Sewing machine

Abstract

In a sewing machine in which a head rotates, reduction in sewing efficiency is suppressed. The sewing machine has: a holding member that can hold a sewing object so as to move in a prescribed plane; a needle bar that holds a sewing needle to which upper thread is supplied; a head that can rotate about a rotation axis orthogonal to the prescribed plane in a state in which the needle bar is supported; a bobbin that rotates about the rotation axis in synchronization with the head, cooperates with the sewing needle by supplying lower thread, and forms a stitch on the sewing object; a movement control section that controls movement of the holding member based on sewing data; and a rotation control section that controls a rotation angle of the head and the bobbin based on a change amount of a movement direction of the holding member specified by the sewing data. The rotation control section controls in a manner in which the rotation angle coincides with the change amount when the stitch is formed on a first range of the sewing object, and controls in a manner in which the rotation angle becomes smaller than the change amount when the stitch is formed on a second range of the sewing object.

Description

TECHNICAL FIELD

[0001] The present application relates to a sewing machine. BACKGROUND

[0002] In order to improve the design property of a sewing object, a stitch is sometimes formed in the sewing object. For example, a stitch is sometimes formed in a skin material used for a seat for a vehicle. In the case where a stitch is formed in a skin material, an electronic circular sewing machine is used. The electronic circular sewing machine refers to a sewing machine that forms a stitch in a sewing object based on sewing data created in advance. An electronic circular sewing machine in which a head is rotated is disclosed in Non-Patent Literature 1.

[0003] Non-Patent Literature 1: JUKI Product Information AMS-251, Internet <URL: https: / / www.juki.co.jp / industrial_j / products_j / lether_j / cycle_non / detail.php?cd=AMS-251>

[0004] A high-quality stitch is formed by rotating the head in accordance with the moving direction of the sewing object. The rotation of the head is performed when the sewing machine needle has been pulled out of the sewing object. Therefore, in order to secure the time required for the rotation of the head, it is necessary to reduce the sewing speed of the sewing machine when the head is rotated. If the sewing speed is reduced, the sewing efficiency can be decreased. SUMMARY

[0005] An object of the present application is to suppress a decrease in sewing efficiency in a sewing machine in which a head is rotated.

[0006] According to the present application, there is provided a sewing machine including: a holding member that is capable of holding a sewing object to move in a prescribed plane; a needle bar that holds a sewing machine needle to which upper thread is supplied; a head that is capable of rotating about a rotation axis orthogonal to the prescribed plane in a state of supporting the needle bar; a bobbin that rotates about the rotation axis in synchronization with the head, and forms a stitch in the sewing object by cooperating with the sewing machine needle by supplying lower thread; a movement control section that controls movement of the holding member based on sewing data; and a rotation control section that controls a rotation angle of the head and the bobbin based on a change amount of a moving direction of the holding member specified by the sewing data, the rotation control section controlling the rotation angle in such a manner that the rotation angle coincides with the change amount when the stitch is formed in a first range of the sewing object, and controlling the rotation angle in such a manner that the rotation angle becomes smaller than the change amount when the stitch is formed in a second range of the sewing object.

[0007] EFFECT OF THE INVENTION

[0008] According to the present application, in a sewing machine in which a head is rotated, reduction in sewing efficiency can be suppressed. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a perspective view showing a sewing machine according to the first embodiment.

[0010] Figure 2 is a perspective view showing a part of the sewing machine according to the first embodiment.

[0011] Figure 3 is a perspective view showing a part of the sewing machine according to the first embodiment.

[0012] Figure 4 is a plan view showing a sewing object according to the first embodiment.

[0013] Figure 5 is a functional block diagram showing a control device according to the first embodiment.

[0014] Figure 6 is a diagram for explaining a process of a rotation control section according to the first embodiment.

[0015] Figure 7 is a diagram for explaining a process of a rotation control section according to the first embodiment.

[0016] Figure 8 is a diagram for explaining a process of a rotation control section according to the first embodiment.

[0017] Figure 9 is a diagram for explaining a process of a rotation control section according to the second embodiment.

[0018] Figure 10 is a diagram for explaining a process of a rotation control section according to the second embodiment.

[0019] Figure 11 is a diagram for explaining a process of a rotation control section according to the third embodiment.

[0020] Figure 12 is a diagram for explaining a process of a rotation control section according to the third embodiment. DETAILED DESCRIPTION

[0021] Embodiments according to the present application will be described below with reference to the drawings, but the present application is not limited by the embodiments. Structural elements of the embodiments described below can be appropriately combined. In addition, a part of the structural elements can not be used.

[0022] A local coordinate system is defined with respect to the sewing machine 1. In the embodiment, the local coordinate system defined with respect to the sewing machine 1 is appropriately referred to as a sewing machine coordinate system. The sewing machine coordinate system is defined by an XYZ orthogonal coordinate system. In the embodiment, the positional relationship of each part is described based on the sewing machine coordinate system. A direction parallel to the X axis in the defined plane is set as the X axis direction. A direction parallel to the Y axis in the defined plane orthogonal to the X axis is set as the Y axis direction. A direction parallel to the Z axis orthogonal to the defined plane is set as the Z axis direction. In addition, a direction of rotation or inclination centered on the X axis is set as the θX direction. A direction of rotation or inclination centered on the Y axis is set as the θY direction. A direction of rotation or inclination centered on the Z axis is set as the θZ direction. In addition, in the embodiment, a plane including the X axis and the Y axis is appropriately referred to as an XY plane. The XY plane is parallel to the defined plane. In the embodiment, the XY plane is set to be parallel to the horizontal plane. The Z axis direction is the up-down direction. The +Z direction is the upward direction, and the -Z direction is the downward direction. Furthermore, the XY plane can also be inclined with respect to the horizontal plane.

[0023] [First Embodiment]

[0024] <Sewing Machine>

[0025] Figure 1 is a perspective view of the sewing machine 1 to which the present embodiment is applied. Figure 2 and Figure 3 Each of and is a perspective view of a part of the sewing machine 1 to which the present embodiment is applied. In the present embodiment, the sewing machine 1 is an electronic circular sewing machine. The sewing machine 1 has a table 2, a frame 3, a head 4, a head rotating device 5, a holding member 6, a holding member moving device 7, a bobbin 8, a bobbin rotating device 9, a power switch 10, a start switch 11, a temporary stop switch 12, an emergency stop switch 13, an operation panel 14, and a control device 15.

[0026] The table 2 has a top plate 21 including a needle plate 20, a leg 22, and a side plate 23. The leg 22 supports the top plate 21. The leg 22 is provided in plurality. A lower surface of the leg 22 contacts the floor of a sewing factory. The side plate 23 is disposed between the plurality of legs 22.

[0027] An adjuster 24 is provided in each of the plurality of legs 22. The lower surface of the leg 22 is moved in the Z axis direction by the adjuster 24. The adjuster 24 adjusts the position of the lower surface of the leg 22 in the Z axis direction. By adjusting each position of the lower surface of the plurality of legs 22, the inclination angle of the upper surface of the top plate 21 is adjusted. In the embodiment, each position of the lower surface of the plurality of legs 22 is adjusted so that the upper surface of the top plate 21 becomes parallel to the XY plane.

[0028] The table 2 is movable on the floor by casters 25. The casters 25 include wheels or rollers. The casters 25 movably support the table 2. By an adjuster 24, the lower surface of the leg 22 is separable from the floor. In a state where the lower surface of the leg 22 is separated from the floor, the casters 25 rotate on the floor, whereby the table 2 moves. In a case where the table 2 is placed on the floor, by the adjuster 24, the position of the lower surface of the leg 22 is adjusted so that the casters 25 are separated from the floor, and the lower surface of the leg 22 comes into contact with the floor.

[0029] The frame 3 is supported to the top plate 21 of the table 2. The frame 3 has a first column portion 31 provided to the corner of the +X side and the +Y side of the top plate 21, a second column portion 32 provided to the corner of the -X side and the +Y side of the top plate 21, and a beam portion 30 which links the upper end portions of the first column portion 31 and the second column portion 32. The frame 3 is a so-called door-type frame.

[0030] The head 4 is supported to the beam portion 30 of the frame 3. The head 4 is disposed above the holding member 6. The head 4 supports a needle bar 40. The head 4 is rotatable about a rotation axis AX orthogonal to the XY plane in a state where the needle bar 40 is supported. A cover member 33 is disposed around the head 4.

[0031] The needle bar 40 is supported to the head 4 so as to be reciprocally movable in the Z-axis direction. The needle bar 40 holds a sewing machine needle 41. The needle bar 40 holds the sewing machine needle 41 in such a manner that the sewing machine needle 41 becomes parallel to the Z-axis. In the embodiment, the rotation axis AX and the sewing machine needle 41 coincide.

[0032] A thread winding device 16 is provided to the top plate 21. A bobbin cradle device 17 is provided to the head 4. The upper thread is supplied from the thread winding device 16 to the sewing machine needle 41 via the bobbin cradle device 17. The upper thread passes through a needle hole 42 of the sewing machine needle 41.

[0033] The head rotating device 5 generates a power to rotate the head 4 about the rotation axis AX. The head rotating device 5 has, for example, an actuator such as a step motor.

[0034] The holding member 6 holds a sewing object 50. The holding member 6 is a frame-shaped member. The holding member 6 holds the sewing object 50 by sandwiching the periphery of the sewing object 50. The holding member 6 is movably supported to the upper surface of the top plate 21. The holding member 6 is movable while holding the sewing object 50 in the XY plane including a sewing position directly below the sewing machine needle 41.

[0035] The retaining member moving device 7 generates power to move the retaining member 6 in the XY plane. The retaining member moving device 7 includes: an X-axis moving device 7X that moves the retaining member 6 in the X-axis direction; and a Y-axis moving device 7Y that moves the retaining member 6 in the Y-axis direction. The X-axis moving device 7X includes: an X-axis guide member extending in the X-axis direction at the edge of the top plate 21 on the +Y side; and an X-axis drive unit including a motor and a ball screw mechanism. The Y-axis moving device 7Y includes: a Y-axis guide member extending in the Y-axis direction; and a Y-axis drive unit including a motor and a ball screw mechanism.

[0036] The pot 8 is positioned below the top plate 21. The pot 8 houses the spool housing. The spool housing holds the spool with the thread wound on it. The pot 8, by supplying the thread, works in conjunction with the sewing machine needle 41 to form a stitch on the object 50 being sewn. The pot 8 is positioned directly below the needle plate 20 of the top plate 21. The needle plate 20 has an opening 26 through which the sewing machine needle 41 can pass.

[0037] The head 4 has a presser foot 43 that presses down on the workpiece 50 from above. The presser foot 43 has an opening through which the sewing machine needle 41 passes. The presser foot 43 presses down on the workpiece 50 around the sewing machine needle 41. The sewing machine needle 41 reciprocates in the Z-axis direction. The presser foot 43 prevents the workpiece 50 from lifting due to the movement of the sewing machine needle 41. The sewing machine needle 41 passes through the workpiece 50 pressed by the presser foot 43.

[0038] The spool 8 rotates in tandem with the reciprocating motion of the sewing machine needle 41. As the sewing machine needle 41, which passes through the object 50, rises, a loop of upper thread is formed. This loop of upper thread hooks onto the tip of the rotating spool 8. The loop of upper thread hooked onto the tip expands with the rotation of the spool 8, passing over the surface of the spool housing. If the loop of upper thread detaches from the tip, the upper thread is pulled by the object 50 and intertwines with the lower thread. The upper and lower threads intertwine, thereby forming a stitch on the object 50.

[0039] The vessel 8 and the head 4 rotate synchronously around the rotation axis AX. That is, the head 4 and the vessel 8 rotate together around the rotation axis AX.

[0040] The vessel rotation device 9 generates power to rotate the vessel 8 around the rotation axis AX. The vessel rotation device 9 has, for example, an actuator such as a stepper motor. The vessel rotation device 9 is driven so that the head 4 and the vessel 8 rotate together around the rotation axis AX.

[0041] The power switch 10, the start switch 11, the temporary stop switch 12, the emergency stop switch 13, and the operation panel 14 are each operated by an operator. By operating the power switch 10, the power of the sewing machine 1 is turned on. By operating the start switch 11, the drive of the sewing machine 1 is started, and a sewing process by the sewing machine 1 is started. The sewing process refers to a process of forming a stitch on the sewing object 50. In the embodiment, the sewing machine 1 forms a stitch on the sewing object 50 on the basis of sewing data created in advance. The holding member 6 moves in an XY plane including a sewing position on the basis of the sewing data while holding the sewing object 50, and thereby forms a stitch on the sewing object 50. By operating the temporary stop switch 12, the drive of the sewing machine 1 is stopped. By operating the emergency stop switch 13, the drive of the sewing machine 1 is forcibly stopped. The operation panel 14 is mounted on the upper surface of the top plate 21. The operation panel 14 has an input device 18 and a display device 19.

[0042] <SEWING OBJECT>

[0043] Figure 4 is a plan view showing the sewing object 50 to which the embodiment is applied. Figure 4 The sewing object 50 before a sewing process is shown. In the embodiment, the sewing object 50 is a skin material used for a seat for a vehicle.

[0044] As shown in Figure 4 , a plurality of holes 51 are provided on the surface of the sewing object 50. A plurality of reference patterns 52 are formed by the plurality of holes 51. In the embodiment, the reference patterns 52 are constituted by 25 holes 51.

[0045] The reference patterns 52 are arranged on the surface of the sewing object 50 at intervals. The surface of the sewing object 50 includes texture regions 53 in which the reference patterns 52 are provided, and stitch regions 54 between the texture regions 53 in which the reference patterns 52 are not provided. In the stitch regions 54, target stitch lines 56 of a stitch 55 formed on the sewing object 50 are set. The target stitch lines 56 are arbitrarily specified by sewing data.

[0046] Further, Figure 4 the target stitch lines 56 shown are one example. The target stitch lines 56 are arbitrarily specified by the sewing data.

[0047] <CONTROL DEVICE>

[0048] Figure 5 is a functional block diagram showing the control device 15 to which the embodiment is applied. The control device 15 includes a computer system.

[0049] As shown in Figure 5As shown, the control device 15 is connected to each of the head rotating device 5, the holding member moving device 7, the tub rotating device 9, and the operation panel 14. The operation panel 14 includes an input device 18 and a display device 19.

[0050] The input device 18 generates input data by being operated by an operator. As the input device 18, a computer keyboard, a mouse, and a touch panel are exemplified.

[0051] The display device 19 displays display data. As the display device 19, a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD) is exemplified.

[0052] The control device 15 has a sewing data storage section 61, a movement control section 62, and a rotation control section 63.

[0053] The sewing data storage section 61 stores sewing data referred to in a sewing process. The sewing data includes a target stitch line 56 of a stitch 55 formed in the sewing object 50 and a movement condition of the holding member 6. The target stitch line 56 defines a target shape of the stitch 55 formed in the sewing object 50 and a target position of the stitch 55 in a sewing machine coordinate system. The movement condition of the holding member 6 includes a movement locus of the holding member 6 defined in the sewing machine coordinate system. The movement locus of the holding member 6 includes a movement locus of the holding member 6 in an XY plane. The movement condition of the holding member 6 is determined based on the target stitch line 56.

[0054] The movement control section 62 outputs a control instruction that controls the holding member moving device 7. The movement control section 62 controls the movement of the holding member 6 based on the sewing data. The movement control section 62 moves the holding member 6 when the sewing needle 41 has been withdrawn from the sewing object 50. That is, the movement control section 62 moves the holding member 6 when the sewing needle 41 is disposed more upward than the sewing object 50.

[0055] The rotation control section 63 outputs a control instruction that controls the head rotating device 5 and the tub rotating device 9. The rotation control section 63 outputs the control instruction in such a manner that the head 4 and the tub 8 rotate together with the rotation axis AX as the center. The rotation control section 63 controls a rotation angle a of the head 4 and the tub 8 based on a change amount β of a movement direction of the holding member 6 specified by the sewing data. The rotation control section 63 rotates the head 4 and the tub 8 when the sewing needle 41 has been withdrawn from the sewing object 50. That is, the rotation control section 63 rotates the head 4 and the tub 8 when the sewing needle 41 is disposed more upward than the sewing object 50.

[0056] < Action of Head >

[0057] Figure 6 is a diagram for explaining the processing of the rotation control section 63 involved in the present embodiment. In the following explanation, the rotation of the head 4 and the pot 8 will be simply referred to as the rotation of the head 4. The head 4 rotates, and thus the pot 8 also rotates together with the head 4.

[0058] The holding member 6 that holds the sewing object 50 moves based on the sewing data that includes the target stitch line 56. As shown in Figure 6 the case where the target stitch line 56 includes the bent portion 57, the rotation control section 63 rotates the head 4 in a manner that matches the moving direction of the holding member 6. As shown in Figure 6 the case where the extension direction of the target stitch line 56 is the first direction Dl, the holding member 6 moves in the first direction Dl. The rotation control section 63 controls the angle Θ of the head 4 in the rotational direction centered on the rotation axis AX in such a manner that the prescribed portion 45 of the head 4 faces the first direction Dl. The angle Θ is the angle that the X axis makes with the prescribed portion 45 of the head 4. In the example shown in Figure 6 the angle Θ of the head 4 is controlled to be an angle Θ0 at which the prescribed portion 45 of the head 4 faces the first direction Dl.

[0059] In the case where the extension direction of the target stitch line 56 changes from the first direction Dl to the second direction D2, the holding member 6 moves in the second direction D2. The rotation control section 63 controls the angle Θ of the head 4 in the rotational direction centered on the rotation axis AX in such a manner that the prescribed portion 45 of the head 4 faces the second direction D2. That is, in the case where the moving direction of the holding member 6 changes from the first direction Dl to the second direction D2 based on the sewing data, the rotation control section 63 controls the angle Θ of the head 4 in such a manner that the rotation angle a of the head 4 coincides with the change amount β of the moving direction of the holding member 6. In the example shown in Figure 6 the change amount β of the moving direction of the holding member 6 is the angle that the first direction Dl makes with the second direction D2. The angle Θ of the head 4 is controlled to be an angle Θl at which the prescribed portion 45 of the head 4 faces the second direction D2. The rotation angle a is the difference between the angle Θl and the angle Θ0.

[0060] In the case where the extension direction of the target stitch line 56 changes from the second direction D2 to the third direction D3, the sewing object 50 moves in the third direction D3. The rotation control section 63 controls the angle Θ of the head 4 in the rotational direction centered on the rotation axis AX in such a manner that the prescribed portion 45 of the head 4 faces the third direction D3. That is, in the case where the moving direction of the holding member 6 changes from the second direction D2 to the third direction D3 based on the sewing data, the rotation control section 63 controls the angle Θ of the head 4 in such a manner that the rotation angle a of the head 4 coincides with the change amount β of the moving direction of the holding member 6. InFigure 6 In the example shown, the amount of change β in the moving direction of the holding member 6 is the angle formed by the second direction D2 and the third direction D3. The angle θ of the head 4 is controlled to be an angle θ2 at which the prescribed portion 45 of the head 4 faces the third direction D3. The rotation angle α is the difference between the angle θ2 and the angle θl.

[0061] Figure 7 is a diagram for explaining the processing of the rotation control section 63 involved in the present embodiment. As shown in Figure 7 In a state in which the prescribed portion 45 of the head 4 faces the extension direction of the target stitch line 56, the needle hole 42 of the sewing machine needle 41 faces a direction orthogonal to the extension direction of the target stitch line 56.

[0062] As explained with reference to Figure 6 and Figure 7 , the high-quality stitch 55 is formed by the rotation of the head 4 in matching with the moving direction of the sewing object 50.

[0063] The rotation of the head 4 is performed when the sewing machine needle 41 has been pulled out from the sewing object 50. If the sewing speed of the sewing machine 1 is reduced in order to secure the time required for the rotation of the head 4, the sewing efficiency can be reduced.

[0064] In the present embodiment, the rotation control section 63 controls the rotation of the head 4 in such a manner that the rotation angle α coincides with the amount of change β when the stitch 55 is formed in the first range ARl of the sewing object 50, and controls the rotation of the head 4 in such a manner that the rotation angle α becomes smaller than the amount of change β when the stitch 55 is formed in the second range AR2 of the sewing object 50.

[0065] The first range ARl and the second range AR2 are ranges determined in advance. The sewing data includes the first range ARl and the second range AR2. As one example, the first range ARl is determined at a central portion of the sewing object 50, and the second range AR2 is determined at a peripheral portion of the sewing object 50. Further, it can also be that the first range ARl is determined at a range in which the high-quality stitch 55 is required, and the second range AR2 is determined at a range in which the quality of the stitch 55 is allowed to be reduced.

[0066] When the stitch 55 is formed in the first range ARl of the sewing object 50, as explained with reference to Figure 6 , the rotation control section 63 controls the rotation of the head 4 in such a manner that the rotation angle α of the head 4 coincides with the amount of change β in the moving direction of the holding member 6.

[0067] Figure 8 is a diagram for explaining the processing of the rotation control section 63 involved in the present embodiment. As shown in Figure 8As shown, when the stitch 55 is formed in the second range AR2 of the sewing object 50, the rotation control unit 63 controls the rotation of the head 4 in such a way that the rotation angle α of the head 4 becomes smaller than the change in the moving direction β of the holding member 6.

[0068] like Figure 8 As shown, when the extension direction of the target trace 56 is the first direction D1, the holding member 6 moves in the first direction D1. The rotation control unit 63 controls the angle θ of the head 4 in the rotation direction centered on the rotation axis AX, such that a predetermined portion 45 of the head 4 faces the first direction D1. Figure 8 In the example shown, the angle θ of the head 4 is controlled to be the angle θ0 of the specified part 45 of the head 4 toward the first direction D1.

[0069] When the extension direction of the target stitch 56 changes from the first direction D1 to the second direction D2, the holding member 6 moves in the second direction D2. The rotation control unit 63 controls the angle θ of the head 4 in the rotation direction centered on the rotation axis AX, such that a predetermined portion 45 of the head 4 is oriented towards the direction D2a between the first direction D1 and the second direction D2. That is, when the movement direction of the holding member 6 changes from the first direction D1 to the second direction D2 based on sewing data, the rotation control unit 63 controls the angle θ of the head 4 in such a way that the rotation angle α of the head 4 becomes smaller than the amount β of the change in the movement direction of the holding member 6. Figure 8 In the example shown, the change β in the direction of movement of component 6 is the angle between the first direction D1 and the second direction D2. The angle θ of the head 4 is controlled as angle θ1a of the specified part 45 of the head 4 toward the direction D2a between the first direction D1 and the second direction D2. The rotation angle α is the difference between angle θ1a and angle θ0.

[0070] When the extension direction of the target stitch 56 changes from the second direction D2 to the third direction D3, the sewing object 50 moves in the third direction D3. The rotation control unit 63 controls the angle θ of the head 4 in the rotation direction centered on the rotation axis AX, such that the predetermined part 45 of the head 4 is oriented towards the direction D3a between the second direction D2 and the third direction D3. That is, when the movement direction of the holding member 6 changes from the second direction D2 to the third direction D3 based on the sewing data, the rotation control unit 63 controls the angle θ of the head 4 in such a way that the rotation angle α of the head 4 becomes smaller than the change in the movement direction β of the holding member 6. Figure 8In the illustrated example, the amount of change β in the moving direction of the holding member 6 is the angle formed by the second direction D2 and the third direction D3. The angle θ of the head 4 is controlled to be the angle θ2a in which the prescribed portion 45 of the head 4 faces the direction D3a between the second direction D2 and the third direction D3. The rotation angle α is the difference between the angle θ2a and the angle θ1a.

[0071] Further, the first range AR1 and the second range AR2 are concepts that include the interval of the target stitch line 56. The rotation control section 63 is able to be controlled in such a manner that the rotation angle α coincides with the amount of change β when the stitch 55 is formed in the first range AR1 (first interval) of the target stitch line 56 set in the sewing object 50, and is able to be controlled in such a manner that the rotation angle α becomes smaller than the amount of change β when the stitch 55 is formed in the second range AR2 (second interval) of the target stitch line 56 set in the sewing object 50.

[0072] <Effects>

[0073] As described above, according to the present embodiment, when the stitch 55 is formed in the first range AR1 of the target stitch line 56 having the bent portion 57 based on the sewing object 50, the rotation angle α of the head 4 and the pot 8 is controlled to coincide with the amount of change β in the moving direction of the holding member 6. When the stitch 55 is formed in the second range AR2 of the target stitch line 56 based on the sewing object 50, the rotation angle α of the head 4 and the pot 8 is controlled to become smaller than the amount of change β in the moving direction of the holding member 6. The rotation of the head 4 and the pot 8 is performed when the sewing machine needle 41 has been withdrawn from the sewing object 50. By setting the second range AR2 in which the rotation angle α of the head 4 and the pot 8 is reduced, the time required for the rotation of the head 4 and the pot 8 can be shortened in the second range AR2. That is, by setting the second range AR2 in which the rotation angle α of the head 4 and the pot 8 is reduced, the sewing speed of the sewing machine 1 can not be excessively reduced in the second range AR2. Therefore, the reduction in the sewing efficiency is suppressed.

[0074] <Modifications>

[0075] In the above-described embodiment, when the stitch 55 is formed in the second range AR2 of the target stitch line 56 having the bent portion 57 based on the sewing object 50, the rotation control section 63 can be controlled in such a manner that the difference between the rotation angle α of the head 4 and the pot 8 and the amount of change β in the moving direction of the holding member 6 is smaller than or equal to a difference threshold value SH1. The difference threshold value SH1 is a value determined in advance. By controlling in such a manner that the difference between the rotation angle α and the amount of change β in the moving direction of the holding member 6 is smaller than or equal to the difference threshold value SH1 when the stitch 55 is formed in the second range AR2 of the target stitch line 56 based on the sewing object 50, the time required for the rotation of the head 4 and the pot 8 can be shortened and the quality of the stitch 55 can be maintained.

[0076] In the above-described embodiment, when the stitches 55 are formed in the second range AR2 of the sewing object 50 based on the target stitch line 56 having the bent portion 57, the rotation control section 63 can not rotate the head 4 and the pot 8. That is, in the above-described embodiment, the rotation control section 63 controls the angle θ of the head 4 in the rotation direction centered on the rotation axis AX so that the rotation angle α of the head 4 and the pot 8 coincides with the variation β of the moving direction of the holding member 6. Figure 8 In the example shown, the rotation angle α can be set to zero. That is, the rotation angle α is set to be smaller than the variation β can include setting the rotation angle α to zero. By setting the rotation angle α to zero when the stitches 55 are formed in the second range AR2 of the sewing object 50, the reduction in the sewing efficiency is sufficiently suppressed.

[0077] [Second Embodiment]

[0078] The second embodiment will be described. In the following description, the same reference numerals are attached to the structural elements that are the same as or equivalent to those of the above-described embodiment, and the description thereof is simplified or omitted.

[0079] When the stitches 55 are formed in the second range AR2 of the sewing object 50 based on the target stitch line 56 having the bent portion 57, the rotation control section 63 can control so that the difference in the angle between the moving direction of the head 4 and the pot 8 and the holding member 6 is smaller than or equal to an angle threshold SH2. The angle threshold SH2 is a value determined in advance.

[0080] Further, when the stitches 55 are formed in the first range AR1 of the sewing object 50 based on the target stitch line 56 having the bent portion 57, the rotation control section 63 controls so that the rotation angle α of the head 4 and the pot 8 coincides with the variation β of the moving direction of the holding member 6, as in the above-described embodiment.

[0081] <Head Action>

[0082] Figure 9 and Figure 10 Each is a diagram for describing the processing of the rotation control section 63 to which the present embodiment relates. As shown in Figure 9 and Figure 10 When the stitches 55 are formed in the second range AR2 of the sewing object 50, the rotation control section 63 controls so that the angle θb between the moving direction of the head 4 and the holding member 6 is smaller than or equal to the angle threshold SH2, as shown in

[0083] As shown in Figure 9 When the extension direction of the target stitch line 56 is the first direction D1, the holding member 6 moves in the first direction D1. The rotation control section 63 controls the angle θ of the head 4 in the rotation direction centered on the rotation axis AX so that the prescribed portion 45 of the head 4 faces the first direction D1. In the example shown in Figure 9 In the example shown, the angle θb between the moving direction of the head 4 and the holding member 6 is zero degrees.

[0084] In the case where the extension direction of the target stitch line 56 changes from the first direction Dl to the second direction D2, the holding member 6 moves in the second direction D2. As shown in FIG. 6, the rotation control section 63 does not rotate the head 4 in the case where the angle θb between the moving direction of the head 4 and the holding member 6 is smaller than or equal to the angle threshold value SH2 even if the head 4 is not rotated. Figure 9

[0085] As shown in FIG. 6, in the case where the extension direction of the target stitch line 56 changes from the first direction Dl to the second direction D2, the holding member 6 moves in the second direction D2. As shown in FIG. 6, the rotation control section 63 rotates the head 4 in the case where the angle θb between the moving direction of the head 4 and the holding member 6 is not smaller than or equal to the angle threshold value SH2 if the head 4 is not rotated. The rotation control section 63 rotates the head 4 in such a manner that the angle θb becomes smaller than or equal to the angle threshold value SH2 and the rotation angle α of the head 4 is the smallest. That is, in the case where the extension direction of the target stitch line 56 changes from the first direction Dl to the second direction D2, the rotation control section 63 rotates the head 4 in such a manner that the angle θb between the moving direction of the head 4 and the holding member 6 coincides with the angle threshold value SH2. Thereby, the angle θ of the head 4 in the rotation direction centered on the rotation axis AX is controlled in such a manner that the prescribed portion 45 of the head 4 faces the direction D2b between the first direction Dl and the second direction D2. Figure 10 Figure 10

[0086] <Effects>

[0087] As described in the above description, in the present embodiment, it is also possible to shorten the time required for the rotation of the head 4 and the pot 8 and maintain the quality of the stitches 55.

[0088] [3rd Embodiment]

[0089] The 3rd embodiment will be described. In the following description, the same reference numerals are attached to the structural elements same as or equivalent to those of the above-described embodiments, and the description thereof is simplified or omitted.

[0090] In the above-described embodiments, the 2nd range AR2 is set in the sewing object 50, and the rotation of the head 4 and the pot 8 is suppressed in the 2nd range AR2. In the present embodiment, the rotation control section 63 controls the rotation angle α of the head 4 and the pot 8 in such a manner that the change amount β of the moving direction of the holding member 6 is coincided with the change amount threshold value SH3 when the change amount β is larger than or equal to the change amount threshold value SH3, and controls the rotation angle α in such a manner that the rotation angle α becomes smaller than the change amount β when the change amount β is smaller than the change amount threshold value SH3. The change amount threshold value SH3 is a value determined in advance.

[0091] <Operation of Head> ​​​

[0092] Figure 11 is a diagram for explaining the processing of the rotation control section 63 according to the present embodiment. The holding member 6 that holds the sewing object 50 moves based on the sewing data including the target stitch line 56. As shown in Figure 11 , in a case where the target stitch line 56 includes the bent portion 57, the rotation control section 63 rotates the head 4 in a direction matching the moving direction of the holding member 6. As shown in Figure 11 , in a case where the extension direction of the target stitch line 56 is the first direction Dl, the holding member 6 moves in the first direction Dl. The rotation control section 63 controls the angle Θ of the head 4 in the rotation direction centered on the rotation axis AX in such a manner that the prescribed portion 45 of the head 4 faces the first direction Dl.

[0093] In a case where the extension direction of the target stitch line 56 changes from the first direction Dl to the second direction D2, in a case where the change amount β of the moving direction of the holding member 6 is larger than or equal to the change amount threshold SH3, the rotation control section 63 controls the angle Θ of the head 4 in the rotation direction centered on the rotation axis AX in such a manner that the prescribed portion 45 of the head 4 faces the second direction D2. That is, in a case where the moving direction of the holding member 6 changes from the first direction Dl to the second direction D2 based on the sewing data, in a case where the change amount β is larger than or equal to the change amount threshold SH3, the rotation control section 63 controls the angle Θ of the head 4 in such a manner that the rotation angle a of the head 4 coincides with the change amount β of the moving direction of the holding member 6.

[0094] Figure 12 is a diagram for explaining the processing of the rotation control section 63 according to the present embodiment. As shown in Figure 12 , in a case where the extension direction of the target stitch line 56 changes from the first direction Dl to the second direction D2, in a case where the change amount β of the moving direction of the holding member 6 is smaller than the change amount threshold SH3, the rotation control section 63 controls the angle Θ of the head 4 in the rotation direction centered on the rotation axis AX in such a manner that the prescribed portion 45 of the head 4 faces the direction D2c between the first direction Dl and the second direction D2. That is, in a case where the moving direction of the holding member 6 changes from the first direction Dl to the second direction D2 based on the sewing data, in a case where the change amount β is smaller than the change amount threshold SH3, the rotation control section 63 controls the angle Θ of the head 4 in such a manner that the rotation angle a of the head 4 is smaller than the change amount β.

[0095] <Effects>

[0096] As described above, in the present embodiment, when the degree of bending of the bending portion 57 is large and the variation β is larger than or equal to the variation threshold value SH3, the control is performed in a manner that the rotation angle a coincides with the variation β. On the other hand, when the degree of bending of the bending portion 57 is small and the variation β is smaller than the variation threshold value SH3, the control is performed in a manner that the rotation angle a is smaller than the variation β. In the present embodiment, it is also possible to shorten the time required for the rotation of the head 4 and the bin 8 and maintain the quality of the stitch 55.

[0097]

[0098] In the above-described embodiment, when the stitch 55 is formed based on the target stitch line 56 having the bending portion 57, the rotation control portion 63 can not rotate the head 4 and the bin 8 when the variation β is smaller than the variation threshold value SH3. That is, in the example shown in FIG. 6, the rotation angle a can be set to zero. That is, making the rotation angle a smaller than the variation β can include setting the rotation angle a to zero. When the stitch 55 is formed in the sewing object 50, by setting the rotation angle a to zero, it is possible to sufficiently suppress the reduction in sewing efficiency. Figure 12

[0099] Explanation of Reference Numerals

[0100] 1 … sewing machine, 2 … work table, 3 … frame, 4 … head, 5 … head rotating device, 6 … holding member, 7 … holding member moving device, 7X … X-axis moving device, 7Y … Y-axis moving device, 8 … bin, 9 … bin rotating device, 10 … power switch, 11 … start switch, 12 … temporary stop switch, 13 … emergency stop switch, 14 … operation panel, 15 … control device, 16 … thread winding device, 17 … bobbin stand device, 18 … input device, 19 … display device, 20 … needle plate, 21 … presser plate, 22 … foot, 23 … side plate, 24 … regulator, 25 … caster, 26 … opening, 30 … beam portion, 31 … 1st post portion, 32 … 2nd post portion, 33 … cover member, 40 … needle bar, 41 … sewing machine needle, 42 … needle hole, 43 … middle presser foot, 45 … prescribed portion, 50 … sewing object, 51 … hole, 52 … reference pattern, 53 … texture region, 54 … stitch region, 55 … stitch, 56 … target stitch line, 57 … bending portion, 61 … sewing data storage portion, 62 … movement control portion, 63 … rotation control portion, AR1 … 1st range, AR2 … 2nd range, AX … rotation axis, D1 … 1st direction, D2 … 2nd direction, D3 … 3rd direction, a … rotation angle, β … variation, θ0 … angle, θ1 … angle, θ2 … angle, θb … angle.​​

Claims

1. A sewing machine, comprising: A retaining component that can hold and move the sewn object within a specified plane; The needle bar holds the sewing machine needle that is fed with thread; The head, while supporting the needle bar, is capable of rotating about a rotation axis orthogonal to the specified surface; The vessel, which rotates synchronously with the head around the rotating axis, works in conjunction with the sewing machine needle by supplying thread to form a stitch on the object being sewn; A movement control unit controls the movement of the holding member based on sewing data; as well as The rotation control unit controls the rotation angle of the head and the vessel based on the amount of change in the movement direction of the holding member specified by the sewing data. The rotation control unit controls the rotation angle in a manner consistent with the amount of change when the stitch is formed in the first range of the sewn object, and controls the rotation angle in a manner that becomes smaller than the amount of change when the stitch is formed in the second range of the sewn object.

2. The sewing machine according to claim 1, wherein, When the stitch is formed in the second range of the sewn object, the rotation control unit controls the movement in such a way that the difference between the change in the rotation angle of the head and the vessel and the change in the moving direction of the holding member is less than or equal to a differential threshold.

3. The sewing machine according to claim 1, wherein, Making the rotation angle smaller than the amount of change includes setting the rotation angle to zero.

4. The sewing machine according to claim 2, wherein, Making the rotation angle smaller than the amount of change includes setting the rotation angle to zero.

5. A sewing machine, comprising: A retaining component that can hold and move the sewn object within a specified plane; The needle bar holds the sewing machine needle that is fed with thread; The head, while supporting the needle bar, is capable of rotating about a rotation axis orthogonal to the specified surface; The vessel, which rotates synchronously with the head around the rotating axis, works in conjunction with the sewing machine needle by supplying thread to form a stitch on the object being sewn; A movement control unit controls the movement of the holding member based on sewing data; as well as The rotation control unit controls the rotation angle of the head and the vessel based on the amount of change in the movement direction of the holding member specified by the sewing data. The rotation control unit controls the rotation angle in a manner consistent with the amount of change when the stitch is formed in the first range of the sewing object, and controls the rotation angle in a manner that makes the angle between the moving directions of the head, the vessel, and the holding member less than or equal to an angle threshold when the stitch is formed in the second range of the sewing object.

6. A sewing machine, comprising: A retaining component that can hold and move the sewn object within a specified plane; The needle bar holds the sewing machine needle that is fed with thread; The head, while supporting the needle bar, is capable of rotating about a rotation axis orthogonal to the specified surface; The vessel, which rotates synchronously with the head around the rotating axis, works in conjunction with the sewing machine needle by supplying thread to form a stitch on the object being sewn; A movement control unit controls the movement of the holding member based on sewing data; as well as The rotation control unit controls the rotation angle of the head and the vessel based on the amount of change in the movement direction of the holding member specified by the sewing data. When the change is greater than or equal to a change threshold, the rotation control unit controls the rotation in such a way that the rotation angle is consistent with the change; when the change is less than the change threshold, the rotation angle is controlled in such a way that it becomes smaller than the change.

7. The sewing machine according to claim 6, wherein, Making the rotation angle smaller than the amount of change includes setting the rotation angle to zero.

8. The sewing machine according to any one of claims 1 to 7, wherein, The rotation control unit rotates the head and the valve when the sewing machine needle has been pulled out from the sewing object.

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