Sewing machine and sewing method

Abstract

The invention provides a sewing machine and a sewing method, which can stably perform holding and sewing processing of a sewing object and shorten the processing time of sewing operation. The sewing machine comprises: a holding member which is supported on the upper surface side of a sewing table, holds a sewing object in a specified surface of a positioning area, and can move; a holding member driving unit that moves the holding member; and the positioning device is used for positioning the sewing object on the upper surface side of the sewing workbench in the positioning area. The positioning device is provided with: a clamp member which extends upward from a position lower than the upper surface of the sewing table, and which clamps and holds the object to be sewn between the lower end of the clamp member and the upper surface of the sewing table; and a clamp member driving part which enables the clamp member to move between a position which is higher than the upper surface of the sewing workbench and a position which is withdrawn downwards, and enables the clamp member to move along the short side direction of the sewing object in a state that the clamp member is higher than the upper surface of the sewing workbench.

Description

Technical Field

[0001] The invention relates to a sewing machine and a sewing method. Background Art

[0002] As industrial sewing machines for sewing an object to be sewn, there are known flat seam sewing machines, zigzag sewing machines, overlock sewing machines, button sewing machines and electronic cycle sewing machines etc. In such sewing machines, sewing is performed under the state where a cloth presser foot or the clamp fixture disclosed in patent document 1 are kept to keep the object to be sewn.

[0003] [Prior art literature] [Patent Document] [Patent Document 1] Japanese Patent Application Publication No. 2017-148179. Summary of the invention

[0004] However, for example, when sewing convex parts and concave parts to the main body of a bra, in the past, since the operator used a flat-sewing sewing machine to perform sewing while holding the convex part or concave part folded at the end of the main body, the sewing machine was difficult to operate and there was a possibility that the width of the visible thread would become unstable.

[0005] The purpose of the aspect of the present invention is to stably hold and sew an object to be sewn regardless of the proficiency and technique of the operator and to shorten the processing time of the entire sewing operation.

[0006] According to a form of the present invention, a sewing machine is provided, comprising: a holding member, which is supported on the upper surface side of a sewing table and holds a sewing object in a specified plane including a sewing position directly below a sewing machine needle and a positioning area away from the sewing position and is capable of moving; a holding member driving unit, which moves the holding member; and a positioning device, which positions the sewing object on the upper surface side of the sewing table in the positioning area, the positioning device comprising: a clamping member, which extends upward from below the upper surface of the sewing table and clamps and holds the sewing object between the upper surface of the sewing table at its lower end; and a clamping member driving unit, which moves the clamping member between a position protruding above the upper surface of the sewing table and a position retreating downward, and moves the clamping member along the short side direction of the sewing object in a state where the clamping member protrudes above the upper surface of the sewing table.

[0007] According to the aspect of the present invention, the holding and sewing process of the sewing object can be stably performed, and the processing time of the entire sewing operation can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1is a perspective view showing an example of a sewing machine according to the present embodiment; Figure 2 is a perspective view showing a portion of the sewing machine of the present embodiment; Figure 3 is a perspective view showing a portion of the sewing machine of the present embodiment; Figure 4 is a perspective view showing a portion of the sewing machine of the present embodiment; Figure 5 is a perspective view showing a portion of the sewing machine of the present embodiment; Figure 6 is a perspective view showing a portion of the sewing machine of the present embodiment; Figure 7 is a perspective view showing a portion of the sewing machine of the present embodiment; Figure 8 It is a schematic diagram of the sewing object of this embodiment; Fig. 9 It is an explanatory diagram of a convex part of a sewing object according to the present embodiment; Fig.10 It is an explanatory diagram of a concave part of a sewing object according to the present embodiment; Fig.11 is a flow chart showing a sewing method according to the present embodiment; Fig.12 is a diagram for explaining the positioning method of this embodiment; Fig.13 is a diagram for explaining the positioning method of this embodiment; Fig.14 is a diagram for explaining the positioning method of this embodiment; Fig.15 is a diagram for explaining the positioning method of this embodiment; Fig.16 is a diagram for explaining the positioning method of this embodiment; Fig.17 is a diagram for explaining the positioning method of this embodiment; Fig.18 It is a diagram for explaining the positioning method of this embodiment.

[0009] [Explanation of Symbols] 1: sewing machine; 2: workbench; 3: sewing machine needle; 10: sewing machine body; 11: sewing machine frame; 11A: horizontal arm; 11B: base; 11C: vertical arm; 11D: head; 12: needle bar; 13: sewing workbench; 13A: slot; 13B: slot; 13C: slot; 13D: Y-direction positioning member; 14: supporting member; 15: holding member; 16: actuator; 17: actuator (holding member driving unit); 18: actuator (holding member driving unit); 19: cloth end Detection sensor; 19A: connecting rod member; 19B: rotating shaft member; 19C: sensor base; 19D: plunger; 20: positioning device; 20A: supporting frame; 21: X-direction positioning member (positioning member driving unit); 22: left clamp member; 22A: pressing portion; 22B: base; 22C: support arm; 23: right clamp member; 23A: pressing portion; 23B: base; 23C: support arm; 24: actuator; 25: actuator (clamp member driving unit); 26: actuator (clamp Component driving part); 27: actuator (clamp component driving part); 28: actuator (clamp component driving part); 29: adjustment member; 29A: long hole; 29B: button portion; 30: clamp unit; 31: turret clamp; 32: auxiliary presser foot; 33: turret base; 34A, 34B, 34C: clamp; 35: shaft member; 36: plunger; 37: butterfly screw; 38: connecting rod member; 40: lower plate unit; 40A: base; 41: lower plate; 41A: cutout; 41B: cutout; 41C: hole; 42: fixing screw knob; 43: lower plate auxiliary presser foot; 44: fixing screw knob; 45: contact adjustment screw; 50: operating device; 51: start button; 52: stop button; 53: operating pedal; 53A: left pedal; 53B: right pedal; 60: camera device; 70: control device; Hf: concave ring; Hm: convex ring; S: sewing object; Sb: main body; Sbr: surface; Sbw: back; Sf: concave part; Sm: convex part; T: visible thread. DETAILED DESCRIPTION

[0010] Hereinafter, the embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below may be combined as appropriate. In addition, some components may not be used.

[0011] In the present embodiment, a local coordinate system is defined for the sewing machine 1. In the following description, the local coordinate system defined for the sewing machine 1 is appropriately referred to as the sewing machine coordinate system. The sewing machine coordinate system is defined by the XYZ orthogonal coordinate system. In the present embodiment, the positional relationship of each part is described based on the sewing machine coordinate system. The direction parallel to the X-axis in the specified plane is set as the X-axis direction. The direction parallel to the Y-axis in the specified plane orthogonal to the X-axis is set as the Y-axis direction. The direction parallel to the Z-axis orthogonal to the specified plane is set as the Z-axis direction. In addition, the rotation direction or tilt direction centered on the X-axis is set as the θX direction. The rotation direction or tilt direction centered on the Y-axis is set as the θY direction. The rotation direction or tilt direction centered on the Z-axis is set as the θZ direction. In addition, in the present embodiment, the plane containing the X-axis and the Y-axis is appropriately referred to as the XY plane. The plane containing the X-axis and the Z-axis is appropriately referred to as the XZ plane. The plane containing the Y-axis and the Z-axis is appropriately referred to as the YZ plane. The XY plane is parallel to the specified plane. The XY plane, the XZ plane, and the YZ plane are orthogonal. In addition, in this embodiment, the XY plane is set to be parallel to the horizontal plane. The Z-axis direction is the up-down direction. The +Z direction is the up direction, and the -Z direction is the down direction. In addition, the XY plane may also be inclined relative to the horizontal plane.

[0012] [Sewing machine] Figure 1 It is a perspective view showing a part of the sewing machine 1 according to the present embodiment. Figures 2 to 7 1 is a perspective view showing a part of the sewing machine 1 of the present embodiment. In the present embodiment, the sewing machine 1 is an electronic cycle sewing machine. The sewing machine 1 includes: a sewing machine body 10; a positioning device 20 for positioning the sewing object S; an operating device 50 operated by an operator; a camera device 60 capable of photographing the sewing object S; and a control device 70 for controlling the sewing machine 1.

[0013] The sewing machine body 10 is mounted on the upper surface of the workbench 2. The sewing machine body 10 includes: a sewing machine frame 11; a needle bar 12 supported by the sewing machine frame 11; a sewing workbench 13, which is a needle plate supported by the sewing machine frame 11; a holding member 15 supported by the sewing machine frame 11 via a supporting member 14; an actuator 16 that generates a power to move the needle bar 12; an actuator 17 that generates a power to move the holding member 15; an actuator 18 that generates a power to move at least a part of the holding member 15; and a cloth end detection sensor 19 that detects the cloth end of the sewing object S.

[0014] The sewing machine frame 11 includes: a horizontal arm 11A extending in the Y-axis direction; a base 11B arranged below the horizontal arm 11A; a vertical arm 11C connecting the end of the +Y side of the horizontal arm 11A to the base 11B; and a head 11D arranged on the -Y side of the horizontal arm 11A.

[0015] The needle bar 12 holds the sewing machine needle 3. The needle bar 12 holds the sewing machine needle 3 so that the sewing machine needle 3 becomes parallel to the Z axis. The needle bar 12 is supported by the head 11D so as to be movable in the Z axis direction.

[0016] The sewing table 13 supports the sewing object S. The sewing table 13 supports the holding member 15. The sewing table 13 is supported by the base 11B. The sewing table 13 is arranged below the holding member 15.

[0017] like Figure 2 As shown, the sewing table 13 is formed with a slot 13A, a slot 13B, and a slot 13C for allowing a part of the positioning device 20 to advance and retreat relative to the upper surface of the sewing table 13. The slot 13A is a long hole that penetrates the sewing table 13 along the Z-axis direction and extends along the Y-axis direction. The slot 13B is a long hole that penetrates the sewing table 13 along the Z-axis direction and extends along the X-axis direction. The slot 13B is formed at a position closer to the -Y side than the end of the -Y side of the slot 13A. At least a part of the slot 13B is formed at a position closer to the -X side than the slot 13A. The slot 13C is a long hole that penetrates the sewing table 13 along the Z-axis direction and extends along the X-axis direction. The slot 13C is formed at a position closer to the +X side than the slot 13B and at a position on the extension line of the slot 13B.

[0018] In addition, a Y-direction positioning member 13D is fixedly provided on the sewing table 13. The Y-direction positioning member 13D is a convex member protruding upward from the upper surface of the sewing table 13. The Y-direction positioning member 13D is formed into a pair of track shapes extending along the X direction at positions separated by a predetermined distance from each other along the Y direction. At least a portion of the Y-direction positioning member 13D is formed at a position closer to the +X side than the slot 13A. The Y-direction positioning member 13D is formed at a position closer to the -Y side than the slot 13C. One of the pair of Y-direction positioning members 13D is formed at a position adjacent to the -Y side of the slot 13C. In addition, the Y-direction positioning member 13D is not limited to the state fixed to the sewing table 13 of the present embodiment, and as a part of the positioning device 20, it can also be provided in a state protruding from the slot formed on the sewing table 13 in the same manner as the slot 13A, the slot 13B, and the slot 13C.

[0019] Figure 1The holding member 15 shown holds the sewing object S. The holding member 15 holds the sewing object S in an XY plane including the sewing position directly below the sewing machine needle 3 and is movable. The holding member 15 holds the sewing object S in an XY plane including the prescribed imaging area directly below the imaging device 60 and is movable. While holding the sewing object S, the holding member 15 moves in an XY plane including the sewing position directly below the sewing machine needle 3 based on sewing data, thereby the sewing object S is sewn. The holding member 15 further holds the sewing object S in an XY plane including the sewing position and a prescribed positioning area away from the sewing position and is movable. The holding member 15 can hold the sewing object S positioned by the positioning device 20 described later on the sewing table 13 in the positioning area and transport it to the sewing position. The holding member 15 is supported on the upper surface side of the sewing table 13. The holding member 15 is supported by the horizontal arm 11A of the sewing machine frame 11 via the supporting member 14. The holding member 15 includes a clamp unit 30 which will be described in detail later, and a lower plate unit 40 which faces the clamp unit 30.

[0020] The actuator 16 generates power to move the needle bar 12 in the Z-axis direction. The actuator 16 includes a pulse motor. The actuator 16 is disposed on the horizontal arm 11A.

[0021] A horizontal arm shaft extending in the Y-axis direction is arranged inside the horizontal arm 11A. The actuator 16 is connected to the end of the horizontal arm shaft on the +Y side. The end of the horizontal arm shaft on the -Y side is connected to the needle bar 12 via a first power transmission mechanism arranged inside the head 11D. The horizontal arm shaft rotates by the action of the actuator 16. The power generated by the actuator 16 is transmitted to the needle bar 12 via the horizontal arm shaft and the first power transmission mechanism. As a result, the sewing machine needle 3 held by the needle bar 12 reciprocates in the Z-axis direction.

[0022] A synchronous belt extending in the Z-axis direction is arranged inside the vertical arm 11C. In addition, a base shaft extending in the Y-axis direction is arranged inside the base 11B. Pulleys are arranged on the horizontal arm shaft and the base shaft, respectively. The synchronous belt is respectively mounted on the pulley arranged on the horizontal arm shaft and the pulley arranged on the base shaft. The horizontal arm shaft and the base shaft are connected via a first power transmission mechanism including a synchronous belt.

[0023] A shuttle is arranged inside the base 11B. The shuttle contains a bobbin placed in a bobbin case. The horizontal arm shaft and the base shaft rotate respectively by the action of the actuator 16. The power generated by the actuator 16 is transmitted to the shuttle via the horizontal arm shaft, the timing belt, and the base shaft. As a result, the shuttle rotates synchronously with the reciprocating movement of the needle bar 12 in the Z-axis direction.

[0024] The actuator 17 generates power to move the holding member 15 in the XY plane. The actuator 17 includes a pulse motor. The actuator 17 includes an X-axis motor that generates power to move the holding member 15 along the X-axis direction, and a Y-axis motor that generates power to move the holding member 15 along the Y-axis direction. The actuator 17 is arranged inside the base 11B.

[0025] The power generated by the actuator 17 is transmitted to the holding member 15 via the supporting member 14. Thus, the holding member 15 can move in the X-axis direction and the Y-axis direction respectively between the sewing machine needle 3 and the sewing table 13. By the operation of the actuator 17, the holding member 15 holds the sewing object S in the XY plane including the sewing position directly below the sewing machine needle 3 and can move.

[0026] The actuator 18 generates power to move the clamp unit 30 of the holding member 15 in the Z-axis direction. The actuator 18 includes a pulse motor. When the clamp unit 30 moves in the +Z direction, the clamp unit 30 is separated from the lower plate unit 40. When the clamp unit 30 moves in the -Z direction, the sewing object S is clamped by the clamp unit 30 and the lower plate unit 40.

[0027] The cloth end detection sensor 19 detects the cloth end of the sewing object S held by the holding member 15. The detection position of the cloth end detection sensor 19 is set at the sewing position directly below the sewing needle 3 and is located upstream of the cloth feeding direction directly below the sewing needle 3. The cloth end detection sensor 19 includes, for example, a light sensor having a light emitting element that emits detection light and a light receiving element that receives reflected light. The cloth end detection sensor 19 detects the cloth end of the sewing object S and outputs the detection result to the control device 70.

[0028] like Figure 3 As shown, the cloth end detection sensor 19 is fixed to one end of the link member 19A. The link member 19A is supported on the sensor base 19C at the other end via the rotation shaft member 19B as the rotation shaft around the Z axis. The cloth end detection sensor 19 is retracted from the top of the sewing position by the rotation of the link member 19A relative to the sensor base 19C around the Z axis via the rotation shaft member 19B. The sensor base 19C is supported by the horizontal arm 11A of the sewing machine frame 11. The sensor base 19C has a plunger 19D for positioning the rotation position of the link member 19A.

[0029] Figure 1 The positioning device 20 shown is mounted on the lower surface of the sewing table 13. Figure 4 and Figure 5As shown, the positioning device 20 positions the sewing object S on the upper surface side of the sewing table 13 in a predetermined positioning area away from the sewing position directly below the sewing machine needle 3. The positioning device 20 includes a support frame 20A, an X-direction positioning member 21, a left clamp member 22, a right clamp member 23, an actuator 24 that generates a power to move the X-direction positioning member 21, an actuator 25 that generates a power to move the left clamp member 22, an actuator 26, an actuator 27 that generates a power to move the right clamp member 23, an actuator 28, and an adjustment member 29 that adjusts the position of the right clamp member 23.

[0030] The support frame 20A is fixed to the lower surface side of the sewing table 13. The support frame 20A supports the actuator 24, the actuator 25, the actuator 26, the actuator 27, the actuator 28, and the adjustment member 29.

[0031] The X-direction positioning member 21 is in the shape of a plate having an end face parallel to the YZ plane. The X-direction positioning member 21 can advance and retreat from the slot hole 13A of the sewing table 13 relative to the upper side of the upper surface of the sewing table 13. The X-direction positioning member 21 can move along the Z-axis direction between a position where the upper end protrudes above the upper surface of the sewing table 13 and a position where it retreats to a position below the upper surface of the sewing table 13. In the protruding state, the X-direction positioning member 21 positions the sewing object S in the X direction by abutting the end edge of the sewing object S against the end face on the +X side (see the following description). Fig.12 wait).

[0032] The left clamp member 22 has a pressing portion 22A extending in the X-axis direction, a base 22B arranged below the pressing portion 22A, and a support arm 22C connecting the end of the pressing portion 22A on the -X side to the base 22B. At least a portion of the pressing portion 22A and the support arm 22C can advance and retreat from the slot 13B of the sewing table 13 relative to the upper surface of the sewing table 13. The left clamp member 22 can move in the Z-axis direction between a position where the lower end of the pressing portion 22A protrudes above the upper surface of the sewing table 13 and a position where the upper end retreats to a position below the upper surface of the sewing table 13. In addition, the left clamp member 22 can move in the X-axis direction within the range in which the support arm 22C can move in the slot 13B when the lower end of the pressing portion 22A protrudes above the upper surface of the sewing table 13. The left clamp member 22 moves in the +Z direction and protrudes upward from the slot hole 13B, moves in the +X direction in the slot hole 13B, and then moves in the -Z direction, thereby clamping and holding the sewing object S between the lower end of the pressing portion 22A and the upper surface of the sewing table 13 (see the following description). Fig.13That is, the left clamp member 22 extends upward from below the upper surface of the sewing table 13 at one end side (-X side) in the short side direction (X-axis direction) of the sewing object S, and presses a part of the one end side from the upper surface.

[0033] The right clamp member 23 has a pressing portion 23A extending in the X-axis direction, a base 23B arranged below the pressing portion 23A, and a support arm 23C connecting the end of the pressing portion 23A on the +X side to the base 23B. At least a portion of the pressing portion 23A and the support arm 23C can advance and retreat from the slot 13C of the sewing table 13 relative to the upper surface of the sewing table 13. The right clamp member 23 can move in the Z-axis direction between a position where the lower end of the pressing portion 23A protrudes above the upper surface of the sewing table 13 and a position where the upper end retreats to a position below the upper surface of the sewing table 13. In addition, the right clamp member 23 can move in the X-axis direction within the range in which the support arm 23C can move in the slot 13C when the lower end of the pressing portion 23A protrudes above the upper surface of the sewing table 13. The right clamp member 23 moves in the +Z direction and protrudes upward from the slot hole 13C, moves in the -X direction in the slot hole 13C, and then moves in the -Z direction, thereby clamping and holding the sewing object S between the lower end of the pressing portion 23A and the upper surface of the sewing table 13 (see the following description). Fig.14 That is, the right clamp member 23 extends upward from below the upper surface of the sewing table 13 at the other end side (+X side) in the short side direction (X-axis direction) of the sewing object S, and presses a part of the other end side from the upper surface.

[0034] The actuator 24 generates power to move the X-direction positioning member 21 in the Z-axis direction. The actuator 24 includes, for example, a cylinder. The actuator 24 is supported by the support frame 20A. Through the action of the actuator 24, the X-direction positioning member 21 can move in the Z-axis direction between a position where the upper end protrudes above the upper surface of the sewing table 13 and a position where it retreats to a position below the upper surface of the sewing table 13.

[0035] The actuator 25 generates power to move the left clamp member 22 in the Z-axis direction. The actuator 25 includes, for example, a cylinder. The actuator 25 is supported by the support frame 20A. Through the action of the actuator 25, the left clamp member 22 can move in the Z-axis direction between a position where the lower end of the pressing portion 22A protrudes upward from the upper surface of the sewing table 13 and a position where the upper end retreats to a position below the upper surface of the sewing table 13.

[0036] The actuator 26 generates power to move the left clamp member 22 and the actuator 25 along the X-axis direction. The actuator 26 includes, for example, an electric cylinder. The actuator 26 is supported by the support frame 20A. Through the action of the actuator 26, the left clamp member 22 can move along the X-axis direction within the range in which the support arm 22C can move in the slot 13B, while the lower end of the pressing portion 22A protrudes upward from the upper surface of the sewing table 13.

[0037] The actuator 27 generates power to move the right clamp member 23 in the Z-axis direction. The actuator 27 includes, for example, a cylinder. The actuator 27 is supported by the support frame 20A. Through the action of the actuator 28, the right clamp member 23 can move in the Z-axis direction between a position where the lower end of the pressing portion 23A protrudes upward from the upper surface of the sewing table 13 and a position where the upper end retreats to a position below the upper surface of the sewing table 13.

[0038] The actuator 28 generates power to move the right clamp member 23 and the actuator 27 along the X-axis direction. The actuator 28 includes, for example, an electric cylinder. The actuator 28 is supported by the support frame 20A. Through the action of the actuator 27, the right clamp member 23 can move along the X-axis direction within the range in which the support arm 23C can move in the slot 13C, while the lower end of the pressing portion 23A protrudes upward from the upper surface of the sewing table 13.

[0039] The adjustment member 29 adjusts the position of the right clamp member 23, the actuator 27, and the actuator 28 in the X-axis direction. The adjustment member 29 has a long hole 29A formed in the support frame 20A, and a button portion 29B that can move in the long hole 29A. The long hole 29A extends along the X-axis direction. By moving the button portion 29B in the long hole 29A along the X-axis direction, the right clamp member 23, the actuator 27, and the actuator 28 move in the X-axis direction in conjunction with the movement of the button portion 29B. By adjusting the reference position of the right clamp member 23 in the X-axis direction using the adjustment member 29, the size difference of the sewing object S can be handled.

[0040] Figure 1 The clamp unit 30 shown is a unit for clamping and holding the sewing object S between the lower plate unit 40. The clamp unit 30 can move along the Z-axis direction. Figure 6 As shown, the clamp unit 30 includes a turret-shaped clamp 31 and an auxiliary presser foot 32 .

[0041] The turret clamp 31 is a member that presses the vicinity of the sewing position (e.g., the concave part Sf described later) from above in the sewing object S. The turret clamp 31 includes a turret base 33, a plurality of (three in this embodiment) clamps 34A, 34B, 34C, a shaft member 35, a plunger 36, and a butterfly screw 37.

[0042] The turret base 33 is provided in a circular or polygonal plate shape when viewed in the Z-axis direction, for example, and holds a plurality of clamps 34A, 34B, and 34C on the outer periphery. The turret base 33 is supported by the support member 14 via a shaft member 35 as a rotation axis around the Z-axis, and can rotate relative to the support member 14 around the Z-axis.

[0043] A plurality of clamps 34A, 34B, and 34C are fixed and arranged radially on the outer periphery of the turret base 33. The clamps 34A, 34B, and 34C are plate-shaped members selected one by one and used to press the vicinity of the sewing position in the sewing object S from above. The turret base 33 rotates, and any of the clamps 34A, 34B, and 34C located on the -Y side of the turret base 33 and extending in the -Y direction holds the sewing object S. The clamp 34C is the narrowest holding member among the plurality of clamps 34A, 34B, and 34C. The clamp 34A is the widest holding member among the plurality of clamps 34A, 34B, and 34C. The clamp 34B is a holding member wider than the clamp 34C and narrower than the clamp 34A. The plurality of clamps 34A, 34B, and 34C are not limited to three in the present embodiment, and may be two or four or more.

[0044] The plunger 36 and the butterfly screw 37 are provided on the support member 14. The plunger 36 positions the rotational position of the turret base 33. The butterfly screw 37 is fixed at a predetermined rotational position of the turret base 33 to restrict the rotation of the turret base 33 around the shaft member 35.

[0045] The auxiliary presser foot 32 is a member that presses a predetermined position (for example, the main body Sb described later) on the -Y side of the sewing object S from above. The auxiliary presser foot 32 is formed in a plate shape having a long side direction in the X direction and a lower end surface parallel to the XY plane. The end of the auxiliary presser foot 32 on the +X side is fixed to one end of the link member 38. The link member 38 is supported by the support member 14 at the other end.

[0046] Figure 1 The lower plate unit 40 is arranged below the clamp unit 30. Figure 7 As shown, the lower plate unit 40 includes a base 40A, a lower plate 41 , a fixing screw button 42 , a lower plate auxiliary presser foot 43 , a fixing screw button 44 and a contact adjustment screw 45 .

[0047] The lower plate 41 is detachably fixed to the base 40A. The plurality of lower plates 41 can be replaced with respect to the base 40A.

[0048] The lower plate 41 holds the sewing object S from below. The holding member 15 holds the sewing object S by clamping the sewing object S with any of the clamps 34A, 34B, and 34C of the clamp unit 30 and the auxiliary presser foot 32 and the lower plate 41 of the lower plate unit 40 .

[0049] When the clamp unit 30 moves in the +Z direction, the clamp unit 30 separates from the lower plate 41. As a result, the sewing object S can be arranged between the clamp unit 30 and the lower plate 41. When the clamp unit 30 moves in the -Z direction in a state where the sewing object S is arranged between the clamp unit 30 and the lower plate 41, the sewing object S is clamped by the clamp unit 30 and the lower plate 41. As a result, the sewing object S is held by the holding member 15. In addition, by moving the clamp unit 30 in the +Z direction, the holding of the sewing object S by the holding member 15 is released. As a result, the operator can remove the sewing object S from between the clamp unit 30 and the lower plate 41 (refer to the later described method). Fig.18 wait).

[0050] The lower plate 41 is formed with a cutout 41A, a cutout 41B, and a hole 41C. The cutout 41A is formed near the end of the lower plate 41 on the -Y side so as to extend from the end on the +X side toward the X-axis direction. When the holding member 15 moves toward the positioning device 20 side, the cutout 41A allows the slots 13B and 13C of the sewing table 13 to be exposed without being covered by the lower plate 41. The cutout 41B and the hole 41C allow the sewing table 13 directly below the sewing machine needle 3 to be exposed without being covered by the lower plate 41 when the sewing object S held by the holding member 15 is located at a predetermined sewing position directly below the sewing machine needle 3.

[0051] The fixing screw button 42 is a fixing portion for fixing the lower plate 41 to the base 40A. By loosening the screw of the fixing screw button 42, the lower plate 41 can be removed from the base 40A. The lower plate auxiliary presser foot 43 is a plate-shaped member for assisting the fixation of the lower plate 41 relative to the base 40A. The fixing screw button 44 is a fixing portion for fixing the lower plate auxiliary presser foot 43 to the base 40A and the lower plate 41. By tightening the fixing screw button 44, the lower plate 41 can be firmly fixed to the base 40A. The contact adjustment screw 45 is a screw for adjusting the distance between the lower plate 41 and the lower plate auxiliary presser foot 43 in the Z-axis direction.

[0052] Figure 1 The operating device 50 shown is operated by the operator. By operating the operating device 50, the sewing machine 1 is operated. In the present embodiment, the operating device 50 includes a start button 51, a stop button 52 and an operating pedal 53. In the present embodiment, the operating pedal 53 is a two-stage pedal having a left pedal 53A and a right pedal 53B. The operating device 50 is not limited to the example shown in the present embodiment, and may include, for example, an operating panel, etc.

[0053] The start button 51 and the stop button 52 are arranged on the upper surface of the workbench 2. The operating pedal 53 is arranged below the workbench 2. The operator operates the operating pedal 53 with his foot. When the operator operates at least one of the start button 51, the stop button 52, and the operating pedal 53, the sewing machine 1 is operated.

[0054] The camera device 60 captures an image of the sewing object S held by the holding member 15. The camera device 60 has an optical system and an image sensor for receiving light incident through the optical system. The image sensor includes a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. The camera device 60 is arranged above the sewing table 13 and the holding member 15, and captures at least a portion of the sewing object S from above. The camera device 60 captures the sewing object S and outputs an image related to the sewing object S to the control device 70.

[0055] The control device 70 outputs a control signal for controlling the sewing machine 1. The control device 70 includes a computer system. The control device 70 includes, for example, an input / output interface device, a storage device including a non-volatile memory such as a read-only memory (ROM) or a storage device and a volatile memory such as a random access memory (RAM), and a processing device including a processor such as a central processing unit (CPU).

[0056] The control device 70 is connected with: an actuator 16 for moving the sewing machine needle 3 along the Z-axis direction, an actuator 17 for moving the holding member 15 in the XY plane, an actuator 18 for moving the clamp unit 30 of the holding member 15 along the Z-axis direction, a cloth end detection sensor 19 for detecting the cloth end of the sewing object S, an actuator 24 for moving the X-direction positioning member 21 along the Z-axis direction, an actuator 25 for moving the left clamp member 22 along the Z-axis direction, an actuator 26 for moving the left clamp member 22 and the actuator 25 along the X-axis direction, an actuator 27 for moving the right clamp member 23 along the Z-axis direction, an actuator 28 for moving the right clamp member 23 and the actuator 27 along the X-axis direction, an operating device 50, and a camera device 60.

[0057] [Object to be sewn] Figure 8It is a schematic diagram of the sewing object S according to the present embodiment. Fig. 9 It is an explanatory diagram of the male component Sm of the sewing object S according to the present embodiment. Fig.10 1 is an explanatory diagram of the female part Sf of the sewing object S of the present embodiment. In the present embodiment, the sewing object S is a brassiere that is worn by fixing a hook to the back of the wearer.

[0058] like Figure 8 As shown, the sewing object S has a main body Sb to which a pair of cup parts and a pair of shoulder straps are sewn, a male part Sm, and a female part Sf. The male part Sm is sewn to the right end of the right rib cloth part of the main body Sb. In addition, the female part Sf is sewn to the left end of the left rib cloth part of the main body Sb.

[0059] like Fig. 9 As shown in FIG. 1 , a convex ring Hm is attached to the convex part Sm. As shown in the present embodiment, when there are a plurality of convex rings Hm, the convex rings Hm are attached in a longitudinal arrangement. The convex part Sm is folded so that the convex ring Hm is located at the end, and a visible line T is formed on three sides other than the side including the convex ring Hm in a state where the inner side of the folded convex part Sm is sandwiched with the right end of the right rib cloth portion of the main body Sb, thereby attaching the convex part Sm to the main body Sb. At this time, the convex ring Hm is sewn so that it is located on the back side Sbw side of the main body Sb.

[0060] like Fig.10 As shown, a concave ring Hf is installed on the concave part Sf. The concave ring Hf is installed in the same number and at the same interval as the convex ring Hm in the longitudinal direction. The concave ring Hf can be installed in multiple rows in the left-right direction. In a state where the concave ring Hf of the concave part Sf is sandwiched by the left end of the left side cloth portion of the main body Sb closer to the end side, a visible line T is formed on three sides other than the side of the concave ring Hf, thereby the concave part Sf is installed on the main body Sb. At this time, the concave ring Hf is sewn in such a way that it is located on the surface Sbr side of the main body Sb.

[0061] [Sewing method] Fig.11 It is a flowchart which shows the sewing method of this embodiment. Figures 12 to 18 It is a diagram for explaining the positioning method of this embodiment.

[0062] In the following description, the procedure for sewing the concave part Sf on the main body Sb of the sewing object S is described, but the same procedure can be used for sewing the convex part Sm. The operator selects the size of the concave part Sf to be sewn in advance, especially the size in the width direction (short side direction). Figure 6Any one of the clamps 34A, 34B, and 34C of the clamp unit 30 shown. When a clamp 34A, 34B, or 34C different from the currently configured clamps 34A, 34B, or 34C is selected, the operator loosens the butterfly screw 37, rotates the turret-shaped clamp 31 around the shaft member 35 so that the desired clamp 34A, 34B, or 34C (clamp 34C in this embodiment) faces the -Y direction, and tightens the butterfly screw 37 again.

[0063] like Fig.12 As shown, the operator operates the operating device 50 so that the X-direction positioning member 21 of the positioning device 20 is in a state of protruding upward from the upper surface of the sewing table 13. Figure 5 ) is performed, the X-direction positioning member 21 moves in the +Z direction and protrudes upward from the upper surface of the sewing table 13. Next, the sewing object S and the concave part Sf overlapped in the sewing state are placed on the sewing table 13 of the positioning device 20 for alignment. Specifically, first, the operator positions the concave part Sf on the +Y side relative to the main body Sb, so that the direction of the sewing object S is consistent with the direction of the long side of the rib cloth portion of the main body Sb along the Y-axis direction.

[0064] Next, the worker arranges the sewing object S so that the concave part Sf is located on the +X side of the X-direction positioning member 21 and on the +Y side of the Y-direction positioning member 13D. At this time, a portion of the main body Sb adjacent to the -Y side of the concave part Sf is supported by a pair of Y-direction positioning members 13D, and a small gap is formed between the pair of Y-direction positioning members 13D between the upper surface of the sewing table 13 and the sewing object S. Next, a portion of the end portion of the -Y side of the concave part Sf is aligned with a position on the extension line of the left clamp member 22 and the right clamp member 23 in the X-axis direction, and the end portion of the -X side of the concave part Sf is brought into contact with the end edge of the +X side of the X-direction positioning member 21. Thus, the sewing object S is positioned in the X-direction and Y-direction by the positioning device 20 (step S1).

[0065] like Fig.13 As shown, by the actuator 25 (refer to Figure 4 ) action, the left clamp member 22 moves in the +Z direction, the lower end of the pressing portion 22A protrudes upward from the upper surface of the sewing table 13, and the actuator 26 (refer to Figure 4) is operated, the left clamp member 22 moves in the +X direction until the pressing portion 22A reaches directly above the sewing object S. Then, by the action of the actuator 25, the left clamp member 22 moves in the -Z direction, the lower end of the pressing portion 22A pushes the upper surface of the sewing object S, and the sewing object S is clamped between the lower end of the pressing portion 22A and the upper surface of the sewing table 13.

[0066] As described above, the left clamp member 22 extends from the bottom of the sewing table 13 in the +Z direction, moves in the +X direction, and sinks in the -Z direction again, thereby clamping a part of the -X side of the sewing object S. For example, by the operator stepping on the right pedal 53B, the control device 70 controls so that a series of actions of the left clamp member 22 are continuously performed. In the case of releasing the clamping, for example, by the operator stepping on the left pedal 53A, the control device 70 controls so that the left clamp member 22 moves in the opposite direction, thereby releasing the clamping by the left clamp member 22.

[0067] like Fig.14 As shown, by the actuator 27 (refer to Figure 4 ) action, the right clamp member 23 moves in the +Z direction, the lower end of the pressing portion 23A protrudes upward from the upper surface of the sewing table 13, and the actuator 28 (refer to Figure 4 ) is operated, the right clamp member 23 moves in the -X direction until the pressing portion 23A reaches directly above the sewing object S. Next, by the operation of the actuator 26, the right clamp member 23 moves in the -Z direction, the lower end of the pressing portion 23A pushes the upper surface of the sewing object S, and the sewing object S is clamped between the lower end of the pressing portion 23A and the upper surface of the sewing table 13. Thus, the sewing object S is held by the positioning device 20 (step S2).

[0068] As described above, the right clamp member 23 extends from the bottom of the sewing table 13 in the +Z direction, moves in the -X direction, and sinks in the -Z direction again, thereby clamping a part of the +X side of the sewing object S. For example, in a state where the left clamp member 22 clamps the sewing object S, by the operator stepping on the right pedal 53B again, the control device 70 controls so that a series of actions of the left clamp member 22 are continuously performed. In the case of releasing the clamping, for example, by the operator stepping on the left pedal 53A, the control device 70 controls so that the right clamp member 23 moves in the opposite direction, thereby releasing the clamping by the right clamp member 23.

[0069] At the time when the sewing object S is held by the positioning device 20 in step S2, the holding member 15 having the clamp unit 30 and the lower plate unit 40 is Fig.15The so-called take-out position is a predetermined position between the sewing position directly below the sewing machine needle 3 and the positioning area based on the positioning device 20, and is a position for the operator to remove the sewing object S after the sewing process from the holding member 15. In this embodiment, the take-out position is a position where the cutout 41A of the lower plate 41 of the lower plate unit 40 is located on the -X side of the slot 13B and the slot 13C of the sewing table 13.

[0070] like Fig.16 As shown, by the actuator 17 (refer to Figure 1 ) action, the holding member 15 having the clamp unit 30 and the lower plate unit 40 moves in the XY plane to the upper and lower positions of the sewing object S held by the positioning device 20 (step S3). At this time, the left clamp member 22 and the right clamp member 23 relatively enter the cutout 41A so that the lower plate 41 does not interfere with the left clamp member 22 and the right clamp member 23. In addition, the lower plate 41 between the cutout 41A and the end of the lower plate 41 on the -Y side enters between a pair of Y-direction positioning members 13D. As a result, the lower plate 41 between the cutout 41A and the end of the lower plate 41 on the -Y side is inserted under the main body Sb of the sewing object S, and the lower plate 41 closer to the +Y side than the cutout 41A is inserted under the concave part Sf, and the sewing object S is supported from below by the lower plate 41.

[0071] Next, the actuator 18 (see Figure 1 ), the clamp unit 30 moves in the -Z direction, whereby the sewing object S is clamped by the clamp 34C of the clamp unit 30 and the lower plate 41 of the lower plate unit 40. Thus, the sewing object S is held by the holding member 15 having the clamp unit 30 and the lower plate unit 40 (step S4).

[0072] like Fig.17 As shown, by the actuator 24 (refer to Figure 5 ) by the action of the actuator 25 and the actuator 26, the X-direction positioning member 21 moves in the -Z direction and retreats to a position lower than the upper surface of the sewing table 13. In addition, by the action of the actuator 25 and the actuator 26, the left clamp member 22 moves in the +Z direction away from the sewing object S, moves in the -X direction and the -Z direction in sequence, and retreats to a position lower than the upper surface of the sewing table 13. In addition, by the action of the actuator 27 and the actuator 28, the right clamp member 23 moves in the +Z direction away from the sewing object S, moves in the +X direction and the -Z direction in sequence, and retreats to a position lower than the upper surface of the sewing table 13. As a result, the positioning device 20 is completely retreated to a position lower than the upper surface of the sewing table 13 (step S5).

[0073] Next, the actuator 17 (see Figure 1), the holding member 15 having the clamp unit 30 and the lower plate unit 40 moves in the XY plane and transports the sewing object S to the sewing position directly below the sewing machine needle 3 (step S6). At this time, the holding member 15 is transported so that the initial needle drop position of the sewing object S is located directly below the sewing machine needle 3.

[0074] Next, the predetermined sewing process is performed by the operation of the actuators 16 and 17 (step S7). Fig.10 As shown in FIG. 1 , in the portion where the female part Sf overlaps with the main body Sb, a visible thread T is formed on three sides other than the side on the female ring Hf side. In the sewing process, first, a visible thread T is formed on the end side on the -X side from the +Y side toward the -Y direction. Next, a visible thread T is formed on the end side on the -Y side of the female part Sf from the -X side toward the +X direction. Next, a visible thread T is formed on the end side on the +X side from the -Y side toward the +Y direction.

[0075] Here, the dimensions of the concave part Sf in the vertical direction (X-axis direction) may vary. That is, the length of the bright line T to be formed at the end edge on the -Y side of the concave part Sf may vary. The end edge on the -X side of the concave part Sf is aligned in step S1. In this embodiment, the position of the end edge on the +X side of the concave part Sf is detected using the cloth end detection sensor 19, and the control device 70 obtains the detection result. The control device 70 controls the actuator 16, the actuator 17, and the actuator 18 based on the position coordinates of the end edge on the +X side obtained, and stops the formation of the bright line to the end edge on the -Y side.

[0076] like Fig.18 As shown, when the prescribed sewing process is completed, the actuator 17 (refer to Figure 1 ) action, the holding member 15 having the clamp unit 30 and the lower plate unit 40 moves in the XY plane, and the sewing object S is moved out from the sewing position directly below the sewing machine needle 3 and transported to Fig.18 Next, the actuator 18 (see Figure 1 ) action, the clamp unit 30 moves in the +Z direction, thereby releasing the clamp 34C of the clamp unit 30 and the lower plate 41 of the lower plate unit 40 from holding the sewing object S (step S8). For example, when the operator presses the start button 51, the control device 70 controls so that a series of actions from step S3 to step S8 are continuously performed.

[0077] The operator removes the sewing object S after the sewing process from the holding member 15. In addition, in the sewing process of step S7, the operator may also perform the procedure from step S1 to step S2 until the sewing object S to be sewn next is positioned by the positioning device 20. In other words, the sewing object S after the sewing process is completed can be removed before starting step S3.

[0078] [Effect] As described above, according to the present embodiment, in the positioning area away from the sewing position directly below the sewing machine needle 3, the clamp members (left clamp member 22 and right clamp member 23) of the positioning device 20 extend upward from below the upper surface of the sewing table 13, and can clamp and hold the sewing object S between the lower end and the upper surface of the sewing table 13. The sewing object S held by the positioning device 20 can be held by the holding member 15 that can move and hold the sewing object S within a specified surface including the sewing position and the positioning area, and can be transported to the sewing position.

[0079] Thus, when sewing two fabrics, it is not necessary to perform alignment at a narrow sewing position or to perform sewing while pressing the two fabrics by the operator, and the sewing object S which has been pre-aligned in the alignment area can be transported to the sewing position by the holding member 15 in the state of being kept as it is. In addition, since the clamp member can be retreated to a position lower than the upper surface of the sewing workbench 13, it is possible to suppress the obstruction of the transport performed by the holding member 15. Therefore, the sewing object S can be stably held and sewn. In addition, since the sewing object S is easy to hold and the held state can be maintained after holding, the sewing process is easy, so the processing time of the entire sewing operation can be shortened.

[0080] [Other embodiments] The embodiments of the present application have been described above, but the present invention is not limited by the contents of these embodiments. The embodiments and modifications described above can be appropriately combined within the scope of not causing conflicts in the processing contents. In addition, the components include components that can be easily conceived by those skilled in the art, substantially the same components, and components of so-called equal ranges. Furthermore, the components can be appropriately combined. Furthermore, various omissions, substitutions or changes of components can be made within the scope of not departing from the gist of the embodiments.

[0081] For example, in each process described in the embodiment, all or part of the process described as a process performed automatically may be performed manually, or all or part of the process described as a process performed manually may be performed automatically using a known method. In addition, except for the case of special description, the information including the processing procedure, specific name, various data or parameters shown in the file or in the figure may be arbitrarily changed. For example, the various information shown in each figure is not limited to the information shown in the figure.

[0082] In addition, the components of each device shown in the figure are functional conceptual components and do not necessarily need to be physically configured as shown in the figure. That is, the specific form of the dispersion and integration of each device is not limited to the form shown in the figure, and can be configured with arbitrary unit functions or physically dispersed or integrated in whole or in part according to various loads or usage conditions. For example, the control device 70 may include a plurality of computers divided into several functions, and several functions of the computer may be possessed by a cloud server that performs various functions in the form of cloud computing.

Claims

1. A sewing machine comprising: A holding member supported on the upper surface side of the sewing table and capable of moving the sewing object within a predetermined plane including a sewing position directly below the sewing machine needle and a positioning area away from the sewing position; a holding member driving unit that moves the holding member; and A positioning device is used to position the sewing object on the upper surface side of the sewing workbench in the positioning area, The positioning device has: A clamp member extending upward from below the upper surface of the sewing table, and clamping and holding the sewing object between the lower end and the upper surface of the sewing table; as well as The clamp member driving unit moves the clamp member between a position protruding upward from the upper surface of the sewing table and a position retreating downward, and moves the clamp member along the short side direction of the sewing object when the clamp member protrudes upward from the upper surface of the sewing table.

2. The sewing machine according to claim 1, wherein: When the holding member holds the sewing object held by the clamp member, The positioning device releases the clamp member from holding the sewing object and retracts the clamp member to a position below the upper surface of the sewing table.

3. The sewing machine according to claim 1, wherein: The clamping member comprises: a first clamp member extending upward from below the upper surface of the sewing table at one end side in the short side direction of the sewing object, and pressing a part of the one end side from the upper surface; and The second clamp member extends upward from below the upper surface of the sewing table at the other end side in the short-side direction of the sewing object, and presses a part of the other end side from the upper surface.

4. The sewing machine according to claim 1, comprising: a positioning member for positioning the short side of the sewing object by abutting against an end side of one end side of the short side of the sewing object; and The positioning member driving unit moves the positioning member between a position where the positioning member protrudes upward from an upper surface of the sewing table and a position where the positioning member retreats downward.

5. The sewing machine according to claim 4, comprising: a cloth end detection sensor for detecting, at a sewing position directly below the sewing machine needle, a cloth end of the sewing object held by the holding member, which is located upstream of the sewing machine needle in the cloth feeding direction; as well as The control device stops the sewing process in the cloth feeding direction based on the detection result obtained by the cloth end detection sensor.

6. The sewing machine according to claim 1, wherein: The retaining member has: A lower plate unit including a lower plate for holding the sewing object from below; and The clamp unit is movable in a vertical direction relative to the lower plate unit and presses the sewing object from above. The clamp unit has: a turret base capable of rotating about a vertical axis; and A plurality of clamps are fixed radially and arranged on the outer periphery of the turret base, Based on the rotation position of the turret base, any one of the plurality of clamps presses the sewing object from above.

7. The sewing method in a sewing machine according to any one of claims 1 to 6, comprising: Positioning the sewing object in the positioning area using the positioning device; The sewing object is held by the clamp member; The sewing object held by the clamp member is held by the holding member; releasing the clamp member from holding the sewing object, and retracting the clamp member to a position lower than the upper surface of the sewing table; Using the holding member to transport the sewing object to the sewing position; as well as The sewing object held by the holding member is sewn at the sewing position.

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