Step portion detection device and step portion detection method
阅读说明:本技术 台阶部检测装置及台阶部检测方法 (Step portion detection device and step portion detection method ) 是由 藤*** 柳泽典男 于 2020-02-24 设计创作,主要内容包括:技术问题:抑制压脚部件无法越过台阶部的状况。解决方案:台阶部检测装置(10)具有:高度传感器(11),其在比缝纫机(1)的压脚部件(6)更靠缝制方向(SD)的上游侧处检测缝制对象物(S)的高度;台阶部检测部(121),其基于高度传感器(11)的检测数据检测缝制对象物(S)上的台阶部(SS)朝向缝制位置(3A)的接近;以及变更命令部(122),其基于台阶部检测部(121)对台阶部(SS)的接近的检测,变更缝纫机(1)的缝制条件。(The technical problem is as follows: the situation that the foot pressing part cannot cross the step part is restrained. The solution is as follows: the step detection device (10) is provided with: a height sensor (11) for detecting the height of the sewing object (S) at the upstream side of the foot pressing member (6) of the sewing machine (1) in the Sewing Direction (SD); a step detection unit (121) that detects the approach of a step (SS) on the sewing object (S) to the sewing position (3A) based on the detection data of the height sensor (11); and a change command unit (122) that changes the sewing conditions of the sewing machine (1) based on the detection of the step detection unit (121) approaching the step (SS).)
1. A step detection device is provided with:
a height sensor for detecting the height of the sewing object at the upstream side of the sewing direction of the foot pressing part of the sewing machine;
a step detection unit that detects, based on detection data of the height sensor, an approach of a step on the sewing object to a sewing position; and
and a change command unit that changes a sewing condition of the sewing machine based on detection of the step detection unit approaching the step.
2. The step detecting device according to claim 1,
the step portion detecting unit detects the step portion when the height is within a predetermined range in the detection data.
3. The step detecting device according to claim 1 or 2,
the step portion detection unit detects the step portion with reference to one end of the detection data having a larger gradient of the height.
4. A step detecting device according to any one of claims 1 to 3,
the step portion detecting unit detects the step portion with reference to a midpoint of a region set between the slopes, when the slope of the height in the detection data is smaller than a predetermined threshold at both ends.
5. A step detecting device according to any one of claims 1 to 4,
the step detection unit performs error processing when the width of the signal in the detection data is smaller than a predetermined length.
6. A step detecting device according to any one of claims 1 to 5,
the step portion detecting section calculates an approach time of the step portion,
the change command unit changes the sewing condition based on the approach time.
7. A step detecting device according to any one of claims 1 to 6,
the step detection device further comprises a height detection control unit for causing the height sensor to detect the height at a stop timing of the feeding process of the sewing object and outputting the detection data at a start timing of the feeding process of the sewing object.
8. A step detecting device according to any one of claims 1 to 7,
the height sensor has:
a light emitting section that emits light toward the sewing object at a position upstream in the sewing direction from the sewing position; and
and a light receiving unit that receives reflected light from the sewing object at a position closer to a direction orthogonal to the sewing direction than the light emitting unit.
9. A step detecting device according to any one of claims 1 to 8,
the change command unit changes at least one of pressing of the presser foot member, a forward-pull pressure of a forward-pull roller provided at a position on a downstream side in a sewing direction from the presser foot member, and a forward-pull amount of the forward-pull roller, which are sewing conditions of the sewing machine.
10. A step detecting device according to any one of claims 1 to 9,
the sewing machine further comprises a guard member for pressing the sewing object around the detection position of the height sensor at the upstream side of the presser foot member in the sewing direction.
11. A step detecting device according to any one of claims 1 to 9,
the sewing machine further comprises a guide member for assisting the folding and feeding of the sewing object by leaving a detection position of the height sensor at an upstream side in the sewing direction than the presser foot member.
12. A step detecting device according to any one of claims 1 to 9,
the height sensor has: an upper distance sensor provided above the sewing object, and a lower distance sensor provided below the sewing object.
13. A step detection method includes:
a height detection step of detecting the height of the sewing object at the upstream side of the sewing direction of the foot pressing part of the sewing machine;
a step detection step of detecting the approach of the step on the sewing object to the sewing position based on the detection data of the height detection step; and
a sewing condition changing step of changing a sewing condition of the sewing machine based on the detection of the approach of the stepped portion in the stepped portion detecting step.
Technical Field
The present disclosure relates to a step portion (step portion) detection device and a step portion detection method.
Background
Patent document 1 discloses a technique for increasing the height of a feed tooth based on detection of a step of a presser foot member of a sewing machine jumping up to a step of a sewing object.
Disclosure of Invention
Technical problem to be solved
The presser foot member may not be able to ride over the step. As a result, stitch spacing may be impeded.
An object of an aspect of the present invention is to suppress a situation in which a leg pressing member cannot get over a stepped portion.
(II) technical scheme
According to an aspect of the present invention, there is provided a step detection device including: a height sensor for detecting the height of the sewing object on the upstream side of the presser foot part of the sewing machine in the sewing direction; a step detection unit that detects an approach of a step on the sewing object toward a sewing position based on detection data of the height sensor; and a change command unit that changes a sewing condition of the sewing machine based on detection of the step detection unit approaching the step.
(III) advantageous effects
According to the aspect of the present invention, the situation in which the leg pressing member cannot get over the stepped portion can be suppressed.
Drawings
Fig. 1 is a perspective view schematically showing an example of a sewing machine according to a first embodiment.
Fig. 2 is a functional block diagram showing a control device of the step detection device according to the first embodiment.
Fig. 3 is a diagram schematically showing the relationship between the height sensor and the presser foot member according to the first embodiment.
Fig. 4 is a diagram schematically showing the relationship between the height sensor and the presser foot member according to the first embodiment.
Fig. 5 is a flowchart illustrating a step portion detecting method according to the first embodiment.
Fig. 6 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 7 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 8 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 9 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 10 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 11 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 12 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 13 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 14 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 15 is a diagram schematically showing an example of the step portion detection method according to the first embodiment.
Fig. 16 is a diagram schematically showing an example of the step portion detection device according to the second embodiment.
Fig. 17 is a diagram schematically showing an example of the step portion detection device according to the third embodiment.
Fig. 18 is a diagram schematically showing an example of the step portion detection device according to the fourth embodiment.
Fig. 19 is a diagram schematically showing an example of the step portion detection method according to the fourth embodiment.
Description of the reference numerals
1-a sewing machine; 2-sewing machine head; 3-sewing machine needles; 3A-sewing position; 4-needle bar; 5-a support plate; 5A-a needle plate; 5B-hemmer (ラッパ); 5C-through hole; 6-a presser foot component; 6A-electromagnetic valve; 6B-presser foot lifting device; 6C-presser foot end; 7-front pulling roller; 7A-an electromagnetic valve; 7B-motor drive; 7C-pulse motor; 8-a synchronizer; 10-step detection means; 11-a height sensor; 11A-detection position; 11B-distance; 11C-a light-emitting part; 11D-a light-receiving part; 12-a control device; 12A-a treatment device; 12B-a storage device; 12C-input output interface; 13-an input device; 20-step detection means; 22-a shielding member; 22A-the interstitial region; 22B-a protective support; 30-step detection means; 32-a guide member; 32A-a through hole; 40-step detection means; 42-upper side distance sensor; 44-lower distance sensor; 121-step portion detecting portion; 122-change command section; 123-height detection control section; DS-detection signal; DS 1-detection signal; DS 2-detection signal; DS 2P-pre-processing detection signal; DS 3-detection signal; DS 3P-pre-processing detection signal; DS 4-detection signal; DS 4P-pre-processing detection signal; an ES-error signal; f-finger; h1 — low threshold; h2 — high threshold; HP 1-during feeding; HP 2-feed stop period; NDS-non-detection signal; NDS1 — non-detection signal; NDS2 — non-detection signal; NDS 2P-non-detection signal before processing; NDS3 — non-detection signal; NDS 3P-non-detection signal before processing; NDS4 — non-detection signal; NDS 4P-non-detection signal before processing; PL-spacing; s-sewing the object; SD-Sewing Direction; SE-edge (コバ); SI-end; SI 1-end; SI 2-end; SI 3-end; SI 4-end; SL-sewing thread; SM-intermediate point; SO-terminal; SO 1-end; SO 2-end; SO 3-end; SO 4-end; an SS-step portion; SS 1-step; SS 2-step; SS 3-step; SS 4-step; SW-step width; SW 1-step width; SW 2-step width; SW 3-step width; SW 4-step width; t1-time; t2-time; TH 1-thickness; TH 2-thickness.
Detailed Description
Embodiments of the present invention will be described below with reference to the drawings, but the present invention is not limited thereto. The members of the embodiments described below may be combined as appropriate. In addition, some members may not be used.
In the following description, an XYZ rectangular coordinate system is set, and the positional relationship of each part is described with reference to the XYZ rectangular coordinate system. The direction parallel to the X axis of the predetermined surface is set as the X axis direction, the direction parallel to the Y axis orthogonal to the X axis on the predetermined surface is set as the Y axis direction, and the direction parallel to the Z axis orthogonal to the predetermined surface is set as the Z axis direction.
[ first embodiment ]
< Sewing machine >
A sewing machine 1 according to a first embodiment will be described. In the present embodiment, the positional relationship of each part will be described based on a local coordinate system defined in the sewing machine 1. The local coordinate system is specified by an XYZ orthogonal coordinate system. The direction parallel to the X axis in the predetermined plane is set as the X axis direction. The direction parallel to the Y axis in a predetermined plane orthogonal to the X axis is set as the Y axis direction. The direction parallel to the Z axis orthogonal to the predetermined plane is set as the Z axis direction. In this embodiment, a plane including the X axis and the Y axis is appropriately referred to as an XY plane. The plane containing the X-axis and the Z-axis is appropriately referred to as an XZ plane. A plane including the Y axis and the Z axis is appropriately referred to as a YZ plane. The XY plane is parallel to the prescribed plane. The XY plane, XZ plane, YZ plane are orthogonal. In this embodiment, the XY plane is parallel to the horizontal plane. The + Y direction is a feeding direction of the sewing object S of the sewing machine 1 and is a sewing direction SD. The Z-axis direction is the up-down direction. The + Z direction is upward and the-Z direction is downward. Further, the XY plane may be inclined with respect to the horizontal plane.
Fig. 1 is a perspective view schematically showing an example of a sewing machine 1 according to a first embodiment. As shown in fig. 1, a sewing machine 1 includes: the sewing machine comprises a
The
The
The pull-
The synchronizer 8 measures the upper dead point and the lower dead point of the
When the needle bar 4 is lowered, the
In the following description, a position directly below the
< step part detection device >
The
The
The
Fig. 2 is a functional block diagram showing the
The processing device 12A includes: a step portion detecting unit 121, a change instructing unit 122, and a height detection control unit 123.
The step detection unit 121 detects the approach of the step SS on the sewing object S to the sewing position 3A based on the detection data of the
The step detection unit 121 may detect the step SS with reference to the end SI on the front side in the sewing direction SD of the step SS, or may detect the step SS with reference to the end SO on the rear side in the sewing direction SD of the step SS, and is preferably used flexibly in accordance with the specification of the sewing machine 1, the condition of the step SS, and the like.
When the step portion detecting unit 121 detects the step portion SS with reference to the front end portion SI, it is possible to determine that the step portion SS is detected immediately after the front end portion SI passes through the
The change instructing unit 122 changes the sewing condition of the sewing machine 1 based on the detection of the approach of the step detecting unit 121 to the step SS. That is, the change commanding section 122 changes the sewing condition of the sewing machine 1 when the step detecting section 121 detects the approach of the step SS.
When the
The storage device 12B of the
To the input/output interface 12C of the
The step portion detecting section 121, the change instructing section 122, and the height detection control section 123 are all functional sections that the processing device 12A realizes by executing a step portion detecting program that is a program for the step
Fig. 3 and 4 are views schematically showing the relationship between the
As shown in fig. 3 and 4, the
As shown in fig. 3, the
As shown in fig. 3, the light emitting portion 11C is preferably disposed on the sewing line SL, i.e., on the needle extension line. The light receiving unit 11D is preferably disposed opposite to the side on which the edge SE of the sewing object S is disposed when the edge (コバ ス テ ッ チ) is sewn to the light emitting unit 11C. In general, in the case of hemming, the edge SE of the sewing object S is sewn so as to advance to the right side toward the
As shown in fig. 4, the
< method for detecting step part >
The operation of the
Fig. 6 is a diagram illustrating a height range of step detection. Fig. 7, 8, 9, and 10 are views for explaining the detection of the stepped portion corresponding to the type of the stepped portion SS. Fig. 11 and 12 are diagrams for explaining the detection of a step portion in the case where a signal is included as an error process. Fig. 13 and 14 are views for explaining the processing of calculating the approach time of the step SS to the sewing position 3A. The horizontal axis in fig. 6 to 14 is a parameter axis indicating a distance in which the detected time is converted into the sewing direction SD, which is the feed processing direction of the sewing object S. The vertical axis in fig. 6 to 14 is a parameter axis indicating the detected height or the ON/OFF state related to the step detection. Fig. 15 is a diagram for explaining a control process of step detection in consideration of the reciprocating movement of the
The method for detecting a stepped portion according to the first embodiment executed by the stepped
As shown in fig. 5, the step detection method of the first embodiment includes: a height detection step S10, a step detection step S20, and a sewing condition changing step S30.
The
In the height detection step S10, first, the light emitting unit 11C irradiates the detection light toward the
The step detecting unit 121 detects the approach of the step SS on the sewing object S to the sewing position 3A based on the detection data of the height detecting step S10 (step detecting step S20).
In the step detection step S20, the step detection unit 121 first obtains detection data of the height of the sewing object S from the
As shown in fig. 6, in the step detection step S20, the step detection unit 121 outputs the detection signal DS indicating ON indicating that the step SS is detected when the height in the detection data is within a predetermined range, that is, within a range of not less than the low threshold H1 and not more than the high threshold H2, and outputs the non-detection signal NDS indicating OFF indicating that the step SS is not detected when the height in the detection data is outside the predetermined range.
Here, the step detection unit 121 sets the predetermined range based on the input of three items of information, i.e., the height of the region that is not the step SS of the sewing object S, the height of the predetermined step SS of the sewing object S, and the height of the finger F that is an obstacle placed on the sewing object S. The step detection unit 121 sets the low threshold H1 to be greater than the height of a region that is not the step SS of the sewing object S and to be equal to or less than the height of the predetermined step SS of the sewing object S. The step detection unit 121 sets the high threshold H2 to be equal to or higher than the height of the predetermined step SS of the sewing object S and lower than the height of the finger F placed on the sewing object S.
In the present embodiment, the step detection unit 121 executes the generation processing of the detection signal DS and the non-detection signal NDS, but the present invention is not limited to this and may be executed by the
Next, in the step portion detecting step S20, the step portion detecting unit 121 sets a reference for the step portion SS based on the slope of the height in the detection data, and determines the range in the sewing direction SD of the detected step portion SS.
For example, referring to fig. 7, a case where the step portion SS1 of the step portion width SW1 is detected will be described, where the step portion SS1 is exposed upward from the front end SI1 and the rear end SO1 in the sewing direction SD of the sewing object S. As shown in fig. 7, the detection data of the height of the step portion SS1 is lower than the low threshold H1 on the front side of the end portion SI1, is higher than or equal to the low threshold H1 and lower than or equal to the high threshold H2 between the end portion SI1 and the end portion SO1, and is lower than the low threshold H1 on the rear side of the end portion SO 1. In the detection data of the height of the step portion SS1, the slope of the height is large at the end SI1 and the end SO1, and the transition between the outside of the predetermined range and the inside of the predetermined range is apparently caused.
In the step detection step S20, when detecting the step SS1 shown in fig. 7, the step detection unit 121 outputs the detection signal DS1 having a length corresponding to the step width SW1 and the non-detection signal NDS1 before and after the detection signal DS1, in accordance with the detection data of the height of the step SS 1. Here, in the case of detecting the stepped portion SS1 shown in fig. 7, in the detection data of the height of the stepped portion SS1, the length in the range of the low threshold value H1 or more and the high threshold value H2 or less is the length corresponding to the stepped portion width SW1, and therefore the range in the sewing direction SD of the stepped portion SS1 can be uniquely determined with reference to either one of the end portion SI1 and the end portion SO 1.
In addition, with reference to fig. 8, a case where the step portion SS2 of the step portion width SW2 is detected will be described, where the step portion SS2 exposes the front end portion SI2 in the sewing direction SD upward in the sewing object S, but does not expose the rear
In the step detection step S20, when the step detection unit 121 detects the step SS2 shown in fig. 8, first, the pre-processing detection signal DS2P and the pre-processing non-detection signal NDS2P before and after the pre-processing detection signal DS2P are generated, and the pre-processing detection signal DS2P is based on a portion in the range of the low threshold H1 or more and the high threshold H2 or less in the detection data of the height of the
Here, the pre-processing detection signal DS2P is a signal longer than the length corresponding to the
In addition, with reference to fig. 9, a case where the step portion SS3 of the step portion width SW3 is detected will be described, where the step portion SS3 is such that the end portion SI3 on the front side in the sewing direction SD is not exposed upward in the sewing object S, and the end portion SO3 on the rear side is exposed. As shown in fig. 9, the detection data of the height of the step SS3 gradually increases from below the low threshold H1 toward the range from above the low threshold H1 to below the high threshold H2 on the front side of the end SI3, is equal to or above the low threshold H1 and below the high threshold H2 between the end SI3 and the end SO3, and is below the low threshold H1 on the rear side of the
In the step detection step S20, when the step detection unit 121 detects the step SS3 shown in fig. 9, first, the pre-processing detection signal DS3P and the pre-processing non-detection signal NDS3P before and after the pre-processing detection signal DS3P are generated, and the pre-processing detection signal DS3P is based on a portion in the range of the low threshold H1 or more and the high threshold H2 or less in the detection data of the height of the
Here, the pre-processing detection signal DS3P is a signal longer than the length corresponding to the
As described above, in the step detection step S20, as in the examples shown in fig. 8 and 9, when the slope of the height of any one of the detection data is greater than or equal to the predetermined value, the step detection unit 121 detects the step SS as the reference, using the end having the greater slope of the height.
In addition, referring to fig. 10, description will be made of a case of the stepped portion SS4 of the stepped portion width SW4, where the stepped portion SS4 detects the front end SI4 and the rear end SO4 of the sewing object S facing upward without exposing the sewing direction SD. As shown in fig. 10, the detection data of the height of the stepped portion SS4 gradually increases from below the low threshold H1 toward the range of not less than the low threshold H1 and not more than the high threshold H2 on the front side of the end SI4, gradually decreases from above the low threshold H1 and not more than the high threshold H2 between the end SI4 and the end SO4, and gradually decreases from above the low threshold H1 and not more than the high threshold H2 toward below the low threshold H1 on the rear side of the end SO 4.
In the detection data of the height of the step portion SS4, the slope of the height is smaller than the predetermined threshold value at the end SI4 and the end SO4, and the transition between the outside of the predetermined range and the inside of the predetermined range occurs gradually. Here, the predetermined threshold value for the slope of the height is a value smaller than the slope of the height in the case where the height is detected at the end of the exposed stepped portion SS and larger than the slope of the height in the case where the height is detected at the end of the unexposed stepped portion SS, and is set in advance, input through the
In the step detection step S20, when the step detection unit 121 detects the step SS4 shown in fig. 10, first, the pre-processing detection signal DS4P and the pre-processing non-detection signal NDS4P before and after the pre-processing detection signal DS4P are generated, and the pre-processing detection signal DS4P is based on a portion in the range of the low threshold H1 or more and the high threshold H2 or less in the detection data of the height of the step SS 4.
Here, the pre-processing detection signal DS4P is a signal longer than the length corresponding to the step width SW 4. In addition, since the detection data of the height of the stepped portion SS4 has a small inclination of the height at the end SI4 and the end SO4, it is difficult to use the end SI4 as a reference and it is difficult to use the end SO4 as a reference. Therefore, the step detection unit 121 corrects the pre-processing detection signal DS4P to the detection signal DS4 having a length corresponding to the step width SW4 with reference to the midpoint SM of the pre-processing detection signal DS 4P. In the present embodiment, the intermediate point SM of 1:1 in the pre-processing detection signal DS4P is used as the reference point, but the present invention is not limited to this, and the method of setting the intermediate point may be appropriately changed based on the form of the step portion SS 4. The step detection unit 121 outputs the detection signal DS4 and the non-detection signal NDS4 before and after the detection signal DS 4.
As described above, in the step detection step S20, when the slope of the height in the detection data is smaller than the predetermined threshold value at both ends, the step detection unit 121 detects the step SS with reference to the midpoint SM set in the region between the slopes, that is, the midpoint SM in the pre-processing detection signal DS4P generated between the slopes, as an example shown in fig. 10.
Further, step detection in the case where a signal as an error process is included will be described with reference to fig. 11 and 12. In step S20, if the width of the signal formed between the slopes of the heights of the detection data is less than the predetermined length TL, the step detection unit 121 performs error processing. Such an error is noise generated when a cloth on which a sewing process is not planned is placed above the sewing object S, or when a loose thread is temporarily located at the
Fig. 11 shows a case where the detection signal DS having a width smaller than the predetermined length TL and the detection signal DS having a width equal to or larger than the predetermined length TL are generated. In step S20, the step detection unit 121 processes the detection signal DS having a length shorter than the predetermined length TL as the error signal ES and processes the non-detection signals NDS on both sides of the error signal ES as the integrated non-detection signal NDS. In the step detecting step S20, the step detecting unit 121 treats only the detection signal DS having the predetermined length TL or more as the substantial detection signal DS, specifies the front end SI at the front start time of the sewing direction SD in the detection signal DS, and specifies the rear end SO at the rear end time. In the step detection step S20, when the step detection unit 121 detects the step SS with reference to the front end SI, the step SS is detected at a time T1 when the detection signal DS is generated over a predetermined length TL from the front end SI.
Fig. 12 shows a case where a non-detection signal NDS having a width smaller than a predetermined length TL is generated between two detection signals DS. In step S20, the step detection unit 121 processes the non-detection signal NDS that is shorter than the predetermined length TL as the error signal ES and processes the detection signals DS on both sides of the error signal ES as the integrated detection signal DS. In the step detection step S20, the step detection unit 121 treats only the non-detection signal NDS of the predetermined length TL or more as the substantial non-detection signal NDS, specifies the front end SI at the front start time of the sewing direction SD in the substantial detection signal DS, and specifies the rear end SO at the rear end time. In the step detection step S20, when the step detection unit 121 detects the step SS with reference to the rear end SO, the step SS is detected at a time T2 when the detection signal DS is generated over the predetermined length TL from the rear end SO.
The process of calculating the approach time of the step SS to the sewing position 3A will be described with reference to fig. 13 and 14. In the step portion detecting step S20, the step portion detecting unit 121 calculates the approach time of the step portion SS. The approach time of the step portion SS is a time from a time when the step portion SS is detected to a time when the front end SI of the step portion SS reaches the presser foot end 6C.
Fig. 13 shows a case where the step SS is detected with reference to the front end SI. In step S20, the step detecting portion 121 detects the step SS at the moment when the front end SI thereof is moved in the sewing direction SD by a distance equal to or greater than the predetermined length TL. The distance between the position of the front end SI of the stepped portion SS and the
Fig. 14 shows a case where the step SS is detected with reference to the rear end SO. In the step detection step S20, the step detection section 121 detects the step SS at the moment when the rear end SO thereof is moved in the sewing direction SD by a distance equal to or greater than the predetermined length TL. The distance between the front end SI of the stepped portion SS and the
The change instructing unit 122 changes the sewing condition of the sewing machine 1 based on the detection of the approach of the step SS in the step detecting step S20 (sewing condition changing step S30).
In the sewing condition changing step S30, the change instructing unit 122 first calculates the time and time at which the stepped portion SS passes under the
In the sewing condition changing step S30, the change instructing unit 122 then changes at least one of the pressing force of the
For example, in the sewing condition changing step S30, the change command section 122 transmits a command for raising the
For example, in the sewing condition changing step S30, the change command section 122 transmits a command for increasing the pull-up pressure of the pull-up
For example, in the sewing condition changing step S30, the change command section 122 transmits a command for increasing the pull-up amount of the pull-up
In this way, in the sewing condition changing step S30, the change instructing unit 122 appropriately changes the pressing force of the
In the step detection method according to the first embodiment, when the
Fig. 15 schematically shows a situation of the reciprocating movement of the
The height detection control unit 123 first obtains information on the positions of the top dead center and the bottom dead center of the
The height detection control unit 123 then controls the
< Effect >
As described above, according to the present embodiment, the
In addition, according to the present embodiment, the step portion detecting unit 121 detects the step portion SS when the height in the detection data is within a predetermined range. Therefore, it is possible to suppress erroneous detection of an obstacle such as a finger F pressing the sewing object S as the stepped portion SS.
In addition, according to the present embodiment, the step portion detecting unit 121 detects the reference step portion SS using the end having a large high gradient in the detection data. Therefore, since the step portion SS is detected with the exposed end portion as a reference, the position and the approaching state of the end portion SS in the sewing direction SD can be detected more accurately.
In addition, according to the present embodiment, when the slope of the height in the detection data is smaller than the predetermined threshold value at both ends, the step portion detecting unit 121 sets the midpoint SM set in the region between the slopes as the reference detection step portion SS. Therefore, even when any end portion is not exposed, the position and the approaching state of the end portion SS in the sewing direction SD can be detected more accurately.
As described above, according to the present embodiment, since the algorithm for detecting the stepped portion SS, which is included in the characteristic feature of the shape of the stepped portion SS, is used, it is possible to suppress erroneous detection of fine cloth height variations, such as cloth floating, which may occur in the sewing object S, as the stepped portion SS.
In addition, according to the present embodiment, the step portion detecting unit 121 performs error processing when the width of the signal in the detection data is smaller than the predetermined length TL. Therefore, it is possible to suppress erroneous detection of noise as the stepped portion SS caused by a cloth on which sewing processing is not planned above the sewing object S, a loose thread temporarily located at the
In addition, according to the present embodiment, the step portion detecting unit 121 calculates the approach time of the step portion SS, and the change instructing unit 122 changes the sewing condition based on the approach time. Therefore, the sewing condition can be appropriately changed in conjunction with the approach timing of the step portion SS. Further, since the step detection unit 121 can adjust the timing of changing the sewing condition, it is possible to flexibly respond to the sewing condition based on the sewing machine 1 and the sewing object S, the preference of the operator using the sewing machine 1, and the like.
Further, according to the present embodiment, the height detection control unit 123 causes the
Further, according to the present embodiment, the light emitting portion 11C of the
Further, according to the present embodiment, the change instructing unit 122 changes at least one of the pressing force of the
Further, according to the present embodiment, the information on each step SS of the sewing object S, specifically, the information on each step width SW in the sewing direction SD of each step SS, the information on the interval between each step SS, the information on the approaching order of each step SS, and the like are stored in the storage device 12B of the
[ second embodiment ]
A second embodiment will be explained. In the following description, the same members as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
In the present embodiment, an example will be described in which a guard member 22 (see fig. 16) that presses the sewing object S around the
< step part detection device >
Fig. 16 is a diagram schematically showing an example of the step portion detection device 20 according to the second embodiment. Fig. 16 is a perspective view of a main part of the step detection device 20.
As shown in fig. 16, the step detection device 20 includes: a
< Effect >
As described above, according to the present embodiment, since the
In addition, according to the present embodiment, since the shield support portion 22B fixes the
[ third embodiment ]
A third embodiment will be explained. In the following description, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
In the present embodiment, an example will be described in which a guide member 32 (see fig. 17) for assisting the folding and feeding of the sewing object S is further provided upstream of the
< step part detection device >
Fig. 17 is a diagram schematically showing an example of the step detection device 30 according to the third embodiment. Fig. 17 is a perspective view of a main part of the step detection device 30.
As shown in fig. 17, the step detection device 30 includes:
< Effect >
As described above, according to the present embodiment, since the guide member 32 for assisting the folding feed of the sewing object S by leaving the
[ fourth embodiment ]
A fourth embodiment will be explained. In the following description, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
In the present embodiment, the following example will be described, and the
< step part detection device >
Fig. 18 is a diagram schematically showing an example of the step portion detecting device 40 according to the fourth embodiment. Fig. 19 is a side view of a main part of the step detection device 40.
As shown in fig. 18, the step detection device 40 includes: a
The
In the fourth embodiment, the support plate 5 is provided with a through-
< method for detecting step part >
The operation of the step detection device 40 according to the fourth embodiment will be described below. Fig. 19 is a diagram schematically showing an example of the step portion detection method according to the fourth embodiment. Fig. 19 is a side view of a main part of the step detection device 40.
In the height detection step S10 of the fourth embodiment, the
In the step detecting step S20 of the fourth embodiment, the step detecting unit 121 obtains detection data of the thickness of the sewing object S corresponding to the height of the sewing object S based on the height of the upper surface of the sewing object S detected by the
Fig. 19 is a diagram schematically showing an example of the step portion detection method according to the fourth embodiment. The process of obtaining the detection data of the height of the sewing object S will be described below with reference to fig. 19.
When the step S10 is executed, if the step SS does not pass the
When the height detection step S10 is executed, if the step portion SS is passing through the
In a case where the front-side end SI of the stepped portion SS passes through the
< Effect >
As described above, according to the present embodiment, the
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