阅读说明：本技术 缝制系统及3维测量装置 (Sewing system and 3 dimension measuring devices ) 是由 武田敏之 于 2019-05-21 设计创作，主要内容包括：本发明提供缝制系统及3维测量装置,其适当地实施通过缝制而生产的产品的品质管理。缝制系统具有：缝纫机,其对缝制对象物进行缝制；以及3维测量装置,其对缝制对象物的3维形状进行测量。(The present invention provides sewing system and 3 dimension measuring devices, is appropriately carried out the qualitative control of the product produced by sewing.Sewing system includes sewing machine, sews to object to be sewn；And 3 dimension measuring devices, the 3 of object to be sewn dimension shapes are measured.)

1. a kind of sewing system, includes

Sewing machine sews object to be sewn；And

3 dimension measuring devices measure 3 dimension shapes of the object to be sewn.

2. sewing system according to claim 1, wherein

With control device for sewing-machine, the control device for sewing-machine is based on the sewing pair exported from the 3 dimension measuring device As the measurement data of object, the control instruction controlled the sewing machine is exported.

3. sewing system according to claim 2, wherein

The 3 dimension measuring device measures the object to be sewn before being sewed by the sewing machine,

Survey of the control device for sewing-machine based on the object to be sewn obtained before being sewed by the sewing machine Data are measured, the control instruction is exported.

4. sewing system according to claim 3, wherein

The predetermined region on the surface of the object to be sewn is transferred to the sewing position of the underface of needle,

Before transferring to the sewing position, the 3 dimension measuring device measures the predetermined region,

Measurement data of the control device for sewing-machine based on the predetermined region, exports the control instruction.

5. sewing system according to claim 3 or 4, wherein

The surface of the object to be sewn includes step,

The step data of position of the measurement data of the object to be sewn comprising the expression step and height,

The control device for sewing-machine is based on the step data, exports the control instruction.

6. sewing system according to claim 5, wherein

The control instruction includes the adjustment instruction of the relative position between needle and the object to be sewn.

7. sewing system according to claim 3, wherein

The measurement data of the object to be sewn includes the position data of object to be sewn,

The sewing system includes

Robots arm can movably support the sewing machine；And

Arm control device, based on the position data of the object to be sewn, Xiang Suoshu robots arm exports control instruction, to institute The relative position stated between sewing machine and the object to be sewn is adjusted.

8. sewing system according to claim 7, wherein

The 3 dimension measuring device is supported in the robots arm,

The arm control device is after the 3 dimension measuring device measures the object to be sewn, Xiang Suoshu robots arm Control instruction is exported, so that the sewing machine sews the object to be sewn.

9. sewing system according to claim 1, wherein

With processing unit, measurement number of the processing unit based on the object to be sewn exported from the 3 dimension measuring device According to being detected to the exception of the object to be sewn.

10. sewing system according to claim 9, wherein

The 3 dimension measuring device measures the object to be sewn after being sewed by the sewing machine,

Measurement data of the processing unit based on the object to be sewn obtained after being sewed by the sewing machine, The exception is detected.

11. sewing system according to claim 9 or 10, wherein

The sewing machine includes needle bar, keeps to needle；And needle plate, to by the needle into The object to be sewn of row sewing is supported,

The 3 dimension measuring device is in the state that the object to be sewn is being sewed by the needle, to described Object to be sewn measures.

12. sewing system according to any one of claim 1 to 11, wherein

With display device, which shows the measurement data of the object to be sewn.

13. sewing system according to any one of claims 10 to 12, wherein

The 3 dimension measuring device carries out 3 dimension shapes of the stitching that the object to be sewn is formed in by the sewing machine Measurement.

14. a kind of sewing system, includes

Sewing machine sews object to be sewn；And

3 dimension measuring devices survey 3 dimension shapes of the stitching that the object to be sewn is formed in by the sewing machine Amount.

15. sewing system described in 3 or 14 according to claim 1, wherein

With processing unit, measurement data of the processing unit based on the stitching exported from the 3 dimension measuring device, to institute The exception for stating stitching is detected.

16. sewing system according to claim 15, wherein

The measurement data of the stitching includes the altitude information of the stitching,

Altitude information of the processing unit based on the stitching, determines the exception of the stitching.

17. sewing system described in any one of 3 to 16 according to claim 1, wherein

The sewing machine includes needle bar, keeps to needle；And needle plate, to by the needle into The object to be sewn of row sewing is supported,

The 3 dimension measuring device is in the state that the object to be sewn is being sewed by the needle, to described Stitching measures.

18. sewing system described in any one of 3 to 17 according to claim 1, wherein

With display device, which shows the measurement data of the stitching.

19. sewing system described in any one of 3 to 18 according to claim 1, wherein

The 3 dimension measuring device, which has, measures and determines result storage unit, and the measurement and judgement result storage unit are to the stitching Measurement data recorded.

20. one kind 3 ties up measuring device, 3 dimension shapes of the stitching of the object to be sewn after sewing are measured, to its result It is shown.

21. one kind 3 ties up measuring device, 3 dimension shapes of the stitching of the object to be sewn after sewing are measured, to its result It is stored.

Technical field

The present invention relates to sewing system and 3 dimension measuring devices.

Background technique

Product as clothes is produced and sewing to object to be sewn.

Patent document 1: Japanese Unexamined Patent Publication 2001-317904 bulletin

In order to implement the qualitative control of product, the state to object to be sewn or the state for the product produced is needed to carry out Identification.

Summary of the invention

The purpose of mode of the invention is, is appropriately carried out the qualitative control of the product produced by sewing.

1st mode according to the invention, provides a kind of sewing system, includes sewing machine, carries out to object to be sewn Sewing；And 3 dimension measuring devices, the 3 of object to be sewn dimension shapes are measured.

2nd mode according to the invention, provides a kind of sewing system, includes sewing machine, carries out to object to be sewn Sewing；And 3 dimension measuring devices, shapes are tieed up to the 3 of the stitching for being formed in the object to be sewn by the sewing machine It measures.

The effect of invention

Mode according to the present invention can be appropriately carried out the qualitative control of the product produced by sewing.

Detailed description of the invention

Fig. 1 is the oblique view for indicating an example of sewing system involved in embodiment.

Fig. 2 is the oblique view for indicating a part of sewing system involved in embodiment.

Fig. 3 is the figure for showing schematically 3 dimension measuring devices involved in embodiment.

Fig. 4 is the functional block diagram for indicating the control system of sewing system involved in embodiment.

Fig. 5 is the oblique view for indicating an example of object to be sewn involved in present embodiment.

Fig. 6 is the flow chart for indicating sewing processing involved in present embodiment.

Fig. 7 is the flow chart for indicating the processing of abnormality detection involved in present embodiment.

Fig. 8 is the figure for indicating an abnormal example for stitching.

Fig. 9 is the oblique view for indicating sewing machine involved in embodiment.

Figure 10 is bowing for the relationship for the measured zone and object to be sewn for indicating 3 dimension measuring devices involved in embodiment View.

Figure 11 is the figure for showing schematically sewing system involved in embodiment.

Figure 12 is the functional block diagram for indicating the control system of sewing system involved in embodiment.

Figure 13 is the figure for indicating an example of object to be sewn involved in embodiment.

Figure 14 is the figure for showing schematically the movement of sewing system involved in embodiment.

The explanation of label

1 ... sewing machine, 2 ... workbench, 3 ... needles, 4 ... sewing machine base portions, 5 ... frames, 11 ... sewing machine stands, 12 ... needle bars, 13 ... needle plates, 14 ... support members, 15 ... holding members, 15A ... presser feet component, 15B ... lower plate, 16 ... actuatings Device, 17 ... actuators, 17X ... X-axis motor, 17Y ... Y-axis motor, 18 ... actuators, 19 ... middle presser feets, 20 ... actuators, 30 ... 3 dimension measuring devices, 31 ... projection arrangements, 31A ... light source, 31B ... optical modulation element, 31C ... projection optical system, 32 ... Filming apparatus, 32A ... imaging optical system, 32B ... capturing element, 33 ... control devices, 40 ... control device for sewing-machine, 41 ... Stitch data storage unit, 42 ... operational parts, 43 ... instruction output sections, 50 ... processing units, 51 ... reference data stores, 52 ... Analysis unit, 53 ... determination units, 54 ... display data output sections, 55 ... measurements and judgement result storage unit, 60 ... display devices, 70 ... arm control devices, 71 ... position calculation parts, 72 ... instruction output sections, 100 ... sewing systems, Ps ... sewing position, S ... seam Object processed, SE ... stitching, SEr ... target pattern, Vr ... baseline trough, Vs ... sew slot.

Specific embodiment

In the following, be illustrated on one side to embodiment according to the present invention on one side referring to attached drawing, but the present invention and unlimited Due to this.The structural element for the embodiment being illustrated below can be appropriately combined.In addition, sometimes without using the knot of a part Structure element.

In the present embodiment, the position in each portion is closed based on the local coordinate system provided out in sewing system 100 System is illustrated.Local coordinate system be carried out by XYZ orthogonal coordinate system as defined in.By the side for the X-axis being parallel in predetermined surface To being set as X-direction.The direction for the Y-axis orthogonal to X-axis being parallel in predetermined surface is set as Y direction.It will be parallel to and advise The direction for determining the orthogonal Z axis in face is set as Z-direction.By centered on X-axis direction of rotation or inclined direction be set as θ X-direction.It will Direction of rotation or inclined direction centered on Y-axis are set as θ Y-direction.By centered on Z axis direction of rotation or inclined direction set For θ Z-direction.X/Y plane will be set as comprising the plane including X-axis and Y-axis.X/Y plane is parallel with predetermined surface.

[the 1st embodiment]

< sewing system >

Fig. 1 is the oblique view for indicating an example of sewing system 100 involved in present embodiment.Fig. 2 is to indicate this The oblique view of a part of sewing system 100 involved in embodiment.As shown in Figures 1 and 2, sewing system 100 have pair The sewing machine 1 and 3 that object to be sewn S is sewed ties up measuring device 30.In the present embodiment, sewing machine 1 is electronic circulation Sewing machine.

Sewing machine 1 includes sewing machine base portion 4, is supported in workbench 2；Sewing machine stand 11 is supported in sewing machine bottom Portions 4；Needle bar 12 is supported in sewing machine stand 11；Needle plate 13 is supported in sewing machine base portion 4；Holding member 15, it is right Object to be sewn S is kept；Actuator 16 generates the power for keeping needle bar 12 mobile；Actuator 17, generation make maintaining part The mobile power of part 15；And actuator 18, generate the power for keeping at least part of holding member 15 mobile.

Needle bar 12 keeps needle 3.Online UT is hooked in needle 3.Needle bar 12 is with needle 3 and Z Axis becomes parallel mode and keeps to needle 3.Needle bar 12 can movably be supported in sewing machine stand in Z-direction 11。

Needle plate 13 is supported the object to be sewn S sewed by needle 3.Needle plate 13 is to holding member 15 It is supported.Needle plate 13 is supported in sewing machine base portion 4.Needle plate 13 is configured at lower section compared with holding member 15.

Holding member 15 keeps object to be sewn S.Seam of the holding member 15 in the underface comprising needle 3 Object to be sewn S is kept in X/Y plane including position Ps processed and can be moved.Holding member 15 is propped up via support member 14 It supports in sewing machine base portion 4.

Holding member 15 has the lower plate 15B of frame-shaped identical with the presser feet component 15A of frame-shaped.Presser feet component 15A is in Z axis Direction can move.Lower plate 15B is configured at the lower section of presser feet component 15A.Holding member 15 passes through presser feet component 15A and lower plate 15B clips object to be sewn S, thus keeps to object to be sewn S.

Presser feet component 15A is mobile to +Z direction, thus presser feet component 15A and lower plate 15B separation.Operator can as a result, Object to be sewn S is configured between presser feet component 15A and lower plate 15B.Match between presser feet component 15A and lower plate 15B Presser feet component 15A is mobile to -Z direction in the state of being equipped with object to be sewn S, and thus object to be sewn S is by presser feet component 15A It is clipped with lower plate 15B.Object to be sewn S is held in holding member 15 as a result,.In addition, presser feet component 15A is mobile to +Z direction, The holding of the object to be sewn S realized from there through holding member 15 is released from.

Kettle is configured in the lower section of needle plate 13.Kettle keeps the spool accommodated in bobbin casing.Kettle and needle Stick 12 links and rotates.Kettle supplying under thread LT.Kettle penetrates through, from the object to be sewn S that will be supported in needle plate 13 across needle plate 13 The needle 3 of pin hole fishes for online UT.

Actuator 16 generates the power driven to needle bar 12 and kettle.Actuator 16 includes pulse motor.By activating The power that device 16 generates is transferred to needle bar 12 and kettle via power transfer mechanism respectively.The power transmitting generated by actuator 16 To needle bar 12, the needle 3 that thus needle bar 12 and needle bar 12 are kept is moved back and forth in Z-direction.It is generated by actuator 16 Power be transferred to kettle, thus kettle and needle bar 12 link and rotate.Sewing machine 1 passes through 3 He of needle that needle bar 12 is kept The co-operating of kettle and object to be sewn S is sewed.

Actuator 17 generates the power for moving holding member 15 in X/Y plane.Actuator 17 includes pulse motor. Actuator 17 includes: X-axis motor 17X, generates the power for keeping holding member 15 mobile in X-direction；And Y-axis motor 17Y generates the power for keeping holding member 15 mobile in Y direction.Actuator 17 is set to the inside in sewing machine base portion 4.

The power generated by actuator 17 is transferred to holding member 15 via support member 14.Holding member 15 as a result, It can respectively be moved between needle 3 and needle plate 13 in X-direction and Y direction.By the work of actuator 17, Holding member 15 can keep object to be sewn in the X/Y plane including the sewing position Ps of the underface comprising needle 3 S and move.

Actuator 18 generates the power for keeping the presser feet component 15A of holding member 15 mobile in Z-direction.Actuator 18 includes Pulse motor.Presser feet component 15A is mobile to +Z direction, thus presser feet component 15A and lower plate 15B separation.Presser feet component 15A It is mobile to -Z direction, object to be sewn S is clipped from there through presser feet component 15A and lower plate 15B.

As shown in Fig. 2, in the present embodiment, object to be sewn S includes that the 1st object to be sewn S1 is stitched with being configured at the 1st The 2nd object to be sewn S2 on object S1 processed.Holding member 15 is by the 1st object to be sewn S1 and the 2nd object to be sewn S2 It clips and keeps.

Frame 5 is configured at the inside of presser feet component 15A.Frame 5 has opening.In the opening of frame 5, to stitching to be formed The region of a part of the object to be sewn S of SE is configured.

Middle presser feet 19 has the cylindric component for having opened up the hole penetrated through for needle 3, does not interfere object to be sewn S X/Y plane movement, the smallest height is held in from the surface of object to be sewn S.Middle presser feet 19 passes through in needle 3 Needle bar 12 and when moving up and down, prevent object to be sewn S to be raised together with needle 3.The change of the height of middle presser feet 19 It is to move up and down middle presser feet 19 by actuator 20 to implement, which generates the power mobile in Z-direction.

< 3 ties up measuring device >

3 dimension measuring devices 30 measure 3 dimension shapes of measurement object.In the present embodiment, 3 dimension measuring device 30 Measurement object include object to be sewn S and be formed in the stitching SE of object to be sewn S by sewing machine 1.3 dimension measuring devices The 3 dimension shapes of 30 couples of object to be sewn S and by sewing machine 1 be formed in the 3 dimension shapes of the stitching SE of object to be sewn S into Row measurement.

The position of 3 dimension measuring devices 30 is fixed.Relative position between 3 dimension measuring devices 30 and sewing machine stand 11 is Fixed.3 dimension measuring devices 30 are disposed above compared with needle plate 13 and holding member 15.Holding member 15 can include 3 It is moved in X/Y plane including the measured zone FA of dimension measuring device 30.3 dimension measuring devices 30 protect holding member 15 The measurement object held measures.The measurement object that holding member 15 is kept, comprising object to be sewn S and in object to be sewn The stitching SE that S is formed.In the present embodiment, 3 measuring devices 30 are tieed up via the opening of frame 5, from top to object to be sewn S And stitching SE is measured.

Fig. 3 is the figure for showing schematically 3 dimension measuring devices 30 involved in present embodiment.In the present embodiment, 3 dimension Measuring device 30 is based on phase shift method, measures to 3 dimension shapes of measurement object.In the explanation using Fig. 3,3 dimension measurement dresses 30 measurement object is set to be set as being object to be sewn S.

As shown in figure 3,3 dimension measuring devices 30 include projection arrangement 31, the seam that pattern is kept to holding member 15 Object S processed is projected；Filming apparatus 32 obtains the image data for projecting figuratum object to be sewn S；And control Device 33.

Projection arrangement 31 includes light source 31A, generates light；Optical modulation element 31B, to from the light that light source 31A is projected into Row light modulation；And projection optical system 31C, the pattern light generated by optical modulation element 31B is projected to object to be sewn S。

Optical modulation element 31B includes Digital Micromirror Device (DMD:Digital Mirror Device).In addition, light modulation Element 31B also may include the liquid crystal display panel of infiltration type, also may include the liquid crystal display panel of reflection-type.Optical modulation element 31B base Pattern light is generated in the pattern data exported from control device 33.Projection arrangement 31 will based on pattern data patterned figure Case illumination is incident upon object to be sewn S.

Filming apparatus 32 includes imaging optical system 32A, to the pattern light that is reflected by object to be sewn S carry out at Picture；And capturing element 32B, the image data of object to be sewn S is obtained via imaging optical system 32A.Capturing element 32B is comprising cmos image sensor (Complementary Metal Oxide Semiconductor Image Sensor) Or the solid-state image pickup element of ccd image sensor (Charge Coupled Device Image Sensor).

Control device 33 includes computer system, is controlled projection arrangement 31 and filming apparatus 32.Control device 33 Arithmetic processing apparatus is included, it includes processors as CPU (Central Processing Unit)；And storage dress It sets, it includes memory and storages as ROM (Read Only Memory) or RAM (Random Access Memory) Device.Arithmetic processing apparatus implements calculation process according to the computer program stored in the storage device.

The candy strip light that sinuous lightness is distributed is exposed to sewing object as pattern light by projection arrangement 31 Object S.Projection arrangement 31 be based on phase shift method, on one side make candy strip light carry out phase offset, while project to object to be sewn S. Filming apparatus 32, which obtains, indicates that projection has the image data of the image of the object to be sewn S of candy strip light.

< control system >

Fig. 4 is the functional block diagram for indicating the control system of sewing system 100 involved in present embodiment.Sewing system 100 include 3 dimension measuring devices 30, measure to 3 dimension shapes of measurement object；Control device for sewing-machine 40, to sewing Machine 1 is controlled；Processing unit 50 detects the exception of measurement object；And display device 60.

3 dimension measuring devices 30 obtain the measurement data for the 3 dimension shapes for indicating object to be sewn S and indicate 3 dimensions of stitching SE The measurement data of shape.3 dimension measuring devices 30 export the measurement data of the measurement data of object to be sewn S and stitching SE to seam It threads machine control device 40.Or the stitch data (describing below) of control device for sewing-machine is obtained, it is used in 3 dimension measuring devices 30 Control.

The measurement data of object to be sewn S include indicate X/Y plane in object to be sewn S position position data and Indicate the altitude information of the position of the object to be sewn S in Z-direction.The measurement data of stitching SE includes to indicate in X/Y plane The altitude information of the position of the position data and stitching SE in expression Z-direction of the position of stitching SE.

Control device for sewing-machine 40 includes computer system, is controlled sewing machine 1.Control device for sewing-machine 40 has Have: arithmetic processing apparatus, it includes processors as CPU；And storage device, it includes memories as ROM or RAM And reservoir.Arithmetic processing apparatus implements calculation process according to the computer program stored in the storage device.

Measurement data of the control device for sewing-machine 40 based on the object to be sewn S exported from 3 dimension measuring devices 30, output pair The control instruction that sewing machine 1 is controlled.

Control device for sewing-machine 40 has stitch data storage unit 41, operational part 42 and instruction output section 43.

Stitch data storage unit 41 stores stitch data.Stitch data includes the operating condition of sewing machine 1.As The operating condition of sewing machine 1 exemplifies the target movement speed of needle bar 12, the target mobile condition of holding member 15, is sewing The target pattern SEr for the stitching SE that object S is formed, the target position of stitching SE in local coordinate system, in Z-direction in At least one of the goal tension of the target position of presser feet 19 and online UT.The mobile condition of holding member 15 includes X/Y plane The target moving distance of interior holding member 15, target movement speed, target moving direction and target motion track at least one It is a.Stitch data is predetermined.Stitch data is stored in stitch data storage unit 41.

Measurement data of the operational part 42 based on the object to be sewn S exported from 3 dimension measuring devices 30, carries out stitch data Correction.

For example, position data and altitude information of the operational part 42 based on the object to be sewn S obtained by 3 dimension measuring devices 30 At least one and the target movement speed of needle bar 12 is corrected so that stitching SE is successfully formed in object to be sewn S。

In addition, operational part 42 is based on the position data of object to be sewn S obtained by 3 dimension measuring devices 30 and to maintaining part The target mobile condition of part 15 is corrected, so that stitching SE is formed in the target position of object to be sewn S.

In addition, altitude information of the operational part 42 based on the object to be sewn S obtained by 3 dimension measuring devices 30, in order to prevent Object to be sewn S is raised together with needle 3, in addition, the movement of the X/Y plane in order not to interfere object to be sewn S and from The surface of object to be sewn S rises and is held in the smallest height, carries out school to the target position of the presser feet component 15A in Z-direction Just.

It instructs output section 43 to be based on stitch data, exports the control instruction controlled sewing machine 1.

For example, instruction output section 43 exports control instruction to actuator 16, so that needle bar 12 in stitch data to advise The target movement speed of fixed needle bar 12 is moved.The target movement speed of needle bar 12 is corrected in operational part 42 In the case where, instruction output section 43 exports control instruction to actuator 16, so that needle bar 12 is mobile fast with the target after correcting Degree is moved.

In addition, instruction output section 43 exports control instruction to actuator 17, so that holding member 15 is in stitch data Specified in the target mobile condition of holding member 15 moved.To the mobile item of the target of holding member 15 in operational part 42 In the case that part is corrected, instruction output section 43 exports control instruction to actuator 17, so that holding member 15 is with school Target mobile condition after just is moved.

In addition, instruction output section 43 exports control instruction to actuator 20, so that middle presser feet 19 is configured in sewing number The target position of middle presser feet 19 in the Z-direction specified in.In operational part 42 to the target position of presser feet component 15A into It has gone in the case where correction, instruction output section 43 exports control instruction to actuator 20, so that presser feet component 15A is configured at school Target position after just.

Processing unit 50 includes computer system, is examined to the exception of at least one of object to be sewn S and stitching SE It surveys.Processing unit 50 includes arithmetic processing apparatus, and it includes processors as CPU；And storage device, it includes ROM or Memory as RAM and reservoir.Arithmetic processing apparatus is implemented to transport according to the computer program stored in the storage device Calculation processing.

Measurement data of the processing unit 50 based on the object to be sewn S exported from 3 dimension measuring devices 30, to object to be sewn The exception of S is detected.In addition, measurement data of the processing unit 50 based on the stitching SE exported from 3 dimension measuring devices 30, to line The exception of mark SE is detected.

Processing unit 50 is included referring to data store 51, analysis unit 52, determination unit 53, display 54 and of data output section Data store 55.

Indicate referring to 51 Duis of data store the reference data of the characteristic quantity of the 3 dimension shapes of normal object to be sewn S into Row storage.In addition, indicating the feature of the 3 dimension shapes of stitching SE when being formed with normal stitching SE referring to 51 pairs of data store Amount is stored referring to data.Referring to data be object to be sewn S design data or can be by preliminary experiment (comprising mould Draft experiment) derived from given data, be pre-stored within referring to data store 51.

Analysis unit 52 parses the measurement data of the object to be sewn S exported from 3 dimension measuring devices 30, to sewing pair As the characteristic quantity data of the 3 dimension shapes of object S is calculated.In addition, analysis unit 52 is to the stitching SE exported from 3 dimension measuring devices 30 Measurement data parsed, the characteristic quantity datas of characteristic quantities for the 3 dimension shapes for indicating stitching SE are calculated.In this feature It measures in data, the height of the sewing range of stepped locations (X, Y, Z-direction), object to be sewn S itself comprising object to be sewn S Degree, the height of the step DS of object to be sewn S, the thickness of line, the height of suture, the height of stitching SE, the shape of stitching SE, seam The spacing etc. of system.

Determination unit 53 is stored characteristic quantity data calculated in analysis unit 52 and in referring to data store 51 It is compareed referring to data, the exception of exception and stitching SE to object to be sewn S determines.The exception of object to be sewn S Judgement, have the judgement of the abnormal pattern of judgement and object to be sewn S without exception comprising object to be sewn S.Stitching SE's Abnormal judgement has the judgement of the abnormal pattern of judgement and stitching SE without exception comprising stitching SE.

Display data output section 54 generates the display data shown in display device 60, output to display device 60. Show data include indicate object to be sewn S 3 dimension shapes display data, indicate stitching SE 3 tie up shapes display data, And the judgement data obtained by determination unit 53.

Measurement and determine result storage unit 55 to measurement data, characteristic quantity data, determine data, from control device for sewing-machine ID, stitch data, its date and time of the sewing machine of acquirement etc. are stored.

Display device 60 shows the display data exported from display data output section 54.Display device includes liquid crystal Display (LCD:Liquid Crystal Display) or organic el display (OELD:Organic Electroluminescence Display) as flat-panel monitor.

< object to be sewn >

Fig. 5 is the oblique view for indicating an example of object to be sewn S involved in present embodiment.Object to be sewn S The 2nd object to be sewn S2 comprising the 1st object to be sewn S1 and configuration on the 1st object to be sewn S1.Object is sewed the 1st Step DS is formed between object S1 and the 2nd object to be sewn S2.That is, in the present embodiment, the surface of object to be sewn S includes platform Rank DS.

Stitch data includes the target position of the stitching SE in local coordinate system.That is, as shown in figure 5, in the 2nd sewing pair As the mode of the edge formation stitching SE of object S2, the position of the target pattern SEr of stitching SE is advised in local coordinate system It is fixed.Stitch data is predefined, is stored in stitch data storage unit 41.

3 dimension measuring devices 30 being capable of high-precision and the accurately XY to the step DS being arranged on the surface of object to be sewn S Position in plane measures.Even if for example tieing up be difficult to differentiate in filming apparatus, the 1st object to be sewn common 2 In the identical situation of color of the color of S1 and the 2nd object to be sewn S2,3 dimension measuring devices 30 also being capable of accurately measure platform Rank DS.In addition, 3 dimension measuring devices 30 are capable of the height of the step DS of accurately measure object to be sewn S.

< sewing processing >

Fig. 6 is the flow chart for indicating sewing processing involved in present embodiment.Stitch data is pre-stored within sewing number According to storage unit 41.Operational part 42 obtains stitch data (step SA1) from stitch data storage unit 41.

Object to be sewn S is configured in holding member 15.3 dimension measuring devices 30 are sewed by sewing machine 1 Before, the 3 dimension shapes of object to be sewn S are measured.By the measurement number for the object to be sewn S that 3 dimension measuring devices 30 are measured According to output to control device for sewing-machine 40.As shown in figure 5, in the case where the surface of object to be sewn S includes step DS, seam The measurement data of object S processed includes the position for indicating step DS and the step data of height.Operational part 42 ties up measuring devices from 3 30 obtain the measurement data (step SA2) of object to be sewn S.

Measurement data of the operational part 42 based on the object to be sewn S obtained from 3 dimension measuring devices 30, carries out stitch data It corrects (step SA3).That is, measurement number of the operational part 42 based on the object to be sewn S obtained before being sewed by sewing machine 1 According to being corrected to stitch data.In the case where the measurement data of object to be sewn S includes step data, 42 base of operational part In step data, stitch data is corrected.

For example, in the measurement data referring to object to be sewn S, based on the sewing number stored in stitch data storage unit 41 According to and in the case where being judged to normally implementing sewing processing, operational part 42 implements the correction of stitch data.

It instructs output section 44 based on the stitch data after the correction corrected by operational part 42, is exported to sewing machine 1 Control instruction (step SA4).

Based on the stitch data after correction from the sewing that the control instruction that instruction output section 44 exports includes in X/Y plane The adjustment instruction of relative position between eedle 3 and object to be sewn S.Instruction output section 44 is based on step data and exporting makes to protect The mobile control instruction of component 15 is held, so that the edge of the 2nd object to be sewn S2 is transferred to the underface of needle 3 Sewing position Ps forms stitching SE along the edge of the 2nd object to be sewn S2.

< abnormality processing >

Fig. 7 is the flow chart for indicating the processing of abnormality detection involved in present embodiment.3 dimension measuring devices 30 are passing through seam Before machine 1 of threading is sewed, the 3 dimension shapes of object to be sewn S are measured.The sewing pair measured by 3 dimension measuring devices 30 As the measurement data of object S is exported to processing unit 50.As shown in figure 5, the case where the surface of object to be sewn S includes step DS Under, the measurement data of object to be sewn S includes the position for indicating step DS and the step data of height.Analysis unit 52 is surveyed from 3 dimensions Measure the measurement data (step SB1) that device 30 obtains object to be sewn S.

According to the step, for example, with next step and its later shown in sew after by 3 dimension measuring devices 30 To measurement data compare, the exception of the object to be sewn S after sewing itself can be detected.In addition, the step Can be omitted, since next (sewing) and its later.

After implementing sewing processing, 3 dimension measuring devices 30 are to the stitching for being formed in object to be sewn S by sewing machine 1 The 3 dimension shapes of SE measure.The measurement data of the stitching SE measured by 3 dimension measuring devices 30 is exported to processing unit 50.Analysis unit 52 obtains the measurement data (step SB2) of stitching SE from 3 dimension measuring devices 30.

Measurement data of the analysis unit 52 based on the stitching SE obtained from 3 dimension measuring devices 30, passes through sewing machine 1 to expression The characteristic quantity data for being formed in the characteristic quantity of the 3 dimension shapes of the stitching SE of object to be sewn S is calculated.

Determination unit 53 is stored characteristic quantity data calculated in analysis unit 52 and in referring to data store 51 (step SB3) is compareed referring to data.

Determination unit 53 is compareed by characteristic quantity data and referring to data, is determined (step to the exception of stitching SE SB4).The abnormal judgement of stitching SE has the judgement of the abnormal pattern of judgement and stitching SE without exception comprising stitching SE.

Display data output section 54 generates the display data shown in display device 60, output to display device 60 (step SB5).Display data include to obtain by display data that the 3 of stitching SE dimension shapes three-dimensionally indicate and by determination unit 53 Judgement data.

Measurement and judgement result storage unit 55 are stored (step to measurement data, characteristic quantity data, judgement data SB6).At this point, obtaining ID, stitch data, its date and time etc. of sewing machine from control device for sewing-machine, deposit in association Storage.

In the case where exception has occurred in the shape of stitching SE, 3 dimension measuring devices 30 can be to the different of the shape of stitching SE Often measure.Processing unit 50 can detect the exception of stitching SE based on the measurement data of stitching SE.For example, energy Enough position datas according to stitching SE detect the defect (bouncing pilotage) of stitching, the exception of sewing spacing.In addition, also being capable of root According to the thickness of line, the characteristic quantity data of height, the difference of line type, abnormal sewing are differentiated.3, which tie up measuring devices 30, is Make for example be difficult to situation differentiate, that online UT is identical with the color of object to be sewn S2 in common 2 dimension filming apparatus Under, it also can reliably identify stitching SE, can accurately detect.

The measurement data of stitching SE includes the altitude information of stitching SE.Such as in the online UT or offline LT for forming stitching SE Relaxation and in the case where the protrusion of the surface of object to be sewn S, 3 dimension measuring devices 30 can accurately detect the stitching of protrusion SE.Processing unit 50 can accurately determine the exception of stitching SE based on the altitude information of stitching SE.

Fig. 8 is the figure for indicating an abnormal example of stitching SE.Fig. 8 exemplify in object to be sewn S online UT and The exception of the pattern of at least one relaxation of offline LT.The exception of stitching SE shown in Fig. 8 is referred to as " lantern "." lantern " refers to Following phenomenons, that is, although online UT and offline LT winding, online UT is loose or in sewing pair on the surface of object to be sewn S As the offline LT relaxation in the back side of object S.Fig. 8 shows the example in the online UT relaxation in the surface of object to be sewn S.

Referring to data store 51, the shape of normal stitching SE is stored as referring to data.Analysis unit 52 Based on the measurement data of stitching SE, the characteristic quantity data of expression " lantern " is calculated.Determination unit 53 passes through will be referring to data It is compareed with characteristic quantity data, so as to be determined as that the abnormal pattern of stitching SE is " lantern ".

Display device 60 shows the measurement data of object to be sewn S and the measurement data of stitching SE.Sew object 3 dimension datas of object S and stitching SE are shown that therefore, operator observes display device 60 in display device 60, can be intuitively Identify the state of object to be sewn S and stitching SE.

In the present embodiment, 3 dimension measuring devices 30 can not only measure the 3 dimension shapes of stitching SE, pass through After sewing machine 1 is sewed, additionally it is possible to be measured to the 3 dimension shapes of object to be sewn S.For example, being handled by sewing In the case where exception has occurred in the shape of object to be sewn S, 3 dimension measuring devices 30 can be to the shape of object to be sewn S Exception measures.Analysis unit 52 can be based on the measurement data of the object to be sewn S obtained from 3 dimension measuring devices 30, to table Show that the characteristic quantity data of the characteristic quantity of the 3 dimension shapes of the object to be sewn S after sewing machine 1 is sewed is calculated.Joining According to 3 dimension shapes for the normal object to be sewn S in data store 51, being stored with after indicating to be sewed by sewing machine 1 Reference data.Determination unit 53 is by the characteristic quantity data of the object to be sewn S after being sewed by sewing machine 1 and referring to data It is compareed, the exception of the object to be sewn S after being sewed by sewing machine 1 can be determined.Object to be sewn S's Abnormal judgement has the judgement of the abnormal pattern of judgement and object to be sewn S without exception comprising object to be sewn S.

< effect >

As described above, according to the present embodiment, 3 dimension measuring devices 30 are configured in sewing system 100.3 Dimension measuring device 30 can measure the 3 dimension shapes of object to be sewn S.3 tie up measuring devices 30 can be to by sewing machine 1 3 dimension shapes of the 3 dimension shapes of object to be sewn S before being sewed and the object to be sewn S after being sewed by sewing machine 1 It measures.In addition, 3 dimension measuring devices 30 can be to 3 dimensions for the stitching SE for being formed in object to be sewn S by sewing machine 1 Shape measures.It, can be accurate since the 3 dimension shapes for tieing up shape and stitching SE to the 3 of object to be sewn S measure Ground identifies the state of object to be sewn S or the state for the product produced.Therefore, it can be appropriately carried out and be produced by sewing Product qualitative control.

Measurement data of the control device for sewing-machine 40 based on the object to be sewn S exported from 3 dimension measuring devices 30, output pair The control instruction that sewing machine 1 is controlled.Control device for sewing-machine 40 is based on the seam obtained before being sewed by sewing machine 1 The measurement data of object S processed exports control instruction.As a result, sewing machine 1 can based on object to be sewn S 3 tie up shapes and it is quasi- Really work.Therefore, the product of high-quality is generated.

In the present embodiment, in the case where the surface of object to be sewn S includes step DS, the sewing comprising step DS The 3 dimension shapes on the surface of object S are measured also by 3 dimension measuring devices 30.The measurement data of object to be sewn S includes table Show the position of step DS and the step data of height.Control device for sewing-machine 40 can be based on step data, export to sewing machine 1 The control instruction controlled.As a result, sewing machine 1 can the step data based on object to be sewn S and accurately work.Cause This, produces the product of high-quality.

In the present embodiment, the control instruction controlled sewing machine 1 includes 3 He of needle in X/Y plane The adjustment instruction of relative position between object to be sewn S.Thereby, it is possible to form stitching in the target position of object to be sewn S SE。

In addition, in the present embodiment, processing unit 50 can be surveyed based on tieing up before being sewed by sewing machine 1 from 3 The measurement data for measuring the object to be sewn S that device 30 obtains, detects the exception of object to be sewn S.In addition, processing unit 50 can be based on the survey of the object to be sewn S, stitching SE obtained after being sewed by sewing machine 1 from 3 dimension measuring devices 30 Data are measured, the exception of object to be sewn S is detected.Thereby, it is possible to accurately identify the state of object to be sewn S or production The state of product out.Therefore, the qualitative control of the product produced by sewing can be appropriately carried out.

In the present embodiment, it is measured by 3 dimension shapes of the 3 dimension measuring devices 30 to stitching SE, therefore as line The measurement data of mark SE obtains the altitude information of stitching SE.As a result, processing unit 50 can based on the altitude information of stitching SE, Accurately determine the exception of stitching SE.For example, in the case where " lantern " has occurred in the exception as stitching SE, processing dress Setting 50 also can accurately detect the generation of " lantern ".

In the present embodiment, the measurement data of object to be sewn S and the measurement data of stitching SE display device 60 into Row display.Operator observes display device 60 as a result, can intuitively identify the state of object to be sewn S and stitching SE.Separately Outside, the judgement data of the determination unit 53 of processing unit 50 are shown in display device 60, and thus operator can be to sewing The presence or absence of the abnormal and abnormal pattern occurred in object S or product is identified.

In the present embodiment, ID, stitch data, its date and time of sewing machine are obtained from control device for sewing-machine 40 Deng, by after they and sewing measurement data, determine that data are stored in measurement in association and determine result storage unit 55, thus Product after sewing is there are in the case where any problem, and the presence or absence of the problem of by sewing to it, the state of sewing etc. determines As a result it is verified, thus allows for the management of so-called retrospect.

In addition, in the present embodiment, 3 dimension measuring devices 30 can also be carried out in object to be sewn S by needle 3 In the state of sewing, the 3 dimension shapes for tieing up shape or stitching SE to the 3 of object to be sewn S are measured.

[the 2nd embodiment]

The 2nd embodiment is illustrated.In the following description, to the knot identical or same with above-mentioned embodiment Structure element marks same label, simplifies or the description thereof will be omitted.

Fig. 9 is the oblique view for indicating sewing machine 101 involved in present embodiment.Figure 10 is indicated involved by present embodiment And 3 dimension measuring devices 30 measured zone FA and object to be sewn S relationship top view.In the present embodiment, it sews Machine 101 is the sewing machine for covering chain stitch for implementing flush joint.

As shown in figure 9, sewing machine 101 includes sewing machine head 102, needle bar 104, thread take-up tension lever 105, line adjuster 106, needle Plate 107, presser feet component 108, kettle 109 and motor 110.

Needle bar 104 keeps needle 103 and is moved back and forth in Z-direction.Needle bar 104 is with needle 3 and Z Axis becomes parallel mode and keeps to needle 103.Needle bar 104 is supported in sewing machine head 102.Needle bar 104 is configured at The top of needle plate 107, can be opposite with the surface of object to be sewn S.Online UT is hooked in needle 103.Needle 103 With the threading hole passed through for online UT.Needle 103 keeps online UT in the inner surface of threading hole.Needle bar 104 It is moved back and forth in Z-direction, thus needle 103 moves back and forth in the state of maintaining online UT in Z-direction.

Thread take-up tension lever 105 supplies online UT to needle 103.Thread take-up tension lever 105 is supported in sewing machine head 102.Thread take-up tension lever 105 The take-up rod aperture passed through with online UT.Thread take-up tension lever 105 keeps online UT in the inner surface of take-up rod aperture.Thread take-up tension lever 105 move back and forth in the state of maintaining online UT in Z-direction.Thread take-up tension lever 105 links with needle bar 104 and back and forth moves It is dynamic.Thread take-up tension lever 105 is moved back and forth in Z-direction, and thus online UT is extracted out or lifted.

Line adjuster 106 assigns tension to online UT.Online UT is supplied from line supply source to line adjuster 106.Online In the path that UT passes through, thread take-up tension lever 105 is configured between needle 103 and line adjuster 106.Line adjuster 106 to via Thread take-up tension lever 105 and supply to the tension of online UT of needle 103 and be adjusted.

Needle plate 107 is supported object to be sewn S.The needle 103 and needle plate 107 that needle bar 104 is kept are opposite. The pin hole that there is needle plate 107 needle 103 can pass through.The sewing machine of the object to be sewn S perforation of needle plate 107 will be supported in Needle 103 is through needle passing hole.

There is the feeding tooth (not shown) for conveying object to be sewn S to +Y direction in the lower section of needle plate 107, sew object Object S is pressed against feeding tooth by the foot pressure of presser feet component 108, conveys to +Y direction.The height of presser feet component 108 Change is to implement presser feet component 108 and moving up and down by generating the actuator 111 of mobile power in Z-direction.

Kettle 109 keeps the spool accommodated in bobbin casing.Kettle 109 is configured at the lower section of needle plate 107.Kettle 109 It links and rotates with needle bar 104.109 supplying under thread LT of kettle.Kettle 109 from will be supported in needle plate 107 object to be sewn S penetrate through, Online UT is fished for by the needle 103 of the pin hole of needle plate 107.

Motor 110 generates power.Motor 110 has the stator for being supported in sewing machine head 102 and can rotate twelve Earthly Branches Support the rotor in stator.Rotor is rotated, and thus motor 110 generates power.The power generated by motor 110 is via dynamic Force transfer mechanism (not shown) is transferred to needle bar 104, thread take-up tension lever 105 and kettle 109 respectively.Needle bar 104, thread take-up tension lever 105 and kettle 109 link.Needle bar 104 is transferred to by the power that motor 110 generates, the seam that thus needle bar 104 and needle bar 104 are kept Needle of sewing machine 103 is moved back and forth in Z-direction.Thread take-up tension lever 105 is transferred to by the power that motor 110 generates, thus thread take-up tension lever 105 It links with needle bar 104 and is moved back and forth in Z-direction.Kettle 109 is transferred to by the power that motor 110 generates, thus kettle 109 with Needle bar 104 and thread take-up tension lever 105 link and rotate.Needle 103 that sewing machine 101 is kept by needle bar 104 and kettle 109 Co-operating and object to be sewn S is sewed.

Online UT from line supply source is hooked in sewing machine after being hooked in line adjuster 106, via thread take-up tension lever 105 Needle 3.If motor 110 rotates, needle bar 104 declines, then the needle 103 that needle bar 104 is kept passes through object to be sewn S It is logical, by the pin hole being arranged in needle plate 107.If needle 103 is by the pin hole of needle plate 107, under the supply of kettle 109 The line LT and online UT for being hooked in needle 103 is wound.In the state that offline LT and online UT is wound, on needle 3 It rises, decorporates from object to be sewn S.When needle 103 penetrates through object to be sewn S, sewing machine 101 makes object to be sewn S Stop.When needle 103 is decorporated from object to be sewn S, sewing machine 101 keeps object to be sewn S mobile to +Y direction.Sewing Machine 101 on one side repeat the movement of +Y direction of object to be sewn S and stopping, while move back and forth needle 103 and stitching Object S processed forms stitching SE.Extend in the stitching SE that object to be sewn S is formed in Y direction.

As shown in FIG. 9 and 10, the predetermined region on the surface of object to be sewn S is by being transferred to needle 103 just The sewing position Ps of lower section and be sewn.In the present embodiment, 3 dimension measuring devices 30 include: 3 dimension measuring devices of front side 30F measures predetermined region before transferring to sewing position Ps；And 3 dimension measuring device 30R of rear side, Be transferred to sewing position Ps, sewed by needle 103 after predetermined region is measured.The table of object to be sewn S The predetermined region in face is transferred to sewing position Ps after the measured zone FAf of 3 dimension measuring device 30F.In sewing position Predetermined region after being sewed at Ps, by the measured zone FAr of 3 dimension measuring device 30R.In addition, being carried out at sewing position Ps Sewing, is formed in the stitching SE of predetermined region, by the measured zone FAr of 3 dimension measuring device 30R.

Identical as above-mentioned embodiment, sewing machine 101 is controlled by control device for sewing-machine 40.Sewing machine control Measurement data of the device 40 based on the predetermined region measured by 3 dimension measuring device 30F, output control sewing machine 101 Control instruction.

In the present embodiment, 3 dimensions measuring device 30 (30F, 30R) are carried out in object to be sewn S by needle 103 In the state of sewing, the predetermined region of object to be sewn S is measured.3 dimension measuring device 30R pass through in object to be sewn S In the state that needle 103 is sewed, the stitching SE of the predetermined region formation in object to be sewn S is measured.Seam Object S processed is the state for indicating a series of sewing and continuing by the state that needle 103 is sewed, and includes sewing machine The state that needle 103 or object to be sewn S stop.

As described above, in the present embodiment, 3 dimension measuring devices 30 also can tie up shape to the 3 of object to be sewn S The 3 dimension shapes of shape and stitching SE measure.Since the 3 dimension shapes for tieing up shape and stitching SE to the 3 of object to be sewn S are surveyed Amount, therefore the state of product that can accurately identify the state of object to be sewn S or produce.It therefore, can be suitably real Apply the qualitative control of the product produced by sewing.

[the 3rd embodiment]

The 3rd embodiment is illustrated.In the following description, to the knot identical or same with above-mentioned embodiment Structure element marks same label, simplifies or the description thereof will be omitted.

Figure 11 is the figure for showing schematically sewing system 100 involved in present embodiment.In the present embodiment, it sews System 100 has robots arm 300, and sewing machine 201 can be supported movably.Robots arm 300 is articulated robot Arm, can by sewing machine 201 this 6 directions of X-direction, Y direction, Z-direction, θ X-direction, θ Y-direction and θ Z-direction into Row movement.

As shown in figure 11, in the present embodiment, 3 dimension measuring devices 30 are fixed on the lower surface of sewing machine 201.3 dimensions are surveyed It measures device 30 and is supported in robots arm 300 via sewing machine 201.In addition, 3 dimension measuring devices 30 can not also be via sewing machine 201, but directly it is supported in robots arm 300.

Sewing machine 201 is the sewing machine for covering chain stitch for carrying out flush joint.Sewing machine 201 includes sewing machine head 202, to needle 203 needle bar 204, needle plate 207, sewing machine basal part 208 and the motor 210 kept.The construction of sewing machine 201 with upper The sewing machine 101 illustrated in the embodiment stated is identical, therefore omits detailed description.

Figure 12 is the functional block diagram for indicating the control system of sewing system involved in present embodiment.As shown in figure 12, In the present embodiment, sewing system 100 has arm control device 70, exports the control controlled robots arm 300 Instruction.

Arm control device 70 includes position calculation part 71, calculates the position data of object to be sewn S；And Output section 72 is instructed, based on the position data of object to be sewn S, exports control instruction to robots arm 300.

Figure 13 is the figure for indicating an example of object to be sewn S involved in present embodiment.As shown in figure 13, it sews Object S includes object to be sewn Sa and the object to be sewn Sb for being sutured in object to be sewn Sa.Object to be sewn Sa is for example Rubber.Object to be sewn Sa includes the sewing slot Vs of linear baseline trough Vr and the two sides for being set to baseline trough Vr in parallel.

Figure 14 is the figure for showing schematically the movement of sewing system 100 involved in present embodiment.Object to be sewn S is solid Due to fixture.The position of object to be sewn S is fixed.As shown in (A) of Figure 14, instruction output section 72 is defeated to robots arm 300 Control instruction out, so that measured zone FA and object to be sewn the S relative movement of 3 dimension measuring devices 30.3 dimension measuring devices 30 At least the 3 dimension shapes of baseline trough Vr are measured.In the present embodiment, 3 dimension measuring devices 30 are to baseline trough Vr and sewing The 3 dimension shapes of slot Vs measure.

Measurement data of the position calculation part 71 based on the object to be sewn S measured by 3 dimension measuring devices 30, to local seat The position data of baseline trough Vr in mark system and the position data for sewing slot Vs are calculated.Alternatively, in control device for sewing-machine In the case where the target position stitch data for having existed sewing slot Vs in 40 stitch data storage unit 41, to stitch data Corrected value is calculated.

As shown in (B) of Figure 14, the positional number of position data and sewing slot Vs of the output section 72 based on baseline trough Vr is instructed According to, corrected value, control instruction is exported to robots arm 300, so that matching in the inside of sewing slot Vs to sewing position Ps It sets.After the inside of sewing slot Vs is configured with needle 203, instruction output section 72 refers to the output control of arm control device 70 It enables, so that forming stitching SE along sewing slot Vs.In addition, control device for sewing-machine 40 exports control instruction to sewing machine 201.

As described above, sewing machine 201 and 3, which ties up measuring device 30, can also be supported in robots arm 300.3 dimensions are surveyed Amount device 30 can position data to the object to be sewn S in local coordinate system and altitude information measure.Therefore, can Based on the measurement data of 3 dimension measuring devices 30, accurately object to be sewn S is sewed.

More than, the 3 dimension measuring devices integrally applied with sewing machine are illustrated, but the 3 dimension measuring device can Check device independently of sewing machine individually as the object to be sewn S after sewing uses.