Sewing machine and sewing method

Abstract

To stably hold a sewn article and execute sewing processing, and reduce processing time of whole sewing work.SOLUTION: A sewing machine comprises: a holding member that is supported on an upper face side of a sewing table and can move by holding a sewn article on a prescribed surface including a sewing position directly under a sewing needle and a positioning area spaced away from the sewing position; a holding member driving part to move the holding member; and a positioning device to position the sewn article on the upper face side of the sewing table in the positioning area. The positioning device comprises: a clamp member that protrudes upward from below the upper face of the sewing table and sandwiches and holds the sewn article between a bottom end of the clamp member and the upper face of the sewing table; and a clamp member driving part that moves the clamp member between a position protruding upward from the upper face of the sewing table and a position retreated downward, and moves the clamp member in a short direction of the sewn article in a state where the clamp member protrudes upward from the upper face of the sewing table.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Known industrial sewing machines for sewing an object include a lockstitch sewing machine, a zigzag sewing machine, an overlock sewing machine, a button sewing machine, an electronic cycle sewing machine, etc. In these sewing machines, sewing is performed while the object is held by a presser foot or a clamp jig such as that disclosed in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-148179 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, for example, when sewing male and female parts to the main body of a brassiere, conventionally, the operator would clamp and hold the male or female part folded into the end of the main body and use a lockstitch sewing machine to perform the sewing, which made it difficult to operate the sewing machine and could result in unstable widths of the edge stitches.

[0005] An object of the present invention is to stably hold and sew an object of a sewing work, regardless of the skill and technique of an operator, and to shorten the processing time of the entire sewing work. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a sewing machine comprising a holding member supported on an upper surface of a sewing table and capable of holding and moving an object to be sewn within a predetermined plane including a sewing position directly below the sewing needle and a positioning area spaced from the sewing position, a holding member drive unit which moves the holding member, and a positioning device which positions the object to be sewn on the upper surface side of the sewing table in the positioning area, the positioning device having a clamp member which protrudes upward from below the upper surface of the sewing table and holds the object to be sewn by clamping it between its lower end and the upper surface of the sewing table, and a clamp member drive unit which moves the clamp member between a position protruding above the upper surface of the sewing table and a position retracted downward, and which moves the clamp member in the short direction of the object to be sewn when the clamp member protrudes above the upper surface of the sewing table. Effect of the Invention

[0007] According to the aspects of the present invention, the sewing object can be held and sewn stably, and the processing time for the entire sewing work can be shortened. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing an example of a sewing machine according to the present embodiment. [Diagram 2] FIG. 2 is a perspective view showing a part of the sewing machine according to the present embodiment. [Diagram 3] FIG. 3 is a perspective view showing a part of the sewing machine according to the present embodiment. [Figure 4] FIG. 4 is a perspective view showing a part of the sewing machine according to the present embodiment. [Diagram 5] FIG. 5 is a perspective view showing a part of the sewing machine according to the present embodiment. [Figure 6] FIG. 6 is a perspective view showing a part of the sewing machine according to the present embodiment. [Figure 7] FIG. 7 is a perspective view showing a part of the sewing machine according to the present embodiment. [Figure 8] FIG. 8 is a schematic diagram of a sewing object according to the present embodiment. [Figure 9] FIG. 9 is an explanatory diagram of a male part of a sewing object according to this embodiment. [Figure 10] FIG. 10 is an explanatory diagram of a female part of a sewing object according to this embodiment. [Figure 11] FIG. 11 is a flow chart showing the sewing method according to the present embodiment. [Figure 12] FIG. 12 is a diagram for explaining the positioning method according to the present embodiment. [Figure 13] FIG. 13 is a diagram for explaining the positioning method according to the present embodiment. [Figure 14] FIG. 14 is a diagram for explaining the positioning method according to the present embodiment. [Figure 15] FIG. 15 is a diagram for explaining the positioning method according to the present embodiment. [Figure 16] FIG. 16 is a diagram for explaining the positioning method according to the present embodiment. [Figure 17] FIG. 17 is a diagram for explaining the positioning method according to the present embodiment. [Figure 18] FIG. 18 is a diagram for explaining the positioning method according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment 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 can be appropriately combined. In addition, some components may not be used.

[0010] In this 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 an XYZ orthogonal coordinate system. In this embodiment, the positional relationship of each part will be described based on the sewing machine coordinate system. The direction parallel to the X axis in a predetermined plane is defined as the X axis direction. The direction parallel to the Y axis in a predetermined plane perpendicular to the X axis is defined as the Y axis direction. The direction parallel to the Z axis perpendicular to the predetermined plane is defined as the Z axis direction. In addition, the rotation direction or tilt direction around the X axis is defined as the θX direction. The rotation direction or tilt direction around the Y axis is defined as the θY direction. The rotation direction or tilt direction around the Z axis is defined as the θZ direction. In this embodiment, the plane including the X axis and the Y axis is appropriately referred to as the XY plane. The plane including the X axis and the Z axis is appropriately referred to as the XZ plane. The plane including the Y axis and the Z axis is appropriately referred to as the YZ plane. The XY plane is parallel to the predetermined plane. The XY plane, the XZ plane, and the YZ plane are orthogonal to each other. In this embodiment, the XY plane and the horizontal plane are parallel to each other. The Z axis direction is the up-down direction. The +Z direction is the upward direction, and the -Z direction is the downward direction. The XY plane may be inclined with respect to the horizontal plane.

[0011] [sewing machine] Fig. 1 is a perspective view showing a part of a sewing machine 1 according to this embodiment. Figs. 2 to 7 are perspective views showing a part of the sewing machine 1 according to this embodiment. In this embodiment, the sewing machine 1 is an electronic cycle sewing machine. The sewing machine 1 includes a sewing machine main body 10, a positioning device 20 for positioning a sewing object S, an operation device 50 operated by an operator, an imaging device 60 capable of imaging the sewing object S, and a control device 70 for controlling the sewing machine 1.

[0012] Sewing machine body 10 is mounted on the upper surface of table 2. Sewing machine body 10 has sewing machine frame 11, needle bar 12 supported by sewing machine frame 11, sewing table 13 which is a needle plate supported by sewing machine frame 11, holding member 15 supported by sewing machine frame 11 via support member 14, actuator 16 which generates power to move needle bar 12, actuator 17 which generates power to move holding member 15, actuator 18 which generates power to move at least a part of holding member 15, and cloth edge detection sensor 19 which detects the cloth edge of sewing object S.

[0013] The sewing machine frame 11 has a horizontal arm 11A extending in the Y-axis direction, a bed 11B arranged below the horizontal arm 11A, a vertical arm 11C connecting the +Y side end of the horizontal arm 11A to the bed 11B, and a head 11D arranged on the -Y side of the horizontal arm 11A.

[0014] Needle bar 12 holds sewing needle 3. Needle bar 12 holds sewing needle 3 so that sewing needle 3 is parallel to the Z-axis. Needle bar 12 is supported by head 11D so as to be movable in the Z-axis direction.

[0015] The sewing table 13 supports a sewing object S. The sewing table 13 supports a holding member 15. The sewing table 13 is supported by a bed 11B. The sewing table 13 is disposed below the holding member 15.

[0016] As shown in FIG. 2, the sewing table 13 is formed with slots 13A, 13B, and 13C through which a part of the positioning device 20 advances and retreats above the upper surface of the sewing table 13. The slot 13A is an elongated hole that penetrates the sewing table 13 in the Z-axis direction and extends in the Y-axis direction. The slot 13B is an elongated hole that penetrates the sewing table 13 in the Z-axis direction and extends in the X-axis direction. The slot 13B is formed at a position on the -Y side of the -Y end of the slot 13A. At least a part of the slot 13B is formed at a position on the -X side of the slot 13A. The slot 13C is an elongated hole that penetrates the sewing table 13 in the Z-axis direction and extends in the X-axis direction. The slot 13C is formed at a position on the +X side of the slot 13B, on the extension of the slot 13B.

[0017] Further, a Y-direction positioning member 13D is fixed to 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 in the shape of a pair of rails extending in the X direction at positions spaced apart from each other by a predetermined distance in the Y direction. At least a part of the Y-direction positioning member 13D is formed at a position on the +X side of the slot 13A. The Y-direction positioning member 13D is formed at a position on the -Y side of 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. Note that the Y-direction positioning member 13D is not limited to being fixed to the sewing table 13 of this embodiment, and may be provided as a part of the positioning device 20 in a manner protruding from a slot formed in the sewing table 13 similar to the slots 13A, 13B, and 13C.

[0018] The holding member 15 shown in FIG. 1 holds the sewing object S. The holding member 15 can move while holding the sewing object S in an XY plane including a sewing position directly below the sewing needle 3. The holding member 15 can move while holding the sewing object S in an XY plane including a predetermined image capturing area directly below the image capturing device 60. With the holding member 15 holding the sewing object S, the holding member 15 moves in an XY plane including a sewing position directly below the sewing needle 3 based on sewing data, whereby the sewing object S is sewn. The holding member 15 can also move while holding the sewing object S in an XY plane including a sewing position and a predetermined positioning area spaced apart from the sewing position. The holding member 15 can hold the sewing object S positioned by a 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 a horizontal arm 11A of the sewing machine frame 11 via a support member 14. The holding member 15 has a clamp unit 30 , which will be described in detail later, and a lower plate unit 40 facing the clamp unit 30 .

[0019] 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.

[0020] A horizontal arm shaft extending in the Y-axis direction is disposed inside horizontal arm 11A. Actuator 16 is connected to the +Y side end of the horizontal arm shaft. The -Y side end of the horizontal arm shaft is connected to needle bar 12 via a first power transmission mechanism disposed inside head 11D. Operation of actuator 16 rotates the horizontal arm shaft. Power generated by actuator 16 is transmitted to needle bar 12 via the horizontal arm shaft and the first power transmission mechanism. As a result, sewing machine needle 3 held by needle bar 12 moves back and forth in the Z-axis direction.

[0021] A timing belt extending in the Z-axis direction is disposed inside the vertical arm 11C. A bed shaft extending in the Y-axis direction is disposed inside the bed 11B. A pulley is disposed on each of the horizontal arm shaft and the bed shaft. The timing belt is hung on each of the pulleys disposed on the horizontal arm shaft and the bed shaft. The horizontal arm shaft and the bed shaft are connected via a first power transmission mechanism including the timing belt.

[0022] A shuttle is disposed inside bed 11B. A bobbin placed in a bobbin case is housed in the shuttle. The horizontal arm shaft and the bed shaft are each rotated by the operation of actuator 16. Power generated by actuator 16 is transmitted to the shuttle via the horizontal arm shaft, a timing belt, and the bed shaft. As a result, the shuttle rotates in synchronization with the reciprocating movement of needle bar 12 in the Z-axis direction.

[0023] Actuator 17 generates power to move holding member 15 in the XY plane. Actuator 17 includes a pulse motor. Actuator 17 includes an X-axis motor that generates power to move holding member 15 in the X-axis direction, and a Y-axis motor that generates power to move holding member 15 in the Y-axis direction. Actuator 17 is disposed inside bed 11B.

[0024] The power generated by the actuator 17 is transmitted to the holding member 15 via the support member 14. This allows the holding member 15 to move in both the X-axis direction and the Y-axis direction between the sewing needle 3 and the sewing table 13. By operating the actuator 17, the holding member 15 can move while holding the sewing object S within the XY plane that includes the sewing position directly below the sewing needle 3.

[0025] 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 and the lower plate unit 40 are separated from each other. When the clamp unit 30 moves in the -Z direction, the sewing workpiece S is sandwiched between the clamp unit 30 and the lower plate unit 40.

[0026] The cloth edge detection sensor 19 detects the cloth edge of the sewing object S held by the holding member 15. The detection position of the cloth edge detection sensor 19 is set upstream of the sewing position directly below the sewing needle 3 in the cloth feed direction. The cloth edge detection sensor 19 includes, for example, an optical sensor having a light emitting element that emits detection light and a light receiving element that receives reflected light. The cloth edge detection sensor 19 detects the cloth edge of the sewing object S and outputs the detection result to the control device 70.

[0027] As shown in Fig. 3, the cloth end detection sensor 19 is fixed to one end of a link member 19A. The other end of the link member 19A is supported by a sensor base 19C via a rotating shaft member 19B, which is a rotating shaft about the Z axis. When the link member 19A rotates about the Z axis relative to the sensor base 19C via the rotating shaft member 19B, the cloth end detection sensor 19 retreats from directly above the sewing position. The sensor base 19C is supported by a horizontal arm 11A of the sewing machine frame 11. The sensor base 19C has a plunger 19D that determines the rotation position of the link member 19A.

[0028] The positioning device 20 shown in Fig. 1 is mounted on the underside of the sewing table 13. As shown in Fig. 4 and Fig. 5, the positioning device 20 positions the sewing object S on the upper surface side of the sewing table 13 in a predetermined positioning area separated from the sewing position directly below the sewing needle 3. The positioning device 20 has 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 power to move the X-direction positioning member 21, actuators 25 and 26 that generate power to move the left clamp member 22, actuators 27 and 28 that generate power to move the right clamp member 23, and an adjustment member 29 that adjusts the position of the right clamp member 23.

[0029] The support frame 20A is fixed to the lower surface side of the sewing table 13. The support frame 20A supports the actuators 24, 25, 26, 27, and 28 and the adjustment member 29.

[0030] The X-direction positioning member 21 is plate-shaped with end faces parallel to the YZ plane. The X-direction positioning member 21 is capable of advancing and retreating above the upper surface of the sewing table 13 through the slot 13A of the sewing table 13. The X-direction positioning member 21 is capable of moving in the Z-axis direction between a position where its upper end protrudes above the upper surface of the sewing table 13 and a position where its upper end is retracted below the upper surface of the sewing table 13. When the X-direction positioning member 21 is in a protruding state, an end side of the sewing object S abuts against its end face on the +X side, thereby positioning the sewing object S in the X direction (see FIG. 12 etc., described later).

[0031] The left clamp member 22 has a pressing portion 22A extending in the X-axis direction, a base portion 22B disposed below the pressing portion 22A, and a support arm 22C connecting the end portion on the -X side of the pressing portion 22A and the base portion 22B. At least a part of the pressing portion 22A and the support arm 22C can advance and retreat from the slot 13B of the sewing table 13 upward from 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 upward from the upper surface of the sewing table 13 and a position where the upper end is retracted downward from the upper surface of the sewing table 13. In addition, when the lower end of the pressing portion 22A protrudes upward from the upper surface of the sewing table 13, the left clamp member 22 can move in the X-axis direction through the slot 13B within a range where the support arm 22C can move. The left clamp member 22 moves in the +Z direction to protrude upward from the slot 13B, moves inside the slot 13B in the +X direction, and then moves in the -Z direction to sandwich and hold the sewing object S between the lower end of the pressing portion 22A and the upper surface of the sewing table 13 (see FIG. 13, etc., described later). That is, the left clamp member 22 protrudes upward from below the upper surface of the sewing table 13 on one end side (-X side) in the short side direction (X-axis direction) of the sewing object S, and presses down a part of the one end side from the upper surface.

[0032] The right clamp member 23 has a pressing portion 23A extending in the X-axis direction, a base portion 23B disposed below the pressing portion 23A, and a support arm 23C connecting the end portion on the +X side of the pressing portion 23A and the base portion 23B. At least a part of the pressing portion 23A and the support arm 23C can advance and retreat from the slot 13C of the sewing table 13 upward from 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 upward from the upper surface of the sewing table 13 and a position where the upper end is retracted downward from the upper surface of the sewing table 13. In addition, when the lower end of the pressing portion 23A protrudes upward from the upper surface of the sewing table 13, the right clamp member 23 can move in the X-axis direction through the slot 13C within a range where the support arm 23C can move. The right clamp member 23 moves in the +Z direction to protrude upward from the slot 13C, moves inside the slot 13C in the -X direction, and then moves in the -Z direction to pinch and hold the sewing object S between the lower end of the pressing part 23A and the upper surface of the sewing table 13 (see FIG. 14, etc., described later). That is, the right clamp member 23 protrudes upward from below the upper surface of the sewing table 13 on the other end side (+X side) in the short side direction (X-axis direction) of the sewing object S, and presses down a part of the other end side from the upper surface.

[0033] The actuator 24 generates power to move the X-direction positioning member 21 in the Z-axis direction. The actuator 24 includes, for example, an air cylinder. The actuator 24 is supported by the support frame 20A. By operation 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 the upper end is retracted below the upper surface of the sewing table 13.

[0034] The actuator 25 generates power to move the left clamp member 22 in the Z-axis direction. The actuator 25 includes, for example, an air cylinder. The actuator 25 is supported by the support frame 20A. By operation 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 is retracted downward from the upper surface of the sewing table 13.

[0035] The actuator 26 generates power to move the left clamp member 22 and the actuator 25 in the X-axis direction. The actuator 26 includes, for example, an electric cylinder. The actuator 26 is supported by the support frame 20A. By operation of the actuator 26, the left clamp member 22 can move in the X-axis direction within the slot 13B within a range in which the support arm 22C can move, with the lower end of the pressing portion 22A protruding above the upper surface of the sewing table 13.

[0036] The actuator 27 generates power to move the right clamp member 23 in the Z-axis direction. The actuator 27 includes, for example, an air cylinder. The actuator 27 is supported by the support frame 20A. By operation 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 is retracted downward from the upper surface of the sewing table 13.

[0037] The actuator 28 generates power to move the right clamp member 23 and the actuator 27 in the X-axis direction. The actuator 28 includes, for example, an electric cylinder. The actuator 28 is supported by the support frame 20A. By operation of the actuator 27, the right clamp member 23 can move in the X-axis direction within the slot 13C within a range in which the support arm 23C can move, with the lower end of the pressing portion 23A protruding above the upper surface of the sewing table 13.

[0038] The adjustment member 29 adjusts the positions of the right clamp member 23, the actuator 27, and the actuator 28 in the X-axis direction. The adjustment member 29 has an elongated hole 29A formed in the support frame 20A and a knob 29B that is movable within the elongated hole 29A. The elongated hole 29A extends in the X-axis direction. As the knob 29B moves within the elongated hole 29A in 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 knob 29B. By adjusting the reference position of the right clamp member 23 in the X-axis direction using the adjustment member 29, it is possible to accommodate different sizes of the sewing object S.

[0039] The clamp unit 30 shown in Fig. 1 is a unit for clamping and holding a sewing object S between the lower plate unit 40 and the clamp unit 30. The clamp unit 30 is movable in the Z-axis direction. As shown in Fig. 6, the clamp unit 30 has a turret-shaped clamp 31 and an auxiliary presser foot 32.

[0040] The turret-shaped clamp 31 is a member that holds down from above a vicinity of a sewing position (for example, a female part Sf described below) in the sewing object S. The turret-shaped clamp 31 has a turret base 33, a plurality of clamps 34A, 34B, and 34C (three in this embodiment), a shaft member 35, a plunger 36, and a thumbscrew 37.

[0041] The turret base 33 is provided, for example, in the form of a circular or polygonal plate when viewed in the Z-axis direction, and holds a plurality of clamps 34A, 34B, and 34C on its outer periphery. The turret base 33 is supported by the support member 14 via a shaft member 35 that is a rotation shaft about the Z-axis, and is rotatable about the Z-axis with respect to the support member 14.

[0042] The clamps 34A, 34B, and 34C are fixed radially on the outer periphery of the turret base 33. The clamps 34A, 34B, and 34C are plate-shaped members that are alternatively selected to hold the sewing object S near the sewing position from above. The turret base 33 rotates, and any one of the clamps 34A, 34B, and 34C that is located on the -Y side of the turret base 33 and extends in the -Y direction holds the sewing object S. The clamp 34A is the narrowest holding member among the clamps 34A, 34B, and 34C. The clamp 34C is the widest holding member among the clamps 34A, 34B, and 34C. The clamp 34B is a holding member that is wider than the clamp 34A and narrower than the clamp 34C. The clamps 34A, 34B, and 34C are not limited to three as in this embodiment, and may be two, four, or more.

[0043] The plunger 36 and the thumbscrew 37 are provided on the support member 14. The plunger 36 determines the rotational position of the turret base 33. The thumbscrew 37 fixes the turret base 33 at a predetermined rotational position and restricts the rotation of the turret base 33 around the shaft member 35.

[0044] The auxiliary presser foot 32 is a member that presses down from above a predetermined position on the sewing object S on the -Y side of the sewing position (for example, a main body part Sb described below). The auxiliary presser foot 32 has a longitudinal direction in the X direction and is formed in a plate shape with a lower end surface parallel to the XY plane. The +X side end of the auxiliary presser foot 32 is fixed to one end of the link member 38. The other end of the link member 38 is supported by the support member 14.

[0045] The lower plate unit 40 shown in Fig. 1 is disposed below the clamp unit 30. As shown in Fig. 7, the lower plate unit 40 has a base 40A, a lower plate 41, a fixing screw knob 42, a lower plate auxiliary retainer 43, a fixing screw knob 44, and a contact adjustment screw 45.

[0046] A lower plate 41 is detachably fixed to the base 40A. A plurality of lower plates 41 are replaceable with respect to the base 40A.

[0047] 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 between one of the clamps 34A, 34B, 34C of the clamp unit 30 and the auxiliary presser 32, and the lower plate 41 of the lower plate unit 40.

[0048] When the clamp unit 30 moves in the +Z direction, the clamp unit 30 and the lower plate 41 separate. This allows the sewing object S to be placed between the clamp unit 30 and the lower plate 41. When the clamp unit 30 moves in the -Z direction with the sewing object S placed between the clamp unit 30 and the lower plate 41, the sewing object S is sandwiched between the clamp unit 30 and the lower plate 41. This causes the sewing object S to be held by the holding member 15. Furthermore, when the clamp unit 30 moves in the +Z direction, the holding of the sewing object S by the holding member 15 is released. This allows the operator to remove the sewing object S from between the clamp unit 30 and the lower plate 41 (see FIG. 18, etc., described later).

[0049] 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, extending in the X-axis direction from the end on the +X side. When the holding member 15 moves toward the positioning device 20, the cutout 41A exposes the slots 13B and 13C of the sewing table 13 without being covered by the lower plate 41. The cutout 41B and the hole 41C expose the sewing table 13 directly below the sewing needle 3 without being covered by the lower plate 41 when the sewing object S held by the holding member 15 is in a predetermined sewing position directly below the sewing needle 3.

[0050] The fixing screw knob 42 is a fixing part for fixing the lower plate 41 to the base 40A. By loosening the screw of the fixing screw knob 42, the lower plate 41 can be removed from the base 40A. The lower plate auxiliary holder 43 is a plate-shaped member for assisting in fixing the lower plate 41 to the base 40A. The fixing screw knob 44 is a fixing part for fixing the lower plate auxiliary holder 43 to the base 40A and the lower plate 41. By tightening the fixing screw knob 44, the fixation of the lower plate 41 to the base 40A can be strengthened. The contact adjustment screw 45 is a screw for adjusting the distance in the Z-axis direction between the lower plate 41 and the lower plate auxiliary holder 43.

[0051] The operating device 50 shown in Fig. 1 is operated by an operator. The sewing machine 1 is operated by operating the operating device 50. In this embodiment, the operating device 50 includes a start button 51, a stop button 52, and an operating pedal 53. In this 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 this embodiment, and may include, for example, an operation panel or the like.

[0052] The start button 51 and the stop button 52 are disposed on the upper surface of the table 2. The operation pedal 53 is disposed below the table 2. An operator operates the operation pedal 53 with his / her foot. The sewing machine 1 is operated when the operator operates at least one of the start button 51, the stop button 52, and the operation pedal 53.

[0053] The imaging device 60 captures an image of the sewing object S held by the holding member 15. The imaging device 60 has an optical system and an image sensor that receives light incident via the optical system. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging device 60 is disposed above the sewing table 13 and the holding member 15, and captures an image of at least a portion of the sewing object S from above. The imaging device 60 captures an image of the sewing object S and outputs the image of the sewing object S to the control device 70.

[0054] 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 has, for example, an input / output interface device, a storage device including a non-volatile memory such as a read only memory (ROM) or storage, and a volatile memory such as a random access memory (RAM), and an arithmetic processing device including a processor such as a central processing unit (CPU).

[0055] Connected to the control device 70 are an actuator 16 for moving the sewing needle 3 in the Z-axis direction, an actuator 17 for moving the holding member 15 within the XY plane, an actuator 18 for moving the clamp unit 30 of the holding member 15 in the Z-axis direction, a cloth edge detection sensor 19 for detecting the cloth edge of the sewing object S, an actuator 24 for moving the X-direction positioning member 21 in the Z-axis direction, an actuator 25 for moving the left clamp member 22 in the Z-axis direction, an actuator 26 for moving the left clamp member 22 and the actuator 25 in the X-axis direction, an actuator 27 for moving the right clamp member 23 in the Z-axis direction, an actuator 28 for moving the right clamp member 23 and the actuator 27 in the X-axis direction, an operation device 50, and an imaging device 60.

[0056] [Items to be sewn] Fig. 8 is a schematic diagram of the sewing object S according to this embodiment. Fig. 9 is an explanatory diagram of a male part Sm of the sewing object S according to this embodiment. Fig. 10 is an explanatory diagram of a female part Sf of the sewing object S according to this embodiment. In this embodiment, the sewing object S is a brassiere that is put on by fastening a hook at the back of the wearer.

[0057] 8, 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 side cloth part of the main body Sb. The female part Sf is sewn to the left end of the left side cloth part of the main body Sb.

[0058] As shown in Fig. 9, the male part Sm has a male hook Hm attached. When there are multiple male hooks Hm as in this embodiment, the male hooks Hm are attached in a vertical line. The male part Sm is folded so that the male hook Hm is located at the end, and the right end of the right side fabric part of the main body Sb is sandwiched inside the folded male part Sm, and edge stitches T are formed on the three sides other than the side including the male hook Hm, thereby attaching the male part Sm to the main body Sb. At this time, the male hook Hm is sewn together so that it is located on the back surface Sbw side of the main body Sb.

[0059] As shown in Fig. 10, female hooks Hh are attached to the female part Sf. The female hooks Hh are attached in the vertical direction in the same number as the male hooks Hm, and at the same intervals. The female hooks Hh may be attached in multiple rows in the left-right direction. With the left end of the left side fabric portion of the main body Sb sandwiched between the female hooks Hh of the female part Sf on the end side, edge stitches T are formed on the three sides other than the side on the female hook Hf side, whereby the female part Sf is attached to the main body Sb. At this time, the female hooks Hf are sewn together so that they are positioned on the surface Sbr side of the main body Sb.

[0060] [Sewing method] Fig. 11 is a flow chart showing the sewing method according to this embodiment. Fig. 12 to Fig. 18 are diagrams for explaining the positioning method according to this embodiment.

[0061] In the following description, a procedure for sewing a female part Sf to a main body Sb of a sewing object S will be described, but a similar procedure may be used when sewing a male part Sm. The worker preselects one of the clamps 34A, 34B, and 34C of the clamp unit 30 shown in Fig. 6 according to the dimensions of the female part Sf to be sewn, particularly the dimensions in the width direction (short side direction). When selecting clamps 34A, 34B, and 34C different from the clamps 34A, 34B, and 34C currently arranged, the worker loosens the thumbscrew 37, rotates the turret-shaped clamp 31 around the shaft member 35 so that the desired clamp 34A, 34B, and 34C (clamp 34C in this embodiment) faces the -Y direction, and then tightens the thumbscrew 37 again.

[0062] As shown in Fig. 12, an operator operates the operating device 50 so that the X-direction positioning member 21 of the positioning device 20 protrudes upward from the upper surface of the sewing table 13. The actuator 24 (see Fig. 5) is actuated to move the X-direction positioning member 21 in the +Z direction and protrude upward from the upper surface of the sewing table 13. Next, the sewing object S and the female part Sf, which are superimposed so as to be sewn together, are placed on the sewing table 13 of the positioning device 20 and aligned. Specifically, first, the operator positions the female part Sf on the +Y side of the main body body Sb, and aligns the sewing object S so that the longitudinal direction of the side cloth portion of the main body body Sb is along the Y-axis direction.

[0063] Next, the sewing object S is positioned by the operator so that the female 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 body Sb adjacent to the -Y side of the female part Sf is supported by the pair of Y-direction positioning members 13D, and a small gap is formed between the upper surface of the sewing table 13 and the sewing object S between the pair of Y-direction positioning members 13D. Next, a portion of the end portion on the -Y side of the female part Sf is aligned to a position on the extension of the X-axis direction of the left clamp member 22 and the right clamp member 23, and the end portion on the -X side of the female part Sf is abutted against the end side on the +X side of the X-direction positioning member 21. As a result, the positioning device 20 positions the sewing object S in the X and Y directions (step S1).

[0064] 13, actuator 25 (see FIG. 4) is operated to move left clamp member 22 in the +Z direction, so that the lower end of pressing portion 22A protrudes above the upper surface of sewing table 13, and actuator 26 (see FIG. 4) is operated to move left clamp member 22 in the +X direction until pressing portion 22A reaches directly above sewing object S. Next, actuator 25 is operated to move left clamp member 22 in the -Z direction, so that the lower end of pressing portion 22A presses against the upper surface of sewing object S, and the sewing object S is clamped between the lower end of pressing portion 22A and the upper surface of sewing table 13.

[0065] As described above, the left clamp member 22 protrudes in the +Z direction from below the sewing table 13, moves in the +X direction, and then sinks in the -Z direction again, thereby clamping a portion of the -X side of the sewing workpiece S. For example, the control device 70 controls the left clamp member 22 to perform a series of operations in succession when the operator steps on the right pedal 53B. To release the clamping, the control device 70 controls the left clamp member 22 to move in the opposite direction when the operator steps on the left pedal 53A, thereby releasing the clamping by the left clamp member 22.

[0066] 14, actuator 27 (see FIG. 4) is operated to move right clamp member 23 in the +Z direction so that the lower end of pressing portion 23A protrudes above the upper surface of sewing table 13, and actuator 28 (see FIG. 4) is operated to move right clamp member 23 in the -X direction until pressing portion 23A reaches directly above sewing object S. Next, actuator 26 is operated to move right clamp member 23 in the -Z direction so that the lower end of pressing portion 23A presses against the upper surface of sewing object S to clamp sewing object S between the lower end of pressing portion 23A and the upper surface of sewing table 13. As a result, sewing object S is held by positioning device 20 (step S2).

[0067] As described above, the right clamp member 23 protrudes in the +Z direction from below the sewing table 13, moves in the -X direction, and sinks in the -Z direction again, thereby clamping a portion of the +X side of the sewing workpiece S. For example, when the left clamp member 22 is clamping the sewing workpiece S, the operator depresses the right pedal 53B again, and the control device 70 controls the left clamp member 23 to perform a series of operations in succession. To release the clamping, for example, the operator depresses the left pedal 53A, and the control device 70 controls the right clamp member 23 to move in the opposite direction, thereby releasing the clamping by the right clamp member 23.

[0068] 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 on standby at the removal position shown in Fig. 15. The removal position is a predetermined position between the sewing position directly below the sewing needle 3 and the positioning area by the positioning device 20, and is a position where an operator can remove the sewing object S after sewing processing from the holding member 15. In this embodiment, the removal position is a position where the notch 41A of the lower plate 41 of the lower plate unit 40 is located on the -X side of the slots 13B and 13C of the sewing table 13.

[0069] As shown in FIG. 16, by the operation of the actuator 17 (see FIG. 1), the holding member 15 having the clamp unit 30 and the lower plate unit 40 moves in the XY plane to a position above or below 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 notch 41A so that the lower plate 41 does not interfere with the left clamp member 22 and the right clamp member 23. Also, the part of the lower plate 41 between the notch 41A and the end of the lower plate 41 on the -Y side enters between the pair of Y-direction positioning members 13D. As a result, the part of the lower plate 41 between the notch 41A and the end of the lower plate 41 on the -Y side enters under the main body Sb of the sewing object S, and the part of the lower plate 41 on the +Y side of the notch 41A enters under the female part Sf, so that the sewing object S is supported from below by the lower plate 41.

[0070] Next, the actuator 18 (see FIG. 1) is actuated to move the clamp unit 30 in the -Z direction, whereby the sewing object S is clamped between the clamp 34C of the clamp unit 30 and the lower plate 41 of the lower plate unit 40. As a result, the sewing object S is held by the holding member 15 having the clamp unit 30 and the lower plate unit 40 (step S4).

[0071] 17, by actuation of actuator 24 (see FIG. 5), X-direction positioning member 21 moves in the -Z direction and retreats below the upper surface of sewing table 13. Also, by actuation of actuators 25 and 26, left clamp member 22 moves in the +Z direction and separates from sewing workpiece S, and moves in the -X direction and the -Z direction successively and retreats below the upper surface of sewing table 13. Also, by actuation of actuators 27 and 28, right clamp member 23 moves in the +Z direction and separates from sewing workpiece S, and moves in the +X direction and the -Z direction successively and retreats below the upper surface of sewing table 13. As a result, all of positioning devices 20 retreat below the upper surface of sewing table 13 (step S5).

[0072] Next, the actuator 17 (see FIG. 1) is operated to move the holding member 15 having the clamp unit 30 and the lower plate unit 40 within the XY plane, and the sewing object S is transported to a sewing position directly below the sewing needle 3 (step S6). At this time, the holding member 15 transports the sewing object S so that the first needle drop position is located directly below the sewing needle 3.

[0073] Next, the actuators 16 and 17 are operated to perform a predetermined sewing process (step S7). Specifically, as shown in Fig. 10, in the portion where the female part Sf and the main body Sb are overlapped, edge stitches T are formed on three sides other than the side on the female loop Hf side. In the sewing process, first, edge stitches T are formed on the edge on the -X side from the +Y side toward the -Y direction. Next, edge stitches T are formed on the edge on the -Y side of the female part Sf from the -X side toward the +X direction. Next, edge stitches T are formed on the edge on the +X side from the -Y side toward the +Y direction.

[0074] Here, there may be variation in the vertical dimension (X-axis direction) of the female part Sf. That is, there may be variation in the length at which the edge stitch T should be formed on the -Y side edge of the female part Sf. The -X side edge of the female part Sf is aligned in step S1. In this embodiment, the cloth edge detection sensor 19 is used to detect the position of the +X side edge of the female part Sf, and the control device 70 acquires the detection result. The control device 70 controls the actuators 16, 17, and 18 based on the acquired position coordinates of the +X side edge, and stops the formation of the edge stitch T on the -Y side edge.

[0075] As shown in Fig. 18, when a predetermined sewing process is completed, actuator 17 (see Fig. 1) is operated to move holding member 15 having clamp unit 30 and lower plate unit 40 in the XY plane, and the sewing object S is removed from the sewing position directly below sewing needle 3 and conveyed to the removal position shown in Fig. 18. Next, actuator 18 (see Fig. 1) is operated to move clamp unit 30 in the +Z direction, and the holding of sewing object S by clamp 34C of clamp unit 30 and lower plate 41 of lower plate unit 40 is released (step S8). For example, when start button 51 is pressed by an operator, control device 70 controls so that a series of operations from step S3 to step S8 are executed continuously.

[0076] The worker removes the sewing object S after the sewing process from the holding member 15. During the sewing process in step S7, the worker may 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 may be removed before starting step S3.

[0077] [effect] As described above, according to this embodiment, in the positioning area separated from the sewing position immediately below the sewing needle 3, the clamp members (left clamp member 22 and right clamp member 23) of the positioning device 20 protrude upward from below the upper surface of the sewing table 13, and can hold the sewing object S by sandwiching it between their lower ends and the upper surface of the sewing table 13. The sewing object S held by the positioning device 20 can be transported to the sewing position by being held by the movable holding member 15 which holds the sewing object S within a predetermined plane including the sewing position and the positioning area.

[0078] As a result, when sewing two pieces of fabric together, there is no need to align them in a narrow sewing position or for the worker to sew while holding down the two pieces of fabric. The sewing object S, which has been aligned in advance in the alignment area, can be transported to the sewing position in that state by the holding member 15. In addition, since the clamp members can be retracted below the upper surface of the sewing table 13, it is possible to prevent the holding member 15 from interfering with the transport. Therefore, the sewing object S can be held and sewn stably. In addition, since the sewing object S is easy to hold and the held state is maintained after it is held, the sewing process is easy, and the overall processing time for sewing can be shortened.

[0079] [Other embodiments] Although the embodiments of the present application have been described above, the present invention is not limited by the contents of these embodiments. The above-described embodiments and modified examples can be appropriately combined within a range that does not cause contradictions in the processing contents. In addition, the above-described components include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be appropriately combined. Furthermore, various omissions, substitutions, or modifications of the components can be made within a range that does not deviate from the gist of the above-described embodiments.

[0080] For example, among the processes described in the above embodiments, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically by a known method. In addition, the information including the processing procedures, specific names, various data and parameters shown in the above documents and drawings can be changed arbitrarily unless otherwise specified. For example, the various information shown in each drawing is not limited to the illustrated information.

[0081] In addition, each component of each device shown in the figure is a functional concept, and does not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc. For example, the above-mentioned control device 70 may be configured by multiple computers divided into several functions, and some of the functions of the computers may be possessed by a cloud server that executes various functions in the form of cloud computing. [Explanation of symbols]

[0082] 1... sewing machine, 2... table, 3... sewing machine needle, 10... sewing machine body, 11... sewing machine frame, 11A... horizontal arm, 11B... bed, 11C... vertical arm, 11D... head, 12... needle bar, 13... sewing table, 13A... slot, 13B... slot, 13C... slot, 13D... Y-direction positioning member, 14... support member, 15... holding member, 16... actuator, 17... actuator (holding member drive part), 18... actuator (holding member drive part), 19... fabric end detection sensor sensor, 19A... link member, 19B... rotating shaft member, 19C... sensor base, 19D... plunger, 20... positioning device, 20A... support frame, 21... X-direction positioning member (positioning member drive unit), 22... left clamp member, 22A... holding portion, 22B... base, 22C... support arm, 23... right clamp member, 23A... holding portion, 23B... base, 23C... support arm, 24... actuator, 25... actuator (clamp member drive unit), 26... actuator actuator (clamp member drive section), 27...actuator (clamp member drive section), 28...actuator (clamp member drive section), 29...adjustment member, 29A...oblong hole, 29B...knob, 30...clamp unit, 31...turret-shaped clamp, 32...auxiliary presser, 33...turret base, 34A, 34B, 34C...clamp, 35...shaft member, 36...plunger, 37...wing screw, 38...link member, 40...lower plate unit, 40A...base, 41...lower plate, 41 A...notch, 41B...notch, 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...imaging device, 70...control device, Hf...female hook, Hm...male hook, S...sewing object, Sb...main body, Sbr...surface, Sbw...back side, Sf...female part, Sm...male part, T...edge stitch.

Claims

1. a holding member supported on an upper surface side of the sewing table and capable of holding and moving an object to be sewn within a predetermined plane including a sewing position directly under the sewing needle and a positioning area spaced apart from the sewing position; A holding member driving unit that moves the holding member; a positioning device that positions the sewing object on an upper surface side of the sewing table in the positioning area, The positioning device includes a clamp member that protrudes upward from below an upper surface of the sewing table and clamps and holds the sewing object between the upper surface of the sewing table and a lower end of the clamp member; a clamp member drive unit that moves the clamp member between a position where the clamp member protrudes above the upper surface of the sewing table and a position where the clamp member is retracted downward, and that moves the clamp member in a short-side direction of the sewing object while the clamp member protrudes above the upper surface of the sewing table. sewing machine.

2. 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 retreats below an upper surface of the sewing table; 2. The sewing machine according to claim 1.

3. The clamp member is a first clamp member that protrudes upward from below an upper surface of the sewing table on one end side in a lateral direction of the sewing object and presses a part of the one end side from above; a second clamp member that protrudes upward from below the upper surface of the sewing table on the other end side in the short side direction of the sewing object and presses a part of the other end side from above, 2. The sewing machine according to claim 1.

4. a positioning member that positions the lateral direction of the sewing object by abutting an end side of one end side of the lateral direction of the sewing object; a positioning member driving unit that moves the positioning member between a position where the positioning member protrudes above an upper surface of the sewing table and a position where the positioning member is retracted below the upper surface of the sewing table, 2. The sewing machine according to claim 1.

5. a cloth edge detection sensor that detects a cloth edge of the sewing object held by the holding member upstream of the sewing needle in a cloth feed direction at a sewing position directly below the sewing needle; and a control device that stops the sewing process in the cloth feed direction based on a detection result by the cloth end detection sensor.

5. The sewing machine according to claim 4.

6. The holding member is a lower plate unit having a lower plate that holds the sewing object from below; a clamp unit that is movable in a vertical direction relative to the lower plate unit and that holds the sewing object from above, The clamp unit includes: A turret base that is rotatable around a vertical axis; a plurality of clamps fixed radially on an outer periphery of the turret base; Based on a rotational position of the turret base, any one of the plurality of clamps holds the sewing object from above.

2. The sewing machine according to claim 1.

7. The sewing machine according to any one of claims 1 to 6, positioning the sewing object in the positioning area with the positioning device; holding the sewing object with the clamp member; holding the sewing object held by the clamp member with the holding member; releasing the clamp member from the sewing object and retracting the object below an upper surface of the sewing table; conveying the sewing object to the sewing position by the holding member; and performing a sewing process on the sewing object held by the holding member at the sewing position. Sewing method.

Images