EP0131087A2 - Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe - Google Patents

Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe Download PDF

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Publication number
EP0131087A2
EP0131087A2 EP84101898A EP84101898A EP0131087A2 EP 0131087 A2 EP0131087 A2 EP 0131087A2 EP 84101898 A EP84101898 A EP 84101898A EP 84101898 A EP84101898 A EP 84101898A EP 0131087 A2 EP0131087 A2 EP 0131087A2
Authority
EP
European Patent Office
Prior art keywords
phase
stepper motor
current
sewing machine
microcomputer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP84101898A
Other languages
German (de)
English (en)
Other versions
EP0131087B1 (fr
EP0131087A3 (en
Inventor
Joachim Ing. Grad. Hammermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pfaff Haushaltsmaschinen GmbH
GM Pfaff AG
Original Assignee
Pfaff Haushaltsmaschinen GmbH
GM Pfaff AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6201297&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0131087(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Pfaff Haushaltsmaschinen GmbH, GM Pfaff AG filed Critical Pfaff Haushaltsmaschinen GmbH
Publication of EP0131087A2 publication Critical patent/EP0131087A2/fr
Publication of EP0131087A3 publication Critical patent/EP0131087A3/de
Application granted granted Critical
Publication of EP0131087B1 publication Critical patent/EP0131087B1/fr
Expired legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B19/00—Program-controlled sewing machines
    • D05B19/02—Sewing machines having electronic memory or microprocessor control unit
    • D05B19/12—Sewing machines having electronic memory or microprocessor control unit characterised by control of operation of machine
    • D05B19/16—Control of workpiece movement, e.g. modulation of travel of feed dog

Definitions

  • the invention relates to a sewing machine according to the preamble of claim 1.
  • Electronically controlled sewing machines preferably have stepper motor drives for controlling the change in the lateral swing-out movement of the needle bar and the feed movement of the fabric pusher, since these drives are outstandingly suitable for the implementation of the digitally stored stitch information.
  • the gear ratio between the step size of the stepper motor and the respective driven element must be chosen so that with a sufficiently fine gradation of the adjustment movement, a sufficiently fast execution of the adjustment of the driven element in the maximum adjustment range is achieved within the time available. With very specific requirements, the existing gradation from step to step is not sufficient. A further subdivision is necessary here.
  • Such a correction is particularly necessary for sewing patterns which contain a large number of sewing stitches which are to be carried out both in one and in the other transport direction.
  • any feed difference between the two transport directions that is not recognizable for individual stitches has the effect of a total error, which can render the sewing result unusable.
  • the invention has for its object to enable the step position correction over the entire step area of the stepper motor and to combine with the stepper motor control.
  • a stepper motor control for a sewing machine results, in which not only a fine-step correction of the step positions specified by the stepper motor can be carried out in a simple manner, but which also additionally amplifies the torque when driving the Stepper motor and the holding torque in certain holding positions of the stepper motor.
  • the microcomputer can easily take one under different correction can be specified in different situations.
  • a special adaptation of the correction options to the parameters on which the stepper motor is based results from the circuitry of the D / A converter according to claim 2.
  • the sewing machine is equipped with a main shaft 1 which, via a crank 2 and a link 3, sets a vertical lifting movement of a needle bar 6 provided with a needle 4 and mounted in a guide rocker 5.
  • the guide rocker 5 is mounted in the housing of the sewing machine, not shown, by means of a pin 7.
  • the guide rocker 5 has an extension 8 which is connected via a link 9 to a crank 10 which is fastened on the shaft 11 of a stepping motor 12 arranged in the housing of the sewing machine for controlling the stitch width of the needle 4.
  • the main shaft 1 drives a lower shaft 13 via a chain, not shown.
  • a gearwheel 14 is fastened on the shaft 13, which meshes with a gearwheel 15 which is fastened on a shaft 16 mounted parallel to the shaft 13.
  • a lifting eccentric 17 is screwed, which carries a cam 18.
  • an eccentric 19 is also attached, which is encompassed by an eccentric rod 20, on which two links 22 and 23 are articulated by means of a bolt 21.
  • the handlebar 22 is rotatably connected via a bolt 24 to an angle lever 25 which is rotatably mounted on an axle 26 fastened in the housing of the sewing machine and is connected via an arm 27 of the angle lever 25 and a rod 28 to a crank 29 which is on the Shaft 30 of a second stepping motor 31 arranged in the housing of the sewing machine, which controls the stitch length of the sewing machine.
  • the link 23 is articulated to an arm 33 of a rocker arm 34 supported on the shaft 13 by a bolt 32.
  • a second upwardly projecting arm 35 of the rocker arm 34 has at its end a guide slot 36 in which a pin 37 is guided.
  • This is on attached to a support arm 38 which is slidably mounted on a horizontal axis 39 fastened in the housing of the sewing machine parallel to the feed direction.
  • the support arm 38 carries a fabric slide 40, which is provided for the transport of sewing material, which is sewn by the needle 4 in cooperation with a gripper, not shown.
  • the support arm 38 is supported on the cams 18 of the lifting eccentric 17 via a web 41 directed downwards.
  • the structure of the two stepper motors 12 and 31 are identical in their basic control; it is therefore sufficient to understand the operation of the description of the control of the stepping motor 31.
  • the stepper motor 31 which serves to control the stitch length of the sewing machine, is designed as a two-strand stepper motor. It is controlled by a microcomputer 42 (FIG. 2), in the memory of which a large number of any sewing patterns are stored in a known manner.
  • a pulse generator 43 which is controlled by the main shaft 1 of the sewing machine, is connected to the microcomputer 42 and emits a pulse with each revolution of the main shaft 1 when the fabric pusher 40 is not in engagement with the sewing material and the stepping motor 31 can change the stitch adjustment.
  • the pulse is fed to a comparator 44 for pulse shaping, the output of which is connected to the INT input of the microcomputer 42.
  • the microcomputer 42 is connected via a group of eight data lines 47 to an intermediate memory 48 for transferring the control processes for the two phase windings 49 and 49 'present in the stepper motor 31, which are operated with constant current chopper control.
  • the output P1 of the microcomputer 42 is via a Line 50 and the output WR of the microcomputer 4 2 are connected to the intermediate memory 48 via a line 51.
  • a digital-to-analog converter unit 52 in which a control voltage U ST is generated, is connected downstream of the buffer memory 48. This is fed via line 53 to a chopper stage 54, in which it is compared with an actual voltage U I , which is supplied via line 55 from a stepper motor output stage 56. A switching voltage U s is generated in the chopper stage 54 and conducted to the output stage 56 via a line 57. The two phase windings 49, 49 ′ of the stepping motor 31 are connected to the stepping motor output stage 56. The microcomputer 42 and the output stage 56 are still connected by lines 58 and 59 for the transmission of switching voltages U 0 and U 1 .
  • the intermediate memory 48 serves to expand the output of the microcomputer 42 in order to subdivide the half-steps normally carried out by the stepping motor 31 for balance correction into seven intermediate stages.
  • the buffer 48 (FIG. 3) has outputs O, 1, 2 which are connected directly to inputs 0, 1, 2 of a D / A converter 60, while a further output 3 of the buffer 48 is connected to one via a resistor 61 Input 3 of the D / A converter 60 is connected.
  • the input 3 of the D / A converter 60 is connected to ground via a resistor 62.
  • the output of the D / A converter 60 is connected to the non-inverting input of an impedance converter 63 and to a ground via a capacitor 64.
  • the output of the impedance converter 63 is connected via the line 53 to a voltage divider 65, which consists of resistors 66 and 67, the resistor 67 being connected to ground.
  • a capacitor 68 is connected in parallel with the resistor 67.
  • connection point between the two resistors 66 and 67 is connected via a resistor 69 to the reference input of a comparator 70, to the inverting input of which line 55 is connected via a resistor 71.
  • the inverting input of the comparator 70 is connected to ground via a capacitor 72.
  • the output of the comparator 70 is connected via a capacitor 73 to the non-inverting input of a second comparator 74 and via a resistor 75, to which a diode 76 is connected in parallel, to the positive voltage source + U.
  • the inverting input of comparator 74 is connected to a voltage divider consisting of resistors 77 and 78 and connected between the positive voltage and ground.
  • the outputs of the comparators 70 and 74 are connected to one another and connected to the positive voltage source + U via a resistor 80. They are also connected to the stepper motor output stage 56 via the line 57.
  • the switching voltages U o and U 1 are generated in the microcomputer 42 and are supplied to the stepper motor output stage 56 via the lines 58 and 59.
  • the switching voltages U o and U 1 can assume the value L or H controlled by the microcomputer 42.
  • Line 58 is connected to the non-inverting input of a switching amplifier 81 and line 59 to the non-inverting input of a further switching amplifier 82 in the stepper motor output stage 56.
  • Line 57 is connected to the CE inputs of the two switching amplifiers 81 and 8 2 connected. These operate as switches for switching on and off or switching over the phase current I for the phase winding 49, which lies between the outputs of the two switching amplifiers 81 and 82.
  • the switching amplifiers 81 and 82 are connected with their positive current connections via a line 83 to a positive voltage source + U B and with their sensor connections via line 55 to a measuring resistor 84 which is connected to ground.
  • the arrangement works as follows: If an H signal is applied to the non-inverting inputs of the switching amplifiers 81 and 82 (FIG. 3), their output is switched through to the positive operating voltage, while their output is connected to ground when an L signal is present is switched through. If there is an L signal at the chip enable input (CE), the output becomes high-resistance, i. h . there is no current.
  • CE inputs are used to chop amplifiers 81 and 82.
  • the switching voltage U 0 is the conduit 58 H
  • the switching voltage U 1 the line 59 is L
  • the switching voltage V s of the line 57 have also turns to level L.
  • the level L of the line 59 is the switching amplifier 82 to Dimensions.
  • the level H of line 58 causes the switching amplifier 81 to switch through as soon as the switching voltage U S of line 57 at the CE input also switches to H potential (see also FIG. 4b).
  • the phase current I therefore begin from the source of positive voltage + U B via the switching amplifier 81, the phase winding 49, the Sc h altverEntr 82 and the measuring resistor 84 to flow to ground.
  • the winding 49 is alternately connected to a relatively high voltage and separated from it after reaching the current setpoint I S , so that due to the law of induction, the energy stored in the winding 49 is fed back via the freewheeling diodes 85 into the voltage source + U B .
  • the current I in the phase winding 49 therefore continues to flow.
  • phase current I of the phase windings 49 and 49 ′ can be changed by the D / A converter unit 52 in order to increase the torque of the stepping motor 31 during its movement phase, to increase the holding force of the stepping motor 31 in a half-step position and to correct the step adjustment within the predetermined step angle .
  • the level of the control voltage U ST is controlled by the microcomputer 42 (FIG. 3) by entering a correction number into the buffer memory 48 via the data lines 47. At its output and thus also at the input of the D / A converter 60, this correction number is now pending during normal operation of the stepping motor 31 until a new correction number is entered, while the microcomputer 42 alternately changes the correction number and the value 0 during correction operation for reasons described later 1: 1 in the buffer 48.
  • the correction number is converted into a corresponding level voltage and the square-wave voltage generated in the correction mode is sifted through the capacitor 64, so that a relatively low pulsating control voltage is present on the line 53.
  • the again reduced control voltage U ST which is largely smoothed again by the capacitor 68, can then be taken from the voltage divider 65 and fed to the comparator 70 as a reference voltage via the resistor 69.
  • the level of the control voltage U ST determines the rise time and thus the level of the phase current I (FIG. 4).
  • Suitable constant circuit values assign predetermined constant current values to the string current I.
  • the level of the phase current I is adjusted to a current value + I H , - I H, + I V , -IV or a current value between + I B and -I B in accordance with the correction number pending at the intermediate memory 48 (FIGS. 5 and 6) .
  • b e - indicates a positive sign a current flow of the branch current I in one direction, a negative sign a current flow of the branch current I in the other direction determined by the control voltages U O and U 1 . If the control voltages U O and U 1 are the same, then no current flows through the respective phase winding 49 or 49 '.
  • 5 shows the current profile in the two phase windings 49 and 49 'of the stepping motor 31 during execution. of eight full steps in one direction and after a pause of eight full steps and a half step in the other direction.
  • 5a shows the course of the phase current I in the phase winding 49
  • FIG. 5b shows the course of the phase current I in the phase winding 49 '.
  • the sequence of steps begins at time t 1 .
  • the current flow in the phase winding 49 ' is increased to the current value + I H
  • the current flow in the phase winding 49 is reversed by changing the control voltages U O and U 1 and increased to the current value -I H.
  • the step motor 31 is driven until after the desired full step position at the time t 8, the phase currents I of the two phase windings 49 and 49 'is reduced to the current value I + V.
  • the phase current I of the phase winding 49 is increased to the current value + I H at the time t ′ 1 , while the current flow in the phase winding 49 ′ is reversed and thereby increased to the current value -I H .
  • the phase current I of the phase winding 49 is reversed from the current value + I H , while the phase current I of the phase winding 49' is maintained, etc.
  • the stepper motor 31 is in Half step position, in which the phase current I of the one phase winding, in this case the phase winding 49 ', is zero.
  • the phase current I of the other phase winding 49 is therefore kept at its increased current value + I H in order to correspondingly increase the holding force of the stepping motor 31 which is normally reduced in this position.
  • the step adjustment between a full step VS and the adjacent half step HS is corrected by dividing the intermediate step angle into seven intermediate stages. Since the stepper motor 31 in the intended operation works very strongly in its magnetic saturation, its angular deviation is no longer proportional to the change in current. Measurements have shown that a proportionality of angular rotation and current change in the present case only occurs below half the current value + I V or -I V of the phase current I, that is to say only below + I B or -I B. For performing a correction step in seven equal steps, therefore, the predetermined by the microcomputer 42 S tromnote halved each of the phase current I V + V or -I.
  • the stepper motor 31 sets itself to a half step HS. As shown in FIG. 6 (position HS), the phase current I of the one winding 49 then has the value O and that of the other winding 49 'has a value + I H. The stepper motor 31 thereby changes its angle of rotation such that it adjusts itself to the position HS in the middle between the two full steps VS.
  • the stepping motor 31 By applying a certain correction number chopped with the value 1: 1 from the microcomputer 42 to the buffer 48 of the phase winding 49 - for example H potential at the outputs 0 and 2 and L potential at the outputs 1 and 3 with a positive phase current I while maintaining the Value + I V in the phase winding 49 '- the stepping motor 31 adjusts itself to the correction position of the twist angle ⁇ shown by the identification 5 in FIG. 6. The same applies to the adjustment to other correction positions.
  • the input 3 of the D / A converter 60 at whose inputs H potential is present in this case, remains at H potential in order to increase the holding torque of the stepping motor 31 which is lower in this position .
  • the voltage divider from the resistors 61 and 62 is connected upstream, so that the control voltage U ST is not doubled, but is only increased by half the amount.
  • phase current I of the respectively excited phase winding 49 or 49 'in the half-step position HS increases from the current value + I V or -I V to the current value + I H or -I H , at which there are still no heat problems in a permanent position of the stepper motor 31 in this position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Textile Engineering (AREA)
  • Control Of Stepping Motors (AREA)
  • Sewing Machines And Sewing (AREA)
EP84101898A 1983-06-11 1984-02-23 Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe Expired EP0131087B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3321215A DE3321215C2 (de) 1983-06-11 1983-06-11 Nähmaschine mit einem Schrittmotor zur Vorschubsteuerung
DE3321215 1983-06-11

Publications (3)

Publication Number Publication Date
EP0131087A2 true EP0131087A2 (fr) 1985-01-16
EP0131087A3 EP0131087A3 (en) 1985-05-15
EP0131087B1 EP0131087B1 (fr) 1988-11-09

Family

ID=6201297

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84101898A Expired EP0131087B1 (fr) 1983-06-11 1984-02-23 Machine à coudre pourvue d'un moteur pas à pas pour le transport de l'étoffe

Country Status (4)

Country Link
US (1) US4625667A (fr)
EP (1) EP0131087B1 (fr)
JP (1) JPS607889A (fr)
DE (2) DE3321215C2 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62139694A (ja) * 1985-12-16 1987-06-23 ブラザー工業株式会社 パルスモ−タを備えた布送り装置
JPH0710312B2 (ja) * 1986-11-15 1995-02-08 ブラザー工業株式会社 ミシンの布送り制御装置
DE4032813C1 (fr) * 1990-10-16 1991-12-19 Strobel & Soehne Gmbh & Co J
JPH07194193A (ja) * 1993-12-27 1995-07-28 Canon Inc モータ制御方法
US6979972B2 (en) * 2003-12-30 2005-12-27 Xerox Corporation Method and apparatus for detecting a stalled stepper motor
JP2009095148A (ja) * 2007-10-09 2009-04-30 Juki Corp ミシンのステッピングモータの駆動装置
CN104911830B (zh) * 2015-06-18 2017-04-12 杰克缝纫机股份有限公司 一种缝纫机送料控制系统及其控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE403384B (sv) * 1977-05-17 1978-08-14 Husqvarna Ab Symaskin med av elektriska signaler paverkade styrorgan
JPS5845280B2 (ja) * 1978-03-11 1983-10-07 蛇の目ミシン工業株式会社 ミシンにおけるパルスモ−タの回転位相調整装置
DE2942844C2 (de) * 1979-10-24 1987-01-02 Pfaff Haushaltmaschinen Gmbh, 7500 Karlsruhe Nähmaschine mit einer Steuereinrichtung für den Antrieb eines Schrittmotors zur Verstellung der Überstichbreite und/oder der Vorschublänge
JPS5666282A (en) * 1979-11-02 1981-06-04 Brother Ind Ltd Cycle sewing machine
US4413577A (en) * 1982-11-08 1983-11-08 The Singer Company Pattern feed balancing arrangement in an electronically controlled sewing machine

Also Published As

Publication number Publication date
DE3321215C2 (de) 1985-04-04
EP0131087B1 (fr) 1988-11-09
EP0131087A3 (en) 1985-05-15
JPH0116200B2 (fr) 1989-03-23
DE3321215A1 (de) 1984-12-13
JPS607889A (ja) 1985-01-16
DE3475088D1 (en) 1988-12-15
US4625667A (en) 1986-12-02

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