JP2018015466A - Sewing apparatus and method for controlling sewing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sewing apparatus and a method for controlling the sewing apparatus which allow cloth to be easily placed or taken out.SOLUTION: A sewing apparatus includes a needle bar 24 and a cloth holding body 95. The needle bar 24 is vertically movable above the cloth holding body 95, and a sewing needle 23 is fitted to the lower end thereof. The cloth holding body 95 has a lower frame and an upper frame 93. The lower frame supports cloth 99. The upper frame 93 faces the lower frame from above. The cloth holding body 95 is moved between an operation position and a standby position. When the cloth holding body 95 is located at the operation position, the upper frame 93 surrounds the needle bar 24 in a plan view. When the cloth holding body 95 is located at the standby position, the upper frame 93 is deviated from the needle bar 24 in the plan view. The upper frame 93 is vertically moved between a holding position and a separated position. The upper frame 93 located at the holding position holds the cloth 99 between it and the lower frame. The upper frame 93 located at the separated position is separated upward from the cloth 99. After the cloth holding body 95 is moved from the operation position to the standby position, the upper frame 93 is moved from the holding position to the separated position. At the standby position, the cloth holding body 95 releases the cloth 99 which has been pressed.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a sewing device and a control method for the sewing device.

  Sewing apparatuses that perform sewing by moving a cloth on a two-dimensional plane are known. The sewing apparatus disclosed in Patent Document 1 includes a table, a cloth presser, and a needle bar. The table is rectangular. The presser foot has a frame shape provided above the table. The cloth presser moves up and down between a holding position where the cloth is sandwiched with the table and an open position where the cloth on the table is released. The needle bar can move up and down above the presser foot, and is attached with a sewing needle. When the cloth presser is in the open position, the operator places the cloth on the table. After the worker places the cloth, the cloth presser moves from the open position to the holding position, thereby pinching the cloth with the table. The sewing device moves the needle bar up and down and sews the cloth clamped between the table and the cloth presser with the sewing needle. After the sewing, when the work clamp is moved from the holding position to the release position, the operator takes out the cloth from the table.

JP-A-9-299635

  In the above sewing apparatus, since the needle bar is inside the frame of the presser foot in plan view, the cloth is likely to be close to the lower end of the sewing needle when being placed on or taken out of the table. Therefore, the operator needs to place or take out the cloth so that the cloth does not contact the sewing needle. Therefore, it may be difficult to place the cloth or take out the cloth.

  An object of the present invention is to provide a sewing apparatus that can easily place or take out a cloth, and a control method for the sewing apparatus.

  The sewing device according to the first aspect of the present invention includes a placement portion on which a cloth is placed and a frame that can move up and down above the placement portion, and moves in a first direction parallel to the horizontal direction. A possible cloth holding body and a cloth holding body connected to the cloth holding body, and moving the frame body between a holding position in which the cloth is sandwiched between the mounting section and a separating position in which the cloth is spaced upward from the holding position. A frame body driving section, a cloth holding body, a cloth holding body driving section that moves the frame body driving section in the first direction, and a needle bar that can move up and down above the frame body, A control for driving and controlling the sewing mechanism for sewing the cloth with the sewing needle attached to the bar, the sewing driving unit for driving the sewing mechanism, the frame body driving unit, the cloth holding body driving unit, and the sewing driving unit. And the control unit controls driving of the cloth holding body driving unit and the sewing driving unit, respectively, and the frame body in the clamping position is provided. In the sewing apparatus including a sewing control unit that sews a cloth sandwiched between the placement unit and the cloth holding body, the cloth body includes an operation position in which the frame body surrounds the needle bar in a plan view, and the frame body includes The sewing control unit is capable of moving between the standby positions separated from the needle bar in a plan view, and the sewing control unit sews the fabric when the fabric holding body is in the operating position, and the control unit The cloth holding body driving unit controls the cloth holding body driving unit, and moves the cloth holding body in which the frame body is in the holding position from the operating position to the standby position. A frame control unit that drives and controls the frame body driving unit after the cloth holding body is moved, and moves the frame body of the cloth holding body at the standby position from the clamping position to the separation position; It is characterized by that.

  According to the above configuration, after the cloth holding body control unit moves the cloth holding body to the standby position, the frame body control unit moves the frame body from the clamping position to the separation position. The operator places the cloth on the placing portion or removes the cloth from the placing portion. The frame of the cloth holding body at the standby position is detached from the needle bar in plan view. The sewing device easily secures a movable range in the vertical direction of the frame body and easily separates the cloth forward from the sewing needle. The cloth is difficult to touch the sewing needle. Therefore, the sewing apparatus can easily place the cloth or take out the cloth.

  In the sewing apparatus, the cloth holding body control unit may move the cloth holding body to the standby position after completion of sewing by the sewing control unit. The cloth sewn by the sewing device can be easily taken out while avoiding contact with the sewing needle. Therefore, the sewing apparatus can keep the appearance of the cloth after sewing good.

  In the sewing apparatus, the sewing control unit sews the cloth by acquiring sewing data including a plurality of coordinate data indicating a needle drop point position where the sewing needle is to be inserted into the cloth, and the control unit The sewing control unit includes a determination unit that determines whether or not all of the plurality of coordinate data in the sewing data has been sewn, and the cloth holder control unit has completed the sewing control unit. When the determination unit determines, the cloth holding body may be moved to the standby position. The cloth holder control unit does not move the cloth holder from the operating position to the standby position unless the determination unit determines that the sewing has been completed. The sewing device can suppress a shift in the relative position between the cloth being sewn and the sewing needle. Therefore, the sewing apparatus can suppress deterioration of the appearance of the seam formed on the cloth.

  In the sewing apparatus, the sewing device includes an input unit to which a movement instruction to move the cloth holding body to the standby position is input, and the control unit includes a reception unit that receives the movement instruction input to the input unit, The cloth holding body control unit may move the cloth holding body to the standby position when the receiving unit receives the movement instruction. If the operator does not input an input instruction to the input unit, the cloth holder control unit does not move the cloth holder to the standby position. Therefore, the sewing apparatus can move the cloth holder from the operating position to the standby position according to the timing desired by the operator.

  In the sewing apparatus, when the receiving unit receives the movement instruction, the control unit drives and controls the sewing driving unit to move the sewing needle to the uppermost uppermost position in the vertical movement range of the sewing needle. A sewing needle control unit may be provided, and the cloth holding body control unit may move the cloth holding body to the standby position after the sewing needle control unit moves the sewing needle to the uppermost position. Before the cloth holding body control unit moves the cloth holding body to the standby position, the sewing needle control section moves the sewing needle to the uppermost position. Therefore, the sewing apparatus can suppress the cloth holder from interfering with the sewing needle when the cloth holder is moved from the operating position to the standby position.

  In the sewing apparatus, the cloth holding body includes a frame body support portion that is provided on one side in the first direction with respect to the frame body, and supports the frame body so as to be movable up and down. It may be a position on the other side opposite to the one side with respect to the operating position. The operator tends to take out the cloth to the other side using a hand arranged on the other side with respect to the cloth holding body. Also, the operator tends to place his / her hand on the other side of the cloth holder and place the cloth on the lower frame. The frame body support portion is on one side with respect to the cloth holding body, and the standby position is on the other side with respect to the operating position. Therefore, since the operator's hand does not easily contact the sewing device, the operator can easily place or take out the cloth.

  In the sewing apparatus, a first shaft member that extends in a second direction parallel to the horizontal direction and orthogonal to the first direction, obtains a driving force of the cloth holding body driving unit, and rotates about an axis line; A second shaft member provided on one side of the first direction with respect to one end of the uniaxial member, extending in parallel with the first shaft member, and rotatable about an axis; and the other end of the first shaft member A third shaft member provided on the one side in the first direction with respect to a portion, extending in parallel with the first shaft member, arranged in the second direction with the second shaft member, and rotatable about an axis line; A first belt that spans the one end of the first shaft member and the second shaft member; a second belt that spans the other end of the first shaft member and the third shaft member; A cloth holding body supporting portion connected to the first belt and the second belt and supporting the cloth holding body; Involves the movement of said cloth holding member supporting part may be moved between the standby position and the operating position. When the first shaft member rotates by obtaining the driving force of the cloth holding body driving unit, the first belt and the second belt travel, and the cloth holding body moves between the operating position and the retracted position. Even if the cloth holder moves, the arrangement positions of the first belt and the second belt in the first direction do not change. Therefore, even if the movement range of the cloth holder is large, the sewing device can suppress an increase in size.

  The control method for the sewing device according to the second aspect of the present invention includes a placing portion on which the cloth is placed and a frame body that can move up and down above the placing portion, and is parallel to the horizontal direction. A cloth holding body that is movable in a direction, a cloth holding body that is connected to the cloth holding body, a holding position that holds the cloth between the holding section, and a separation position that is spaced upward from the holding position. A frame driving unit that moves between the frame holding unit and the frame holding unit driving unit that moves the frame driving unit in the first direction, and a needle bar that can move up and down above the frame. And a sewing device comprising a sewing mechanism for sewing the cloth with a sewing needle attached to the needle bar, and a sewing drive unit for driving the sewing mechanism, the frame body drive unit, the cloth holding body drive unit, and the A control method for driving and controlling the sewing driving unit, respectively, wherein the cloth holding body driving unit and the sewing driving unit are driven and controlled, and the clamping position is controlled. A sewing control step of sewing a cloth sandwiched between the frame body and the placement unit, wherein the cloth holding body includes an operating position in which the frame body surrounds the needle bar in plan view, and the frame When the body moves between the standby positions separated from the needle bar in plan view, and the cloth holding body is in the operating position, the cloth holding body driving unit is configured to sew the cloth when the cloth holding body is in the operating position. And controlling the cloth holding body in which the frame body is in the clamping position from the operating position to the standby position, and the movement of the cloth holding body in the cloth holding body control process. And a frame body control step for driving the frame body drive unit to move the frame body of the cloth holding body at the standby position from the clamping position to the separation position. . According to the 2nd aspect, there exists an effect similar to a 1st aspect.

FIG. 3 is a perspective view of the sewing device 1. The perspective view of the sewing apparatus 1 which abbreviate | omitted the cloth holding body 95 and the holding plate 90. FIG. The perspective view of the upper shaft unit 2, the upper side spline shaft 3, the lower shaft unit 4, and the lower side spline shaft 5. FIG. The perspective view of the Y moving mechanism 7 and the cloth holding body 95. FIG. The right view of the Y moving mechanism 7 and the cloth holding body 95. FIG. FIG. 2 is an electric block diagram of the sewing device 1. The data block diagram of the sewing data 180. FIG. The flowchart of the main process. Explanatory drawing which shows the flow which a seam forms in the cloth 99. FIG. The flowchart of a sewing process. The perspective view of the sewing apparatus 401. FIG. The perspective view of the cloth feeding apparatus 410. FIG.

  A sewing device 1 according to a first embodiment of the present invention will be described. In the following description, left, right, front, back, and top and bottom indicated by arrows in the figure are used.

  A schematic structure of the sewing device 1 will be described. As shown in FIGS. 1 to 3, the sewing apparatus 1 includes an upper shaft unit 2, an upper spline shaft 3, a lower shaft unit 4, a lower spline shaft 5, an X movement mechanism 6, a Y movement mechanism 7, a synchronization mechanism 8, and a control unit. 9. A base 10 is provided. The upper shaft unit 2 includes a needle bar mechanism 21 and an upper housing 22. The needle bar mechanism 21 moves the needle bar 24 up and down. The upper housing 22 accommodates the needle bar mechanism 21. The upper spline shaft 3 is a rod-like member extending in the left-right direction, and has a groove extending in the left-right direction on the outer peripheral surface. The upper spline shaft 3 is inserted into the upper housing 22 of the upper shaft unit 2 and transmits power to the needle bar mechanism 21. The lower shaft unit 4 includes a shuttle mechanism 41 and a lower housing 42. The lower housing 42 accommodates the shuttle mechanism 41. The lower spline shaft 5 is a rod-like member extending in parallel with the upper spline shaft 3 and has a groove extending in the left-right direction on the outer peripheral surface. The lower spline shaft 5 is inserted into the lower housing 42 of the lower shaft unit 4 and transmits power to the shuttle mechanism 41.

  The X moving mechanism 6 moves the upper shaft unit 2 along the axial direction of the upper spline shaft 3, and moves the lower shaft unit 4 along the axial direction of the lower spline shaft 5 in synchronization with the movement of the upper shaft unit 2. To do. The X moving mechanism 6 includes belts 121 and 122 and an X moving pulse motor 82. The belts 121 and 122 are belt-like members that are laid in parallel to the upper spline shaft 3 and the lower spline shaft 5. The belt 121 is fixed to the upper shaft unit 2, and the belt 122 is fixed to the lower shaft unit 4. The X movement pulse motor 82 moves the belts 121 and 122 in the same direction by the same amount. The Y moving mechanism 7 moves the cloth 99 (see FIG. 9), which is a sewing object, in the front-rear direction relative to the upper shaft unit 2 and the lower shaft unit 4. The Y moving mechanism 7 includes a cloth holding body 95 and a Y moving pulse motor 83, and moves the cloth holding body 95 in the front-rear direction using the Y moving pulse motor 83 as a drive source. The cloth holder 95 has an upper frame 93 and a lower frame 92. The upper frame 93 and the lower frame 92 are rectangular frames in plan view, and the cloth 99 is sandwiched therebetween. The upper frame 93 opens and closes up and down with respect to the lower frame 92 using the right air cylinder 219 and the left air cylinder 239 as drive sources. The synchronization mechanism 8 is installed on the upper spline shaft 3 and the lower spline shaft 5, and synchronizes the rotation of the upper spline shaft 3 and the lower spline shaft 5 with a sewing machine motor 81 as a drive source. The control unit 9 controls the X movement mechanism 6, the Y movement mechanism 7, and the synchronization mechanism 8. The base portion 10 is provided in the lower part of the sewing apparatus 1 and supports the X moving mechanism 6 and the Y moving mechanism 7. The base portion 10 includes a holding plate 90 having a substantially rectangular plate shape in plan view. The holding plate 90 supports the cloth holding body 95 below. The holding plate 90 prevents the cloth 99 held by the cloth holding body 95 from bending.

  The upper shaft unit 2 will be described. As shown in FIG. 3, the upper shaft unit 2 includes an upper shaft 25, a transmission member 26, a balance mechanism, and an intermediate presser mechanism 19 in addition to the needle bar mechanism 21 and the upper housing 22. The upper housing 22 faces the lower housing 42. The upper housing 22 includes a main body portion 27, a distal end portion 28, and a fixing portion 30. The main body 27 has a box shape that is long in the left-right direction. The tip 28 extends below the left end of the main body 27. The fixed portion 30 has a substantially rectangular frame shape that is longer in the vertical direction than the main body portion 27, and is positioned on the back side of the main body portion 27. The fixing unit 30 includes holes 32 and 33 and four support members 34. The holes 32 and 33 are circular when viewed from the right side. The hole 32 is provided on the left surface of the fixing portion 30, and the hole 33 is provided on the right surface of the fixing portion 30. The holes 32 and 33 are inserted through the upper spline shaft 3. Each support member 34 is C-shaped in a right side view extending in the left-right direction, and has a groove 35 on the back surface. The support members 34 are provided in the upper right portion, the upper left portion, the lower right portion, and the lower left portion of the rear surface of the fixed portion 30. The groove portion 35 of the support member 34 provided at the upper right portion and the upper left portion of the fixed portion 30 rear surface is engaged with the rail 123 extending in the left-right direction, and the groove portion 35 of the support member 34 provided at the lower right portion and the lower left portion of the fixed portion 30 rear surface. Engages with a rail 124 extending in the left-right direction below the rail 123. The belt fixing portion passes the belt 121 and fixes one end and the other end of the belt 121. The belt 121 moves the upper shaft unit 2 in the extending direction (left-right direction) of the axis of the upper spline shaft 3. The belt fixing portions are provided on the left rear portion and the right rear portion of the upper housing 22. When the X moving mechanism 6 moves the belt 121, the upper shaft unit 2 moves together with the belt 121 along the rails 123 and 124.

  The upper shaft 25 is provided in parallel with the upper spline shaft 3 and extends in the main body 27 in the left-right direction. The transmission member 26 transmits the rotation around the axis of the upper spline shaft 3 to the upper shaft 25. In this example, the transmission member 26 includes a ball spline bearing 36 provided on the upper spline shaft 3, a first pulley connected to the ball spline bearing 36, a second pulley provided on the upper shaft 25, and a first pulley and a second pulley. Timing belt. The ball spline bearing 36 is supported by the hole 33. The upper shaft 25 is connected to the needle bar mechanism 21 and the balance mechanism, and drives the needle bar mechanism 21 and the balance mechanism with the rotational force transmitted through the upper spline shaft 3. The balance mechanism includes a balance 29. The balance 29 moves up and down during sewing to pull up the upper thread 59. In FIG. 3, only the upper thread 59 around the balance 29 is shown by a two-dot chain line. The needle bar mechanism 21 moves the needle bar 24 up and down in conjunction with the vertical movement of the balance 29. The lower end portion of the needle bar 24 is exposed from the lower side of the distal end portion 28 and extends downward. The needle bar 24 has a sewing needle 23 attached to its lower end. The intermediate presser mechanism 19 includes an intermediate presser 18 and a pulse motor 84 for intermediate presser, and when the sewing needle 23 is raised, the cloth 99 is raised together with the sewing needle 23 by friction with the sewing needle 23 by pressing down the periphery of the sewing needle 23 through the sewing needle 23. And prevents the cloth 99 from flapping. The intermediate presser 18 is positioned above the cloth clamped by the cloth holding body 95, and presses the cloth 99 from the upper side during sewing using the intermediate presser pulse motor 84 as a drive source. The intermediate presser pulse motor 84 is fixed to the upper surface of the main body 27 of the upper housing 22.

  The lower shaft unit 4 will be described. As shown in FIG. 3, the lower shaft unit 4 includes a thread trimming mechanism, a lower shaft 44, a first pulley 45, a second pulley 46, and a timing belt 47 in addition to the shuttle mechanism 41 and the lower housing 42. The hook mechanism 41 is connected to the hook 16 and drives the hook 16. The hook 16 is a half-turn hook. The hook 16 accommodates a bobbin case around which a lower thread is wound. The lower housing 42 has a substantially rectangular parallelepiped box shape. The lower housing 42 includes insertion holes 48 and 49, a needle plate 50, a fixing portion, and a support base 54. The insertion hole 48 is provided on the left surface of the lower housing 42, and the insertion hole 49 is provided on the right surface of the lower housing 42. The insertion holes 48 and 49 are inserted through the lower spline shaft 5. The lower housing 42 supports the lower spline shaft 5 via a ball spline bearing 39. The ball spline bearing 39 is supported by the insertion hole 48. The needle plate 50 is provided on the upper surface of the left portion of the lower housing 42. The needle plate 50 has a needle hole 53. The holding plate 90 has a long hole extending in the left-right direction penetrating in the vertical direction at a position corresponding to the needle hole 53. The long hole and the needle hole 53 pass through the lower end of the sewing needle 23 when the needle bar 24 is lowered. Hereinafter, the vertical position of the sewing needle 23 when passing through the needle hole 53 and the long hole of the holding plate 90 is referred to as a needle lower position, and the lower end of the sewing needle 23 is above the cloth 99 on the needle plate 50. The vertical position of is referred to as the needle up position. In the present embodiment, the needle upper position is a position slightly below the uppermost position in the vertical movement range of the sewing needle 23. The uppermost position is the uppermost position in the vertical movement range of the sewing needle 23.

  The thread cutting mechanism is provided below the needle plate 50. The thread cutting mechanism includes a fixed blade, a movable blade, and a pulse motor 57 for thread cutting. The movable blade moves with respect to the fixed blade by obtaining power from the thread cutting pulse motor. The thread cutting mechanism cuts the upper thread 59 and the lower thread in cooperation with the movable blade and the fixed blade.

  The lower shaft 44 is connected to the swing mechanism 52 and the shuttle mechanism 41 and swings the shuttle 16 by the rotation of the lower spline shaft 5. The lower shaft 44 extends in the left-right direction in front of the lower spline shaft 5. The first pulley 45 is connected to the lower spline shaft 5 via a ball spline bearing 39. The second pulley 46 is provided at the right end portion of the intermediate shaft 51. The timing belt 47 is a belt-like member and is stretched between the first pulley 45 and the second pulley 46. The intermediate shaft 51 extends in the left-right direction behind the lower spline shaft 5. The swing mechanism 52 converts the rotation of the intermediate shaft 51 in one direction into the reciprocating rotation of the lower shaft 44. The lower shaft unit 4 transmits the rotation of the lower spline shaft 5 to the lower shaft 44 via the swing mechanism 52.

  The fixing portions are provided on the left rear portion and the right rear portion of the lower housing 42. The fixing portion passes the belt 122 and fixes one end and the other end of the belt 122. The belt 122 moves the lower shaft unit 4 in the extending direction (left-right direction) of the axis of the lower spline shaft 5. The support base 54 is a plate having a rectangular shape in plan view. The support base 54 is provided on the bottom surface of the lower housing 42. The support base 54 has four support members 55 that are U-shaped when viewed from the right side. The four support members 55 are provided on the front right part, front left part, rear right part, and rear left part of the support base 54 and extend in the left-right direction. The four support members 55 have grooves 56 that are recessed upward. The groove portion 56 of the support member 55 engages with a rail 125 extending in the left-right direction. When the synchronization mechanism 8 moves the belt 122, the lower shaft unit 4 moves along with the belt 122 along the rail 125. Therefore, the lower shaft unit 4 moves in the same direction as the upper shaft unit 2 by the same amount.

  The main body 27 of the upper housing 22 includes a thread breakage detector 197 (see FIG. 6) on the front surface. The yarn breakage detection unit 197 includes a light projecting unit and a light receiving unit. The light projecting unit and the light receiving unit are provided facing a predetermined position on the supply path of the upper thread 59. The light projecting unit is, for example, a light emitting diode. The light receiving unit is, for example, a phototransistor. The light receiving unit is disposed along the peripheral edge of the light projecting unit, for example. The light receiving unit may be provided side by side with the light projecting unit. When the upper thread 59 is at a predetermined position on the supply path, the light emitted from the light projecting unit is reflected by the upper thread 59 and travels toward the light receiving unit. The light receiving unit receives the irradiation light of the light projecting unit. When there is no upper thread 59 at a predetermined position on the supply path, the irradiation light of the light projecting unit passes through the upper thread supply path, and the light receiving unit does not receive the irradiation light. Therefore, the thread breakage detection unit 197 can detect the presence or absence of the upper thread 59.

  The Y moving mechanism 7 will be described with reference to FIGS. 4 and 5. The Y moving mechanism 7 includes a pair of support plates 101, a base plate portion 103, a Y moving pulse motor 83, a pair of shaft support portions 105, a shaft 106, a right power transmission mechanism 151, and a left power transmission mechanism 152. The pair of support plates 101 has a plate shape having a thickness in the front-rear direction, and extends upward from the rear end portion of the base portion 10 (see FIG. 1). The pair of support plates 101 are arranged at intervals in the left-right direction. The base plate 103 is a rectangular plate that is long in the left-right direction in plan view. The right rear end of the base plate portion 103 is supported by the support plate 101 on the right side. The left rear end of the base plate portion 103 is supported by the support plate 101 on the left side. The Y moving pulse motor 83 is supported at the center in the left-right direction of the front end portion of the base plate portion 103. The Y movement pulse motor 83 fixes the motor gear to the output shaft. The pair of shaft support portions 105 are arranged in the left-right direction with the Y moving pulse motor 83 in between. One of the pair of shaft support portions 105 is supported by the right portion of the front end portion of the base portion 103, and the other is supported by the left portion of the front end portion of the base portion 103. The shaft 106 extends in the left-right direction in front of the Y movement pulse motor 83 and is rotatably supported by the pair of shaft support portions 105. The shaft 106 has a gear fixed at the center in the left-right direction and meshes with the motor gear of the Y movement pulse motor 83. The shaft 106 rotates around an axis extending in the left-right direction by obtaining the driving force of the Y-movement pulse motor 83.

  The right power transmission mechanism 151 includes a right support base 109, a right shaft 111, and a right belt 113. The right support base 109 has a plate shape having a thickness in the vertical direction, and faces the base plate portion 103 from above. The right support base 109 is provided in the lower part of the front surface of the right support plate 101. The right shaft 111 extends in the left-right direction and is rotatably supported by the right support base 109. The right shaft 111 is on the rear side of the right end portion of the shaft 106. The right belt 113 spans the right end portion of the shaft 106 and the right shaft 111. As the shaft 106 rotates, the right belt 113 travels, and the right shaft 111 rotates about an axis extending in the left-right direction.

  The left power transmission mechanism 152 is symmetrical with the right power transmission mechanism 151 with respect to the center in the left-right direction of the Y moving mechanism 7. The left power transmission mechanism 152 includes a left support base 108, a left shaft 110, and a left belt 112. The left support base 108 corresponds to the right support base 109. The left axis 110 corresponds to the right axis 111. The left belt 112 corresponds to the right belt 113. The left shaft 110 is behind the left end of the shaft 106 and is aligned with the right shaft 111 in the left-right direction. The left belt 112 spans the left end of the shaft 106 and the left shaft 110. The left belt 112 travels as the shaft 106 rotates, and the left shaft 110 rotates about an axis extending in the left-right direction. The left belt 112 and the right belt 113 travel with the same amount in the same direction.

  The Y moving mechanism 7 further includes a pair of upper guide portions 114, a right support portion 153, and a left support portion 154. One of the pair of upper guide portions 114 extends forward from the right support plate 101. The other of the pair of upper guide portions 114 extends forward from the left support plate 101. Each of the pair of upper guide portions 114 includes rails 129 on the lower surface. The rail 129 extends in the front-rear direction. The right rail 129 is above the right belt 113 and the left rail 129 is above the left belt 112.

  The right support part 153 includes a right base part 120, a right frame support part 118, and a right guide part 126. The right base 120 is a plate having a thickness in the vertical direction. The right base 120 is fixed to the upper part of the right belt 113. The right frame support portion 118 extends in the front-rear direction and is fixed to the upper surface of the right base portion 120. That is, the right frame support part 118 is connected to the right belt 113. The right guide portion 126 is fixed to the upper surface of the right frame support portion 118 and engages with the right rail 123. As the right base portion 120 moves integrally with the right belt 113, the right guide portion 126 guides the back and forth movement of the right frame support portion 118.

  The left support part 154 is symmetrical with the right support part 153 with respect to the center in the left-right direction of the Y moving mechanism 7. The left support part 154 includes a left base part 119, a left frame support part 117, and a left guide part 127. The left base portion 119 corresponds to the right base portion 120, the left frame support portion 117 corresponds to the right frame support portion 118, and the left guide portion 127 corresponds to the right guide portion 126. The left frame support 117 is connected to the left belt 112. As the left base portion 119 moves integrally with the left belt 112, the left guide portion 127 guides the back and forth movement of the left frame support portion 117. Therefore, the left frame support portion 117 moves in the same direction as the right frame support portion 118 by the same amount.

  The cloth holder 95 will be described with reference to FIGS. 4 and 5. The cloth holding body 95 can hold the cloth 99 and supports it with the left frame support part 117 and the right frame support part 118. The cloth holding body 95 includes a frame body support portion 94, a lower frame 92, an upper frame 93, a right drive portion 155, and a left drive portion 156. The frame support portion 94 has a plate shape extending in the left-right direction. The rear surface of the frame body support portion 94 is connected to the right frame support portion 118 and the left frame support portion 117. The lower frame 92 is fixed to the lower portion of the frame support portion 94 and is above the holding plate 90 (see FIG. 1). The lower frame 92 is a rectangular frame body in plan view, and extends forward from the frame body support portion 94. The operator places the cloth 99 (see FIG. 9) on the lower frame 92.

  The upper frame 93 is a rectangular frame in plan view, and faces the lower frame 92 from above. The inner space of the upper frame 93 is a sewing area where sewing by the sewing device 1 is executed. The upper frame 93 is supported by the frame body support portion 94 so as to be movable up and down. The upper frame 93 moves up and down between the clamping position and the separation position. In FIG. 5, the upper frame 93 at the clamping position is illustrated by a solid line, and the upper frame 93 at a separation position is illustrated by a two-dot chain line. The upper frame 93 in the clamping position sandwiches the cloth 99 with the lower frame 92. At this time, the cloth holding body 95 holds the cloth 99. The upper frame 93 at the separation position is separated upward from the cloth 99. At this time, the cloth holding body 95 releases the cloth 99.

  The right drive unit 155 is connected to the right front portion of the frame body support portion 94 and the upper right portion of the upper frame 93. The right drive unit 155 includes a right fixed plate 212, a pair of right bars 214, a right connecting shaft 218, a right air cylinder 219, a right link 220, a right shaft 222, a right extending shaft 223, and a right support member 224.

  The right fixing plate 212 has a rectangular shape that is long in the vertical direction when viewed from the front, and is fixed to the front right portion of the frame body support portion 94. The pair of right bars 214 extends forward and downward from the upper part of the right fixing plate 212. The pair of right bars 214 are arranged at intervals in the left-right direction. The right connecting shaft 218 extends in the left-right direction and is connected to the front end portions of the pair of right bars 214. The right air cylinder 219 is rotatably connected to the right fixed plate 212 between the pair of right bars 214. The right air cylinder 219 has a drive shaft 219A. The drive shaft 219A extends linearly from the rear upper side to the front lower side. The front end of the drive shaft 219A is above the right connecting shaft 218. When the right air cylinder 219 is driven, the drive shaft 219A moves along the extending direction. The right link 220 has a plate shape that is L-shaped when viewed from the right side. The right link 220 includes a connecting portion 221. The connecting portion 221 has a rod shape having a length in the left-right direction, and forms a front lower portion of the right link 220. The rear end portion of the right link 220 is rotatably connected to the right connecting shaft 218, and the upper end portion of the right link 220 is connected to the front end portion of the drive shaft 219A. Therefore, when the drive shaft 219 </ b> A moves in the extending direction, the right link 220 rotates about the right connection shaft 218.

  The right shaft 222 extends in the left-right direction above the upper right portion of the upper frame 93 and rotatably supports the right support member 224 at the lower end portion of the fixed plate 212. The right extending shaft 223 is rotatably connected to the upper right portion of the upper frame 93 in front of the right link 220. The right extending shaft 223 extends in the left-right direction. The right support member 224 extends in the front-rear direction, and has a front end portion rotatably connected to the right extending shaft 223 and a rear end portion rotatably connected to the right shaft 222. The right support member 224 is connected to the connection portion 221 of the right link 220 below the drive shaft 219A of the right air cylinder 219. Therefore, when the right link 220 rotates about the right connecting shaft 218, the right support member 224 rotates about the right shaft 222 and moves the upper frame 93 up and down between the clamping position and the separation position. .

  The left drive unit 156 is connected to the front left part of the frame support part 94 and the upper left part of the upper frame 93. The left drive unit 156 is symmetrical with the right drive unit 155 with respect to the center in the left-right direction of the Y moving mechanism 7. The left drive unit 156 includes a left fixed plate, a pair of left bars, a left connecting shaft, a left air cylinder 239, a left link 240, a left shaft, a left extending shaft, and a left support member 244. The left fixed plate corresponds to the right fixed plate 212. The left bar corresponds to the right bar 214. Similarly, the left connecting shaft is the right connecting shaft 218, the left air cylinder 239 is the right air cylinder 219, the left link 240 is the right link 220, the left shaft is the right shaft 222, and the left extending shaft is the right extending shaft. 223 and the left support member 244 correspond to the right support member 224, respectively.

  When the left air cylinder 239 is driven, the left link 240 rotates about the left connecting shaft, and the left support member 244 rotates integrally with the left shaft. The left air cylinder 239 is driven simultaneously with the right air cylinder 219. Therefore, the left support member 244 moves up and down between the clamping position and the separation position in cooperation with the right support member 224.

  As described above, the cloth holding body 95 is supported by the right frame support portion 118 and the left frame support portion 117. Therefore, the cloth holding body 95 moves back and forth integrally with the right frame support portion 118 and the left frame support portion 117. The cloth holding body 95 moves back and forth between the operating position (see FIGS. 1 and 9B) and the standby position (see FIG. 9A). When the cloth holding body 95 is in the operating position, the upper frame 93 surrounds the needle bar 24 in plan view, and the needle bar 24 is above the sewing area of the sewing apparatus 1. When the cloth holding body 95 is in the standby position, the upper frame 93 is disengaged forward from the needle bar 24 in a plan view, and the needle bar 24 is located behind the sewing area of the sewing apparatus 1.

  The electrical configuration of the sewing apparatus 1 will be described with reference to FIG. The control unit 9 of the sewing apparatus 1 includes a microcomputer, an input interface 87 and an output interface 88 connected to the microcomputer via a data bus or the like, and drive circuits 181 to 188. The microcomputer includes a CPU 11, a ROM 12, a RAM 13, and a storage device 14. The CPU 11 comprehensively controls the operation of the sewing device 1. The ROM 12 stores in advance a program for executing a main process (see FIG. 8) described later, sewing data 180 (see FIG. 7) described later, and the like. The RAM 13 temporarily stores various information generated during execution of various processes. The storage device 14 is nonvolatile and stores various setting values.

  Each drive circuit 181-188 is connected to an output interface 88. The drive circuit 181 is connected to the sewing machine motor 81 and drives the sewing machine motor 81 based on a control command from the CPU 11. The drive circuit 182 is connected to the X movement pulse motor 82 and drives the X movement pulse motor 82 based on the control command of the CPU 11. The drive circuit 183 is connected to the Y movement pulse motor 83 and drives the Y movement pulse motor 83 based on the control command of the CPU 11. The drive circuit 184 is connected to the intermediate presser pulse motor 84 and drives the intermediate presser pulse motor 84 based on a control command of the CPU 11. The drive circuit 185 is connected to the thread trimming pulse motor 57 and drives the thread trimming pulse motor 57 based on a control command from the CPU 11. The drive circuit 186 is connected to the right air cylinder 219 and drives the right air cylinder 219 based on a control command from the CPU 11. The drive circuit 187 is connected to the left air cylinder 239 and drives the left air cylinder 239 based on a control command from the CPU 11. The drive circuit 188 is connected to the display unit 198 and displays various types of information on the display unit 198 based on a control command from the CPU 11. The worker visually recognizes information displayed on the display unit 198.

  The power SW 15, encoders 191 to 195, operation unit 196, thread breakage detection unit 197, etc. are connected to the input interface 87. The power SW 15 turns on the sewing device 1. The encoder 191 is connected to the sewing machine motor 81 and detects the rotational position and rotational speed of the output shaft of the sewing machine motor 81. The encoder 191 inputs the detection result to the input interface 87. The detection result of the encoder 191 indicates the vertical position of the needle bar 24 and the sewing needle 23. The encoder 192 is connected to the X movement pulse motor 82 and detects the rotation direction, rotation position (that is, rotation angle phase), and rotation speed of the output shaft of the X movement pulse motor 82. The encoder 192 inputs the detection result to the input interface 87. The rotation angle phase of the output shaft of the X movement pulse motor 82 indicates the left and right position of the upper shaft unit 2 and the lower shaft unit 4. In other words, the rotational angle phase of the output shaft of the X movement pulse motor 82 indicates the relative position in the left-right direction of the sewing needle 23 attached to the needle bar 24 of the upper shaft unit 2 with respect to the cloth holding body 95. The encoder 193 is connected to the Y movement pulse motor 83 and detects the rotation direction, rotation position (that is, rotation angle phase), and rotation speed of the output shaft of the Y movement pulse motor 83. The encoder 193 inputs the detection result to the input interface 87. The rotation angle phase of the output shaft of the Y movement pulse motor 83 indicates the position of the cloth holder 95 in the front-rear direction. In other words, the rotational angle phase of the output shaft of the Y movement pulse motor 83 indicates the relative position of the cloth holder 95 in the front-rear direction with respect to the sewing needle 23. The encoder 194 is connected to the intermediate presser pulse motor 84 and detects the rotational direction, rotational position, and rotational speed of the intermediate presser pulse motor 84. The encoder 194 inputs the detection result to the input interface 87. The encoder 195 is connected to the thread cutting pulse motor 57 and detects the rotational direction, rotational position, and rotational speed of the thread cutting pulse motor 57. The encoder 195 inputs the detection result to the input interface 87. The operation unit 196 detects various instructions and inputs detection results to the input interface 87. The thread breakage detection unit 197 inputs the detection result of the upper thread 59 to the input interface 87. Specifically, when the light receiving unit receives the irradiation light from the light projecting unit, the yarn breakage detecting unit 197 inputs an ON signal to the input interface 87. When the light receiving unit does not receive the light emitted from the light projecting unit, the yarn breakage detecting unit 197 inputs an OFF signal to the input interface 87.

  The sewing data 180 will be described with reference to FIG. “N” is a predetermined natural number. The sewing data 180 is data corresponding to rectangular stitches (see FIG. 9C) that are long in the left-right direction, for example. The sewing data 180 is data relating to the needle entry point position. The needle drop point position is a predetermined position on the cloth 99 where the sewing needle 23 at the needle lower position is pierced. The sewing data 180 includes a plurality of coordinate data indicating the needle entry point position. The coordinate data indicates a relative position between the sewing needle 23 and the cloth holding body 95. Each coordinate data corresponds to one of the needle entry point numbers. The needle drop point number indicates the order of the needle drop point position. Each coordinate data is a coordinate based on the relative number of pulses of the X movement pulse motor 82 and the Y movement pulse motor 83. In FIG. 7, the coordinate data of needle drop point number 1 is X = X1, Y = Y1. Similarly, the coordinate data of needle drop point number 2 is X = X2, Y = Y2, and the coordinate data of needle drop point number N is X = XN, Y = YN. The sewing apparatus 1 moves the sewing needle 23 up and down at the needle drop point position corresponding to the needle drop point number, and executes sewing on the cloth 99. The sewing apparatus 1 forms stitches by executing sewing at each needle drop point position in ascending order of needle drop point numbers.

  A main process executed by the CPU 11 will be described with reference to FIGS. 9, the needle plate 50, the needle bar 24, the sewing needle 23, the cloth 99, and the upper frame 93 of the cloth holding body 95 are shown in a simplified manner. When the operator presses the power supply SW 15 to activate the sewing apparatus 1, the CPU 11 reads a program from the ROM 12 and executes this processing. Prior to the start of the main process, the cloth holding body 95 is in the standby position (see FIG. 9A), the upper frame 93 is in the separated position, and the sewing needle 23 is in the uppermost position.

  As shown in FIGS. 8 and 9, the CPU 11 determines whether or not an instruction to move the cloth holder 95 has been received (S3). The CPU 11 stands by until an instruction to move the cloth holder 95 is received (S3: NO). When receiving a movement instruction for the cloth holder 95 (S3: YES), the CPU 11 drives the right air cylinder 219 and the left air cylinder 239 to move the upper frame 93 from the separation position to the clamping position (S5). The CPU 11 drives the Y movement pulse motor 83 to move the cloth holding body 95 from the standby position to the operating position (S7). When the Y movement pulse motor 83 is driven, the right belt 113 and the left belt 112 travel. As the right frame support portion 118 and the left frame support portion 117 move, the cloth holding body 95 moves from the standby position toward the operating position. The CPU 11 acquires the detection result of the encoder 193, and stops driving the Y movement pulse motor 83 when the cloth holding body 95 moves to the operating position. The CPU 11 drives the sewing machine motor 81 to move the sewing needle 23 from the uppermost position to the upper needle position (S8). The CPU 11 acquires the detection result of the encoder 191, and stops driving the sewing machine motor 81 when the sewing needle 23 is lowered to the needle upper position.

  For example, the worker places the cloth 99 on the lower frame 92 while the CPU 11 is on standby (S3: NO). The operator inputs an instruction to move the cloth holder 95 to the operation unit 196 (S3: YES). As the upper frame 93 moves to the clamping position, the cloth holding body 95 holds the cloth 99 (S5). The CPU 11 moves the cloth holding body 95 holding the cloth 99 from the standby position to the operating position (in the direction of arrow P in FIG. 9A) (S7). The CPU 11 stops the cloth holding body 95 at the operating position. The cloth 99 is positioned below the needle bar 24 and the sewing needle 23 (see FIG. 9B).

  The CPU 11 determines whether or not a sewing start instruction has been accepted (S9). The CPU 11 stands by until a sewing start instruction is received (S9: NO). When a sewing start instruction is accepted (S9: YES), the CPU 11 executes a sewing process (S11). For example, when an operator inputs a sewing start instruction to the operation unit 196 (S9: YES), the CPU 11 starts a sewing process (S11).

  As shown in FIGS. 9C and 10, the CPU 11 acquires the sewing data 180 (S31) and executes sewing (S33). The CPU 11 specifies the smallest needle drop point number among the needle drop point numbers corresponding to the needle drop point positions that have not been sewn. The CPU 11 acquires coordinate data corresponding to the identified needle entry point number. The CPU 11 relatively moves the sewing needle 23 and the cloth holding body 95 to the needle drop point position indicated by the coordinate data. Specifically, the CPU 11 drives the X movement pulse motor 82 and the Y movement pulse motor 83 based on the coordinate data. The CPU 11 controls the rotation of the output shaft of the X movement pulse motor 82 and the output shaft of the Y movement pulse motor 83 by acquiring the detection results of the encoders 192 and 193. Therefore, the sewing apparatus 1 relatively moves the sewing needle 23 and the cloth holding body 95 to the needle drop point position indicated by the coordinate data. The CPU 11 drives the synchronization mechanism 8 using the sewing machine motor 81 as a drive source, and rotates the upper spline shaft 3 and the lower spline shaft 5 synchronously. The upper shaft unit 2 transmits the rotation of the upper spline shaft 3 to the upper shaft 25. The needle bar mechanism 21 moves the needle bar 24 up and down by the rotational force of the upper shaft 25. The lower shaft unit 4 transmits the rotation of the lower spline shaft 5 to the lower shaft 44 via the swing mechanism 52. The lower shaft 44 swings the shuttle 16. The shuttle 16 entangles the lower thread pulled out from the bobbin case with the upper thread 59 held by the sewing needle 23 that has passed the lower position. The balance 29 pulls the upper thread 59 entangled with the lower thread onto the needle plate 50, and the sewing device 1 sews the cloth 99. The CPU 11 drives the intermediate presser pulse motor 84 in synchronization with the drive of the sewing machine motor 81 and moves the intermediate presser 18 up and down. The CPU 11 finishes the sewing corresponding to one needle drop point number.

  The CPU 11 determines whether or not the sewing is completed (S35). The CPU 11 determines whether or not the sewing is completed by determining whether or not the sewing corresponding to the last needle dropping point number (the needle dropping point number N shown in FIG. 7) of the sewing data 180 is completed. When the CPU 11 determines that the sewing is not completed (S35: NO), the CPU 11 determines whether or not the stop of the upper thread 59 has been detected by acquiring the detection result of the thread breakage detection unit 197 (S37). For example, when the thread breakage of the upper thread 59 occurs during the sewing of the sewing apparatus 1, the upper thread 59 is not in a predetermined position on the supply path. The thread breakage detection unit 197 does not detect the upper thread 59. Therefore, the CPU 11 determines that the stop of the upper thread 59 has been detected (S37: YES). If the thread breakage of the upper thread 59 does not occur during the sewing of the sewing apparatus 1, the upper thread 59 is on the supply path. The thread breakage detection unit 197 detects the upper thread 59. Therefore, the CPU 11 determines that the stop of the upper thread 59 has not been detected (S37: NO), and the process proceeds to S33.

  The CPU 11 repeatedly executes S33 to S37 until the sewing is completed (S35: NO). Therefore, the sewing apparatus 1 gradually forms rectangular stitches on the cloth 99. When the CPU 11 determines that the sewing is completed (S35: YES), it stops the sewing operation (S39). The CPU 11 stops driving the sewing machine motor 81, the X movement pulse motor 82, the Y movement pulse motor 83, and the intermediate presser pulse motor 84 (S39). CPU11 acquires the detection result of the encoder 191, and stops the sewing needle 23 in a needle-up position. The CPU 11 drives the thread trimming mechanism using the thread trimming pulse motor 57 as a drive source to cut the upper thread 59 and the lower thread (S39). The CPU 11 ends the sewing process.

  As shown in FIGS. 8 and 9, the CPU 11 determines whether or not an instruction to move the cloth holding body 95 has been received (S13). The CPU 11 stands by until a movement instruction for the cloth holder 95 is received (S13: NO). When receiving a movement instruction for the cloth holder 95 (S13: YES), the CPU 11 drives the sewing machine motor 81 to move the sewing needle 23 from the upper needle position to the uppermost position (S14). The CPU 11 acquires the detection result of the encoder 191 and stops driving the sewing machine motor 81 when the sewing needle 23 is raised to the uppermost position. The CPU 11 drives the Y moving pulse motor 83 to move the cloth holding body 95 from the operating position to the standby position (S15). The CPU 11 drives the right air cylinder 219 and the left air cylinder 239 to move the upper frame 93 from the clamping position to the separation position (S17). The CPU 11 determines whether an end instruction has been received (S19). When the operator depresses the power SW 15 to turn off the sewing device 1, the CPU 11 determines that an end instruction has been received. When the end instruction is not accepted (S19: NO), the CPU 11 returns the process to S3. When the end instruction is received (S19: YES), the CPU 11 ends the main process and turns off the sewing apparatus 1.

  For example, the worker inputs an instruction to move the cloth holding body 95 to the operation unit 196 (S13: YES). After moving the sewing needle 23 from the needle upper position to the uppermost position (S14), the CPU 11 moves the cloth holding body 95 from the operating position to the standby position (in the direction of arrow Q in FIG. 9C) (S15). The cloth holding body holding the cloth 99 after the sewing is completed moves forward. The CPU 11 acquires the detection result of the encoder 193 and stops the cloth holding body 95 at the standby position. The cloth 99 stops at the front lower side of the needle bar 24 and the sewing needle 23 (see FIG. 9D). After moving the cloth holding body 95 from the operating position to the standby position, the CPU 11 moves the upper frame 93 from the clamping position to the separation position (S17). The operator places his / her hand on the front side with respect to the cloth holding body 95 and takes out the cloth 99 after the sewing is completed from the lower frame 92. The operator places a new cloth 99 on the lower frame 92 as necessary, and performs sewing again.

  With reference to FIG. 10, a sewing process when the upper thread 59 stops during the sewing of the sewing apparatus 1 will be described. If the upper thread 59 is broken, the CPU 11 determines that the upper thread 59 has stopped (S37: YES), and stops the sewing operation (S41). The CPU 11 stops driving the sewing machine motor 81, the X movement pulse motor 82, the Y movement pulse motor 83, and the intermediate presser pulse motor 84 (S41). The CPU 11 performs error notification (S43). For example, the CPU 11 controls the display unit 198 to display “Upper thread is broken” (not shown).

  The CPU 11 determines whether or not the sewing needle 23 is in the needle upper position by acquiring the detection result of the encoder 191 (S45). When the CPU 11 determines that the sewing needle 23 is in the needle upper position (S45: YES), the process proceeds to S49. When the CPU 11 determines that the sewing needle 23 is not in the needle up position (S45: NO), the sewing machine motor 81 is driven to move the sewing needle 23 to the needle up position (S47). The CPU 11 acquires the detection result of the encoder 191 and stops the sewing needle 23 at the needle up position. The CPU 11 moves the process to S49.

  The CPU 11 determines whether or not a sewing resumption instruction has been received (S49). The CPU 11 stands by until a sewing resumption instruction is accepted (S49: NO). When the sewing resumption instruction is accepted (S49: YES), the CPU 11 shifts the process to S33. For example, the worker performs the replacement work of the upper thread 59 while the CPU 11 is on standby (S49: NO). After the replacement work of the upper thread 59, the operator inputs an instruction to resume sewing to the operation unit 196 (S49: YES). CPU11 restarts sewing by performing S33-S37.

  As described above, after moving the cloth holder 95 from the operating position to the standby position (S15), the CPU 11 moves the upper frame 93 from the clamping position to the separation position (S17). In a state where the cloth holding body 95 is in the standby position, the operator places the cloth 99 on the lower frame 92 or takes out the cloth 99 from the lower frame 92. The upper frame 93 of the cloth holder 95 in the standby position is disengaged forward from the needle bar 24 in plan view. Therefore, the sewing device 1 can easily secure the movable range in the vertical direction of the upper frame 93, and the upper frame 93 at the separation position can be easily separated upward from the lower frame 92. When the cloth holding body 95 is at the separation position, the cloth 99 is easily separated forward from the sewing needle 23. Therefore, the operator can easily place the cloth 99 on the lower frame 92 or take out the cloth 99 from the lower frame 92. Therefore, the sewing apparatus 1 can easily place the cloth 99 or take out the cloth 99.

  After completing the sewing of the cloth 99 (S35: YES), the CPU 11 moves the cloth holding body 95 from the operating position to the standby position (S15). The cloth 99 after completion of sewing can be easily taken out while avoiding contact with the sewing needle 23. Scratches caused by the contact between the cloth 99 and the sewing needle 23 are difficult to form on the cloth 99 after sewing. Therefore, the sewing apparatus 1 can keep the appearance of the cloth 99 after sewing well.

  The CPU 11 does not end the sewing process until it is determined that the sewing is completed (S35: NO). In other words, the CPU 11 does not move the cloth holding body 95 from the operating position to the standby position until the sewing is completed. Therefore, the sewing apparatus 1 can suppress a shift in the relative position between the cloth 99 and the sewing needle 23 being sewn, and can suppress deterioration in the appearance of the seam formed on the cloth 99.

  When the CPU 11 receives an instruction to move the cloth holding body 95 (S13: YES), the CPU 11 moves the cloth holding body 95 from the operating position to the standby position (S15). In other words, unless the operator inputs an instruction to move the cloth holding body 95 to the operation unit 196, the CPU 11 does not move the cloth holding body 95 from the operating position to the standby position. Therefore, the sewing device 1 can move the cloth holding body 95 from the operating position to the standby position according to the timing desired by the operator.

  When the CPU 11 receives an instruction to move the cloth holding body 95 (S13: YES), the CPU 11 drives the sewing machine motor 81 to move the sewing needle 23 from the needle upper position to the uppermost position (S14). That is, the CPU 11 moves the sewing needle 23 from the needle upper position to the uppermost position before moving the cloth holding body 95 from the operating position to the standby position. Therefore, the sewing apparatus 1 can prevent the cloth holding body 95 from interfering with the sewing needle 23 when the cloth holding body 95 is moved from the operating position to the standby position.

  The operator tends to take out the cloth 99 after completion of sewing to the front side using a hand arranged on the front side with respect to the cloth holding body 95. Further, the operator tends to place a hand on the front side of the cloth holding body 95 and place a new cloth 99 on the lower frame 92. The upper frame 93 is on the front side with respect to the frame body support portion 94, and the standby position is a position on the front side with respect to the operating position. Therefore, since the operator's hand is difficult to contact the sewing device 1, the operator can easily place or take out the cloth 99.

  When the Y movement pulse motor 83 is driven, the right belt 113 and the left belt 112 respectively travel, and the cloth holder 95 moves between the operating position and the standby position. Even if the cloth holding body 95 moves, the arrangement positions of the right belt 113 and the left belt 112 in the front-rear direction do not change. Therefore, even if the movement range of the cloth holder 95 in the front-rear direction is large, the sewing device 1 is difficult to increase in size.

  In the above description, the lower frame 92 is an example of the mounting portion of the present invention. The upper frame 93 is an example of a frame body of the present invention. The right air cylinder 219 and the left air cylinder 239 are examples of the frame drive unit of the present invention. The Y moving pulse motor 83 is an example of the cloth holding body driving unit of the present invention. The needle bar 24, the shuttle 16 and the balance 29 are examples of the sewing mechanism of the present invention. The sewing machine motor 81 is an example of the sewing drive unit of the present invention. The operation unit 196 is an example of the input unit of the present invention. The shaft 106 is an example of the first shaft member of the present invention. The right end portion of the shaft 106 is an example of one end portion of the first shaft member of the present invention. The right shaft 111 is an example of the second shaft member of the present invention. The left end portion of the shaft 106 is an example of the left end portion of the first shaft member of the present invention. The left shaft 110 is an example of a third shaft member of the present invention. The right belt 113 is an example of the first belt of the present invention. The left belt 112 is an example of the second belt of the present invention. The left frame support part 117 and the right frame support part 118 are examples of the cloth holding body support part of the present invention. The front-rear direction is an example of the first direction of the present invention. The left-right direction is an example of the second direction of the present invention. The rear side is an example of one side of the present invention. The front side is an example of the other side of the present invention.

  CPU11 which performs S31 and S33 is an example of the sewing control part of the present invention. CPU11 which performs S15 is an example of the cloth holding body control part of the present invention. CPU11 which performs S17 is an example of the frame control part of the present invention. The CPU 11 that executes S35 is an example of the determination unit of the present invention. CPU11 which performs S13: YES is an example of the reception part of this invention. CPU11 which performs S14 is an example of the sewing needle control part of the present invention. S31 and S33 are examples of the sewing control process of the present invention. S15 is an example of the cloth holder control process of the present invention. S17 is an example of the frame control process of the present invention.

  The present invention is not limited to the above embodiment. When the cloth holding body 95 is in the standby position, the upper frame 93 may be detached from the needle bar 24 leftward, rightward, or rearward instead of disengaging from the needle bar 24 in a plan view. After executing the sewing process (S11), the CPU 11 may automatically move the cloth holding body 95 to the standby position after executing the sewing process without determining whether or not an instruction to move the cloth holding body 95 has been received. (S15). The CPU 11 may move the cloth holding body 95 to the standby position without moving the sewing needle 23 from the needle upper position to the uppermost position (S15).

  CPU11 does not need to judge whether the sewing resumption instruction | indication was received after error notification execution (S43) (S49). For example, the CPU 11 may move the cloth holding body 95 from the operating position to the separation position and move the upper frame 93 from the clamping position to the separation position after executing the error notification (S43). In this case, when receiving an instruction to move the cloth holding body 95, the CPU 11 preferably moves the cloth holding body 95 from the operating position to the separation position. The CPU 11 drives the thread cutting pulse motor 57 to cut the upper thread 59 and the lower thread before the cloth holder 95 moves.

  A sewing device 401 according to a second embodiment of the present invention will be described with reference to FIGS. 11 and 12. The sewing device 401 includes a bed portion 402, a pedestal column portion 403, and an arm portion 404. The bed unit 402 includes a work table 405 on the upper surface. The work table 405 is provided with a needle plate 412 (see FIG. 11) at substantially the center. The needle plate 412 is provided with a needle hole (not shown) substantially at the center. The bed unit 402 includes a shuttle mechanism (not shown) and a lower shaft 406 inside. The shuttle mechanism is below the needle plate 412. The lower shaft 406 extends linearly rearward from the shuttle mechanism. The leg column part 403 is erected upward from the rear part of the bed part 402. The arm part 404 extends forward from the upper part of the leg pillar part 403. The arm portion 404 includes a tip portion 407 at the front end portion. The lower end of the tip portion 407 faces the upper surface of the needle plate 412. The tip 407 supports a needle bar (not shown) so as to be movable up and down. The needle bar is fitted with a sewing needle at the lower end. The arm unit 404 includes a sewing machine motor inside. The sewing machine motor is connected to the needle bar and the lower shaft. The bed unit 402 accommodates the cloth feeding device 410 and the like.

  The cloth feeding device 410 includes a movement support mechanism 420, an X-axis drive mechanism 430, a cloth holder 450, and a Y-axis drive mechanism 460. The movement support mechanism 420 supports the cloth holding body 450 so that it can move left and right and move back and forth. The X-axis drive mechanism 430 moves the cloth holder 450 left and right via the movement support mechanism 420. The Y-axis drive mechanism 460 moves the cloth holder 450 back and forth via the movement support mechanism 420.

  The moving support mechanism 420 includes a pair of X-axis fixed rails 424 and 425, an X-axis moving member 440, a pair of Y-axis fixed rails 451 and 452, a Y-axis moving member 473, and the like. The pair of X-axis fixed rails 424 and 425 extend in the left-right direction and are fixed inside the bed portion 402. The pair of X-axis fixed rails 424 and 425 are arranged in the front-rear direction. The X-axis moving member 440 is coupled to the pair of X-axis fixed rails 424 and 425 so as to be movable left and right. The pair of Y-axis fixed rails 451 and 452 extend in the front-rear direction and are fixed to the upper surface of the X-axis moving member 440. The pair of Y-axis fixed rails 451 and 452 are arranged in the left-right direction. The Y-axis moving member 473 has a substantially rectangular plate shape in plan view, and is connected to a pair of Y-axis fixed rails 451 and 452 so as to be movable back and forth.

  The X-axis drive mechanism 430 includes an X movement pulse motor 431, a left pulley 436, a right pulley, an endless belt 429, and the like. The X movement pulse motor 431 is provided behind the pair of X axis fixed rails 424 and 425. The left pulley 436 is rotatably provided between the left end portions of the pair of X-axis fixed rails 424 and 425. The left pulley 436 extends in the front-rear direction. The left pulley 436 is connected to the X movement pulse motor 431 via a shaft member 434 extending in the front-rear direction. The right pulley is rotatably provided between the right end portions of the pair of X-axis fixed rails 424 and 425. The right pulley extends in the front-rear direction. The endless belt 429 is bridged between the left pulley 436 and the right pulley. A portion of the endless belt 429 that spans the upper portion of the left pulley 436 and the upper portion of the right pulley 38 fixes the X-axis moving member 440. When the X movement pulse motor 431 is driven, the left pulley 436 rotates. The endless belt 429 travels while rotating the right pulley. Therefore, the X-axis moving member 440 moves left and right along the pair of X-axis fixed rails 424 and 425.

  The cloth holder 450 includes a sandwiching frame 487, a holding member 490, a right air cylinder 498, and a left air cylinder 499. The sandwiching frame 487 is fixed on the upper surface of the Y-axis moving member 473. The sandwiching frame 487 has a plate shape extending forward from the upper surface of the Y-axis moving member 473. The sandwiching frame 487 includes a frame portion 487A at the tip. The frame portion 487A is a substantially rectangular frame body in plan view. The operator places the cloth 99 (see FIG. 9) on the frame portion 487A.

  The holding member 490 is fixed to the upper surface of the Y-axis moving member 473 with the base end portion of the sandwiching frame 487 interposed therebetween. The holding member 490 includes an arm portion 481, a rail 476, and a frame body support portion 496. The arm portion 481 extends forward from the upper surface of the Y-axis moving member 473 while curving upward. The rail 476 is provided at the rear portion of the arm portion 481 and extends in the left-right direction. The frame body support portion 496 is provided at the front end portion of the arm portion 481. The frame support portion 496 has two L-shaped connection portions 483 attached to the front surface. The two L-shaped connecting portions 483 are L-shaped plates when viewed from the left side, and are arranged in the left-right direction. Two L-shaped connecting portions 483 hold the presser frame 484. The presser frame 484 is a substantially rectangular frame in plan view. The rear end portion of the presser frame 484 is connected to the lower surfaces of the two L-shaped connecting portions 483. The presser frame 484 has a substantially rectangular shape in plan view, and faces the frame portion 487A from above.

  The right air cylinder 498 is fixed to the right surface of the arm portion 481, and the left air cylinder 499 is fixed to the left surface of the arm portion 481. The right air cylinder 498 is connected to the right L-shaped connecting portion 483 via a link member or the like. The left air cylinder 499 is connected to the left L-shaped connecting portion 483 via a link member or the like. The right air cylinder 498 and the left air cylinder 499 are driven at the same time to move the two L-shaped connecting portions 483 up and down. Therefore, the right air cylinder 498 and the left air cylinder 499 move up and down between the holding position and the separation position (see FIG. 12) of the presser frame 484. The presser frame 484 in the sandwiching position sandwiches the cloth 99 with the sandwiching frame 487. The presser frame 484 at the separation position is separated upward from the cloth 99.

  The Y-axis drive mechanism 460 includes a Y-movement pulse motor 465, a shaft 468, a guide member 469, and the like. The Y movement pulse motor 465 is provided inside the pedestal 403 and is located on the upper right side of the X movement pulse motor 431. The shaft 468 extends in the front-rear direction and projects forward from the pedestal 403. The shaft 468 includes a tooth portion 467 extending in the front-rear direction on the upper surface. The tooth portion 467 meshes with the motor gear of the Y movement pulse motor 465. The shaft 468 moves in the front-rear direction with the power of the Y-movement pulse motor 465. The guide member 469 is fixed to the front end portion of the shaft 468. The guide member 469 is slidably connected to the rail 476. In other words, the rail 476 can move left and right with respect to the guide member 469. When the Y movement pulse motor 465 is driven, the shaft 468 moves back and forth, and the guide member 469 moves the holding member 490 back and forth via the rail 476.

  When the X movement pulse motor 431 is driven, the X-axis movement member 440 moves the cloth holder 450 left and right. The rail 476 moves left and right with respect to the guide member 469. When the Y movement pulse motor 465 is driven, the guide member 469 moves the holding member 490 back and forth. The cloth holder 450 moves back and forth along the pair of Y axis fixed rails 451 and 452 integrally with the Y axis moving member 473. Therefore, the cloth holder 450 moves between the operating position (see FIG. 11) and the standby position. When the cloth holder 450 is in the operating position, the presser frame 484 surrounds the needle bar of the sewing device 401 in a plan view. When the cloth holding body 450 is in the standby position, the presser frame 484 is disengaged from the needle bar of the sewing device 401 to the right front in plan view.

  The sewing device 401 includes a control unit. The control unit includes a CPU 11 (see FIG. 6) that controls the sewing device 401 in an integrated manner. The configuration of the control unit of the sewing device 401 is the same as the configuration of the control unit 9 of the sewing device 1. Hereinafter, the CPU 11 of the control unit of the sewing device 401 is simply referred to as CPU 11. The control unit is electrically connected to the sewing machine motor, the X movement pulse motor 431, the Y movement pulse motor 465, the right air cylinder 498, and the left air cylinder 499. The CPU 11 drives the sewing motor, the X movement pulse motor 431, the Y movement pulse motor 465, the right air cylinder 498, and the left air cylinder 499.

  Before the sewing operation of the sewing device 401, the cloth holder 450 is in the standby position, and the presser frame 484 is in the separation position (not shown). The operator places the cloth 99 on the frame portion 487A. After the cloth 99 is placed, the CPU 11 drives the right air cylinder 498 and the left air cylinder 499 to move the presser frame 484 from the separation position to the clamping position. The cloth holder 450 holds the cloth 99. The CPU 11 drives the Y movement pulse motor 465 to move the cloth holder 450 from the standby position to the operating position, and executes the sewing process. In the sewing process, the CPU 11 synchronously drives the sewing machine motor, the X movement pulse motor 431, and the Y movement pulse motor 465. The cloth holder 450 moves relative to the needle bar of the sewing device 401 in the front-rear direction and the left-right direction, and the needle bar moves up and down. Therefore, the sewing apparatus 401 forms stitches on the cloth 99 held by the cloth holding body 450.

  After completing the sewing of the cloth 99, the CPU 11 drives the Y moving pulse motor 465 to move the cloth holding body 450 from the operating position to the standby position. After the cloth holder 450 is moved, the CPU 11 drives the right air cylinder 498 and the left air cylinder 499 to move the presser frame 484 to the separation position. The operator takes out the cloth 99 after sewing from the frame portion 487A, and places a new cloth 99 on the frame portion 487A as necessary.

  When the cloth holder 450 is in the standby position, the presser frame 484 of the cloth holder 450 is disengaged from the front from the needle bar of the sewing device 401 in a plan view. The sewing device 401 easily secures a movable range in the vertical direction of the presser frame 484, and the presser frame 484 at the separation position is easily separated upward from the pinching frame 487. When the cloth holding body 450 is in the separation position, the cloth 99 is easily separated forward from the sewing needle of the sewing device 401. Therefore, the operator can easily place the cloth 99 on the sandwiching frame 487 or take out the cloth 99 from the sandwiching frame 487. Therefore, the sewing device 401 can easily place the cloth 99 or take out the cloth 99.

  In the second embodiment, the frame portion 487A is an example of the placement portion of the present invention. The sandwiching frame 487 is an example of the frame body of the present invention. The right air cylinder 498 and the left air cylinder 499 are examples of the frame drive unit of the present invention. The Y moving pulse motor 465 is an example of the cloth holding body 95 driving unit of the present invention.

1, 401 Sewing device 11 CPU
16 Hook 23 Sewing needle 24 Needle bar 29 Balance 81 Sewing machine motor 83, 465 Y moving pulse motor 92 Lower frame 93 Upper frame 94, 496 Frame body support portion 95, 450 Cloth holding body 99 Cloth 106 Axis 110 Left axis 111 Right axis 112 Left belt 113 Right belt 117 Left frame support portion 118 Right frame support portion 196 Operation portions 219, 498 Right air cylinder 239, 499 Left air cylinder 484 Presser frame 487A Frame portion

Claims (8)

A cloth holder on which the cloth is placed, and a frame body that can move up and down above the placement part, and is movable in a first direction parallel to the horizontal direction;
A frame body drive unit that is connected to the cloth holding body and moves between a clamping position that sandwiches the cloth with the placement unit and a separation position that is spaced upward from the clamping position;
A cloth holding body driving unit that moves the cloth holding body and the frame body driving unit in the first direction;
A sewing mechanism having a needle bar that can move up and down above the frame, and sewing the cloth with a sewing needle attached to the needle bar;
A sewing drive unit for driving the sewing mechanism;
A control unit for driving and controlling the frame body driving unit, the cloth holding body driving unit, and the sewing driving unit, respectively.
The control unit includes a sewing control unit that drives and controls the cloth holding body driving unit and the sewing driving unit, and sews the cloth sandwiched between the frame body at the clamping position and the placement unit. Sewing machine,
The cloth holder is movable between an operating position in which the frame body surrounds the needle bar in a plan view and a standby position in which the frame body is detached from the needle bar in a plan view.
The sewing control unit sews the cloth when the cloth holding body is in the operating position,
The controller is
A cloth holding body control unit that drives and controls the cloth holding body driving unit, and moves the cloth holding body in which the frame body is in the holding position from the operating position to the standby position;
After the cloth holding body is moved by the cloth holding body control unit, the frame body driving unit is driven and controlled, and the frame body of the cloth holding body in the standby position is moved from the holding position to the separation position. A sewing apparatus comprising: a frame control unit.   The sewing apparatus according to claim 1, wherein the cloth holding body control unit moves the cloth holding body to the standby position after completion of sewing by the sewing control unit. The sewing control unit sews the cloth by acquiring sewing data including a plurality of coordinate data indicating a needle drop point position where the sewing needle is to be inserted into the cloth.
The control unit includes a determination unit that determines whether the sewing control unit has completed sewing of all of the plurality of coordinate data in the sewing data,
The sewing apparatus according to claim 2, wherein the cloth holding body control unit moves the cloth holding body to the standby position when the determination unit determines that the sewing control unit has completed sewing. . An input unit for inputting a movement instruction to move the cloth holder to the standby position;
The control unit includes a receiving unit that receives the movement instruction input to the input unit,
The cloth holding body control unit moves the cloth holding body to the standby position when the receiving unit receives the movement instruction. Sewing device. The control unit includes a sewing needle control unit that drives and controls the sewing drive unit when the receiving unit receives the movement instruction, and moves the sewing needle to an uppermost uppermost position in a vertical movement range of the sewing needle. ,
The sewing apparatus according to claim 4, wherein the cloth holding body control unit moves the cloth holding body to the standby position after the sewing needle control unit moves the sewing needle to the uppermost position. The cloth holding body is provided on one side in the first direction with respect to the frame body, and includes a frame body support portion that supports the frame body so as to be movable up and down.
The sewing apparatus according to claim 1, wherein the standby position is a position on the other side opposite to the one side with respect to the operating position. A first shaft member that extends in a second direction parallel to the horizontal direction and perpendicular to the first direction, obtains a driving force of the cloth holder driving unit, and rotates about an axis;
A second shaft member provided on one side of the first direction with respect to one end of the first shaft member, extending in parallel with the first shaft member, and rotatable about an axis;
Provided on the one side in the first direction with respect to the other end of the first shaft member, extends in parallel with the first shaft member, is aligned with the second shaft member in the second direction, and is centered on the axis A rotatable third shaft member;
A first belt that spans the one end of the first shaft member and the second shaft member;
A second belt that spans the other end of the first shaft member and the third shaft member;
A cloth holding body supporting portion connected to the first belt and the second belt and supporting the cloth holding body;
The sewing apparatus according to any one of claims 1 to 6, wherein the cloth holder moves between the operating position and the standby position as the cloth holder support part moves. A cloth holder having a placement portion on which the cloth is placed and a frame that can move up and down above the placement portion, and movable in a first direction parallel to the horizontal direction, and the cloth holder A frame body drive unit that moves between a clamping position that sandwiches the cloth with the placement unit, and a separation position that is spaced upward from the clamping position, and the fabric holder And a cloth holding body driving section that moves the frame body driving section in the first direction, and a needle bar that can move up and down above the frame body, and sew the cloth with a sewing needle attached to the needle bar. A control method for driving and controlling the frame body driving unit, the cloth holding body driving unit, and the sewing driving unit, respectively, of a sewing apparatus including a sewing mechanism and a sewing driving unit that drives the sewing mechanism,
The cloth holding body driving unit and the sewing driving unit are respectively driven and controlled, and a sewing control process is performed to sew the cloth sandwiched between the frame body in the holding position and the placement unit,
The cloth holder moves between an operating position in which the frame body surrounds the needle bar in a plan view and a standby position in which the frame body is detached from the needle bar in a plan view,
In the sewing control step, when the cloth holder is in the operating position, the cloth is sewn,
A cloth holding body control step of driving and controlling the cloth holding body driving unit, and moving the cloth holding body in which the frame body is in the holding position from the operating position to the standby position;
After the movement of the cloth holding body in the cloth holding body control step, the frame body driving unit is driven and controlled, and the frame body of the cloth holding body at the standby position is moved from the holding position to the separation position. A control method for a sewing apparatus, comprising: a frame body control step.

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