and when the rotating arm 81 descends by the rotating arm descending amount (the rotating arm descending amount with respect to the stitch n +1 in fig. 20) in the rotating arm data, and when the descending of the rotating arm 81 stops at the ending position of the descending section, the needle thread at the position of the rotating arm 81 is caught by the hook portion 84 of the rotating arm 81. Thereby, the needle thread having a length necessary for the stitch n +1 is prepared between the cloth and the rotating arm 81.

In the interval where the upper thread is pulled up by the hook 12d (from the hook top dead center (about 190 degrees) to the hook bottom dead center (about 290 degrees)), the thread hooking lever 236 stops at the position of (b) in fig. 10, and the upper thread is fixed together with the upper thread receiving portion 216f, so that the hook cannot pull up the upper thread from the side of the stitch (stitch n in fig. 20) fixed by the thread hooking lever 236.

In the descending section of the rotating arm 81, the magnet portion 50 is driven and the upstream side gripping portion 40 is in the closed state, so that even if the shuttle 12d pulls up the upper thread, the upper thread is not pulled up from the upstream side of the upstream side gripping portion 40. Fig. 20 (a) can be said to be a view showing a state (for example, a state of a position of about 230 degrees) after the hook of the shuttle 12d to the upper thread in the descending section of the rotating arm 81. Further, at a position of about 245 degrees, the needle 12ba is released from the state of being inserted into the cloth U (the processing cloth to be embroidered), and at a position of about 250 degrees, the presser foot 12c starts to be raised. The hook 12d rotates to pull up the upper thread J, and the upper thread J and the lower thread G are interlaced to form a stitch.

Then, at a position of about 290 degrees, the hook lever 236 starts rotating, and the hook lever 236 is separated from the fixed stitch (stitch n in fig. 20), and at a position of about 300 degrees, the rotating arm 81 starts to ascend, and the rotating arm 81 ascends by the rotating arm ascending amount (rotating arm ascending amount with respect to stitch n +1 in fig. 20) in the rotating arm data. As described above, the swing arm raising amount for the stitch n +1 is the rotation angle corresponding to the value obtained by subtracting the remaining needle thread length of the stitch n from the needle thread length corresponding to the swing arm lowering amount at the time of the stitch n.

Then, in the ascending section of the rotating arm 81, the thread take-up lever 12a also ascends, but when the thread take-up lever 12a ascends, the remaining length of the upper thread of the previous stitch (the stitch n in fig. 20) becomes shorter by the amount of the ascending of the rotating arm 81.

Fig. 20 (b) is a view showing a position of about 300 degrees at which the pivoting arm 81 starts to rise, and fig. 20 (c) shows a state in which the pivoting arm 81 and the thread take-up lever 12a rise to shorten the remaining length of the upper thread of the stitch n. When the arm lift amount is 0, the rotating arm 81 does not lift for the stitch, and the remaining needle thread length of the stitch n does not become short even if the thread take-up lever 12a is lifted.

Then, the hook lever 236 comes into contact with the upper thread at a position of about 70 degrees, and the hook lever 236 presses the upper thread (i.e., the 2 nd upper thread portion Jb) against the plate-like portion 216 f-2 at a position of about 90 degrees, and fixes the upper thread in a state where the upper thread is sandwiched between the hook lever 236 and the plate-like portion 216 f-2.

Then, since the presser foot 12c reaches the bottom dead center at a position of about 100 degrees and comes into contact with the cloth U, and then the needle of the needle bar 12b is inserted into the cloth U at a position of about 110 degrees, the needle thread formed by the insertion is hooked on the thread hooking lever 236 (which may be a "hook") at the stitch (the stitch n +1 in fig. 20), and the needle thread of the stitch passes through the thread hooking lever 236. That is, the upper thread is folded back at the position of the thread hooking lever 236. It can be said that (d) of fig. 20 shows a state where the upper thread passes through a position (a position of about 100 degrees) immediately before the pin of the thread hooking lever 236. Since the upper thread is fixed to the upper thread receiving portion 216f by the thread hooking rod 236, the upper thread can pass through the sewing needle 12ba when the sewing needle 12ba is inserted into the cloth U, and the upper thread is not pulled out from the stitch n even when the sewing needle 12ba is inserted into the cloth U. That is, the remaining length of the needle thread of the stitch n is not shortened.

Then, the rotating arm 81 is raised from the start position to the end position of the needle thread withdrawing section, and the needle thread is withdrawn from the upstream side of the upstream side gripping part 40. That is, the upper thread is pulled out from a thread winding (not shown) provided on the upstream side of the upper thread guide 104. At this time, since the upstream gripping portion 40 is in the open state and the downstream gripping portion 60 is in the closed state, the rotating arm 81 is raised to pull out the upper thread from the upstream side of the upstream gripping portion 40. Fig. 20 (e) shows a state in which the needle thread is pulled out from the upstream side of the upstream side gripping part 40 in the needle thread pulling-out section of the rotating arm 81.

By pulling out the upper thread from the upstream side of the upstream side grip part 40 in the upper thread pull-out section, even if the amount of lift (lift rotation angle) in the lift section of the rotating arm 81 is small and the length from the nearest insertion position of the upper thread to the cloth (position m3 where the upper thread is nearest to the cloth) (position m3 in fig. 20 c) to the upper thread on the upstream side (i.e., the length between the position m3 and the 1 st plate-like part unit 42) is short, the amount of lift of the rotating arm 81 in the upper thread pull-out section becomes large accordingly, so that the upper thread can be sufficiently pulled out from the upstream side of the upstream side grip part 40 and the upper thread for the subsequent stitches is not insufficient.

For example, in fig. 19, even when the rising amount of the rotating arm 81 in the rising section is small (that is, the remaining needle thread length of the stitch n is long), the rising amount of the rotating arm 81 in the needle thread withdrawing section is increased accordingly, and the needle thread can be withdrawn from the upstream side of the upstream side grip portion 40, so that the needle thread length for the next stitch of the stitch n +1 can be secured. It can be said that the length of the needle thread that can be pulled out from the upstream side of the upstream side gripping part 40 by rotating the rotating arm 81 from the lower limit position to the upper limit position (i.e., rotating in the rotating range) (the maximum needle thread pulling-out length in the needle thread pulling-out section) is the maximum stitch length, and has a length that is at least a value obtained by adding a length of 2 times the length of the cloth thickness to the length of the needle thread when the remaining length of the needle thread is maximized.

In addition, in the rising section of the swing arm 81, when the rising amount of the swing arm 81 is large, the rising amount of the swing arm 81 in the upper thread pulling-out section is correspondingly small, but in the rising section, the upper thread is pulled out on the upstream side of the nearest insertion position of the upper thread to the cloth, so the swing arm 81 is swung to the upper limit position in the upper thread pulling-out section, and as a result, the swing arm 81 is swung in the swing range, and the length in the case of pulling out the upper thread can be secured, so the upper thread for the subsequent stitch is not insufficient.

For example, in fig. 19, when the rising amount of the rotating arm 81 in the rising section is large (that is, the needle thread remaining length of the stitch n is short), the rising amount of the rotating arm 81 in the needle thread withdrawing section is correspondingly small, but in the rising section, the needle thread is withdrawn on the upstream side of the nearest insertion position m3 of the needle thread to the cloth, so that the needle thread length for the next stitch of the stitch n +1 can be secured.

When the position (about 180 degrees) of the end of the needle thread withdrawal section of the rotating arm 81 is reached, the position reaches the start position (about 190 degrees) of the lowering section of the rotating arm 81, and the above operation is repeated for each stitch. Fig. 20(f) shows a state of the end position (position of about 180 degrees) of the needle thread withdrawing section. As described above, hollow three-dimensional embroidery can be performed.

Fig. 20 and 21 show that the corresponding grip portion is in the open state when the extension line of the upper line J is drawn in the rectangle indicating the 1 st plate-shaped portion unit 42 or 62, and the corresponding grip portion is in the closed state when the extension line of the upper line J is not drawn in the rectangle.

Although fig. 19 shows the operation of each part according to the main shaft angle, the main shaft 22 rotates in one direction, and therefore each part operates as shown in fig. 19 even in time series. That is, even if the time of 1 stitch changes, the anteroposterior relationship of the operation of each part is the same. Therefore, the horizontal axis (horizontal axis indicating the angle of the main axis) shown in fig. 19 may be a time axis, and each position on the horizontal axis may be a position in time. Each section such as a falling section, a rising section, and a wire drawing section may be a temporal section, and the "falling section (1 st section)" may be the "falling period (1 st period)", the "rising section (2 nd section)" may be the "rising period (2 nd period)", and the "wire drawing section (3 rd section)" may be the "wire drawing period (3 rd period)".

The control of the needle thread motor 86 is performed as follows. That is, the data of the face line motor angle is read from the angle correspondence data (S11 in fig. 23). That is, the spindle angle closest to the spindle angle detected in step S1 is detected from the angle correspondence data (fig. 18), and the needle thread motor angle corresponding to the spindle angle is read. In addition, when the data of 2 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 may be calculated from a ratio to the 2 spindle angles.

Next, the amount of change per unit time is detected from the read motor angle for the face line, and speed data is calculated (S12 in fig. 23, 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 main axis angle and the needle thread motor angle is defined in the angle correspondence data shown in fig. 18, and the relationship between the time and the main axis angle is defined in the main axis data shown in fig. 15, the amount of change in the needle thread motor angle per unit time is detected. That is, the velocity data is calculated by differentiating the angle data. In addition, when the data of the spindle angle of the spindle data and the data of the spindle angle of the angle correspondence data do not match, for example, the time may be calculated from the ratio of the difference between the spindle angle in the angle correspondence data and the adjacent 2 spindle angles (spindle angle in the spindle data).

Next, the amount of change per unit time in the speed data is detected to calculate torque data (S13 in fig. 23, 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 S12, since the speed data of the needle thread motor is calculated at a certain time, the torque data is calculated by differentiating the speed data. The CPU90a may hold speed data necessary for calculating the speed change amount in advance.

Next, torque compensation data is calculated from the torque data calculated in step S13 (S14 in fig. 23). That is, torque compensation data is calculated by multiplying torque data by the inertia ratio, and adding torque based on the mechanical loss to a value obtained by multiplying the torque data by the inertia ratio. Here, the inertia ratio is a constant predetermined according to the mass of each machine element or the like, and the torque based on the mechanical loss is a value predetermined according to each machine element.

Next, data (encoder count value) from the encoder 87 (encoder corresponding to the needle thread motor 86) is subtracted from the angle data read in step S11 (S15 in fig. 24, positional deviation calculating step). The value calculated in step S15 can be said to be a value of the positional deviation.

Next, the calculated value calculated in step S15 is multiplied by a predetermined constant to calculate a velocity value (S16 in fig. 24).

Next, the output from the encoder 87 is differentiated to calculate the motor current speed value (S17 in fig. 24). That is, the amount of change per unit time in the count value of the encoder is calculated, and the current motor speed value is calculated.

Next, the motor current speed value calculated in step S17 is subtracted from the speed value calculated in step S17, and the speed data calculated in step S12 is added (S18 in fig. 24, speed deviation calculating step). The value calculated in step S18 can be said to be a value of the speed deviation.

Next, a torque value is calculated by multiplying the calculated value calculated in step S18 by a predetermined constant (S19 in fig. 24).

Next, the torque compensation data calculated in step S14 is added to the torque value calculated in step S19 (S20 in fig. 24). Then, the torque value from the current sensor 90c is subtracted from the value calculated in step S20 (S21 in fig. 24, torque deviation calculating step). The value calculated in step S21 can be said to be a value of the torque deviation.

Next, the calculated value calculated in step S21 is multiplied by a predetermined constant to calculate a voltage value to be output to the PWM circuit 90b (voltage command to the PWM circuit) (S22 in fig. 24), and the voltage value is output to the PWM circuit 90b (S23 in fig. 24).

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 (S24 in fig. 24, current supply step).

As described above, the processes shown in the flowcharts of fig. 22 to 24 are performed at predetermined intervals, whereby the needle thread motor 86 is controlled.

The method of controlling the spindle motor 20 is performed in the same manner as the position control of the needle thread motor 86.

First, angle data (which may be position data) is read from the spindle data (S11 in fig. 23, reading step). That is, an angle (spindle angle) corresponding to a time to be processed is detected in the spindle data, and the data of the angle is read. Step S11 of fig. 23 is the same as step S1 of fig. 22.

Next, the amount of change per unit time in the detected spindle angle is detected, and speed data is calculated (S12 in fig. 23, speed data calculation step). When calculating the speed data, the amount of change in the angle data is divided by the time to calculate the speed data. That is, the velocity data is calculated by differentiating the angle data.

Next, torque data is calculated by detecting the amount of change per unit time of the speed data (S13, torque data calculation step in fig. 23), torque compensation data is calculated from the torque data calculated in step S13 (S14 in fig. 23), data from the encoder 21 (count value of the encoder) is subtracted from the angle data read in step S11 (S15, positional deviation calculation step in fig. 24, it can be said that the value calculated in step S15 is a value of positional deviation), a speed value is calculated by multiplying the calculated value calculated in step S15 by a predetermined constant (S16 in fig. 24), a motor current speed value is calculated by differentiating the output from the encoder 21 (S17 in fig. 24, that is, the amount of change per unit time of the count value of the encoder calculated, a motor current speed value is calculated), the motor current speed value calculated in step S17 is subtracted from the speed value calculated in step S16, then, the speed data calculated in step S12 is added (S18 in fig. 24, the speed deviation calculating step, it can be said that the value calculated in step S18 is the value of the speed deviation), the calculated value calculated in step S18 is multiplied by a predetermined constant to calculate a torque value (S19 in fig. 24), the torque value from the current sensor 90c is subtracted from the torque value calculated in step S19, and the torque compensation data calculated in step S14 is added (S20 in fig. 24), then the torque value from the current sensor 90c is subtracted from the value calculated in step S20 (S21 in fig. 24, the torque deviation calculating step, it can be said that the value calculated in step S21 is the value of the torque deviation), the calculated value calculated in step S21 is multiplied by a predetermined constant to calculate a voltage value (voltage command to the PWM circuit) output to the PWM circuit 90b (S22 in fig. 24), and outputs the signal to the PWM circuit 90b (S23 in fig. 24). Then, 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 (S24 in fig. 24, a current supply step).

The process shown in the flowcharts of fig. 23 to 24 is performed at predetermined cycles, whereby the spindle motor 20 is controlled.

As described above, according to the sewing machine 5 of the present embodiment, the hollow embroidery is formed by fixing the upper thread by the thread hooking lever 236 and the upper thread receiving portion 216f, so that a plate-shaped member for overlapping the upper thread with the cloth to be embroidered is not required, and the plate-shaped member is not required to be dissolved. In addition, the length of the upper thread (i.e., the remaining length of the upper thread) can be adjusted for each stitch by the rotation angle of the rotating arm 86 in the 2 nd section, so that an extremely fine hollow embroidery can be obtained. In addition, by lengthening the length of the face thread (i.e., the remaining length of the face thread), the cloth is not excessively tightened by forming the stitch, the cloth forming the embroidery is not wrinkled (i.e., becomes uneven), and moreover, the stitch can be made to be flexible. That is, in the case where the needle thread is shortened in length to firmly form the stitches, there is a possibility that the cloth on which the embroidery is formed wrinkles (i.e., becomes uneven), and particularly, in the case where the cloth is thin, such a possibility is high, but in the case of the present embodiment, the cloth on which the embroidery is formed wrinkles can be prevented.

In the above description, the shaft portion 215 is fixed to the body constituting portion 214 of the base portion 212 by providing the through hole 214a through which the shaft portion 215 is inserted in the presser foot 12c, and the opening portion 232k having a long hole shape is provided in the lateral plate portion 232 of the oscillating reciprocating mechanism portion 230, but the reverse configuration may be configured as follows as shown in fig. 27 and 28: a through hole 232a for inserting the shaft portion 215 is provided in the lateral plate portion 232 of the oscillating reciprocating mechanism portion 230, the shaft portion 215 is fixed to the lateral plate portion 232, and an opening 214d having a long hole shape is formed in the main body constituting portion 214. That is, the shaft portion 215 is inserted into the lateral plate portion 232 so as not to be movable in a direction perpendicular to the axis of the shaft portion 215 with respect to the lateral plate portion 232, and the shaft portion main body 215b is inserted into the opening portion 214d so as to be slidable in the longitudinal direction of the opening portion 214 d. In this case, the rotation of the rotary disk 238 rotates the rear surface side of the horizontal plate portion 232, and the rotation of the rear surface side of the horizontal plate portion 232 causes the horizontal plate portion 232 to reciprocate in the front-rear direction while swinging in the left-right direction.

Further, in the presser foot 12c, the tip end constituent portion 216 is disposed so as to be on the front surface side of the presser foot 12c, but the tip end constituent portion 216 may be disposed so as to be on a side other than the front surface side of the presser foot 12c, and for example, the tip end constituent portion 216 may be disposed on the left surface side (X1 side) so that the base end portion 218 is on the right surface side (X2 side), or the tip end constituent portion 216 may be disposed on the right surface side (X2 side) so that the base end portion 218 is on the left surface side (X1 side).

In the above description, the hook lever driving motor 240 for driving the hook lever 236 is provided on the presser foot 12c, but may be provided on the casing portion 110 side. That is, as shown in fig. 29, the hook wire driving motor 240 is supported by the support portion 112d of the case portion 110, the output shaft 240a of the hook wire driving motor 240 is inserted through an opening (not shown) provided in the horizontal plate portion 218b of the base end portion 218 of the base portion 212, and a shaft-shaped gear 240b is connected to the output shaft 240a coaxially with the output shaft 240 a. A plurality of teeth are formed to protrude from the circumferential surface of the gear 240 b. The rotary plate 238 is provided with an opening (not shown) for meshing with the gear 240b, and the hook lever drive motor 240 rotates to rotate the gear 240b, whereby the rotary plate 238 rotates. Further, even when the presser foot 12c moves up and down with respect to the housing portion 110, the gear 240b slides with respect to the rotary plate 238, so that the meshing state of the gear 240b and the rotary plate 238 can be maintained. The gear 240b is a transmission unit that transmits the rotational force of the hook wire driving motor 240 to the rotary disk 238.

As described above, by configuring the hook wire driving motor 240 independently of the presser foot 12c, the weight of the presser foot 12c can be reduced, and the vertical movement of the presser foot 12c can be facilitated.

In the above description, the upper thread fixing portion constituted by the swing reciprocating mechanism portion 230 (particularly, the thread hooking lever 236) and the upper thread receiving portion 216f is provided in the presser foot 12c, but the upper thread fixing portion may be constituted independently of the presser foot.

That is, the upper thread fixing unit 12f shown in fig. 30 is provided independently of the presser foot, and the upper thread fixing unit 12f is similar to the presser foot 12c except for the upper thread receiving portion 216f of the tip end constituting portion 216.

That is, as shown in fig. 30, the upper thread fixing unit 12f includes: a main body portion (upper thread fixing portion main body) 210; a swing reciprocating mechanism part (which may be a rotation mechanism part) 230 that reciprocates while swinging with respect to the main body part 210; and a hook wire rod driving motor 240 for operating the swing reciprocating mechanism part 230.

Here, the body portion 210 includes a base portion 212 and a shaft portion 220 fixed to the base portion 212.

The base portion 212 includes a main body constituting portion 214 and a base end portion 218 continuous from an end portion on the back side. The main body constituting portion 214 includes: a plate-shaped horizontal plate portion 214a having a substantially L-shape; a square vertical plate portion 214b continuously provided downward from an end portion on the right side surface side of the tip end of the horizontal plate portion 214 a; and an upper thread receiving portion 214c attached to an inner surface of the vertical plate portion 214 b. The horizontal plate portion 214a, the vertical plate portion 214b, and the base end portion 218, which are components other than the upper thread receiving portion 214c in the base portion 212, constitute an upper thread fixing portion body 212-1 that supports the upper thread receiving portion 214 c.

Here, the upper thread receiving portion 214c has the same configuration as the upper thread receiving portion 216f, and the upper thread receiving portion 214c includes: an elastic portion 214 c-1 provided on the inner surface of the vertical plate portion 214 b; and a plate-like portion (needle thread receiving portion main body) 214 c-2 fixedly provided at an end portion of the elastic portion 214 c-1 on the opposite side to the vertical plate portion 214 b. The elastic portion 214 c-1 is a coil spring, and has one end fixed to the vertical plate portion 214b and the other end fixed to the plate portion 214 c-2. The upper thread receiving portion 214c sandwiches the upper thread together with the hook lever 236, and when the upper thread pressed toward the upper thread receiving portion 214c by the hook lever 236 comes into contact with the plate-like portion 214 c-2, the upper thread is sandwiched between the hook lever 236 and the plate-like portion 214 c-2.

The base end portion 218 has the same configuration as the base end portion 218 of the presser foot 12c, and therefore, description thereof is omitted.

The swing reciprocating mechanism portion 230 of the upper thread fixing unit 12f has the same configuration as the swing reciprocating mechanism portion 230 of the presser foot 12c, and the looper driving motor 240 of the upper thread fixing unit 12f has the same configuration as the looper driving motor 240 of the presser foot 12c, and therefore, the description thereof is omitted. In the swing reciprocating mechanism 230, the horizontal plate 232 and the vertical plate 234 form a hook bar support 231. The oscillating reciprocating mechanism 230 (particularly, the hook thread lever support 231 and the hook thread lever 236) and the upper thread receiving portion 214c constitute "an upper thread fixing portion that fixes the 2 nd upper thread portion, which is a portion between the cloth and the thread take-up lever, of the upper threads at a position separated from the cloth surface and shifted in the cloth surface direction with respect to the needle insertion position of the sewing needle". The upper thread fixing unit 12f is fixedly provided because it does not need to move up and down unlike the presser foot 12 c. That is, the shaft portion 220 of the upper thread fixing unit 12f is fixed to the case portion 110.

In the configuration of fig. 30, the presser foot 12 c' configured independently of the upper thread fixing unit 12f moves up and down so as to pass through a space on the left side surface side (X1 side) of the upper thread receiving portion 214c (a space between the upper thread receiving portion 214c and the thread hooking lever 236 in fig. 30) as shown in fig. 30. The presser foot 12c ' has the same configuration as the conventional presser foot, and includes an annular presser foot main body 12c ' -1 provided with an opening 12c ' -k and a rod-shaped (or plate-shaped) support portion 12c ' -2 supporting the presser foot main body 12c ' -1, and is configured such that the presser foot 12c ' is lowered and the presser foot main body 12c ' -1 contacts the cloth. Since the sewing needle is inserted into the opening 12c '-k provided in the presser foot 12 c', the upper thread is fixed by the thread hooking rod 236f and the upper thread receiving portion 214c at a position shifted in the cloth surface direction with respect to the needle insertion position of the sewing needle in the configuration of fig. 30.

In the above description, the elastic portions 216 f-1 and 214 c-1 are coil springs, but may be other elastic bodies such as leaf springs. In addition, in order to reinforce the force of the plate-like portion 216 f-2 (214 c-2) and the hook lever 236 sandwiching the upper thread, a magnet (specifically, a permanent magnet) is attached to the plate-like portion 216 f-2 (214 c-2), or the plate-like portion 216 f-2 (214 c-2) is configured by a magnet (specifically, a permanent magnet). That is, the thread hooking lever 236 is formed with a magnet, i.e., a material (e.g., metal) attracted by a magnet such as iron, so that the upper thread can be firmly held and fixed between the plate-shaped portion 216 f-2 (214 c-2).

In the above description, the following is explained: the upper thread is fixed by the hook lever 236 and the upper thread receiving portion 216f by rotating the hook lever 236 using the crank mechanism, but the upper thread may be fixed by reciprocating the hook lever in the left-right direction and the front-rear direction using a device for reciprocating in the front-rear direction (front-rear direction driving device) and a device for reciprocating in the left-right direction (left-right direction driving device). For example, a configuration is adopted in which a right-left direction driving device is attached to the front-rear direction driving device, and the hook wire rod 236 is attached to the right-left direction driving device, and in a state where the hook wire rod is positioned on the left side and the front side with respect to the upper thread (this is set as a start position), the right-left direction driving device is moved to the right side, the upper thread is fixed by the hook wire rod 236 and the upper thread receiving portion 216f, the right-left direction driving device is moved to the back side by the front-rear direction driving device to release the fixation of the upper thread, the hook wire rod is moved to the left side by the right-left direction driving device, and the right-left direction driving device is moved to the front side by the front-rear direction driving device to return to the start. Further, as a device for performing the reciprocating drive, an actuator such as a solenoid may be mentioned.

Further, the presser foot 12c is moved up and down by the rotational force of the spindle 22, but the presser foot 12c may be moved up and down by operating the presser foot motor in accordance with the presser foot data by separately providing a presser foot motor as a motor for moving the presser foot 12c up and down and providing the presser foot data specifying the spindle angle and the position of the presser foot motor in the rotational direction.

In the above description, the direction of the rotation axis of the rotating arm 81 is the left-right direction, and the range of both sides including the 1 st needle thread portion Ja in the needle thread is supported in the left-right direction by the needle thread supporting member 88, but the rotation axis of the rotating arm 81 may be the up-down direction, and the upper thread portion in the up-down direction between the upstream side grip body 41 and the downstream side grip body 61 in the needle thread may be rotated as the 1 st needle thread portion. In this case, the portion of the upper thread in the vertical direction, which is caught by the rotating arm 81, is rotated in the lateral direction.

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 (16)

1. A sewing machine has:

a thread take-up lever formed to be swingable;

a needle supported by a needle bar moving up and down, in which an upper thread is inserted;

a shuttle hooked on the upper thread inserted in the sewing needle to form a stitch;

an upstream side gripping portion having an upstream side gripping portion body that grips an upper thread and an upstream side driving portion that switches between a closed state in which the upstream side gripping portion body grips the upper thread and an open state in which the gripping of the upper thread is released;

a downstream-side grip portion provided downstream of the upstream-side grip portion in the path of the upper thread and upstream of the thread take-up lever, the downstream-side grip portion including a downstream-side grip portion body that grips the upper thread and a downstream-side drive portion that switches between a closed state in which the upper thread is gripped by the downstream-side grip portion body and an open state in which the upper thread is released from gripping;

a rotating section configured to rotate a 1 st upper thread portion of the upper thread, which is a portion between the upstream-side grip body and the downstream-side grip body, to thereby bend the upper thread via the 1 st upper thread portion, the rotating section including a rotating arm in contact with the upper thread, and an upper thread motor configured to rotate the rotating arm, the rotating arm being configured to rotate in a 1 st direction, which is a direction in which a degree of bending of the upper thread is increased, and a 2 nd direction, which is a direction opposite to the 1 st direction, and to rotate the rotating arm within a rotation range between a 1 st end position, which is a terminal of the 1 st direction, and a 2 nd end position, which is a terminal of the 2 nd direction; the disclosed device is characterized by being provided with:

a needle thread fixing part for fixing the 2 nd needle thread part between the cloth and the thread take-up lever in the position away from the cloth surface and deviated towards the cloth surface direction relative to the needle inserting position of the sewing needle;

a drive section for fixing the upper thread, which switches between a fixing state of fixing the upper thread by the upper thread fixing section and a release state of releasing the fixing of the upper thread by the upper thread fixing section; and

a control part for controlling the operations of the upstream side driving part, the downstream side driving part, the upper thread motor and the upper thread fixing driving part,

controlling a needle thread motor to rotate a rotating arm in a 2 nd direction by an angle corresponding to a stitch reference length in a 1 st interval which is at least a partial interval from a shuttle top dead center to a take-up lever bottom dead center, the stitch reference length being a needle thread length of a stitch in a state where an n +1 th stitch is fixed to a needle thread fixing portion, the n +1 th stitch being a next stitch of an n-th stitch which is a nearest stitch among stitches already formed on a cloth, wherein n is an integer,

in the 2 nd interval which is at least a partial interval from the lower dead point of the take-up lever to the upper dead point of the take-up lever, the rotating arm is rotated to the 1 st direction by an angle corresponding to the length obtained by subtracting the remaining length of the upper thread which is the length of the upper thread protruding from the cloth surface in the n-th stitch from the stitch reference length in the n-th stitch,

in a 3 rd section which is at least a partial section from the end position of the 2 nd section to the section of the hook thread, the rotating arm is rotated to a 1 st end position in the 1 st direction,

the upstream side driving part is controlled so that the upstream side holding part is closed at any position in a section from the end position of the 3 rd section to the hook thread and is opened at any position in a section from the end position of the 2 nd section to the start position of the 3 rd section,

controlling the downstream side driving part so that the downstream side gripping part is in a closed state at any position in a section from the end position of the 2 nd section to a switching position for switching from the closed state to the open state of the upstream side gripping part, and so that the downstream side gripping part is in an open state at any position in a section from the switching position for switching from the open state to the closed state of the upstream side gripping part to the position for hooking the upper thread,

by controlling the upper thread fixing driving part, the 2 nd upper thread part is fixed by the upper thread fixing part at least when the shuttle hook is used for inserting the needle into the cloth.

2. The sewing machine of claim 1,

the upper thread fixing part is arranged on the presser foot which moves between a cloth surface contact position connected with the cloth surface and a cloth surface separation position separated from the cloth surface.

3. The sewing machine of claim 2,

the presser foot has a presser foot main body part having a cloth cover contact part contacting with the cloth cover under the condition that the presser foot is positioned at the cloth cover contact position,

the upper thread fixing part is provided with:

a rod-shaped thread hooking rod;

a thread hooking rod support part which supports the thread hooking rod; and

an upper thread receiving part which is arranged at a position deviated to the direction of the cloth surface relative to the inserting needle position of the sewing needle in the cloth surface contact part, clamps the upper thread hooked by the hook thread rod together with the hook thread rod and fixes the upper thread,

the thread hooking rod supporting part moves relative to the presser foot main body part in a mode of rotating the thread hooking rod through the driving of the upper thread fixing driving part,

when the thread hooking rod rotates, the drive of the upper thread fixing drive part is stopped at least in the interval from the time when the sewing needle inserts the needle into the cloth to the time when the upper thread is hooked by the shuttle, and the thread hooking rod and the upper thread receiving part clamp the upper thread and are fixed.

4. The sewing machine of claim 3,

the thread hooking lever support part is reciprocated in the 2 nd horizontal direction in the direction perpendicular to the 1 st horizontal direction while swinging in the 1 st horizontal direction with respect to the presser foot main body part by a crank mechanism driven by the upper thread fixing drive part, and the thread hooking lever is rotated by the reciprocating movement in the 2 nd horizontal direction while swinging in the 1 st horizontal direction by the thread hooking lever support part.

5. Sewing machine as in claim 3 or 4,

the upper thread receiving part comprises: an elastic part which is arranged at a position which is deviated towards the direction of the cloth surface relative to the pin inserting position of the sewing needle in the cloth surface contact part; and an upper thread receiving part body which is arranged on the elastic part and clamps the upper thread together with the thread hooking rod for fixing.

6. Sewing machine as in claim 3 or 4,

the presser foot main body part is provided with a main body constituent part which is continuously arranged from the cloth surface contact part and is opposite to the thread hooking rod supporting part, one of the main body constituent part and the thread hooking rod supporting part is provided with a shaft part in a penetrating way, the other one is provided with a long hole-shaped opening part in which the shaft part is inserted, and the thread hooking rod rotates by rotating the end part region of the thread hooking rod supporting part on the side opposite to the thread hooking rod.

7. Sewing machine as in claim 3 or 4,

the upper thread fixing drive part is a motor fixed on the presser foot main body part, and the thread hooking rod support part does the reciprocating motion towards the 2 nd transverse direction while swinging towards the 1 st transverse direction relative to the presser foot main body part by the rotating force of the motor.

8. Sewing machine as in claim 3 or 4,

the upper thread fixing driving part is a motor fixed on a box body part of a frame body of the sewing machine, and the hook thread rod supporting part does a reciprocating motion towards the 2 nd transverse direction relative to the presser foot main body part while swinging towards the 1 st transverse direction by using the rotating force of the motor.

9. The sewing machine of claim 1,

the upper thread fixing part is provided with:

a rod-shaped thread hooking rod;

a thread hooking rod support part which supports the thread hooking rod; and

an upper thread receiving part which clamps the upper thread hooked by the hook thread rod together with the hook thread rod and fixes the upper thread,

a facial thread fixing part main body which is provided with a supporting facial thread receiving part,

the thread hooking rod supporting part moves relative to the upper thread fixing part body in a mode of rotating the thread hooking rod by the driving of the upper thread fixing driving part.

10. The sewing machine of claim 9,

the upper thread receiving part comprises: an elastic part arranged on the upper thread fixing part main body; and an upper thread receiving part body which is arranged on the elastic part and clamps the upper thread together with the thread hooking rod for fixing.

11. Sewing machine as in claim 1 or 2 or 3 or 4 or 9 or 10,

the sewing machine is provided with a storage part for storing embroidery data, the embroidery data stores the stitch length and the data of the remaining length of the upper thread according to each stitch,

the control unit generates angle-corresponding data for each stitch, the angle-corresponding data defining the angle of the face thread motor as the position in the rotation direction of the face thread motor for the position in the rotation direction of the spindle motor for rotating the spindle for transmitting power to the thread take-up lever, based on the embroidery data, and the control unit controls the position of the face thread motor to the angle of the face thread motor corresponding to the angle of the spindle motor as the spindle motor rotates and the angle of the spindle motor changes, based on the angle-corresponding data.

12. Sewing machine as in claim 1 or 2 or 3 or 4 or 9 or 10,

the sewing machine is provided with a storage part for storing embroidery data, the embroidery data stores the stitch length and the data of the remaining length of the upper thread according to each stitch,

the control unit creates data for a rotating arm, the data for the rotating arm stores data of an angle corresponding to the stitch reference length used in the 1 st section for each stitch, and stores data of an angle corresponding to a length obtained by subtracting the remaining length of the upper thread from the stitch reference length used in the 2 nd section for each stitch,

the control unit generates angle-corresponding data for each stitch, the angle-corresponding data defining the angle of the needle thread motor as the position in the rotation direction of the needle thread motor for the position in the rotation direction of the spindle motor for rotating the spindle for transmitting power to the thread take-up lever, based on the embroidery data and the data for the rotor arm, 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 with the rotation of the spindle motor based on the angle-corresponding data.

13. Sewing machine as in claim 1 or 2 or 3 or 4 or 9 or 10,

provided with an upper thread supporting member which transversely supports the range of both sides of a 1 st upper thread portion including the 1 st upper thread portion in the upper thread,

the direction of the rotation axis of the rotating arm is a transverse direction, the 1 st direction among the rotation directions of the rotating arm is a rotation direction toward an upper side, and the 2 nd direction is a rotation direction toward a lower side.

14. A sewing machine has:

a thread take-up lever which is formed to be capable of swinging, a swinging shaft of which is arranged in the left-right direction, and an upper thread hanging and clamping part which is used for hanging and clamping the upper thread and is arranged on the front side of the swinging shaft;

a needle supported by a needle bar moving up and down, in which an upper thread is inserted;

a shuttle hooked on the upper thread inserted in the sewing needle to form a stitch;

an upstream side gripping portion having an upstream side gripping portion body that grips the upper thread and an upstream side driving portion that switches between a closed state in which the upstream side gripping portion body grips the upper thread and an open state in which the gripping of the upper thread is released;

a downstream-side grip portion provided downstream of the upstream-side grip portion in the path of the upper thread and upstream of the thread take-up lever, the downstream-side grip portion including a downstream-side grip portion body that grips the upper thread and a downstream-side drive portion that switches between a closed state in which the upper thread is gripped by the downstream-side grip portion body and an open state in which the upper thread is released from gripping;

a rotation unit configured to rotate a 1 st upper thread portion of the upper thread, which is a portion between the upstream-side grip body and the downstream-side grip body, to thereby bend the upper thread via the 1 st upper thread portion, and including a rotation arm, which is a rotation arm connected to the upper thread and has a rotation shaft in a left-right direction, and an upper thread motor, which rotates the rotation arm in a direction in which a degree of bending of the upper thread is increased, in which the rotation arm is rotated in a 1 st direction, which is a rotation direction toward an upper side, and in a 2 nd direction, which is a direction opposite to the 1 st direction, and rotates the rotation arm in a rotation range between a 1 st end position, which is a terminal end of the 1 st direction, and a 2 nd end position, which is a terminal end of the 2 nd direction; the disclosed device is characterized by being provided with:

an upper thread supporting member which supports a range of both sides of a 1 st upper thread portion including the 1 st upper thread portion in the upper thread in a left-right direction;

a presser foot which moves between a cloth surface contact position contacting with the cloth surface and a cloth surface separation position separating from the cloth surface, and is provided with a presser foot main body part and an upper thread fixing part which fixes the position of the 2 nd upper thread part which is the part between the cloth and the take-up lever in the upper side of the upper surface of the cloth and shifts to the direction of the upper surface of the cloth relative to the insertion needle position of the sewing needle,

the presser foot main body portion has a cloth contact portion that comes into contact with the cloth when the presser foot is positioned at a cloth contact position, and a main body constituent portion that is formed on the back surface side of the cloth contact portion,

the upper thread fixing part is provided with a rod-shaped thread hooking rod, a thread hooking rod supporting part and an upper thread receiving part,

the thread hooking rod supporting part is a thread hooking rod supporting part for supporting the thread hooking rod, and reciprocates in the front-rear direction while swinging in the left-right direction with respect to the main body constituting part by a crank mechanism,

the upper thread receiving part is an upper thread receiving part which fixes the upper thread together with the thread hooking rod and is provided with an elastic part and a main body of the upper thread receiving part, the elastic part is arranged at a position which is deviated towards the direction of the upper surface of the cloth relative to the inserting needle position of the sewing needle in the cloth surface contact part, the main body of the upper thread receiving part is a main body of the upper thread receiving part which is arranged on the elastic part and is fixed together with the thread hooking rod by clamping the upper thread,

the thread hooking rod rotates by swinging towards the left and right directions and reciprocating towards the front and back directions through the thread hooking rod supporting part;

a needle thread fixing drive unit for driving the crank mechanism, and switching between a fixing state in which the needle thread is fixed by the needle thread fixing unit and a release state in which the fixing of the needle thread by the needle thread fixing unit is released;

a storage unit for storing embroidery data, the embroidery data storing data of stitch length and residual length of face thread for each stitch; and

a control part for controlling the operations of the upstream side driving part, the downstream side driving part, the upper thread motor and the upper thread fixing driving part,

controlling a needle thread motor to rotate a rotating arm in a 2 nd direction by an angle corresponding to a stitch reference length in a 1 st interval which is at least a partial interval from a shuttle top dead center to a take-up lever bottom dead center, the stitch reference length being a needle thread length of a stitch in a state where an n +1 th stitch is fixed to a needle thread fixing portion, the n +1 th stitch being a next stitch of an n-th stitch which is a nearest stitch among stitches already formed on a cloth, wherein n is an integer,

in the 2 nd interval which is at least a partial interval from the lower dead point of the take-up lever to the upper dead point of the take-up lever, the rotating arm is rotated to the 1 st direction by an angle corresponding to the length obtained by subtracting the remaining length of the upper thread which is the length of the upper thread protruding from the cloth surface in the n-th stitch from the stitch reference length in the n-th stitch,

in a 3 rd section which is at least a partial section from the end position of the 2 nd section to the section of the hook thread, the rotating arm is rotated to a 1 st end position in the 1 st direction,

when controlling the needle thread motor, based on embroidery data, angle corresponding data is produced for each stitch, the angle corresponding data specifies the angle of the needle thread motor as the position of the rotating direction of the main shaft motor for rotating the main shaft for transmitting power to the thread take-up lever according to the angle of the main shaft motor as the position of the rotating direction of the main shaft motor, the control part controls the position of the needle thread motor to the angle of the needle thread motor corresponding to the angle of the main shaft motor along with the rotation of the main shaft motor and the change of the angle of the main shaft motor based on the angle corresponding data,

the upstream side driving part is controlled so that the upstream side holding part is closed at any position in a section from the end position of the 3 rd section to the hook thread and is opened at any position in a section from the end position of the 2 nd section to the start position of the 3 rd section,

controlling the downstream side driving part so that the downstream side gripping part is in a closed state at any position in a section from the end position of the 2 nd section to a switching position for switching from the closed state to the open state of the upstream side gripping part, and so that the downstream side gripping part is in an open state at any position in a section from the switching position for switching from the open state to the closed state of the upstream side gripping part to the position for hooking the upper thread,

the upper thread fixing drive unit is controlled so that the upper thread fixing drive unit stops driving at least in a section from when the needle is inserted into the cloth and when the upper thread is hooked by the hook, and the upper thread receiving unit and the upper thread fixing rod are fixed together by sandwiching the upper thread.

15. The sewing machine of claim 14,

the control unit creates data for a rotary arm, the data for the rotary arm storing data of an angle corresponding to the stitch reference length used in the 1 st section for each stitch and storing data of an angle corresponding to a length obtained by subtracting the remaining length of the upper thread from the stitch reference length used in the 2 nd section for each stitch, and the control unit creates angle correspondence data based on the embroidery data and the data for the rotary arm.

16. Sewing machine as in claim 1 or 2 or 3 or 4 or 9 or 10 or 14 or 15,

the control unit rotates the rotating arm in the 2 nd interval by an angle obtained by subtracting the remaining length of the upper thread as the length of the upper thread protruding from the cloth surface in the n-th stitch from the angle corresponding to the stitch reference length in the n-th stitch, instead of rotating the rotating arm in the 1 st interval by an angle corresponding to the remaining length of the upper thread as the length of the upper thread protruding from the cloth surface in the n-th stitch from the stitch reference length in the n-th stitch.