Sewing system

Abstract

This invention provides a sewing system that reduces the time spent sewing due to changes in the workpiece compared to conventional systems. The sewing system (300) includes a sewing device (1), a first lifting mechanism (241), a rewinding mechanism (260), and a second lifting mechanism (251). The sewing device (1) includes a needle bar mechanism (6) and a conveying mechanism that moves a holding mechanism located at a first height (H1) on a third-direction side of the needle bar mechanism (6) toward a fourth-direction side of the needle bar mechanism (6). The first lifting mechanism (241), located on the fourth-direction side of the needle bar mechanism (6), raises and lowers the holding mechanism at the first height (H1) conveyed by the conveying mechanism to a second height (H2). The rewinding mechanism (260) conveys the holding mechanism raised and lowered by the first lifting mechanism (241) to a third-direction side along a path that at least partially overlaps with the sewing device (1) and is located at the second height (H2). The second lifting mechanism (251) is located on the third direction side of the needle bar mechanism (6), which raises and lowers the holding mechanism of the second height (H2) conveyed by the retraction mechanism (260) to the first height (H1).

Description

Technical Field

[0001] This invention relates to a sewing system. Background Technology

[0002] Conventional sewing devices include a needle bar mechanism, a shuttle mechanism, and a moving mechanism. The needle bar mechanism has a needle bar to which a needle can be mounted, and the needle bar mechanism enables the needle bar to move up and down. The shuttle mechanism is located below the needle bar mechanism and has a shuttle. The moving mechanism enables the shuttle mechanism and the needle bar mechanism to move together along a first direction and a second direction parallel to the horizontal direction.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2000-116975 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] When the sewing device finishes sewing one item, the operator removes the finished item from the device and prepares for the next item. After moving to the starting position for the next item, the sewing device begins sewing, and this process is repeated. The sewing device stops sewing during item changes, thus making the series of sewing operations time-consuming.

[0008] The purpose of this invention is to provide a sewing system that can shorten the time that sewing is interrupted due to the change of the sewn material compared to the past.

[0009] Solution for solving the problem

[0010] A first technical solution for achieving the aforementioned objective provides a sewing system comprising a sewing device, the sewing device including: a needle bar mechanism having a needle bar for mounting a machine needle at its lower end, the needle bar mechanism enabling the needle bar to move up and down; a shuttle mechanism disposed below the needle bar mechanism, the shuttle mechanism having a shuttle; a moving mechanism for moving the shuttle mechanism and the needle bar mechanism relative to the workpiece along a first direction parallel to the horizontal direction and a second direction opposite to the first direction; and a conveying mechanism for conveying a holding mechanism that holds the workpiece along a third direction parallel to the horizontal direction and intersecting the first direction and a fourth direction opposite to the third direction. The sewing device, via the moving mechanism, moves the shuttle mechanism and the needle bar mechanism relative to the holding mechanism along the first and second directions, the conveying mechanism conveys the holding mechanism along the third and fourth directions, and the shuttle mechanism and needle bar mechanism... The needle bars move synchronously to sew the workpiece. The conveying mechanism moves the holding mechanism, which is positioned at a first height on the third direction side of the needle bar mechanism, toward the fourth direction side of the needle bar mechanism. The sewing system includes: a first lifting mechanism located on the fourth direction side of the needle bar mechanism, which lifts the holding mechanism at the first height conveyed by the conveying mechanism to a second height different from the first height; a rewinding mechanism that conveys the holding mechanism, which has been lifted to the second height by the first lifting mechanism, from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism along a path, at least a portion of which overlaps vertically with the sewing device and is located at the second height; and a second lifting mechanism located on the third direction side of the needle bar mechanism, which lifts the holding mechanism at the second height conveyed by the rewinding mechanism to the first height.

[0011] With this structure, the sewing system uses multiple holding mechanisms to sew the workpiece sequentially. Thus, after sewing the workpiece held by one holding mechanism, the sewing device can sew the workpiece held by other holding mechanisms while that holding mechanism is moved by any of the first lifting mechanism, the second lifting mechanism, and the rewind mechanism. The operator can perform work on one holding mechanism while the other holding mechanisms are sewing. Therefore, compared to the past, the sewing device can shorten the time spent sewing due to workpiece changes. In the sewing system, compared to configuring the path of the holding mechanism to return in a position that does not overlap with the sewing device vertically, the planar space required for the rewind mechanism can be reduced.

[0012] In the second technical solution, the first height of the sewing system is higher than the second height. In this sewing system, compared to the case where the first height is lower than the second height, the retraction mechanism, the first lifting mechanism, and the second lifting mechanism are easier to maintain.

[0013] The sewing system of the third technical solution further comprises: a first support portion, which is supported by the first lifting mechanism and is capable of lifting and lowering, the first support portion being capable of supporting the holding mechanism; a second support portion, which is supported by the second lifting mechanism and is capable of lifting and lowering, the second support portion being capable of supporting the holding mechanism; a first lifting determination unit, which determines whether the first support portion at the first height supports the holding mechanism being conveyed by the conveying mechanism; a first lifting control unit, which, corresponding to the determination made by the first lifting determination unit that the first support portion supports the holding mechanism, causes the first support portion to lift and lower, causing the holding mechanism to lift and lower from the first height to the second height; a second lifting determination unit, which determines whether the second support portion at the second height supports the holding mechanism; and a second lifting control unit, which, corresponding to the determination made by the second lifting determination unit that the second support portion supports the holding mechanism, causes the second support portion to lift and lower, causing the holding mechanism to lift and lower from the second height to the first height. In this sewing system, it is possible to avoid the first support portion lifting and lowering from the first height to the second height when the first support portion does not support the holding mechanism. In this sewing system, it is possible to prevent the second support from moving up and down from the second height to the first height when the second support is not supported by the retaining mechanism.

[0014] The sewing system of the fourth technical solution further includes: a first back-return determination unit that determines whether the first support portion supporting the holding mechanism is at the second height; a first back-return control unit that, corresponding to the determination by the first back-return determination unit that the first support portion supporting the holding mechanism is at the second height, drives the back-return mechanism to transport the holding mechanism supported by the first support portion from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism; a second back-return determination unit that determines whether the second support portion not supporting the holding mechanism is at the second height; and a second back-return control unit that, corresponding to the determination by the second back-return determination unit that the second support portion not supporting the holding mechanism is at the second height, drives the back-return mechanism to transport the holding mechanism to the position supported by the second support portion. In this sewing system, it is possible to avoid situations where the back-return mechanism is driven and the holding mechanism supported by the first support portion is transported in both the state where the first support portion is not at the second height and the state where the first support portion not supporting the holding mechanism is at the second height. In this sewing system, it is possible to avoid situations where the reversing mechanism is driven to transport the holding mechanism to the position supported by the second support when the second support is not at the second height and when the second support of the support holding mechanism is at the second height.

[0015] The sewing system of the fifth technical solution further comprises: a back-returning limiting member disposed on the path at the second height, capable of limiting the movement of the holding mechanism in the third direction; a back-returning switching unit that switches the back-returning limiting member to a back-returning position retracting from the path and a back-returning limiting position disposed on the path relative to the second support portion on the fourth direction side; and a back-returning switching control unit that, corresponding to the determination made by the second back-returning determination unit that the second support portion without supporting the holding mechanism is at the second height, drives the back-returning switching unit to move the back-returning limiting member from the path. The reversing position is switched to the reversing position, and corresponding to the judgment made by the second lifting judgment unit that the second support portion supporting the holding mechanism is at the second height, the reversing switching unit is driven to switch the reversing restricting member from the reversing avoidance position to the reversing restricting position. The second reversing control unit, corresponding to the judgment made by the second reversing judgment unit that the second support portion not supporting the holding mechanism is at the second height and the reversing restricting member being in the reversing avoidance position, drives the reversing mechanism to transport the holding mechanism to the position supported by the second support portion. In this sewing system, switching the position of the reversing restricting member can more reliably avoid the situation where, when the second support portion is not at the second height, the reversing mechanism is driven to transport the holding mechanism to the position supported by the second support portion.

[0016] The sixth technical solution's sewing system's conveying mechanism has an assembly part, which assembles the holding mechanism in a manner that allows the holding mechanism to be detached and reassembled. The sewing system further includes: an assembly judgment unit that determines whether the holding mechanism is in an assembly position at the first height where the assembly part can assemble the holding mechanism; an assembly control unit that, corresponding to the judgment made by the assembly judgment unit that the holding mechanism is in the assembly position, switches the assembly part from a released state (releasing the holding mechanism) to an assembled state (assembling the holding mechanism) at the assembly position; an acquisition unit that acquires sewing data being sewn within the sewing area; and a sewing control unit that, in the... After the assembly control unit switches the holding mechanism to the assembled state, the sewing control unit drives the moving mechanism, the conveying mechanism, the shuttle mechanism, and the needle bar mechanism to sew within the sewing area according to the sewing data acquired by the acquisition unit; the release judgment unit determines whether the first support portion not supporting the holding mechanism is at the first height; and the release control unit, corresponding to the release judgment unit's determination that the first support portion not supporting the holding mechanism is at the first height, switches the assembly portion from the assembled state to the released state at the release position on the fourth direction side of the needle bar mechanism. In this sewing system, while the assembly portion is in the released state, when the assembly judgment unit determines that the holding mechanism is configured in the assembled position, the assembly portion can be automatically switched from the released state to the assembled state. The sewing system eliminates the need for the operator to instruct the switching of the assembly portion from the released state to the assembled state. In the sewing system, corresponding to the determination made by the assembly judgment unit that the first support part is at the first height, the assembly part can be automatically switched from the assembled state to the released state. The sewing system eliminates the need for the operator to instruct the assembly part to switch from the assembled state to the released state. The sewing system also avoids switching the assembly part from the assembled state to the released state when the first support part is not at the first height.

[0017] The sewing system of the seventh technical solution further comprises: a first limiting member capable of limiting the movement of the retaining mechanism supported by the first support in the third direction at the end of the first support on the third direction; a first switching unit that switches the first limiting member to a first limiting position that restricts the movement of the retaining mechanism in the third direction and a first retracting position that does not restrict the movement of the retaining mechanism in the third direction; and a first switching control unit that switches the first limiting member from the first retracting position to the first limiting position before the first support supporting the retaining mechanism rises or falls from the first height to the second height, and switches the first limiting member from the first limiting position to the first retracting position after the first support supporting the retaining mechanism rises or falls from the first height to the second height, wherein the release control unit, corresponding to the release judgment unit's judgment that the first support not supporting the retaining mechanism is at the first height and the first limiting member is at the first retracting position, switches the assembly part from the assembly state to the release state in the release position. In this sewing system, the first limiting member can prevent the mechanism from moving in a third direction during the process of the first support moving up and down from the first height to the second height.

[0018] The sewing system of the eighth technical solution further comprises: a receiving judgment unit that determines whether the assembly part of the sewing device is in a receptive state capable of holding the retaining mechanism; an assembly conveying mechanism that conveys the retaining mechanism supported by the second support part to the assembly position; a second limiting member that can limit the movement of the retaining mechanism supported by the second support part in the fourth direction at the end of the second support part on the fourth direction side; a second switching unit that switches the second limiting member to a second limiting position that restricts the movement of the retaining mechanism in the fourth direction and a second retraction position that does not restrict the movement of the retaining mechanism in the fourth direction; and a second switching control unit that, on the support Before the second support portion of the holding mechanism rises and falls from the second height to the first height, the second switching control unit switches the second limiting member from the second retracted position to the second limiting position. After the second support portion supporting the holding mechanism rises and falls from the second height to the first height, the second switching control unit switches the first limiting member from the first limiting position to the first retracted position. A conveying control unit, corresponding to the receiving determination unit's determination that the holding mechanism is in the acceptable state and the second limiting member being in the second retracted position, drives the assembly conveying mechanism to convey the holding mechanism to the assembly position. In this sewing system, the second limiting member can prevent the holding mechanism from moving in the fourth direction during the second support portion's rise and fall from the second height to the first height. In this sewing system, when the assembly portion of the sewing device is in the acceptable state capable of holding the holding mechanism, the holding mechanism can be moved to the assembly position.

[0019] The sewing system of the ninth technical solution further includes a switching gripping control unit, which changes the protrusion held by the assembly unit among the plurality of protrusions arranged along the third direction of the holding mechanism. The assembly control unit switches the assembly unit from the released state to the assembled state. After the assembly unit holds any one of the plurality of protrusions, it moves the assembly unit from the assembled position to the fourth direction. After moving the assembly unit from the assembled position to the fourth direction, it switches the assembly unit from the assembled state to the released state, releasing the holding of the protrusion. After releasing the holding of the protrusion, it moves the assembly unit to the third direction. After moving the assembly unit to the third direction, it switches the assembly unit from the released state to the assembled state, holding other protrusions that are different from the protrusion that was released. Compared to systems without a switching gripping control unit, the sewing system allows the size of the sewing device in the third direction to be smaller than the range of motion of the holding mechanism relative to the needle bar mechanism and the shuttle mechanism in the third direction. Attached Figure Description

[0020] Figure 1 This is a 3D view of the sewing system 300.

[0021] Figure 2 This is a three-dimensional view of the needle bar mechanism 6 and the shuttle mechanism 7.

[0022] Figure 3 (A) is a top view of assembly 96 in its held state. Figure 3 (B) is a top view of assembly 96 in the loosened state.

[0023] Figure 4 (A) is a right view of the sewing system 300 when the first support portion 247 of the first lifting mechanism 241 is at the second height H2 and the second support portion 257 of the second lifting mechanism 251 is at the first height H1. Figure 4 (B) is a right view of the sewing system 300 when the first support portion 247 of the first lifting mechanism 241 is at the first height H1 and the second support portion 257 of the second lifting mechanism 251 is at the first height H1. Figure 4 (C) is a right view of the sewing system 300 when the first support portion 247 of the first lifting mechanism 241 is at the first height H1 and the second support portion 257 of the second lifting mechanism 251 is at the second height H2.

[0024] Figure 5 This is a block diagram representing the electrical structure of the sewing system 300.

[0025] Figure 6 This is a flowchart of the sewing process.

[0026] Figure 7 This is a flowchart of the front-side device processing.

[0027] Figure 8 This is a flowchart of the switching and gripping process.

[0028] Figure 9 This is a flowchart of the backtracking mechanism.

[0029] Figure 10 This is a flowchart of the rear-side device processing.

[0030] Figure 11 This is an explanatory diagram illustrating the changes in the output values ​​of detectors 211-218, 221-214, and 231-236 of the sewing system 300 during the processing execution of a specific example.

[0031] Figure 12This is an explanatory diagram showing the signals output by the sewing system 300 during the specific processing execution, the driving status of the conveyor rollers 242, 243, 252-255, 261-264, and the vertical positions of the lifting mechanisms 241 and 251.

[0032] Figure 13 This is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B of timing A1.

[0033] Figure 14 This is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B of timing B1.

[0034] Figure 15 This is a three-dimensional view of the sewing system 300 and holding mechanisms 8A and 8B of timing C1.

[0035] Figure 16 This is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B of timing D1.

[0036] Figure 17 This is a perspective view of the sewing system 300 and holding mechanisms 8A and 8B of the timing E1.

[0037] Figure 18 This is a three-dimensional view of the sewing system 300 and retaining mechanisms 8A and 8B of the timing F1. Detailed Implementation

[0038] The physical structure of a sewing system 300 according to one embodiment of the present invention will be described below. In the following description, arrows in the accompanying drawings will be used to indicate left / right, front / back, up / down, X-axis, and Y-axis. Figures 1-4 Thus, the sewing system 300 includes a gantry sewing device 1, a rear device 240, a front device 250, a return mechanism 260, and a Programmable Logic Controller (PLC) 200 (see reference). Figure 5 The sewing device 1 includes a base section 2, a support section 3, 4, a beam section 5, a needle bar mechanism 6, an up-and-down mechanism 6, a shuttle mechanism 7, a holding mechanism 8, and a moving mechanism 9 (see reference). Figure 5 ), conveying mechanism 10 (refer to) Figure 5 ), detector 37 and operation unit 14.

[0039] The base section 2 includes a base 21, a mounting section 22, an opening 24, 25, a snake-belly section 26, 27, a frame 28, and a lower rail 29 (see reference). Figure 2The base 21 is generally rectangular. The mounting portion 22 forms the upper surface of the base 21 and is a plate extending parallel to the horizontal plane. The mounting portion 22 has an opening 23 extending in the left-right direction. The front end of the mounting portion 22 is connected to the front device 250. The rear end of the mounting portion 22 is connected to the rear device 240. The opening 24 extends in the front-rear direction near the left end of the mounting portion 22. The opening 25 extends in the front-rear direction near the right end of the mounting portion 22. The openings 24 and 25 are respectively rectangular portions extending upwards in a top view between the front and rear ends of the mounting portion 22. The snake belly 26 and 27 cover the openings 24 and 25, respectively. The frame 28 is a lattice-shaped structure that supports the base 21 from below. The lower rail 29 extends in the left-right direction below the mounting portion 22. The lower rail 29 supports the shuttle mechanism 7 in a manner that allows it to move left and right. The lower conveyor belt 94, lower spline shaft 34, and shuttle mechanism 7 (described later) are arranged below the mounting portion 22 of the base portion 2. A pair of guide rails are provided below the bellies 26 and 27. The pair of guide rails support the connecting portions 78 and 79 of the conveying mechanism 10 in a manner that allows them to move in the front-to-back direction.

[0040] Support sections 3 and 4 are each approximately quadrangular prisms. Support section 3 extends upward from the left end of the base section 2, slightly forward of the center in the front-rear direction. Support section 4 extends upward from the right end of the base section 2, slightly forward of the center in the front-rear direction. Support sections 3 and 4 are separated in the left-right direction so that the mounting section 22 rests between them. The synchronization mechanism 31 is a mechanism for synchronously driving the needle bar mechanism 6 and the shuttle mechanism 7, and includes a sewing machine motor 32 (see reference). Figure 5 The sewing apparatus 1 of this embodiment includes an upper spline shaft 33, a lower spline shaft 34, and a transmission mechanism. The sewing machine motor 32 is supported by a support column 3. The upper spline shaft 33 and lower spline shaft 34 extend in a left-right direction between the support columns 3 and 4. The transmission mechanism of the synchronization mechanism 31 is housed in the support column 3, and this transmission mechanism transmits the power of the sewing machine motor 32 to the upper spline shaft 33 and lower spline shaft 34. The moving mechanism 9 enables the shuttle mechanism 7 and the needle bar mechanism 6 to move relative to the workpiece in a left-right direction parallel to the horizontal direction. The moving mechanism 9 includes an upper conveyor belt 93, a lower conveyor belt 94, an X motor 95, and a transmission mechanism, described later. In this embodiment of the sewing apparatus 1, the workpiece is held by a holding mechanism 8. The X motor 95 is a pulse motor and is supported by the support column 4. The transmission mechanism of the moving mechanism 9 is housed in the support column 4, and this transmission mechanism transmits the power of the X motor 95 to the upper conveyor belt 93 and lower conveyor belt 94. The upper conveyor belt 93 is fixed to the back of the needle bar mechanism 6. The lower conveyor belt 94 is fixed to the back of the shuttle mechanism 7. The shuttle mechanism 7 and the needle bar mechanism 6 move left and right in response to the rotation of the X motor 95.

[0041] A beam 5 is mounted between support sections 3 and 4. The beam 5 supports the needle bar mechanism 6 at a position relative to its rear side, allowing the needle bar mechanism 6 to move horizontally in a direction parallel to the horizontal. The beam 5 extends continuously in the left-right direction between support sections 3 and 4. The beam 5 includes a housing 51, a snake-belly 52, and an upper rail 53. The housing 51 extends continuously between the upper ends of each of support sections 3 and 4 and between the rear ends of each of support sections 3 and 4. The snake-belly 52 is mounted at the front ends of each of support sections 3 and 4, the housing 51, and the left and right ends of the needle bar mechanism 6 (described later). The upper rail 53 is a rod-shaped structure extending horizontally, mounted between support sections 3 and 4. The upper rail 53 supports the needle bar mechanism 6 in a left-right direction. The housing 51 covers the upper rail 53 and the upper spline shaft 33 of the synchronization mechanism 31 on its upper and rear sides. The snake belly 52 covers the front side of the upper rail 53 and the upper spline shaft 33. The snake belly 52 extends and retracts in response to the left and right movements of the needle bar mechanism 6.

[0042] The needle bar mechanism 6 is located on the front side relative to the beam 5. The needle bar mechanism 6 includes a housing 60, an upper shaft 61, a transmission mechanism 62, a needle bar 63, a presser foot 64, and a presser foot motor 68 (see reference). Figure 5 The needle bar mechanism 63 can move up and down. The housing 60 is box-shaped and houses the upper shaft 61. The back of the housing 60 is connected to the upper conveyor belt 93, and the housing 60 is supported by the upper rail 53. The needle bar mechanism 6 can move left and right along the upper rail 53 inside the beam 5 by the drive of the moving mechanism 9. The upper shaft 61 extends in the left and right direction. The transmission mechanism 62 transmits the power of the upper spline shaft 33 to the upper shaft 61. The needle bar 63 extends in the up and down direction and can be fitted with a needle 65 at its lower end. The needle bar 63 is connected to the upper shaft 61 and moves up and down by the drive of the sewing machine motor 32. The presser foot 64 has a through hole through which the up and down movement of the needle 65 and the needle bar 63 corresponds, and the presser foot 64 intermittently presses the workpiece from the top. The presser foot motor 68 is a pulse motor fixed to the housing 60, which makes the presser foot 64 and the needle bar 63 move up and down synchronously.

[0043] The lifting mechanism 66 enables the needle bar mechanism 6 to move to the lower and upper positions. The lifting mechanism 66 includes a cylinder 67 (see reference). Figure 5The sewing device 1 uses a cylinder 67 as a drive source to move the needle bar mechanism 6 up and down. When the needle bar mechanism 6 is in the lower position, the needle 65 can pass through the needle receiving hole 75 when the needle bar 63 moves up and down, and can sew the workpiece. When the needle bar mechanism 6 is in the upper position, the needle bar 63 does not move up and down, and the lower end of the needle 65 and the lower end of the presser foot 64 are both above the holding mechanism 8 described later. Corresponding to the thickness of the holding mechanism 8, the sewing device 1 changes the up and down position of the needle bar mechanism 6 by moving it from the outside to the inside of the holding mechanism 8 or from the inside to the outside of the holding mechanism 8.

[0044] The shuttle mechanism 7 is located below the needle bar mechanism 6 and inside the machine base 2. The shuttle mechanism 7 includes a housing 70, a lower shaft 71, a transmission mechanism 72, and a shuttle 73. The housing 70 is box-shaped and has a needle plate 74 at its upper left end. The needle plate 74 has a needle-receiving hole 75 through which a needle 65 can be inserted. The needle-receiving hole 75 is located below the needle bar 63. The back of the housing 70 is connected to the lower conveyor belt 94. A lower spline shaft 34 is inserted into the housing 70. The housing 70 is supported by a lower rail 29. The shuttle mechanism 7 can move left and right along the lower rail 29 synchronously with the needle bar mechanism 6, driven by the moving mechanism 9. The transmission mechanism 72 transmits power from the lower spline shaft 34 to the lower shaft 71. The shuttle 73 is connected to the lower shaft 71 and rotates synchronously with the up-and-down movement of the needle bar 63, driven by the sewing machine motor 32.

[0045] The holding mechanism 8 holds the workpiece. The holding mechanism 8 has an outer frame 80, an upper plate 81, a lower plate, four sets of protrusions 84, and holes 87. The holding mechanism 8 holds the workpiece between the upper plate 81 and the lower plate. The holding mechanism 8 is symmetrical about its center in the left-right direction. The outer frame 80 is a rectangular frame that is longer in the left-right direction. The inner side of the outer frame 80 is connected to the outer periphery of the lower plate, which is also a rectangular plate that is longer in the left-right direction. The upper plate 81 and the lower plate overlap vertically on the inner side of the outer frame 80. The upper plate 81 is a rectangular plate that is longer in the left-right direction. The upper plate 81 has holes 87 that pass through vertically, and the lower plate also has holes that pass through vertically. The holes 87 and the holes in the lower plate are in the same position when viewed from above and overlap vertically. During sewing, the lower plate is located above the mounting portion 22. The hole 87 and the hole in the lower plate are set in a rectangular sewing area within the outer frame 80 of the retaining mechanism 8. The sewing device 1 forms a stitch inside the hole 87 and the hole in the lower plate according to the sewing data.

[0046] The four sets of protrusions 84 are identical in shape and are cylindrical, protruding upwards. Each set of protrusions 84 consists of a left-right pair of protrusions 84, one located on the left side of the outer frame 80 and the other on the right side of the outer frame 80. The four sets of protrusions 84 are arranged at approximately equal intervals along the longitudinal direction (front-back direction) of the retaining mechanism 8. When referring to the four sets of protrusions 84 collectively or without specifying any one of them, they are simply referred to as protrusions 84.

[0047] The conveying mechanism 10 enables the holding mechanism 8, which holds the workpiece, to move back and forth relative to the needle bar mechanism 6 and the shuttle mechanism 7. The conveying mechanism 10 includes connecting portions 78 and 79 and a pair of mounting portions 96. The lower left end of the connecting portion 78 is positioned on a guide rail at the opening 24 of the base portion 2. The lower right end of the connecting portion 79 is positioned on a guide rail at the opening 25 of the base portion 2. A pair of mounting portions 96 are provided at the front ends of the connecting portions 78 and 79. When referring to the pair of mounting portions 96 collectively or without specifying one, they are simply called mounting portions 96. Each mounting portion 96 includes a pair of left and right clamping members 98 and a cylinder 91. The pair of left and right clamping members 98 have a symmetrical structure and recesses 99 on their opposing surfaces. The recesses 99 are tapered, narrowing in width towards the rearward direction as they move away from each other. The lower surface of cylinder 91 is connected to a pair of left and right clamping members 98 of assembly part 96. The pair of clamping members 98 of assembly part 96 can move towards each other and away from each other using the power of cylinder 91. Figure 3 As in (A), by moving a pair of clamping members 98 toward each other, the assembly part 96 can clamp the protrusion 84 of the holding mechanism 8 in the left-right direction. When the pair of clamping members 98 clamp the protrusion 84 in the left-right direction, the left front and left rear portions of the protrusion 84 abut against the recess 99 of one of the clamping members 98, and the right front and right rear portions of the protrusion 84 abut against the recess 99 of the other clamping member 98. Figure 3 As in (B), by moving the pair of clamping members 98 of the assembly part 96 in a direction away from each other, the assembly part 96 can release the clamping of the protrusion 84 of the holding mechanism 8. When the pair of clamping members 98 release the clamping of the protrusion 84, the left-right distance between the pair of clamping members 98 is greater than the diameter of the protrusion 84. By clamping the protrusion 84 by the assembly part 96, the sewing device 1 is equipped with the holding mechanism 8, and by releasing the clamping of the protrusion 84 by the assembly part 96, the operator can remove the holding mechanism 8 from the sewing device 1. When the sewing device 1 assembles the holding mechanism 8 into the assembly part 96, it can form a stitch in the sewing area within the outer frame 80 of the holding mechanism 8. Hereinafter, Figure 3 The state in which the pair of clamping members 98 of the assembly part 96 shown in (A) move toward each other is called the holding state. Figure 3The state in which the pair of clamping members 98 of the assembly part 96 shown in (B) move away from each other is called the released state.

[0048] The conveying mechanism 10 has a Y motor 101 below the mounting section 22 (see reference). Figure 5 The conveying mechanism 10 includes a transmission mechanism and a pair of conveyor belts. The Y motor 101 is a pulse motor. The transmission mechanism of the conveying mechanism 10 transmits the power of the Y motor 101 to the pair of conveyor belts fixed to the connecting parts 78 and 79. The assembly part 96 moves back and forth along a pair of guide rails on the base part 2 in accordance with the rotation of the Y motor 101. In the movement direction (Y direction) of the assembly part 96, the direction relative to the needle bar mechanism 6 side of the beam part 5 is called the reversing direction (forward), and the direction opposite to the needle bar mechanism 6 side of the beam part 5 is called the conveying direction (rearward).

[0049] Detector 37 can detect whether the holding mechanism 8 is in the assembled position and transmits the information to the control unit 15 (see reference). Figure 5 The detector 37 is a magnetic sensor located near the assembly part 96 of the sewing device 1. Specifically, the detector 37 is positioned behind the connecting parts 78 and 79. The assembly position of the assembly part 96 is a predetermined position relative to the beam part 5, where the assembly part 96 can be fitted with the holding mechanism 8 in the assembly position. When the assembly part 96 is in the position corresponding to the assembly position, the detector 37 outputs an open signal when the holding mechanism 8 is in the assembly position and an open signal when the holding mechanism 8 is not in the assembly position. The operation unit 14 is supported by the left front part of the sewing device 1. The operation unit 14 includes a switch group 12 and a display unit 13. The switch group 12 inputs various instructions corresponding to the operator's operation. The display unit 13 is a liquid crystal display screen capable of displaying various images.

[0050] The rear device 240 is located behind the sewing device 1. The rear device 240 enables the holding mechanism 8 to be raised and lowered from a first height H1 to a second height H2. The rear device 240 includes a frame 281, a first lifting mechanism 241, a first support 247, detectors 217 and 218, first conveying rollers 242 and 243, a first limiting member 249, a solenoid valve 244, and detectors 221, 222, 231, and 232 (see reference). Figure 5 The frame 281 is a grid-like structure that supports the first lifting mechanism 241 from below.

[0051] The first lifting mechanism 241 is located behind the needle bar mechanism 6, and it raises and lowers the holding mechanism 8, which is conveyed by the conveying mechanism 10 to a first height H1, to a second height H2 that is different from the first height H1. The first lifting mechanism 241 is a known lifting device that can raise and lower the table 237, which has a surface parallel to the horizontal plane, according to the control signal of the PLC 200. The driving method of the first lifting mechanism 241 can be any method such as electro-hydraulic, manual hydraulic, or electric ball screw. In this embodiment, the first height H1 is the height at which the lower surface of the holding mechanism 8 becomes the upper surface of the mounting part 22 of the sewing device 1. In this embodiment, the first height H1 is higher than the second height H2. The second height H2 is the height at which the upper end of the holding mechanism 8 supported by the first support part 247 is located below the lower end of the base 21 of the sewing device 1. The first lifting mechanism 241 supports the first support part 247 from below.

[0052] The first support portion 247 can support the retaining mechanism 8 from below. The size of the first support portion 247 when viewed from above is larger than the size of the retaining mechanism 8 when viewed from above. The first support portion 247 includes multiple rod members 248, multiple rollers 239, and multiple plate portions 226. The multiple rod members 248 are configured as a frame. The multiple rod members 248 are fixed to the upper surface of the table 237. The first support portion 247 can support the left and right ends of the retaining mechanism 8 while maintaining the extended setting surface of the retaining mechanism 8 in a position that is approximately horizontal. The multiple rollers 239 are arranged in the front-back direction at the left and right ends of the first support portion 247, respectively. The rotation axis of each roller 239 faces the left-right direction. By rotating each roller 239 about its rotation axis, the retaining mechanism 8 is assisted in moving to the position (first position) where the first support portion 247 supports the retaining mechanism 8. When the first support portion 247 supports the retaining mechanism 8, the outline of the extended setting range of the first support portion 247 in a plane parallel to the horizontal plane surrounds the outline of the extended setting range of the retaining mechanism 8. When the first support portion 247 supports the retaining mechanism 8, multiple rod members 248 restrict the rearward movement of the retaining mechanism 8. Multiple plate portions 226 are respectively provided at the left and right ends of the first support portion 247 and are plate-shaped arranged in the front-rear direction. The upper end of each plate portion 226 is positioned above the upper ends of each roller 239 and each rod member 248. When the first support portion 247 supports the retaining mechanism 8, the multiple plate portions 226 restrict the left-right movement of the retaining mechanism 8.

[0053] Detectors 217 and 218 are capable of outputting detection signals to PLC 200 corresponding to whether the first support portion 247 supports the holding mechanism 8. Detectors 217 and 218 are known proximity sensors or photoelectric sensors. Detector 217 is located at the front right of the first support portion 247 and is capable of detecting the front end of the holding mechanism 8 in the first position. Detector 218 is located at the rear right of the first support portion 247 and is capable of detecting the rear end of the holding mechanism 8 in the first position. When the first support portion 247 supports the holding mechanism 8, that is, when the holding mechanism 8 is in the first position, detectors 217 and 218 output an open signal. When the first support portion 247 does not support the holding mechanism 8, that is, when the holding mechanism 8 is not in the first position, at least detector 218 outputs a closed signal.

[0054] The first conveyor rollers 242 and 243 are fixed to the rod member 248, which is located forward of the center of the first support portion 247 in the front-rear direction among the plurality of rod members 248. The first conveyor rollers 242 and 243 are arranged in the left-right direction between the left and right ends of the first support portion 247. The first conveyor rollers 242 and 243 can rotate forward or reverse according to the control signal from the PLC 200. In this specification, forward rotation means rotation in the direction of rotation when conveying the holding mechanism 8 in the conveying direction (clockwise when viewed from the right side), and reverse rotation means rotation in the direction of rotation when conveying the holding mechanism 8 in the reverse direction (counterclockwise when viewed from the right side). The drive source of the first conveyor rollers 242 and 243 is, for example, a pulse motor. The first conveyor rollers 242 and 243 convey the holding mechanism 8, which is positioned in the release position, to the first position in the conveying direction according to the control signal from the PLC 200. The release position is the position when the rear end of the holding mechanism 8 is located behind the first conveyor rollers 242 and 243. The first conveying rollers 242 and 243 convey the holding mechanism 8, which is in the first position, in the reverse direction according to the control signal from PLC200.

[0055] The first limiting member 249 is a plate-shaped member capable of limiting the forward movement of the retaining mechanism 8 supported by the first support 247 at its front end. The first limiting member 249 is fixed approximately at the center of the first support 247 in the left-right direction to the foremost of a plurality of rod members 248. The solenoid valve 267 switches the first limiting member 249 to a first limiting position that restricts the forward movement of the retaining mechanism 8 and a first retracted position that does not restrict the movement of the retaining mechanism 8, based on a control signal from the PLC 200. The upper end of the first limiting member 249 in the first limiting position is positioned above the upper end of the first limiting member 249 in the first retracted position. That is, the solenoid valve 267 raises and lowers the first limiting member 249 to the first limiting position and the first retracted position based on a control signal from the PLC 200.

[0056] Detector 221 outputs a detection signal to PLC 200 corresponding to whether the first support portion 247 is at a first height H1. Detector 222 outputs a detection signal to PLC 200 corresponding to whether the first support portion 247 is at a second height H2. Detectors 221 and 222 are known proximity sensors or photoelectric sensors. Detector 221 is mounted in the portion of the housing 281 corresponding to the first height H1. Detector 222 is mounted in the portion of the housing 281 corresponding to the second height H2. When the first support portion 247 is at the first height H1, detector 221 outputs an open signal; when the first support portion 247 is not at the first height H1, detector 221 outputs an closed signal. When the first support portion 247 is at the second height H2, detector 222 outputs an open signal; when the first support portion 247 is not at the second height H2, detector 222 outputs a closed signal.

[0057] Detectors 231 and 232 are cylinder sensors installed on the solenoid valve 267 that raises and lowers the first limiting member 249, and use magnetism to detect the position of the first limiting member 249. Detector 231 outputs a detection signal corresponding to whether the first limiting member 249 is in the first limiting position to the PLC 200. Detector 232 outputs a detection signal corresponding to whether the first limiting member 249 is in the first retracted position to the PLC 200. When the first limiting member 249 is in the first limiting position, detector 231 outputs an open signal; when the first limiting member 249 is not in the first limiting position, detector 231 outputs a closed signal. When the first limiting member 249 is in the first retracted position, detector 232 outputs an open signal; when the first limiting member 249 is not in the first retracted position, detector 232 outputs a closed signal.

[0058] The front device 250 is located in front of the beam 5 of the sewing device 1. The front device 250 can raise and lower the holding mechanism 8 from the second height H2 to the first height H1. The front device 250 includes a frame 282, a second lifting mechanism 251, a second support 257, detectors 211 to 213, an assembly conveying mechanism 294, a second limiting member 259, a solenoid valve 256, and detectors 223, 224, 233, and 234 (see reference). Figure 5The frame 282 is a lattice-shaped structure that supports the second lifting mechanism 251 from below. Above the second lifting mechanism 251, the frame 282 has a start switch 285 that receives instructions from the operator. The second lifting mechanism 251 is located in front of the needle bar mechanism 6, raising and lowering the holding mechanism 8, which is conveyed by the retraction mechanism 260 to a second height H2, to a first height H1. Similar to the first lifting mechanism 241, the second lifting mechanism 251 is a known lifting device capable of raising and lowering a table 238 having a surface parallel to the horizontal plane according to a control signal from the PLC 200. The second lifting mechanism 251 supports the second support portion 257 from below. In the front-rear direction, the distance between the second lifting mechanism 251 and the beam portion 5 is longer than the distance between the first lifting mechanism 241 and the beam portion 5.

[0059] The second support portion 257 has the same structure as the first support portion 247 and is capable of supporting the retaining mechanism 8. The size of the second support portion 257 when viewed from above is larger than the size of the retaining mechanism 8 when viewed from above. The second support portion 257 has the same structure as the first support portion 247, including multiple rod members 258, multiple rollers 239, and multiple plate portions 227. The multiple rod members 258 are arranged in a frame shape. The multiple rod members 258 are fixed to the upper surface of the table 238. When the second support portion 257 supports the retaining mechanism 8, the multiple rod members 258 restrict the forward movement of the retaining mechanism 8. The second support portion 257 can support the left and right ends of the retaining mechanism 8 while maintaining the extended surface of the retaining mechanism 8 in a generally horizontal position. The multiple plate portions 227 are respectively provided at the left and right ends of the second support portion 257 and are plate-shaped arranged in the front-back direction. The upper end of each plate portion 227 is positioned above the upper ends of each roller 239 and each rod member 258. When the retaining mechanism 8 is in the position supported by the second support 257 (second position), the outline of the extended range of the second support 257 in a plane parallel to the horizontal plane surrounds the outline of the extended range of the retaining mechanism 8, and the plurality of plate portions 227 restrict the movement of the retaining mechanism 8 in the left and right directions.

[0060] Detectors 211 and 212 can output detection signals corresponding to whether the second support portion 257 supports the retaining mechanism 8 to the PLC 200. Detector 213 can output detection signals corresponding to whether the assembly support portion 293 (described later) supports the retaining mechanism 8 to the PLC 200. Detectors 211 to 213 are known proximity sensors or photoelectric sensors. Detector 211 is located at the front right of the second support portion 257 and can detect the front end of the retaining mechanism 8 in the second position. Detector 212 is located at the rear right of the second support portion 257 and can detect the rear end of the retaining mechanism 8 in the second position. Detector 213 is located at the rear right of the assembly support portion 293. When the second support portion 257 supports the retaining mechanism 8, that is, when the retaining mechanism 8 is in the second position, detectors 211 and 212 output an open signal. When the second support portion 257 does not support the retaining mechanism 8, that is, when the retaining mechanism 8 is not in the second position, at least detector 211 of detectors 211 and 212 outputs a closed signal.

[0061] The assembly conveying mechanism 294 conveys the holding mechanism 8 supported by the second support 257 to the assembly position. The assembly conveying mechanism 294 includes an assembly support 293, conveying rollers 252 to 254, and rod members 292. The assembly support 293 has the same structure as the second support 257, including multiple rod members 292, multiple rollers 239, and multiple plate portions 228. The assembly support 293 is positioned in the front-rear direction between the mounting portion 22 of the sewing device 1 and the second lifting mechanism 251. The assembly support 293 fixes the frame 281 at the same height and left-right position as the second support 257 at the first height H1. The rear end of the assembly conveying mechanism 294 is located further rearward than the front end of the sewing device 1. The rear end of the assembly conveying mechanism 294 is positioned in the left-right direction between the openings 24 and 25 of the base portion 2 of the sewing device 1.

[0062] The second front conveyor rollers 252 and 253 are fixed to the rod member 258 of the second lifting mechanism 251 that is located rearward of the center of the second support portion 257 in the front-rear direction. The second front conveyor rollers 252 and 253 are arranged in the left-right direction between the left and right ends of the second support portion 257. The second front conveyor rollers 252 and 253 convey the holding mechanism 8 from the second position toward the assembly position according to the control signal from the PLC 200. The assembly position, as an example, is the position where the rear end of the holding mechanism 8 is below the beam portion 5. The second front conveyor rollers 252 and 253 convey the holding mechanism 8 in the second position along the conveying direction according to the control signal from the PLC 200.

[0063] The second rear conveyor rollers 254 and 255 are fixed to the rod member 292. The rod member 292 extends in the left-right direction and is fixed to the lower end of the assembly support 293 at a position slightly forward of the center in the front-rear direction of the assembly support 293. The second rear conveyor rollers 254 and 255 are arranged in the left-right direction between the assembly supports 293. The second rear conveyor rollers 254 and 255 convey the holding mechanism 8 toward the assembly position in the conveying direction according to the control signal from the PLC 200. As an example, the drive source for the conveyor rollers 252 to 255 is a pulse motor.

[0064] The second limiting member 259 is a plate-shaped member capable of limiting the rearward movement of the retaining mechanism 8 supported by the second support 257 at the rear end of the second support 257. The second limiting member 259 is fixed approximately at the center of the second support 257 in the left-right direction to the last of the plurality of rod members 258. The solenoid valve 256 switches the second limiting member 259 to a second limiting position that restricts the rearward movement of the retaining mechanism 8 and a second retracted position that does not restrict the movement of the retaining mechanism 8, based on a control signal from the PLC 200. The upper end of the second limiting member 259 in the second limiting position is positioned above the upper end of the second limiting member 259 in the second retracted position. That is, the solenoid valve 256 raises and lowers the second limiting member 259 to the second limiting position and the second retracted position based on a control signal from the PLC 200.

[0065] Detector 223 outputs a detection signal to PLC 200 corresponding to whether the second support portion 257 is at a first height H1. Detector 224 outputs a detection signal to PLC 200 corresponding to whether the second support portion 257 is at a second height H2. Detectors 223 and 224 are known proximity sensors or photoelectric sensors. Detector 223 is mounted in the portion of the housing 282 corresponding to the first height H1. Detector 224 is mounted in the portion of the housing 282 corresponding to the second height H2. When the second support portion 257 is at the first height H1, detector 223 outputs an open signal; when the second support portion 257 is not at the first height H1, detector 223 outputs an closed signal. When the second support portion 257 is at the second height H2, detector 224 outputs an open signal; when the second support portion 257 is not at the second height H2, detector 224 outputs a closed signal.

[0066] Detectors 233 and 234 are cylinder sensors installed on the solenoid valve 256 that raises and lowers the second limiting member 259, and use magnetism to detect the position of the second limiting member 259. Detector 233 outputs a detection signal to PLC 200 corresponding to whether the second limiting member 259 is in the second limiting position. Detector 234 outputs a detection signal to PLC 200 corresponding to whether the second limiting member 259 is in the second retracted position. When the second limiting member 259 is in the second limiting position, detector 233 outputs an open signal; when the second limiting member 259 is not in the second limiting position, detector 233 outputs a closed signal. When the second limiting member 259 is in the second retracted position, detector 234 outputs an open signal; when the second limiting member 259 is not in the second retracted position, detector 234 outputs a closed signal.

[0067] The retraction mechanism 260 conveys the holding mechanism 8, which has been raised to a second height H2 by the first lifting mechanism 241, from the rear side of the needle bar mechanism 6 to the front side of the needle bar mechanism 6 along a path that at least partly overlaps with the sewing device 1 and is located at the second height H2. The retraction mechanism 260 includes a frame 283, a retraction support 265, conveying rollers 261 to 264, detectors 214 to 216, a retraction limiting member 268, a solenoid valve 267, and detectors 235 and 236 (see reference). Figure 5 The frame 283 is a grid-like structure erected between the left and right ends of the frame 28 and the base 21 of the sewing device 1, and is supported by the frames 281 and 282. The back support 265 has the same structure as the first support 247 and includes multiple rollers 239 and multiple plate portions 229. The back support 265 is located between the first lifting mechanism 241 and the second lifting mechanism 251 in the front-rear direction. The extension range of the back support 265 in the front-rear direction overlaps with the sewing device 1. The back support 265 is arranged between the left and right ends of the frame 28 of the sewing device 1 in the left-right direction. The frames 282 and 283 fix the back support 265 at the same height and left-right position as the first support 247 and the second support 257 at the second height H2.

[0068] The forward reversing conveyor rollers 261 and 262 are fixed to the lower rear end of the frame 282. The forward reversing conveyor rollers 261 and 262 are arranged in a left-right direction between the left and right ends of the reversing support 265. The forward reversing conveyor rollers 261 and 262 convey the holding mechanism 8 toward the second position according to a control signal from the PLC 200. The backward reversing conveyor rollers 263 and 264 are fixed to a rod member (not shown). The rod member extends in a left-right direction and is fixed to the lower end of the reversing support 265 at a position slightly behind the center of the reversing support 265 in the front-rear direction. The backward reversing conveyor rollers 263 and 264 are arranged in a left-right direction between the left and right ends of the reversing support 265. The backward reversing conveyor rollers 263 and 264 convey the holding mechanism 8 in the reversing direction according to a control signal from the PLC 200. The drive source for the conveyor rollers 261 to 264 is, for example, a pulse motor.

[0069] Detectors 214 to 216 output detection signals to PLC 200 corresponding to the position of the holding mechanism 8 supported by the back-return support 265 in the back-return direction. Detectors 214 to 216 are known proximity sensors or photoelectric sensors. Detector 216 is located at the rear of the back-return support 265, detector 215 is located in the back-return support 265 at a position rearward of the back-return conveyor rollers 263 and 264, and detector 214 is located in the back-return support 265 at a position rearward of the front-return conveyor rollers 261 and 262. When the back-return support 265 does not support the holding mechanism 8, detectors 214 to 216 all output a shut-off signal.

[0070] A retraction limiting member 268 is disposed on the path at the second height H2 and is plate-shaped, capable of limiting the forward and backward movement of the holding mechanism 8. The retraction limiting member 268 is fixed to the frame 282 at approximately the center of the path in the left-right direction. The solenoid valve 267 switches the retraction limiting member 268 to a retraction retraction position (retracting from the path) and a retraction limiting position (located on the path rearward relative to the second support 257) based on a control signal from the PLC 200. The upper end of the retraction limiting member 268 in the retraction limiting position is positioned above the upper end of the retraction limiting member 268 in the retraction retraction position.

[0071] Detector 235 outputs a detection signal to PLC 200 corresponding to whether the reversing limiting member 268 is in the reversing limiting position. Detector 236 outputs a detection signal to PLC 200 corresponding to whether the reversing limiting member 268 is in the reversing avoidance position. When the reversing limiting member 268 is in the reversing limiting position, detector 235 outputs an open signal; when the reversing limiting member 268 is not in the reversing limiting position, detector 235 outputs an closed signal. When the reversing limiting member 268 is in the reversing avoidance position, detector 236 outputs an open signal; when the reversing limiting member 268 is not in the reversing avoidance position, detector 236 outputs a closed signal.

[0072] Reference Figure 5 The electrical structure of the sewing system 300 is described below. The control unit 15 of the sewing device 1 includes a CPU 16, ROM 17, RAM 18, storage device 19, communication interface (IF) 11, input IF 35, output IF 36, and drive circuits 45-50 and 58. The CPU 16 comprehensively controls the operation of the sewing device 1. The ROM 17 pre-stores programs for executing various processes. The RAM 18 temporarily stores various information generated during the execution of various processes. The storage device 19 is non-volatile and stores various setting values. The communication IF 11 is a communication module used for connecting to a public network. The sewing device 1 can connect the communication IF 11 to the starter PLC 200.

[0073] Each drive circuit 45-50, 58 is connected to output IF36. Drive circuit 45 is connected to the sewing machine motor 32 of the synchronization mechanism 31, and drives the sewing machine motor 32 using control instructions from CPU 16. Drive circuit 46 is connected to the X motor 95 of the moving mechanism 9, and drives the X motor 95 using control instructions from CPU 16. Drive circuit 47 is connected to the Y motor 101 of the conveying mechanism 10, and drives the Y motor 101 using control instructions from CPU 16. Drive circuit 48 is connected to the cylinder 67 of the up-down mechanism 66, and drives the cylinder 67 using control instructions from CPU 16. Drive circuit 49 is connected to the display unit 13, and displays various information on the display unit 13 using control instructions from CPU 16. Drive circuit 50 is connected to the presser foot motor 68, and drives the presser foot motor 68 using control instructions from CPU 16. Drive circuit 58 is connected to the cylinder 91, and drives the cylinder 91 using control instructions from CPU 16.

[0074] Power switch 20, encoders 55-57, switch group 12, detector 37, etc., are connected to input IF35. Power switch 20 connects the sewing device 1 to the power supply. Encoder 55 detects the rotational position and speed of the output shaft of the sewing machine motor 32 and inputs the detection results to input IF35. The detection results of encoder 55 indicate the vertical position of the needle bar 63 and the needle 65. Encoder 56 detects the rotational direction, position, and speed of the output shaft of the X motor 95 and inputs the detection results to input IF35. The detection results of encoder 56 indicate the horizontal position of the needle bar mechanism 6 and the shuttle mechanism 7. Encoder 57 detects the rotational direction, position, and speed of the output shaft of the Y motor 101 and inputs the detection results to input IF35. The detection results of encoder 57 indicate the forward and backward position of the assembly part 96. Switch group 12 detects various indicators and inputs the detection results to input IF35. Detector 37 inputs the detection results to input IF35.

[0075] The PLC200 includes a CPU201, ROM202, RAM203, storage device 204, communication IF207, input IF205, and output IF206. The CPU201 comprehensively controls the PLC200's operations. The ROM202 pre-stores programs for executing various processes. The RAM203 temporarily stores various information generated during the execution of these processes. The storage device 204 is non-volatile and stores various setpoints. The communication IF207 is a communication module used for connecting to a public network.

[0076] Detectors 211-218, 221-224, and 231-236 are connected to input IF205. Each detector 211-218, 221-224, and 231-236 inputs its detection result to input IF205. A start switch 285 is connected to input IF205, sending a detection signal to it. Output IF206 is connected to the first lifting mechanism 241, first conveyor rollers 242 and 243, and solenoid valve 244 of the rear device 240, outputting control signals to each device. Output IF206 is connected to the second lifting mechanism 251, conveyor rollers 252-255, and solenoid valve 256 of the front device 250, outputting control signals to each device. Output IF206 is connected to the conveyor rollers 261-264 and solenoid valve 267 of the reversing mechanism 260, outputting control signals to each device.

[0077] Reference Figures 6 to 18The main processing executed by the sewing system 300 is illustrated using the following specific example. In this example, two holding mechanisms 8 are used to sew the workpiece held by the holding mechanisms 8 sequentially. The main processing starts when the operator specifies the start of the processing. The main processing is executed collaboratively by the CPU 201 of the PLC 200 and the CPU 16 of the sewing device 1. The CPU 201 of the PLC 200 reads the program for the main processing from the ROM 202 into the RAM 203 and executes the main processing. The CPU 201 of the PLC 200 executes the main processing in parallel. Figure 7 Front device processing, Figure 9 The back-end mechanism handles, Figure 10 The processing of the rear device is as follows: The processing of the front device is related to the front device 250. The processing of the back-return mechanism is related to the back-return mechanism 260. The processing of the rear device is related to the rear device. The CPU 16 of the sewing device 1 reads the main processing program from ROM 17 into RAM 18 and executes the main processing. The CPU 16 of the sewing device 1 executes the processing in parallel with that executed by PLC 200. Figure 6 The sewing process involves forming stitches inside the hole 87 of the retaining mechanism 8 based on sewing data. Sewing data is generated to match the shape of the hole 87 of the retaining mechanism 8 and pre-stored in the storage device 19.

[0078] One of the two holding mechanisms 8 is called holding mechanism 8A, and the other is called holding mechanism 8B. For example... Figure 13 Thus, at the start of the main processing (timing A1), each structure is configured as follows: The first support portion 247 of the first lifting mechanism 241 is at a first height H1 and does not support either of the holding mechanisms 8A or 8B. The second support portion 257 of the second lifting mechanism 251 is at the first height H1 and supports the holding mechanism 8A holding the unsewn workpiece. The return support portion 265 of the return mechanism 260 supports the holding mechanism 8B holding the sewn workpiece.

[0079] The signals detected by the sewing system 300 during main processing execution, and the changes in the driving status of various elements are represented in... Figure 11 , Figure 12 middle. Figure 11 The columns use symbols (numbers) to represent detectors, the rows indicate the timing when a detection signal is output, and each cell shows the output value of the detector indicated by the symbol at the timing indicated by the timing name. The output value of each cell is indicated by ON to represent an on signal and OFF to represent a off signal. Figure 12 The columns are represented by the display objects, the rows represent the timing names when the detection signal is output, and each cell shows the value of the display object at the timing name. Figure 12The display objects include signals, conveyor rollers, and lifting mechanisms. Signals represent five signals: receiveable, assembly complete, release complete, error, and supportable. The value of each cell corresponding to a signal is ON to indicate an on signal and OFF to indicate a off signal. Conveyor rollers represent the second front (second front conveyor rollers 252, 253), the second rear (second rear conveyor rollers 254, 255), the first (first conveyor rollers 242, 243), the reverse rear (reverse rear conveyor rollers 263, 264), and the reverse front (reverse front conveyor rollers 261, 262). The value of each cell corresponding to a conveyor roller indicates its operating status through any of the following: stop, forward rotation, or reverse rotation. The lifting mechanism refers to the first (first lifting mechanism 241) and the second (second lifting mechanism 251) lifting mechanisms. The value of each cell corresponding to the lifting mechanism is represented by any one of the following: up (at the first height H1), down (at the second height H2), down (descent from the first height H1 to the second height H2), and up (ascent from the second height H2 to the first height H1).

[0080] like Figure 10 Then, CPU 201 determines whether the first lifting mechanism 241 has completed the discharge of the holding mechanism 8 (S59). When CPU 201 determines that the first support portion 247 is at the first height H1 based on the detection results of detectors 221 and 222, determines that the first support portion 247 does not support the holding mechanism 8 based on the detection results of detectors 217 and 218, and determines that the first limiting member 249 is in the first retracted position based on the detection results of detectors 231 and 232, it determines that the first lifting mechanism 241 has completed the discharge of the holding mechanism 8. CPU 201 remains in standby mode in S59 (S59: No) until the condition of S59 is met. When CPU 201 determines that... Figure 11 , Figure 12 When the value of timing A1 satisfies the condition of S59 (S59: Yes), a supportable signal ON is output to the sewing device 1 (S60). The sewing device 1 receives the supportable signal ON.

[0081] like Figure 6Thus, the CPU 16 of the sewing device 1 acquires the sewing data stored in the storage device 19 (S31). The CPU 16 controls the drive circuit 47 to move the assembly part 96 to the assembly position (S32). The CPU 16 outputs an ON signal to the PLC 200 (S33). The PLC 200 receives the ON signal and changes the state of the sewing device 1, which is set according to the signal received from the sewing device 1. The states of the sewing device 1 are: acceptable, assembleable, release complete, and error. The initial values ​​of all states of the sewing device 1 are OFF. When the CPU 201 of the PLC 200 receives the ON signal, it sets the acceptable state to ON and sets the other states to OFF. The CPU 16 determines whether the holding mechanism 8 is detected based on the detection result of the detector 37 (S34). The CPU 16 is in standby mode in S34 (S34: No) until the holding mechanism 8 is detected.

[0082] like Figure 7 Then, the CPU 201 determines whether the input signal of the start switch 285 has been detected (S1). After the operator completes the placement of the unsewn workpiece on the holding mechanism 8A supported by the second support 257 of the second lifting mechanism 251, the operator presses the start switch 285 located above the second lifting mechanism 251. The CPU 201 remains in standby mode in S1 (S1: No) until the input signal of the start switch 285 is detected. When the CPU 201 detects the input signal of the start switch 285 (S1: Yes), it determines whether to move the second limiting member 259 to the second retracted position (S2). The CPU 201 determines to move the second limiting member 259 to the second retracted position when the following conditions are met: the second support 257 supports the holding mechanism 8A according to the detection signals of detectors 211 and 212, and the second support 257 is at the first height H1 according to the detection signals of detectors 223 and 224. CPU201 remains in standby mode S2 (S2: No) until the condition of S2 is met. For example... Figure 11 , Figure 12 As in timing A1, when condition S2 is met (S2: Yes), CPU 201 outputs a control signal to solenoid valve 256, causing the second limiting member 259 to descend (S3). Through this process, the second limiting member 259 moves from the second limiting position to the second retracting position.

[0083] CPU201 determines whether to rotate conveyor rollers 252-255 forward (S4). CPU201 determines to rotate conveyor rollers 252-255 forward (S4) when the following conditions are met: the second support portion 257 supports the retaining mechanism 8 according to the detection signals from detectors 211 and 212; the second support portion 257 is at the first height H1 according to the detection signals from detectors 223 and 224; the second limiting member 259 is in the second retracted position according to the detection signals from detectors 233 and 234; and an acceptable signal ON is received from the sewing device 1, and no error signal is received from the sewing device 1. CPU201 remains in standby mode in S4 (S4: No) until the conditions of S4 are met. Figure 11 , Figure 12 As in timing A2, when condition S4 is met (S4: Yes), CPU 201 outputs a control signal to conveyor rollers 252 to 255, causing conveyor rollers 252 to 255 to begin rotating forward at the same speed as each other (S5). Through this process, the holding mechanism 8A is moved backward from the second position.

[0084] CPU 201 determines whether to stop the second front conveyor rollers 252 and 253 from rotating forward (S6). If the condition that the detector 213's detection result is an open signal is met, CPU 201 determines that the second front conveyor rollers 252 and 253 should stop rotating forward. CPU 201 remains in standby mode in S6 (S6: No) until the condition of S6 is met. Figure 11 , Figure 12 When the condition of S6 is met as in timing A3 (S6: Yes), a control signal is output to the second front conveyor rollers 252 and 253 to stop the second front conveyor rollers 252 and 253 from rotating forward (S7).

[0085] CPU 201 determines whether to lower the second support portion 257 from the first height H1 to the second height H2 (S8). CPU 201 determines to lower the second support portion 257 when the following conditions are met: the detector 213 detects an open signal, the second front conveyor rollers 252 and 253 stop, and based on the detection results of detectors 211 and 212, it is determined that the second support portion 257 is not supported by the holding mechanism 8A. CPU 201 remains in standby mode in S8 (S8: No) until the condition of S8 is met. When CPU 201 determines that the condition of S8 is met... Figure 11 , Figure 12 When the value of timing A4 satisfies the condition of S8 (S8: Yes), a control signal is output to the second lifting mechanism 251, causing the second support part 257 to descend from the first height H1 to the second height H2 (S9).

[0086] like Figure 6Thus, when the holding mechanism 8A is moved along the conveying direction by the front device 250, and the CPU 16 of the sewing device 1 detects that the holding mechanism 8A is in the assembled position in S34 (S34: Yes), it controls the drive circuit 58 to switch the assembly part 96 from the released state to the assembled state (S35). Through this process, the holding mechanism 8A can move in the front-back direction in accordance with the movement of the assembly part 96. As an example, the assembly part 96 clamps the rearmost set of four sets of protrusions 84 of the holding mechanism 8A. The CPU 16 outputs an assembly completion signal ON to the PLC 200 (S36). The PLC 200 receives the assembly completion signal ON from the sewing device 1 and updates the state of the sewing device 1.

[0087] like Figure 7 Therefore, in the next step of S9, CPU201 determines whether to stop the second rear conveyor rollers 254 and 255 from rotating forward (S10). When the detector 213 detects an open signal and receives an assembly completion signal ON from the sewing device 1, CPU201 determines to stop the second rear conveyor rollers 254 and 255 from rotating forward. CPU201 remains in standby mode in S10 (S10: No) until the condition of S10 is met. Figure 11 , Figure 12 When the value of timing A5 is met, and the condition of S10 is satisfied (S10: Yes), CPU201 outputs a control signal to the second rear conveyor rollers 254 and 255, causing the second rear conveyor rollers 254 and 255 to stop rotating forward (S11).

[0088] CPU 201 determines whether the second support portion 257 has descended to the second height H2 (S12). If, based on the detection results of detectors 223 and 224, CPU 201 determines that the condition for the second support portion 257 to be at the second height H2 is met, then CPU 201 determines that the second support portion 257 has descended to the second height H2. CPU 201 remains in standby mode in S12 (S12: No) until the condition in S12 is met. When CPU 201 determines that the condition in S12 is met... Figure 11 , Figure 12 When the value of timing A6 satisfies condition S12 (S12: Yes), a control signal is output to the second lifting mechanism 251, stopping the descent of the second support 257 (S13). Through the above processing, thus... Figure 13 The state transition at the start of the processing shown in Figure A1 is as follows: Figure 14 The state of timing B1 is shown. Figure 14Thus, at time B1, the first support portion 247 of the first lifting mechanism 241 is located at the first height H1 and is not supported by the holding mechanism 8. The sewing device 1 holds the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is located at the second height H2 and is not supported by the holding mechanism 8. The reversing mechanism 260 supports the holding mechanism 8B.

[0089] like Figure 6 In the next step of S36, the CPU16 drives the moving mechanism 9, the conveying mechanism 10, the shuttle mechanism 7, and the needle bar mechanism 6 according to the sewing data acquired in S31, to perform sewing in the sewing area corresponding to the assembly portion 96 on which the holding mechanism 8A is mounted (S37). In this embodiment, the length of the holding mechanism 8A in the front-rear direction is longer than the length of the movement range of the assembly portion 96 in the front-rear direction. The sewing area in S37 is the range from the center to the rear end of the holding mechanism 8A in the front-rear direction. The sewing device 1 forms a stitch along the hole 87 on the workpiece on the rear half of the holding mechanism 8.

[0090] like Figure 9 Then, CPU 201 determines whether to lower the retraction limiting member 268 (S81). CPU 201 determines to lower the retraction limiting member 268 if the following conditions are met: the second support portion 257 is at the second height H2 according to the detection results of detectors 223 and 224, and the second limiting member 259 is in the second retracted position according to the detection results of detectors 233 and 234. When the second support portion 257 is at the second height H2 and the second limiting member 259 is in the second retracted position, the second support portion 257 does not support the holding mechanism 8. That is, in S81, CPU 201 determines whether the second support portion 257 without support of the holding mechanism 8 is at the second height H2 based on the detection results of detectors 223, 224, 233, and 234. CPU 201 remains in standby mode in S81 (S81: No) until the condition of S81 is met. When CPU 201 determines that the condition of S81 is met... Figure 11 , Figure 12 When the value of timing B1 satisfies the condition of S81 (S81: Yes), a control signal is output to the solenoid valve 267 to lower the reversing limiting member 268 and move the reversing limiting member 268 from the reversing limiting position to the reversing retreat position (S82).

[0091] CPU201 determines whether to reverse the forward conveyor rollers 261 and 262 (S83). CPU201 determines to reverse the forward conveyor rollers 261 and 262 when the following conditions are met: the second support portion 257 is not supported by the retaining mechanism 8 according to the detection results of detectors 211 and 212; the detection results of detectors 214 and 215 are an open signal; the second support portion 257 is at the second height H2 according to the detection results of detectors 223 and 224; the second limiting member 259 is in the second retracted position according to the detection results of detectors 233 and 234; and the retraction limiting member 268 is in the retraction retracted position according to the detection results of detectors 235 and 236. CPU201 remains in standby mode in S83 (S83: No) until the conditions of S83 are met. CPU201 determines that the conditions of S83 are met. Figure 11 , Figure 12 When the value of timing B2 satisfies the condition of S83 (S83: Yes), a control signal is output to the forward conveyor rollers 261 and 262 to cause them to start reversing (S84).

[0092] like Figure 7 In the next step of S13, CPU201 determines whether to reverse the second front conveyor rollers 252 and 253 (S14). CPU201 determines to reverse the second front conveyor rollers 252 and 253 when the following conditions are met: the second support portion 257 is at the second height H2 according to the detection results of detectors 223 and 224; the detection result of detector 214 is an open signal; the second limiting member 259 is in the second retracted position according to the detection results of detectors 233 and 234; the retracting limiting member 268 is in the retracted position according to the detection results of detectors 235 and 236; and the retracting front conveyor rollers 261 and 262 are reversing. CPU201 remains in standby mode in S14 (S14: No) until the conditions of S14 are met. CPU201 determines that the conditions of S14 are met. Figure 11 , Figure 12 When the value of timing B3 satisfies the condition of S14 (S14: Yes), a control signal is output to the second front conveyor rollers 252 and 253, causing the second front conveyor rollers 252 and 253 to start reversing (S15).

[0093] like Figure 9In the next step of S84, CPU201 determines whether to stop the reverse rotation of the front conveyor rollers 261 and 262 (S85). CPU201 determines to stop the reverse rotation of the front conveyor rollers 261 and 262 when the following conditions are met: the detection results of detectors 214 and 215 are a shutdown signal; and the support holding mechanism 8 of the second support portion 257 is determined based on the detection results of detectors 211 and 212. CPU201 remains in standby mode in S85 (S85: No) until the condition of S85 is met. CPU201 determines that the condition of S85 is met. Figure 11 , Figure 12 When the value of timing B4 satisfies condition S85 (S85: Yes), a control signal is output to reverse the forward conveyor rollers 261 and 262, causing them to stop reversing (S86). CPU 201 outputs a control signal to solenoid valve 267, causing the reversing limiting member 268 to rise and move from the reversing avoidance position to the reversing limiting position (S87).

[0094] like Figure 7 Therefore, in the next step of S15, CPU201 determines whether to stop the second front conveyor rollers 252 and 253 from reversing (S16). CPU201 determines to stop the second front conveyor rollers 252 and 253 from reversing when the following conditions are met: the second support portion 257 support holding mechanism 8 is determined to be closed based on the detection results of detectors 211 and 212, and the detection result of detector 214 is a closed signal. CPU201 remains in standby mode in S16 (S16: No) until the condition of S16 is met. CPU201 determines that the condition of S16 is met. Figure 11 , Figure 12 When the value of timing B5 satisfies the condition of S16 (S16: Yes), a control signal is output to the second front conveyor rollers 252 and 253 to stop the second front conveyor rollers 252 and 253 from reversing (S17).

[0095] CPU 201 determines whether to raise the second limiting member 259 (S18). When CPU 201 determines, based on the detection results of detectors 211 and 212, that the second support portion 257 supports the retaining mechanism 8, and based on detectors 223 and 224, that the second support portion 257 is at the second height H2, it determines that the second limiting member 259 should be raised. CPU 201 remains in standby mode in S18 (S18: No) until the condition of S18 is met. When CPU 201 determines that... Figure 11 , Figure 12 When the value of timing B6 satisfies condition S18 (S18: Yes), a control signal is output to solenoid valve 256, causing the second limiting member 259 to rise and move from the second retracted position to the second limiting position (S19). Through the above processing, thereby... Figure 14The state transition at point B1 shown is to Figure 15 The state of timing C1 is shown. Figure 15 Thus, at time C1, the first support portion 247 of the first lifting mechanism 241 is at a first height H1, and the first support portion 247 does not support the holding mechanism 8. The sewing device 1 is sewing the rear half of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at a second height H2, and the second support portion 257 supports the holding mechanism 8B.

[0096] like Figure 6 Therefore, in the next step of S37, CPU 16 performs a switching gripping process (S38). CPU 16 changes the protrusion 84 held by the assembly part 96 through the switching gripping process. For example... Figure 8 In this manner, CPU 16 controls drive circuit 47 to move assembly part 96 a predetermined distance in the conveying direction (S51). CPU 16 drives cylinder 91 to switch assembly part 96 from a holding state to a releasing state (S52). CPU 16 controls drive circuit 47 to move assembly part 96 a predetermined distance in the reversing direction (S53). The predetermined distance is set, for example, based on the distance between adjacent protrusions 84 in the front-rear direction. CPU 16 drives cylinder 91 to switch assembly part 96 from a releasing state to a holding state, and a pair of assembly parts 96 clamp the third set of protrusions 84 of the four sets of protrusions 84 of holding mechanism 8 from the rear (S54). CPU 16 ends the switching gripping process and returns the process to the starting position. Figure 6 The sewing process.

[0097] like Figure 6 In the next step of S38, the CPU16, based on the sewing data acquired in S31, drives the moving mechanism 9, the conveying mechanism 10, the shuttle mechanism 7, and the needle bar mechanism 6 to perform sewing in the sewing area corresponding to the assembly part 96 where the holding mechanism 8A is mounted (S39). The sewing area of ​​S39 is the area in the front-back direction that partially overlaps with the arrangement of the sewing area in S37 relative to the outer frame 80, and is the range from the center to the front end of the holding mechanism 8A in the front-back direction. The sewing device 1 forms a stitch along the hole 87 on the workpiece on the front half of the holding mechanism 8.

[0098] like Figure 7In the next step of S19, CPU201 determines whether to raise the second support 257 from the second height H2 to the first height H1 (S20). When CPU201 determines that the second front conveyor rollers 252 and 253 have stopped, and based on the detection results of detectors 211 and 212, it determines that the second support 257 support holding mechanism 8 is in the second limiting position, and based on the detection results of detectors 233 and 234, it determines that the second support 257 should be raised from the second height H2 to the first height H1. CPU201 remains in standby mode in S20 (S20: No) until the condition of S20 is met. When CPU201 determines that... Figure 11 , Figure 12 When the value of C1 satisfies the condition of S20 (S20: Yes), a control signal is output to the second lifting mechanism 251, causing the second support 257 to rise from the second height H2 (S21).

[0099] CPU 201 determines whether the second support 257 has risen to the first height H1 based on the detection results of detectors 223 and 224 (S22). CPU 201 remains in standby mode during S22 (S22: No) until the condition of S22 is met. CPU 201 then determines that the condition of S22 is met. Figure 11 , Figure 12 When the value of C2 satisfies condition S22 (S22: Yes), a control signal is output to the second lifting mechanism 251, causing the second support 257 to stop rising (S23). The CPU 201 returns the processing to S1. Through the above processing, thus... Figure 15 The state of C1 transitions to the indicated timing. Figure 16 The state of timing D1 is shown. Figure 16 Thus, at time D1, the first support portion 247 of the first lifting mechanism 241 is at a first height H1, and the first support portion 247 supports the rear end of the holding mechanism 8. The sewing device 1 is sewing the front half of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B. The operator performs the replacement operation of removing the sewn work held by the holding mechanism 8B and keeping the unsewn work held by the holding mechanism 8B. After the replacement operation is completed, the operator presses the start switch 285.

[0100] like Figure 6Therefore, in the next step of S39, CPU16 refers to RAM18 to determine whether it has received a supportable signal ON from PLC200 (S40). When CPU16 receives the supportable signal ON from PLC200, it sets the supportable signal OFF stored in RAM18 to ON. When the supportable signal is not ON, CPU16 remains in standby mode in S40 (S40: No) until it receives the supportable signal ON. Figure 11 , Figure 12 When the supportable signal is ON (S40: Yes), as indicated by the value of D1, the CPU 16 controls the drive circuit 47 to move the assembly part 96 to the release position (S41), which switches from the holding state to the release state. In this embodiment, the release position is when the rear end of the holding mechanism 8A is behind the first conveying rollers 242 and 243. The CPU 16 controls the drive circuit 58 to switch the assembly part 96 from the holding state to the release state (S42). The CPU 16 outputs a release completion signal ON to the PLC 200 (S43). The CPU 16 changes the supportable signal ON stored in the RAM 18 to OFF. The CPU 16 returns the processing to S32.

[0101] like Figure 10 In the next step of S60, CPU201 determines whether to rotate the first conveyor rollers 242 and 243 forward (S61). CPU201 determines to rotate the first conveyor rollers 242 and 243 forward when the following conditions are met: detectors 217 and 218 indicate that the first support portion 247 is not supported by the retaining mechanism 8; detectors 221 and 222 indicate that the first support portion 247 is at the first height H1; detectors 231 and 232 indicate that the first limiting member 249 is in the first retracted position; and a release completion signal ON is received from the sewing device 1. CPU201 remains in standby mode in S61 (S61: No) until the conditions of S61 are met. Figure 11 , Figure 12 When the value of D2 satisfies the condition of S61 (S61: Yes), a control signal is output to the first conveying rollers 242 and 243 to make the first conveying rollers 242 and 243 start to rotate forward (S62).

[0102] CPU 201 determines whether to stop the first conveyor rollers 242 and 243 from rotating forward (S63). When CPU 201 determines, based on detectors 217 and 218, that the first support portion 247 supports the retaining mechanism 8, it determines that the first conveyor rollers 242 and 243 should be stopped from rotating forward. CPU 201 remains in standby mode in S63 (S63: No) until the condition of S63 is met. When CPU 201 determines that... Figure 11 , Figure 12When the value of D2 satisfies condition S63 (S63: Yes), a control signal is output to the first conveying rollers 242 and 243, causing them to stop rotating forward (S64). The CPU 201 outputs a control signal to the solenoid valve 244, causing the first limiting member 249 to rise (S65). Through this process, the first limiting member 249 moves from the first retraction position to the first limiting position. Through the above process, it moves from... Figure 16 The state transition of timing D1 shown is to Figure 17 The state of timing E1 is shown. For example... Figure 17 Thus, at time E1, the first support portion 247 of the first lifting mechanism 241 is at a first height H1, and the first support portion 247 supports the holding mechanism 8A. The sewing device 1 completes the sewing of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B.

[0103] CPU 201 determines whether to lower the first support portion 247 (S66). CPU 201 determines to lower the first support portion 247 when the following condition is met: the first support portion 247 support holding mechanism 8 and the first conveying rollers 242 and 243 have stopped, based on the detection results of detectors 217 and 218. CPU 201 remains in standby mode in S66 (S66: No) until the condition of S66 is met. CPU 201 determines that the condition of S66 is met. Figure 11 , Figure 12 When the value of timing E1 satisfies the condition of S66 (S66: Yes), a control signal is output to the first lifting mechanism 241, causing the first support part 247 to begin descending from the first height H1 (S67).

[0104] CPU 201 determines whether the first support portion 247 has descended to the second height H2 based on the detection results of detectors 221 and 222 (S68). CPU 201 remains in standby mode in S68 (S68: No) until the condition in S68 is met. CPU 201 then determines that the condition in S68 is met. Figure 11 , Figure 12 When the value of E2 satisfies the condition of S68 (S68: Yes), a control signal is output to the first lifting mechanism 241 to stop the descent of the first support 247 (S69). The CPU 201 outputs a control signal to the solenoid valve 244 to lower the first limiting member 249 (S70). Through this process, the first limiting member 249 moves from the first limiting position to the first retracting position. Through the above process, from Figure 17 The state transition at the indicated timing E1 is as follows: Figure 18 The state of timing F1 is shown. Figure 18Thus, at time F1, the first support portion 247 of the first lifting mechanism 241 is at the second height H2, and the first support portion 247 supports the holding mechanism 8A. The sewing device 1 completes the sewing of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B.

[0105] like Figure 10 In the next step of S70, CPU201 determines whether to reverse the first conveyor rollers 242 and 243 (S71). CPU201 determines that the first support portion 247 supports the retaining mechanism based on the detection results of detectors 217 and 218; that the first support portion 247 is at the second height H2 based on the detection results of detectors 221 and 222; that the first limiting member 249 is in the first retracted position based on the detection results of detectors 231 and 232; that the reversing limiting member 268 is in the reversing limiting position based on the detection results of detectors 235 and 236; and that the reversing support portion is not supported by the retaining mechanism 8 based on the detection results of detectors 214 to 216. At this point, CPU201 determines that the first conveyor rollers 242 and 243 should be reversed. CPU201 remains in standby mode in S71 (S71: No) until the conditions of S71 are met. CPU201 determines that... Figure 11 , Figure 12 When the value of F1 satisfies the condition of S71 (S71: Yes), a control signal is output to the first conveying rollers 242 and 243 to cause the first conveying rollers 242 and 243 to start reversing (S72).

[0106] like Figure 9 In the next step of S87, CPU201 determines whether to reverse the back-reverse conveyor rollers 263 and 264 (S88). Based on the detection results of detectors 214-216, CPU201 determines that the back-reverse support is not supported by the retaining mechanism 8; based on the detection results of detectors 221 and 222, it determines that the first support 247 is at the second height H2; based on the detection results of detectors 231 and 232, it determines that the first limiting member 249 is in the first retracted position; based on the detection results of detectors 235 and 236, it determines that the back-reverse limiting member 268 is in the back-reverse limiting position; and it determines that the first conveyor rollers 242 and 243 are reversing. Therefore, it determines that the back-reverse conveyor rollers 263 and 264 should be reversed. CPU201 remains in standby mode in S88 (S88: No) until the conditions of S88 are met. CPU201 determines that... Figure 11 , Figure 12 When the value of F2 satisfies the condition of S88 (S88: Yes), a control signal is output to the reverse conveyor rollers 263 and 264, causing the reverse conveyor rollers 263 and 264 to start reversing (S89).

[0107] CPU 201 determines whether to reverse the forward conveyor rollers 261 and 262 (S90). When detector 215 detects an open signal and detectors 235 and 236 determine that the reverse limiting member 268 is in the reverse limiting position, CPU 201 determines that the forward conveyor rollers 261 and 262 should be reversed. CPU 201 remains in standby mode in S90 (S90: No) until the condition of S90 is met. When CPU 201 determines that... Figure 11 , Figure 12 When the value of F3 satisfies the condition of S90 (S90: Yes), a control signal is output to the forward conveyor rollers 261 and 262 to cause them to start reversing (S91).

[0108] CPU 201 determines whether to stop the reverse rotation of conveyor rollers 261 to 264 (S92). When detectors 214 and 215 show an open signal and detector 216 shows a closed signal, CPU 201 determines to stop the reverse rotation of conveyor rollers 261 to 264. CPU 201 remains in standby mode in S92 (S92: No) until the condition of S92 is met. CPU 201 determines that... Figure 11 , Figure 12 When the value of F4 satisfies the condition of S90 (S92: Yes), a control signal is output to conveyor rollers 261 to 264 to stop the reverse rotation of conveyor rollers 261 to 264 (S93). CPU201 returns the processing to S81.

[0109] like Figure 10 Therefore, in the next step of S72, CPU201 determines whether to stop the first conveyor rollers 242 and 243 from reversing (S73). If, based on the detection results of detectors 217 and 218, the first support portion 247 is not supporting the holding mechanism 8, and the detection results of detectors 214 and 215 are an open signal, CPU201 determines to stop the first conveyor rollers 242 and 243 from reversing. CPU201 remains in standby mode in S73 (S73: No) until the processing in S73 is satisfied. When CPU201 determines that... Figure 11 , Figure 12 When the condition of S73 is met as described in F4 (S73: Yes), a control signal is output to the first conveying rollers 242 and 243 to stop the first conveying rollers 242 and 243 from reversing (S74).

[0110] CPU 201 determines whether to raise the first support portion 247 from the second height H2 to the first height H1 (S75). If, based on the detection results of detectors 217 and 218, CPU 201 determines that the first support portion 247 is not supporting the holding mechanism 8 and that the first conveying rollers 242 and 243 have stopped, then CPU 201 determines that the first support portion 247 should be raised from the second height H2 to the first height H1. CPU 201 remains in standby mode in S75 (S75: No) until the condition of S75 is met. When CPU 201 determines that... Figure 11 , Figure 12 When the value of F5 satisfies the condition of S75 (S75: Yes), a control signal is output to the first lifting mechanism 241, causing the first support part 247 to rise from the second height (S76).

[0111] CPU 201 determines whether the first support portion 247 has risen to the first height H1 based on the detection results of detectors 221 and 222 (S77). CPU 201 remains in standby mode in S77 (S77: No) until the first support portion 247 rises to the first height H1. CPU 201 determines whether the first support portion 247 has risen to the first height H1. Figure 11 , Figure 12 When the value of F6 is such that the first support 247 rises to the first height H1 (S77: Yes), a control signal is output to the first lifting mechanism 241 to stop the first support 247 from rising (S78). The CPU 201 returns the processing to S59, and after determining that... Figure 11 , Figure 12 When the value of F7 satisfies condition S59 (S59: Yes), the support signal ON is output to the sewing device 1 (S60). Through the above processing, the sewing system 300... Figure 18 The state of F1 at the indicated time returns to Figure 13 The state at timing A1 is shown. However, at timing A1, the first support portion 247 of the first lifting mechanism 241 is at the first height H1, and the first support portion 247 does not support the holding mechanism 8. The sewing device 1 completes the sewing of the holding mechanism 8A. The second support portion 257 of the second lifting mechanism 251 is at the first height H1, and the second support portion 257 supports the holding mechanism 8B. The rewind mechanism 260 transitions to the state of supporting the holding mechanism 8A. The CPU 16 alternately performs the sewing process of the holding mechanism 8B and the sewing process of the holding mechanism 8A through repeatedly executed main processes.

[0112] In the sewing system 300 of the above-described embodiment, the sewing system 300, sewing device 1, needle bar mechanism 6, shuttle mechanism 7, moving mechanism 9, conveying mechanism 10, needle bar 63, needle 65, shuttle 73, assembly part 96, first lifting mechanism 241, second lifting mechanism 251, and rewind mechanism 260 are examples of the sewing system, sewing device, needle bar mechanism, shuttle mechanism, moving mechanism, conveying mechanism, needle bar, needle, shuttle, assembly part, first lifting mechanism, second lifting mechanism, and rewind mechanism, respectively. Holding mechanisms 8, 8A, and 8B are examples of holding mechanisms. The first support part 247, first limiting member 249, second support part 257, second limiting member 259, rewind limiting member 268, and assembly conveying mechanism 294 are examples of the first support part, first limiting member, second support part, second limiting member, rewind limiting member, and assembly conveying mechanism, respectively. Solenoid valve 244 is an example of a first switching part. Solenoid valve 256 is an example of a second switching part. Solenoid valve 267 is an example of a reversing switching unit.

[0113] The CPU 201 performing S66 is an example of a first lifting / lowering determination unit. The CPU 201 performing S67 is an example of a first lifting / lowering control unit. The CPU 201 performing S20 is an example of a second lifting / lowering determination unit. The CPU 201 performing S21 is an example of a second lifting / lowering control unit. The CPU 201 performing S88 is an example of a first reversal determination unit. The CPU 201 performing S89 is an example of a first reversal control unit. The CPU 201 performing S83 is an example of a second reversal determination unit. The CPU 201 performing S84 is an example of a first reversal control unit. The CPU 201 performing S82 and S87 is an example of a reversal switching control unit. The CPU 16 performing S34 is an example of an assembly determination unit. The CPU 16 performing S35 is an example of an assembly control unit. The CPU 16 performing S39 is an example of a release determination unit. The CPU 16 performing S41 and S42 is an example of a release control unit. CPU 201 performing S65 and S70 is an example of a first switching control unit. CPU 201 performing S3 and S19 is an example of a second switching control unit. CPU 16 performing S5 is an example of a transport control unit.

[0114] The sewing system 300 of the above embodiment includes a sewing device 1. The sewing device 1 includes a needle bar mechanism 6, a shuttle mechanism 7, a moving mechanism 9, and a conveying mechanism 10. The needle bar mechanism 6 has a needle bar 63, and a needle 65 can be mounted at the lower end of the needle bar 63. The needle bar mechanism 6 can move the needle bar 63 up and down. The shuttle mechanism 7 is disposed below the needle bar mechanism 6 and has a shuttle 73. The moving mechanism 9 moves the shuttle mechanism 7 and the needle bar mechanism 6 relative to the workpiece in a direction parallel to the horizontal direction to the right and in a direction opposite to the right. The conveying mechanism 10 conveys the holding mechanism 8, which holds the workpiece, in a direction parallel to the horizontal direction and intersecting the right and in a direction opposite to the front. The sewing device 1 moves the shuttle mechanism 7 and the needle bar mechanism 6 relative to the holding mechanism 8 to the right and left via the moving mechanism 9, and the conveying mechanism 10 conveys the holding mechanism 8 forward and backward. The shuttle 73 and the needle bar 63 operate synchronously to sew the workpiece. The conveying mechanism 10 moves the holding mechanism 8, which is positioned at a first height H1 in front of the needle bar mechanism 6, toward the rear of the needle bar mechanism 6. The sewing system 300 includes a first lifting mechanism 241, a rewinding mechanism 260, and a second lifting mechanism 251. The first lifting mechanism 241, located behind the needle bar mechanism 6, raises and lowers the holding mechanism 8, which is conveyed by the conveying mechanism 10 at the first height H1, to a second height H2, different from the first height H1. The rewinding mechanism 260 conveys the holding mechanism 8, raised to the second height H2 by the first lifting mechanism 241, from the rear of the needle bar mechanism 6 to the front of the needle bar mechanism 6 along a path that at least partially overlaps with the sewing device 1 and is located at the second height H2. The second lifting mechanism 251, located in front of the needle bar mechanism 6, raises and lowers the holding mechanism 8, which is conveyed by the rewinding mechanism 260, at the second height H2, to the first height H1.

[0115] In the sewing system 300, multiple holding mechanisms 8 are provided as described in the above embodiment. After sewing the workpiece held by one holding mechanism 8A, the sewing device 1 can sew the workpiece held by another holding mechanism 8B while the one holding mechanism 8A is moved by any of the first lifting mechanism 241, the second lifting mechanism 251, and the rewind mechanism 260. The operator can perform the work on one holding mechanism 8A while the other holding mechanism 8B is being sewn. Therefore, compared with the past, the sewing device 1 can shorten the time that sewing is stopped due to the change of workpiece. In the sewing system 300, compared with the case where the path for returning the holding mechanism 8 is arranged in a position that does not overlap vertically with the sewing device 1, the planar space required for the rewind mechanism 260 can be reduced.

[0116] The first height H1 of the sewing system 300 is higher than the second height H2. Therefore, in the sewing system 300, the backing mechanism 260 is easier to maintain compared to the case where the first height H1 is lower than the second height H2.

[0117] The sewing system 300 includes a first support portion 247 and a second support portion 257. The first support portion 247 supports the first lifting mechanism 241 in a manner that allows it to be raised and lowered, and also supports the holding mechanism 8. The second support portion 257 supports the second lifting mechanism 251 in a manner that allows it to be raised and lowered, and also supports the holding mechanism 8. The CPU 201 determines whether the first support portion 247 at a first height H1 supports the holding mechanism 8 being conveyed by the conveying mechanism 10 (S66). Corresponding to the determination made in S66 that the holding mechanism 8 is supported (S66: Yes), the CPU 201 raises and lowers the first support portion 247, causing the holding mechanism 8 to rise and fall from the first height H1 to a second height H2 (S67). The CPU 201 then determines whether the second support portion 257 at the second height H2 supports the holding mechanism 8 (S20). In accordance with the determination made in S20 regarding the support and holding mechanism 8 of the second support portion 257, CPU201 raises and lowers the second support portion 257 and raises and lowers the holding mechanism 8 from the second height H2 to the first height H1 (S21). Therefore, in the sewing system 300, it is possible to prevent the first support portion 247 from raising and lowering from the first height H1 to the second height H2 when the first support portion 247 is not supported by the holding mechanism 8. In the sewing system 300, it is possible to prevent the second support portion 257 from raising and lowering from the second height H2 to the first height H1 when the second support portion 257 is not supported by the holding mechanism 8.

[0118] In this embodiment, when the CPU 201 detects the front end and lower end of the holding mechanism 8 in the transport direction based on the detection results of detectors 217 and 218, it determines that the first support portion 247 supports the holding mechanism 8. In the sewing system 300, the possibility of determining that the first support portion 247 only supports a part of the holding mechanism 8 is that the first support portion 247 supports the holding mechanism 8 can be avoided. Therefore, in the sewing system 300, compared to a system that determines whether the first support portion 247 supports the holding mechanism 8 based on the detection results of any one of detectors 217 and 218, it is possible to appropriately determine whether the first support portion 247 supports the holding mechanism 8. Similarly, when the CPU 201 detects the front end and lower end of the holding mechanism 8 based on the detection results of detectors 211 and 212, it determines that the second support portion 257 supports the holding mechanism 8. Therefore, in the sewing system 300, compared with a system that determines whether the second support portion 257 supports the retaining mechanism 8 based on the detection result of any one of the detectors 211 and 212, it is possible to appropriately determine whether the second support portion 257 supports the retaining mechanism 8.

[0119] The CPU 201 of the sewing system 300 determines whether the first support portion 247 of the support and holding mechanism 8 is at the second height H2 (S88). Corresponding to the determination that the first support portion 247 of the support and holding mechanism 8 is at the second height H2 (S88: Yes), the CPU 201 drives the rewinding mechanism 260 to transport the holding mechanism 8 supported by the first support portion 247 from the rear side of the needle bar mechanism 6 to the front side of the needle bar mechanism 6 (S89). The CPU 201 determines whether the second support portion 257 that does not support the holding mechanism 8 is at the second height H2 (S83). Corresponding to the determination that the second support portion 257 that does not support the holding mechanism 8 is at the second height H2 (S83: Yes), the CPU 201 drives the rewinding mechanism 260 to transport the holding mechanism 8 to the second position supported by the second support portion 257 (S84). Therefore, in the sewing system 300, the following situation can be avoided: in both the state where the first support portion 247 is not at the second height H2 and the state where the first support portion 247 supporting the retaining mechanism 8 is at the second height H2, the rewind mechanism 260 can be driven to transport the retaining mechanism 8 supported by the first support portion 247. In the sewing system 300, the following situation can be avoided: in both the state where the second support portion 257 is not at the second height H2 and the state where the second support portion 257 supporting the retaining mechanism 8 is at the second height H2, the rewind mechanism 260 can be driven to transport the retaining mechanism 8 to the second position supported by the second support portion 257.

[0120] The sewing system 300 includes a back-retraction limiting member 268 and a solenoid valve 267. The back-retraction limiting member 268 is disposed on a path located at a second height H2 and can limit the forward movement of the holding mechanism 8. The path extends in the front-rear direction. The solenoid valve 267 switches the back-retraction limiting member 268 to a back-retraction position that avoids the path and a back-retraction limiting position disposed on the path relative to the rear side of the second support 257. The CPU 201 drives the solenoid valve 267 to switch the back-retraction limiting member 268 from the back-retraction limiting position to the back-retraction position (S82) in accordance with the determination (S83: Yes, S85: Yes) that the second support 257 of the unsupported holding mechanism 8 is at the second height H2. The CPU 201 drives the solenoid valve 267 to switch the back-retraction limiting member 268 from the back-retraction position to the back-retraction limiting position (S87) in accordance with the determination (S83: Yes, S85: Yes) that the second support 257 of the supported holding mechanism 8 is at the second height H2. The CPU 201, in accordance with the determination that the second support portion 257 of the unsupported holding mechanism 8 is at the second height H2 and the condition that the retraction limiting member 268 is in the retraction position (S83: Yes), drives the retraction mechanism 260 to transport the holding mechanism 8 to the second position supported by the second support portion 257 (S84). In the sewing system 300, the following situation can be more reliably avoided by switching the position of the retraction limiting member 268: driving the retraction mechanism 260 to transport the holding mechanism 8 to the second position supported by the second support portion 257 in both the state where the second support portion 257 is not at the second height H2 and the state where the second support portion 257 of the holding mechanism 8 is at the second height H2.

[0121] The sewing device 1 of the sewing system 300 has a conveying mechanism 10 with an assembly part 96, which assembles the retaining mechanism 8 in a manner that allows the retaining mechanism 8 to be detached and assembled. The CPU 16 of the sewing device 1 determines whether the retaining mechanism 8 is in an assembly position at a first height H1 where the assembly part 96 can hold the retaining mechanism 8 (S34). Corresponding to the determination that the retaining mechanism 8 is in the assembly position (S34: Yes), the CPU 16 switches the assembly part 96 from a released state to an assembled state of assembling the retaining mechanism 8 in the assembly position (S35). The CPU 16 acquires sewing data for sewing within the sewing area (S31). After switching the assembly part 96 to the assembly state in S35, the CPU 16 drives the moving mechanism 9, the conveying mechanism 10, the shuttle mechanism 7, and the needle bar mechanism 6 according to the sewing data acquired in S31 to perform sewing within the sewing area (S37, S39). CPU16 determines whether the first support portion 247 of the unsupported retaining mechanism 8 is at the first height H1 (S40). Based on the supportable signal ON and corresponding to the determination made by CPU201 that the first support portion 247 of the unsupported retaining mechanism 8 is at the first height H1 (S40: Yes), CPU16 switches the assembly portion 96 from the assembled state to the released state at the released position on the rear side of the needle bar mechanism 6 (S41, S42).

[0122] Therefore, in the sewing system 300, while the assembly part 96 is in the loose state, when it is determined that the retaining mechanism 8 is positioned in the assembly position, the assembly part 96 can be automatically switched from the loose state to the assembly state. The sewing system 300 eliminates the need for the operator to instruct the assembly part 96 to switch from the loose state to the assembly state. Corresponding to the determination that the assembly part 96 is at the first height H1, the assembly part 96 can be automatically switched from the assembly state to the loose state. The sewing system 300 eliminates the need for the operator to instruct the assembly part 96 to switch from the assembly state to the loose state. In the sewing system 300, it is possible to avoid switching the assembly part 96 from the assembly state to the loose state when the first support part 247 is not at the first height H1.

[0123] The sewing system 300 includes a first limiting member 249 and a solenoid valve 244. The first limiting member 249 can limit the forward movement of the retaining mechanism 8 supported by the first support 247 at the front end of the first support 247. The solenoid valve 244 switches the first limiting member 249 to a first limiting position that limits the forward movement of the retaining mechanism 8 and a first retracted position that does not limit the movement of the retaining mechanism 8. Before the first support 247 supporting the retaining mechanism 8 rises or falls from a first height H1 to a second height H2, the CPU 201 switches the first limiting member 249 from the first retracted position to the first limiting position (S65). After the first support 247 rises or falls from the first height H1 to the second height H2, the CPU 201 switches the first limiting member 249 from the first limiting position to the first retracted position (S70). Based on the support signal being ON and the determination made by CPU 201 that the first support portion 247 of the unsupported retaining mechanism 8 is at the first height H1, and the first limiting member 249 being in the first retracted position (S40: Yes), CPU 16 switches the assembly portion 96 from the assembled state to the released state in the released position (S41, S42). In the sewing system 300, the first limiting member 249 can prevent the retaining mechanism 8 from moving forward during the process of the first support portion 247 rising and falling from the first height H1 to the second height H2.

[0124] The sewing system 300 includes an assembly conveying mechanism 294, a second limiting member 259, and a solenoid valve 256. The assembly conveying mechanism 294 can convey the retaining mechanism 8 supported by the second support 257 to the assembly position. The second limiting member 259 can restrict the rearward movement of the retaining mechanism 8 supported by the second support 257 at the rear end of the second support 257. The solenoid valve 256 switches the second limiting member 259 to a second limiting position that restricts the rearward movement of the retaining mechanism 8 and a second retracted position that does not restrict the movement of the retaining mechanism 8. The CPU 201 of the sewing system 300 can determine whether the assembly part 96 of the sewing device 1 is in an acceptable state that can retain the retaining mechanism 8 (S4). Before the second support 257 moves up and down from the second height H2 to the first height H1 while the second support 257 is supporting the retaining mechanism 8, the CPU 201 switches the second limiting member 259 from the second retracted position to the second limiting position (S19). After the second support portion 257 rises and falls from the second height H2 to the first height H1, the CPU 201 switches the first limiting member 249 from the first limiting position to the first retracted position (S3). Corresponding to the judgment made in S4 that the second limiting member 259 is in the second retracted position (S4: Yes), the CPU 201 drives the assembly conveying mechanism 294 to convey the holding mechanism 8 to the assembly position (S5). In the sewing system 300, the second limiting member 259 can prevent the holding mechanism 8 from moving backward during the process of the second support portion 257 rising and falling from the second height H2 to the first height H1. In the sewing system 300, when the assembly portion 96 of the sewing device 1 is in an acceptable state that can hold the holding mechanism 8, the holding mechanism 8 can be moved to the assembly position. In the sewing system 300, it is possible to prevent the holding mechanism 8 from colliding with another holding mechanism 8 during the sewing process when it moves to the assembly position.

[0125] The sewing device 1 of the sewing system 300 changes the protrusion 84 held by the assembly part 96 among the plurality of protrusions 84 arranged in the front-back direction of the holding mechanism 8 (S38). In S35, the CPU 16 switches the assembly part 96 from the loosened state to the assembled state, moves the assembly part 96 rearward from the assembled position after holding any one of the plurality of protrusions 84 (S51), and after moving the assembly part 96 from the assembled position to the rearward position, switches the assembly part 96 from the assembled state to the loosened state, releasing the holding of the protrusion (S52). After releasing the holding of the protrusion, the CPU 16 moves the assembly part 96 forward (S53), and after moving the assembly part 96 forward, switches the assembly part 96 from the loosened state to the assembled state, holding other protrusions different from the protrusions that were released (S54). Compared to systems without a switching gripping control unit, the sewing system 300 allows the size of the sewing device 1 in the front-to-back direction to be smaller than the range of motion of the holding mechanism 8 relative to the needle bar mechanism 6 and the shuttle mechanism 7 in the front-to-back direction.

[0126] The sewing system of the present invention can be modified in various ways beyond the above-described embodiments. The structure of the sewing device 1 can be appropriately modified. The sewing device 1 may not have the holding mechanism 8. At least one of the detectors 211-218, 221-224, and 231-236 may also be omitted. The type, configuration, number, etc., of at least one of the detectors 211-218, 221-224, and 231-236 can be appropriately modified. For example, the sewing system 300 may also include an imaging device, which detects whether the first support portion 247 is at a first height H1, a second height H2, or whether the holding mechanism 8 is supported by the image captured by the imaging device.

[0127] At least one of the limiting members 249, 259, and 268 may be omitted. The structure and configuration of at least one of the limiting members 249, 259, and 268 may be appropriately modified. The switching part that switches the position of the limiting members 249, 259, and 268 may be appropriately modified; for example, the position of the limiting members 249 and 259 may be switched using a mechanical structure. Alternatively, the sewing system 300 may not have the first support part 247, and the holding mechanism 8 may be supported by the table 237 of the first lifting mechanism 241. Alternatively, the sewing system 300 may not have the second support part 257, and the holding mechanism 8 may be supported by the table 238 of the second lifting mechanism 251.

[0128] The number of protrusions 84 in the retaining mechanism 8 can be appropriately varied. To extend the sewing area located inside the outer frame 80 in the front-to-back direction, any number of retaining mechanisms 8, such as six or eight, can be configured. Furthermore, the front-to-back arrangement of the left and right pairs of protrusions 84 does not need to be equidistant; as long as the protrusions 84 are arranged parallel to each other in a left-to-right pair, different intervals such as 400mm, 200mm, 400mm, and 300mm are possible.

[0129] The number of holding mechanisms 8 used simultaneously in the sewing system 300 can be appropriately changed. This can be done as long as the operator's position for changing the workpiece held by the holding mechanism 8 does not obstruct the sewing process of other holding mechanisms 8 based on the sewing device 1. For example, at least one of the working position and the first lifting mechanism 241 can be located on the side of the needle bar mechanism 6 relative to the beam 5, or on the opposite side relative to the needle bar mechanism 6 relative to the beam 5. The assembly conveying mechanism 294 can be appropriately omitted. The rear device 240 of the sewing system 300 can have the same conveying mechanism as the assembly conveying mechanism 294. In this case, the working position can also be the first support 247 at the first height H1. The assembly position and release position of the sewing device 1 can be appropriately changed. The operator can also manually switch the state of the assembly part. The conveying direction and reversing direction of the holding mechanism 8 can also be appropriately switched to the opposite direction depending on the work content. In this case, the control of the first lifting mechanism 241 and the second lifting mechanism 251 will also be switched. The sewing device 1 can also choose not to perform the switching gripping process depending on the magnitude of the conveying direction of the holding mechanism 8. The first height H1 can also be lower than the second height H2.

[0130] The sewing system 300 can also execute at least one of the various actions of the first lifting mechanism 241, the second lifting mechanism 251, the retraction mechanism 260, and the sewing device 1 based on the operator's instructions. For example, the first lifting mechanism 241 may raise or lower the first support portion 247 from a first height H1 to a second height H2 when the operator's instructions are detected via the switch group 12, etc. The sewing system 300 can perform at least one of the processes performed by the first lifting judgment unit, the second lifting judgment unit, the first retraction judgment unit, the second retraction judgment unit, the assembly judgment unit, and the release judgment unit of the present invention through a single judgment process, or it can perform them in stages through multiple judgment processes. The information and judgment method referenced in at least one of the processes performed by the first lifting judgment unit, the second lifting judgment unit, the first retraction judgment unit, the second retraction judgment unit, the assembly judgment unit, and the release judgment unit can be appropriately changed according to the type and configuration of the detectors provided by the sewing system 300. For example, CPU201 can determine in S81 whether the second support portion 257 of the unsupported retaining mechanism 8 is at the second height H2 based on the detection results of detectors 211, 212, 223, and 224.

[0131] The program containing instructions for instructing the sewing system 300 to perform main processing can be stored in the storage devices 19 and 207 of the sewing system 300 before the CPUs 201 and 16 execute the program. Therefore, the method of obtaining the program, the acquisition path, and the device for storing the program can all be appropriately modified. Alternatively, the program executed by the CPUs 201 and 16 can be received from other devices via cable or wireless communication and stored in non-volatile storage devices. Other devices include, for example, PCs and servers connected via a network.

[0132] Some or all of the processing performed by the sewing system 300 can also be performed by other electronic devices (e.g., ASICs) different from CPU 201 and CPU 16. The processing performed by the sewing system 300 can also be distributed by multiple electronic devices (e.g., multiple CPUs). The order of the steps in the processing performed by the sewing system 300 can be changed, steps can be omitted, or steps can be added as needed. The invention also includes a method in which an operating system (OS) or the like running on the sewing system 300 performs some or all of the processing under the instructions of CPU 201 and CPU 16.

[0133] Explanation of reference numerals in the attached figures

[0134] 1. Sewing device; 6. Needle bar mechanism; 7. Shuttle mechanism; 8. 8A, 8B: Holding mechanism; 9. Moving mechanism; 10. Conveying mechanism; 16. 201. CPU; 63. Needle bar; 65. Needle; 73. Shuttle; 84. Protrusion; 96. Assembly part; 211-218, 221-224, 231-236. Detector; 241. First lifting mechanism; 244, 256, 267. Solenoid valve; 247. First support part; 249. First limiting member; 251. Second lifting mechanism; 257. Second support part; 259. Second limiting member; 260. Reverse mechanism; 268. Reverse limiting member; 294. Assembly conveying mechanism; 300. Sewing system; H1. First height; H2. Second height.

Claims

1. A sewing system comprising a sewing device, the sewing device comprising: A needle bar mechanism having a needle bar at the lower end of which a machine needle can be mounted, and the needle bar mechanism enabling the needle bar to move up and down; A shuttle mechanism, which is disposed below the needle bar mechanism, has a shuttle; A moving mechanism that moves the shuttle mechanism and the needle bar mechanism relative to the workpiece in a first direction parallel to the horizontal direction and a second direction opposite to the first direction; as well as A conveying mechanism that conveys the holding mechanism holding the sewn object along a third direction parallel to the horizontal direction and intersecting the first direction, and a fourth direction opposite to the third direction. The sewing device uses a moving mechanism to move the shuttle mechanism and the needle bar mechanism relative to the holding mechanism along the first and second directions, and a conveying mechanism to convey the holding mechanism along the third and fourth directions. The shuttle and the needle bar move synchronously to sew the workpiece. Its characteristic is that... The conveying mechanism causes the holding mechanism, which is positioned at a first height on a third-direction side of the needle bar mechanism, to move towards a fourth-direction side of the needle bar mechanism. This sewing system has the following features: A first lifting mechanism, located on the fourth direction side of the needle bar mechanism, raises and lowers the holding mechanism of the first height conveyed by the conveying mechanism to a second height that is different from the first height; The reversing mechanism conveys the holding mechanism, which has been raised and lowered to the second height by the first lifting mechanism, from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism along a path that at least partly overlaps with the sewing device and is located at the second height; The second lifting mechanism, located on the third directional side of the needle bar mechanism, raises and lowers the holding mechanism of the second height delivered by the retraction mechanism to the first height; A first support portion, which is supported by the first lifting mechanism to be able to lift, and the first support portion is able to support the holding mechanism; The second support portion is supported by the second lifting mechanism to be able to lift and lower, and the second support portion is able to support the holding mechanism; The first lifting determination unit determines whether the first support unit at the first height supports the holding mechanism being transported by the conveying mechanism; The first lifting control unit, corresponding to the judgment made by the first lifting judgment unit that the first support unit supports the holding mechanism, causes the first support unit to lift and lower, and causes the holding mechanism to lift and lower from the first height to the second height; The second lifting determination unit determines whether the second support portion at the second height supports the holding mechanism; and The second lifting control unit, corresponding to the judgment made by the second lifting judgment unit that the second support part supports the holding mechanism, causes the second support part to rise and fall, thereby causing the holding mechanism to rise and fall from the second height to the first height.

2. The sewing system according to claim 1, characterized in that, The first height is higher than the second height.

3. The sewing system according to claim 1, characterized in that, The sewing system also features: The first reversal determination unit determines whether the first support portion supporting the holding mechanism is at the second height; The first retraction control unit, corresponding to the determination made by the first retraction judgment unit that the first support portion supporting the holding mechanism is at the second height, drives the retraction mechanism to transport the holding mechanism supported by the first support portion from the fourth direction side of the needle bar mechanism to the third direction side of the needle bar mechanism. The second reversal determination unit determines whether the second support portion that does not support the holding mechanism is at the second height; as well as The second reversal control unit, corresponding to the judgment made by the second reversal determination unit that the second support portion of the holding mechanism is at the second height, drives the reversal mechanism to transport the holding mechanism to the position supported by the second support portion.

4. The sewing system according to claim 3, characterized in that, The sewing system also features: A reversing limiting member, which is disposed on the path at the second height, is capable of restricting the movement of the retaining mechanism in the third direction; The reversal switching unit switches the reversal limiting member to a reversal retraction position that retracts from the path and a reversal limiting position that is disposed on the path relative to the second support on the fourth direction side; as well as The reversing switching control unit, corresponding to the determination made by the second reversing judgment unit that the second support portion of the holding mechanism is not supported at the second height, drives the reversing switching unit to switch the reversing limiting member from the reversing limiting position to the reversing retreating position. Conversely, corresponding to the determination made by the second lifting judgment unit that the second support portion of the holding mechanism is supported at the second height, the reversing switching unit also drives the reversing switching unit to switch the reversing limiting member from the reversing retreating position to the reversing limiting position. The second reversal control unit and the second reversal judgment unit determine that the second support portion of the retaining mechanism is at the second height and that the reversal limiting member is in the reversal retreat position, respectively, and drive the reversal mechanism to transport the retaining mechanism to the position supported by the second support portion.

5. The sewing system according to any one of claims 1 to 4, characterized in that, The conveying mechanism has an assembly section that assembles the holding mechanism in a manner that allows the holding mechanism to be detached and reassembled. The sewing system also features: An assembly judgment unit determines whether the holding mechanism is in an assembly position at the first height where the assembly unit can assemble the holding mechanism. The assembly control unit, corresponding to the determination made by the assembly judgment unit that the holding mechanism is in the assembly position, switches the assembly unit from the released state of releasing the holding mechanism to the assembly state of assembling the holding mechanism in the assembly position. The acquisition unit acquires sewing data that is being sewn within the sewing area; After the assembly control unit switches the holding mechanism to the assembly state, the sewing control unit drives the moving mechanism, the conveying mechanism, the shuttle mechanism, and the needle bar mechanism to perform sewing in the sewing area according to the sewing data acquired by the acquisition unit. The judgment unit is released, and it determines whether the first support portion that does not support the holding mechanism is at the first height; as well as The release control unit, corresponding to the release judgment unit's judgment that the first support portion of the retaining mechanism is at the first height without support, switches the assembly portion from the assembly state to the release state at the release position on the fourth direction side of the needle bar mechanism.

6. The sewing system according to claim 5, characterized in that, The sewing system also features: A first limiting member is capable of limiting the movement of the retaining mechanism supported by the first support in the third direction at the end of the first support on the third direction; The first switching unit switches the first limiting member to a first limiting position that restricts the movement of the holding mechanism in the third direction and a first retraction position that does not restrict the movement of the holding mechanism in the third direction; as well as Before the first support portion supporting the holding mechanism moves up or down from the first height to the second height, the first switching control unit switches the first limiting member from the first retracted position to the first limiting position. After the first support portion supporting the holding mechanism moves up or down from the first height to the second height, the first switching control unit switches the first limiting member from the first limiting position to the first retracted position. Corresponding to the determination made by the release control unit and the release judgment unit that the first support portion of the retaining mechanism is at the first height and the first limiting member is in the first retracted position, the assembly portion is switched from the assembly state to the release state in the release position.

7. The sewing system according to claim 6, characterized in that, The sewing system also features: The receiving and judging unit determines whether the assembly part of the sewing device is in a receptive state capable of holding the holding mechanism. An assembly conveying mechanism that conveys the holding mechanism supported by the second support portion to the assembly position; The second limiting member is capable of limiting the movement of the retaining mechanism supported by the second support in the fourth direction at the end of the second support on the fourth direction side; The second switching unit switches the second limiting member to a second limiting position that restricts the movement of the holding mechanism in the fourth direction and a second retracting position that does not restrict the movement of the holding mechanism in the fourth direction; Before the second support portion supporting the holding mechanism is raised or lowered from the second height to the first height, the second switching control unit switches the second limiting member from the second retracted position to the second limiting position. After the second support portion supporting the holding mechanism is raised or lowered from the second height to the first height, the second switching control unit switches the first limiting member from the first limiting position to the first retracted position. as well as The conveying control unit, corresponding to the receiving determination unit's determination that the state is receptive and the second limiting member being in the second retraction position, drives the assembly conveying mechanism to convey the holding mechanism to the assembly position.

8. The sewing system according to claim 5, characterized in that, The sewing system also includes a switching gripping control unit, which changes the position of the protrusion held by the assembly unit among the plurality of protrusions arranged along the third direction of the holding mechanism. The assembly control unit switches the assembly part from the released state to the assembled state, and after the assembly part holds any one of the plurality of protrusions, moves the assembly part from the assembled position to the fourth direction. After moving the assembly part from the assembly position to the fourth direction, the assembly part is switched from the assembled state to the released state, and the retention of the protrusion is released. After releasing the holding of the protrusion, the assembly part is moved in the third direction. After the assembly part is moved to the third direction, the assembly part is switched from the released state to the assembled state, and other protrusions that are different from the protrusions that have been released are retained.

Images