本発明の縫製装置１の物理的構成を説明する。以下説明では、図中に矢印で示す左右、前後、上下を使用する。図１の如く、縫製装置１は本縫いミシンであり、ベッド部２、脚柱部３、アーム部４、頭部５を備える。ベッド部２は釜機構、糸切機構３７（図４参照）、糸切ソレノイド３３（図４参照）を収容する。脚柱部３はベッド部２右端部から上方に延びる。アーム部４は脚柱部３上端部から左方に延びる。頭部５はアーム部４左端部に設け、前部フレーム５１と後部フレーム５２を備える。縫製装置１は頭部５下部に、主モータ２７（図４参照）の駆動に依り上下動する針棒６を備える。針棒６は其の下端に縫針７を着脱可能に装着する。糸駒は縫針７に上糸９を供給する。縫製装置１は頭部５に天秤８、糸調子器１０、位置検出器２６を備える。
The physical configuration of the sewing apparatus 1 of the present invention will be described. In the following description, the left and right, front and back, and top and bottom indicated by arrows in the figure are used. As shown in FIG. 1, the sewing device 1 is a lockstitch sewing machine and includes a bed portion 2, a pedestal portion 3, an arm portion 4, and a head portion 5. The bed portion 2 houses a hook mechanism, a thread trimming mechanism 37 (see FIG. 4), and a thread trimming solenoid 33 (see FIG. 4). The pedestal portion 3 extends upward from the right end portion of the bed portion 2. The arm portion 4 extends to the left from the upper end portion of the pedestal portion 3. The head portion 5 is provided at the left end portion of the arm portion 4, and includes a front frame 51 and a rear frame 52. The sewing device 1 includes a needle bar 6 at the lower part of the head 5 that moves up and down by driving a main motor 27 (see FIG. 4). A sewing needle 7 is detachably attached to the lower end of the needle bar 6. The thread piece supplies the needle thread 9 to the sewing needle 7. The sewing device 1 includes a balance 8, a thread tensioner 10, and a position detector 26 on the head 5.
図１〜図４の如く、糸調子器１０は糸調子機構１１、糸調子ソレノイド３２、中間軸を備える。糸調子機構１１は頭部５の前部フレーム５１に配置する。糸調子機構１１は糸調子台１６、糸調子軸１８、糸取りバネ２０、第一糸調子皿２２、第二糸調子皿２３、弾性部材２１、固定部２４、板棒部材２９、駆動棒２５を備える。糸調子台１６は前後方向に延びる軸孔４４を有する略円筒状であり、前端部に周方向に延びるスリット１７を備える。糸調子軸１８は針棒６の延設方向と交差する軸方向（前後方向）に延びる。糸調子軸１８は挿通孔１９、割溝３８を有し、前後方向に延びる円筒状である。割溝３８は糸調子軸１８の軸心に沿って糸調子軸１８の前端から後方に延びる溝である。糸調子軸１８の後端部は糸調子台１６の軸孔４４に配置する。糸取りバネ２０は１本の金属線からなり、コイル部４５、湾曲部４６を備える。コイル部４５は糸取りバネ２０の後端部に設けたコイル状に巻回した部位であり、糸調子軸１８に外挿し、糸調子台１６の軸孔４４の前端部に収容する。湾曲部４６はコイル部４５の前端から屈曲し、糸調子台１６のスリット１７から糸調子台１６の外部に延出する。
As shown in FIGS. 1 to 4, the thread tensioner 10 includes a thread tension mechanism 11, a thread tension solenoid 32, and an intermediate shaft. The thread tension mechanism 11 is arranged on the front frame 51 of the head 5. The thread tension mechanism 11 includes a thread tension base 16, a thread tension shaft 18, a thread take-up spring 20, a first thread tension plate 22, a second thread tension plate 23, an elastic member 21, a fixing portion 24, a plate rod member 29, and a drive rod 25. Be prepared. The thread tensioning table 16 has a substantially cylindrical shape having a shaft hole 44 extending in the front-rear direction, and is provided with a slit 17 extending in the circumferential direction at the front end portion. The thread tension shaft 18 extends in the axial direction (front-back direction) intersecting the extending direction of the needle bar 6. The thread tension shaft 18 has an insertion hole 19 and a split groove 38, and has a cylindrical shape extending in the front-rear direction. The split groove 38 is a groove extending rearward from the front end of the thread tension shaft 18 along the axis of the thread tension shaft 18. The rear end portion of the thread tension shaft 18 is arranged in the shaft hole 44 of the thread tension base 16. The thread take-up spring 20 is made of one metal wire and includes a coil portion 45 and a curved portion 46. The coil portion 45 is a coiled portion provided at the rear end portion of the thread take-up spring 20, is externally inserted into the thread tension shaft 18, and is housed in the front end portion of the shaft hole 44 of the thread tension base 16. The curved portion 46 bends from the front end of the coil portion 45 and extends from the slit 17 of the thread tensioning table 16 to the outside of the thread tensioning table 16.
第一糸調子皿２２、第二糸調子皿２３は夫々一枚の金属板からなる略皿状である。第一糸調子皿２２、第二糸調子皿２３の直径は糸調子台１６、固定部２４の直径よりも大きい。第一糸調子皿２２は其の中心部に前後方向に貫通する孔４２を有し、第二糸調子皿２３は其の中心部に前後方向に貫通する孔４３を有する。糸調子軸１８は第一糸調子皿２２の孔４２、第二糸調子皿２３の孔４３に挿通し、第一糸調子皿２２、第二糸調子皿２３を糸調子軸１８の軸方向（前後方向）に移動可能に支持する。弾性部材２１は其の中心部に孔部４１を有する円環状である。孔部４１は糸調子軸１８を挿通する。孔部４１に糸調子軸１８を挿通した時、弾性部材２１の背面は第二糸調子皿２３の前面に当接する。
The first thread tension plate 22 and the second thread tension plate 23 each have a substantially dish shape made of one metal plate. The diameters of the first thread tension plate 22 and the second thread tension plate 23 are larger than the diameters of the thread tension base 16 and the fixing portion 24. The first thread tension plate 22 has a hole 42 penetrating in the front-rear direction at its center, and the second thread tension plate 23 has a hole 43 penetrating in the front-rear direction at its center. The thread tension plate 18 is inserted into the hole 42 of the first thread tension plate 22 and the hole 43 of the second thread tension plate 23, and the first thread tension plate 22 and the second thread tension plate 23 are inserted in the axial direction of the thread tension plate 18 ( Support so that it can be moved in the front-back direction). The elastic member 21 is an annular shape having a hole 41 at its center. The thread tension shaft 18 is inserted through the hole 41. When the thread tension shaft 18 is inserted through the hole 41, the back surface of the elastic member 21 comes into contact with the front surface of the second thread tension plate 23.
固定部２４は環状であり、第二糸調子皿２３の前方に配置する。固定部２４は第一糸調子皿２２、第二糸調子皿２３、弾性部材２１の前方向への移動を規制する。固定部２４は孔４８、スリット４９、一対の突片５０、ボルト２８を備える。孔４８は前後方向に貫通する。スリット４９は固定部２４の周方向の一部に、孔４８から径方向外側に向けて形成する。一対の突片５０はスリット４９を間にして固定部２４の外周に設ける。ボルト２８は一方の突片５０から他方の突片５０に挿通する。固定部２４はボルト２８を締め付けることにより、糸調子軸１８に固定する。
The fixing portion 24 has an annular shape and is arranged in front of the second thread tension plate 23. The fixing portion 24 restricts the forward movement of the first thread tension plate 22, the second thread tension plate 23, and the elastic member 21. The fixing portion 24 includes a hole 48, a slit 49, a pair of projecting pieces 50, and a bolt 28. The hole 48 penetrates in the front-rear direction. The slit 49 is formed in a part of the fixing portion 24 in the circumferential direction from the hole 48 toward the outside in the radial direction. The pair of projecting pieces 50 are provided on the outer periphery of the fixing portion 24 with the slit 49 in between. The bolt 28 is inserted from one projecting piece 50 into the other projecting piece 50. The fixing portion 24 is fixed to the thread tension shaft 18 by tightening the bolt 28.
板棒部材２９は挿通部５７、円柱部５８を備える。挿通部５７は側面視長方形の板であり、糸調子軸１８の割溝３８に挿通する。円柱部５８は挿通部５７の前側に設けた円柱状の部分である。円柱部５８は固定部２４の前面に当接する。駆動棒２５は前後方向に延びる。糸調子軸１８の挿通孔１９は駆動棒２５を軸方向に移動可能に支持する。
The plate rod member 29 includes an insertion portion 57 and a columnar portion 58. The insertion portion 57 is a rectangular plate viewed from the side, and is inserted into the split groove 38 of the thread tension shaft 18. The columnar portion 58 is a columnar portion provided on the front side of the insertion portion 57. The cylindrical portion 58 abuts on the front surface of the fixing portion 24. The drive rod 25 extends in the front-rear direction. The insertion hole 19 of the thread tension shaft 18 supports the drive rod 25 so as to be movable in the axial direction.
糸調子ソレノイド３２は後部フレーム５２が支持する。糸調子ソレノイド３２は前後方向に移動可能な出力軸を備える。出力軸は糸調子ソレノイド３２に駆動電圧を供給すると所定距離前方に移動する。出力軸の移動距離は固定部２４の固定位置に依り設定する。出力軸の前端部は前後方向に延びる中間軸と接続し、糸調子ソレノイド３２の出力軸、中間軸と駆動棒２５、糸調子軸１８は同軸上に位置する。駆動棒２５は糸調子ソレノイド３２が駆動すると前方に移動する。駆動棒２５が前方に移動すると、駆動棒２５は駆動棒２５の前端が第一糸調子皿２２に当接し、第一糸調子皿２２を第二糸調子皿２３に向けて押す。故に駆動棒２５は糸調子ソレノイド３２の駆動に依り第一糸調子皿２２、第二糸調子皿２３を前方に付勢する。
The thread tension solenoid 32 is supported by the rear frame 52. The thread tension solenoid 32 includes an output shaft that can move in the front-rear direction. When the drive voltage is supplied to the thread tension solenoid 32, the output shaft moves forward by a predetermined distance. The moving distance of the output shaft is set according to the fixed position of the fixed portion 24. The front end of the output shaft is connected to an intermediate shaft extending in the front-rear direction, and the output shaft, the intermediate shaft, the drive rod 25, and the thread tension shaft 18 of the thread tension solenoid 32 are coaxially located. The drive rod 25 moves forward when the thread tension solenoid 32 is driven. When the drive rod 25 moves forward, the front end of the drive rod 25 comes into contact with the first thread tension plate 22, and the first thread tension plate 22 is pushed toward the second thread tension plate 23. Therefore, the drive rod 25 urges the first thread tension plate 22 and the second thread tension plate 23 forward by driving the thread tension solenoid 32.
位置検出器２６は上糸９の供給経路外に設け、前後方向（軸方向）における第二糸調子皿２３の相対位置を検出する。固定部２４は前後方向に貫通する孔６４を備え、孔６４は位置検出器２６を挿通して支持する。位置検出器２６は第二糸調子皿２３の前面と対向する。位置検出器２６は公知の近接変位センサである。位置検出器２６の検出方式は任意の方式を採用でき、例えば光学式、渦電流式、超音波式、接触式の何れかを採用してよい。位置検出器２６は第二糸調子皿２３の下端部と対向し、第二糸調子皿２３の相対位置を、第二糸調子皿２３に対し針棒６側とは反対側から検出できる。
The position detector 26 is provided outside the supply path of the needle thread 9 and detects the relative position of the second thread tension plate 23 in the front-rear direction (axial direction). The fixing portion 24 is provided with a hole 64 penetrating in the front-rear direction, and the hole 64 is supported by inserting a position detector 26. The position detector 26 faces the front surface of the second thread tension plate 23. The position detector 26 is a known proximity displacement sensor. Any method can be adopted as the detection method of the position detector 26, and for example, any of an optical type, an eddy current type, an ultrasonic type, and a contact type may be adopted. The position detector 26 faces the lower end of the second thread tension plate 23, and the relative position of the second thread tension plate 23 can be detected from the side opposite to the needle bar 6 side with respect to the second thread tension plate 23.
図４を参照し、縫製装置１の電気的構成を説明する。縫製装置１の制御部９０はＣＰＵ９１、ＲＯＭ９２、ＲＡＭ９３、記憶装置９４、入出力インターフェース（Ｉ／Ｏ）９５、駆動回路８１〜８４等を有する。ＣＰＵ９１は縫製装置１の動作を統括制御する。ＲＯＭ９２は各種処理を実行する為のプログラム等を予め記憶する。ＲＡＭ９３は各種処理実行中に生じる各種情報を一時的に記憶する。記憶装置９４は不揮発性で、各種設定値を記憶する。記憶装置９４は上軸５３の回転位相が所定位相の時且つ正常縫製時の位置検出器２６の検出結果を基準値として記憶する。図６（Ａ）の如く、記憶装置９４は図６（Ａ）のグラフの内、Ｔで示す範囲の値を基準値として記憶する。図６（Ａ）、（Ｂ）の横軸は上軸５３の回転位相（度）であり、縦軸は位置検出器２６が検出した第二糸調子皿２３の相対位置である。
The electrical configuration of the sewing device 1 will be described with reference to FIG. The control unit 90 of the sewing device 1 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input / output interface (I / O) 95, drive circuits 81 to 84, and the like. The CPU 91 controls the operation of the sewing device 1 in an integrated manner. The ROM 92 stores in advance a program or the like for executing various processes. The RAM 93 temporarily stores various information generated during execution of various processes. The storage device 94 is non-volatile and stores various set values. The storage device 94 stores the detection result of the position detector 26 when the rotation phase of the upper shaft 53 is in a predetermined phase and when normal sewing is performed as a reference value. As shown in FIG. 6A, the storage device 94 stores the value in the range indicated by T in the graph of FIG. 6A as a reference value. The horizontal axis of FIGS. 6A and 6B is the rotation phase (degree) of the upper shaft 53, and the vertical axis is the relative position of the second thread tension plate 23 detected by the position detector 26.
各駆動回路８１〜８４はＩ／Ｏ９５に接続する。駆動回路８１は主モータ２７と接続し、ＣＰＵ９１の制御指令で主モータ２７を駆動する。駆動回路８２は糸調子ソレノイド３２と接続し、ＣＰＵ９１の制御指令で糸調子ソレノイド３２を駆動する。駆動回路８３は糸切ソレノイド３３と接続し、ＣＰＵ９１の制御指令で糸切ソレノイド３３を駆動する。糸切機構３７は糸切ソレノイド３３と接続し、糸切ソレノイド３３の駆動に依り、糸を切断する。駆動回路８４は表示部３４と接続し、ＣＰＵ９１の制御指令で表示部３４を駆動する。
Each drive circuit 81-84 is connected to an I / O 95. The drive circuit 81 is connected to the main motor 27 and drives the main motor 27 by a control command of the CPU 91. The drive circuit 82 is connected to the thread tension solenoid 32, and drives the thread tension solenoid 32 by a control command of the CPU 91. The drive circuit 83 is connected to the thread trimming solenoid 33, and drives the thread trimming solenoid 33 by a control command of the CPU 91. The thread trimming mechanism 37 is connected to the thread trimming solenoid 33 and cuts the thread by driving the thread trimming solenoid 33. The drive circuit 84 is connected to the display unit 34 and drives the display unit 34 by a control command of the CPU 91.
エンコーダ５４、入力部３５、ペダル３６、位置検出器２６はＩ／Ｏ９５に接続する。エンコーダ５４は主モータ２７の出力軸の回転位置、回転速度を検出することで、主モータ２７の出力軸と接続する上軸５３の回転位置、回転速度を検出し、検出結果をＩ／Ｏ９５に入力する。入力部３５は各種指示を検出し、検出結果をＩ／Ｏ９５に入力する。ペダル３６はペダル３６の操作方向と操作量を検出し、検出結果をＩ／Ｏ９５に入力する。位置検出器２６は検出結果をＩ／Ｏ９５に入力する。
The encoder 54, the input unit 35, the pedal 36, and the position detector 26 are connected to the I / O 95. The encoder 54 detects the rotation position and rotation speed of the output shaft of the main motor 27, thereby detects the rotation position and rotation speed of the upper shaft 53 connected to the output shaft of the main motor 27, and converts the detection result into I / O 95. input. The input unit 35 detects various instructions and inputs the detection results to the I / O 95. The pedal 36 detects the operation direction and the operation amount of the pedal 36, and inputs the detection result to the I / O 95. The position detector 26 inputs the detection result to the I / O 95.
糸調子器１０に依る上糸９の張力調整方法について説明する。図１の如く、作業者は縫製装置１で縫製動作を開始する前に、上糸９を糸駒から繰り出し、第一糸調子皿２２と第二糸調子皿２３の間に配置した後、糸取りバネ２０の湾曲部４６に引っ掛け、更に天秤８を経由して、縫針７に供給する。縫製装置１が縫製動作を開始していない状態では、糸調子ソレノイド３２の出力軸と接続する中間軸の前端は駆動棒２５の後端に接触せず、中間軸の前端と駆動棒２５の後端は所定距離離隔する。
A method of adjusting the tension of the needle thread 9 by the thread tensioner 10 will be described. As shown in FIG. 1, before starting the sewing operation by the sewing device 1, the operator draws out the needle thread 9 from the thread piece, arranges it between the first thread tension plate 22 and the second thread tension plate 23, and then removes the thread. It is hooked on the curved portion 46 of the spring 20 and further supplied to the sewing needle 7 via the balance 8. When the sewing device 1 has not started the sewing operation, the front end of the intermediate shaft connected to the output shaft of the thread tension solenoid 32 does not contact the rear end of the drive rod 25, and the front end of the intermediate shaft and the rear end of the drive rod 25 do not come into contact with each other. The ends are separated by a predetermined distance.
制御部９０が糸調子ソレノイド３２に駆動電圧を供給すると、糸調子ソレノイド３２の出力軸は前方に移動する。糸調子ソレノイド３２の出力軸が前方に移動すると、出力軸と接続する中間軸は前方に移動し、中間軸の前端と駆動棒２５の後端とが接触する。中間軸は駆動棒２５を前方に押す。故に、駆動棒２５は前方に移動する。前方に移動した駆動棒２５は第一糸調子皿２２に当接し、第一糸調子皿２２を前方に押す。第一糸調子皿２２は第二糸調子皿２３を前方に押す。固定部２４は第二糸調子皿２３の前方への移動を規制する。故に、上糸９を挟持する挟持圧力は第一糸調子皿２２と第二糸調子皿２３との間に発生する。第一糸調子皿２２と第二糸調子皿２３は上糸９を挟持し、上糸９に張力を付与する。
When the control unit 90 supplies a drive voltage to the thread tension solenoid 32, the output shaft of the thread tension solenoid 32 moves forward. When the output shaft of the thread tension solenoid 32 moves forward, the intermediate shaft connected to the output shaft moves forward, and the front end of the intermediate shaft and the rear end of the drive rod 25 come into contact with each other. The intermediate shaft pushes the drive rod 25 forward. Therefore, the drive rod 25 moves forward. The drive rod 25 that has moved forward comes into contact with the first thread tension plate 22, and pushes the first thread tension plate 22 forward. The first thread tension plate 22 pushes the second thread tension plate 23 forward. The fixing portion 24 restricts the forward movement of the second thread tension plate 23. Therefore, the holding pressure for holding the needle thread 9 is generated between the first thread tension plate 22 and the second thread tension plate 23. The first thread tension plate 22 and the second thread tension plate 23 sandwich the needle thread 9 and apply tension to the needle thread 9.
上糸９の張力は上軸５３が一回転する期間を一周期として変動を繰返す。一周期は釜捕捉期間、天秤引上期間を含む。釜捕捉期間は釜機構が有する釜が上糸９を捕捉する期間であり、一周期の内、上糸９の張力が極大となる期間である。天秤引上期間は天秤８が上糸９を引き上げる期間であり、一周期の内、上糸９の張力が釜捕捉期間とは別に極大となる期間である。基準に対する第一糸調子皿２２、第二糸調子皿２３の軸方向の位置は上糸１５の張力の変化に応じて変動する。基準は適宜設定すればよく、例えば、糸調子台１６の前面である。制御部９０は縫製終了時に糸調子ソレノイド３２に対する駆動電圧の供給を停止し、糸調子ソレノイド３２の出力軸を後方に移動する。糸調子ソレノイド３２の出力軸が後方に移動すると、駆動棒２５は第一糸調子皿２２の押圧を解除し、糸調子器１０は上糸９への張力の付与を停止する。
The tension of the needle thread 9 repeats fluctuations with the period during which the upper shaft 53 rotates once as one cycle. One cycle includes the hook capture period and the balance pulling period. The hook catching period is a period in which the hook of the hook mechanism catches the needle thread 9, and is a period in which the tension of the needle thread 9 becomes maximum in one cycle. The balance pulling period is a period in which the balance 8 pulls up the needle thread 9, and is a period in which the tension of the needle thread 9 is maximized separately from the hook catching period. The axial positions of the first thread tension plate 22 and the second thread tension plate 23 with respect to the reference vary according to the change in the tension of the needle thread 15. The reference may be set as appropriate, for example, the front surface of the thread tensioning table 16. At the end of sewing, the control unit 90 stops the supply of the drive voltage to the thread tension solenoid 32, and moves the output shaft of the thread tension solenoid 32 rearward. When the output shaft of the thread tension solenoid 32 moves rearward, the drive rod 25 releases the pressure on the first thread tension plate 22, and the thread tensioner 10 stops applying tension to the needle thread 9.
図５、図６を参照し、図６（Ｂ）に示す具体例を用い、縫製処理を説明する。ＣＰＵ９１は縫製処理で縫製時の位置検出器２６の検出結果に依り縫製不良として糸切れと目飛びを検出する。糸切れは縫製中に上糸９が切れる不良であり、被縫製物（例えば、布）に縫目が形成できない不良である。目飛びは縫製中の釜機構に依る上糸９の捕捉の失敗であり、被縫製物に正常な縫目が形成できない不良である。縫製処理は作業者が縫製装置１の電源を投入した時に起動する。ＣＰＵ９１はＲＯＭ９２から縫製処理用のプログラムをＲＡＭ９３に読み出して縫製処理を実行する。
The sewing process will be described with reference to FIGS. 5 and 6 with reference to the specific example shown in FIG. 6 (B). The CPU 91 detects thread breakage and skipping as a sewing defect based on the detection result of the position detector 26 at the time of sewing in the sewing process. Thread breakage is a defect in which the needle thread 9 is cut during sewing, and a defect in which a seam cannot be formed on the object to be sewn (for example, cloth). The stitch skipping is a failure to capture the needle thread 9 by the hook mechanism during sewing, and is a defect that a normal stitch cannot be formed on the object to be sewn. The sewing process is activated when the operator turns on the power of the sewing device 1. The CPU 91 reads the sewing processing program from the ROM 92 into the RAM 93 and executes the sewing processing.
図５の如く、ＣＰＵ９１は初期化処理を行う（Ｓ１）。ＣＰＵ９１は例えば、縫製不良の検出に用いる変数である回数に初期値０を設定する。ＣＰＵ９１はペダル３６の出力に依り縫製開始指示を検出したか否かを判断する（Ｓ２）。作業者は縫製を開始する時、ペダル３６を踏み込み、ペダル３６はＩ／Ｏ９５に縫製開始指示を入力する。縫製開始指示を未検出時（Ｓ２：ＮＯ）、ＣＰＵ９１はＳ２４を行う。縫製開始指示を検出時（Ｓ２：ＹＥＳ）、ＣＰＵ９１は糸調子ソレノイド３２を駆動する（Ｓ３）。糸調子ソレノイド３２に駆動電圧を供給すると、糸調子ソレノイド３２の出力軸は前方に移動し、出力軸と接続した駆動棒２５は前方に移動する。第一糸調子皿２２と第二糸調子皿２３は上糸９を挟持し、上糸９に張力を付与する。
As shown in FIG. 5, the CPU 91 performs an initialization process (S1). For example, the CPU 91 sets an initial value of 0 for the number of times, which is a variable used for detecting sewing defects. The CPU 91 determines whether or not the sewing start instruction has been detected based on the output of the pedal 36 (S2). When the operator starts sewing, the pedal 36 is depressed, and the pedal 36 inputs the sewing start instruction to the I / O 95. When the sewing start instruction is not detected (S2: NO), the CPU 91 performs S24. When the sewing start instruction is detected (S2: YES), the CPU 91 drives the thread tension solenoid 32 (S3). When a drive voltage is supplied to the thread tension solenoid 32, the output shaft of the thread tension solenoid 32 moves forward, and the drive rod 25 connected to the output shaft moves forward. The first thread tension plate 22 and the second thread tension plate 23 sandwich the needle thread 9 and apply tension to the needle thread 9.
ＣＰＵ９１は主モータ２７の駆動を開始し、被縫製物に縫目を形成する処理を開始する（Ｓ４）。ＣＰＵ９１は縫製終了指示を検出したか否かを判断する（Ｓ５）。作業者は縫製を終了する時、ペダル３６の踏み込みを止め、ペダル３６はＩ／Ｏ９５に縫製終了指示を入力する。縫製終了指示を未取得時（Ｓ５：ＮＯ）、ＣＰＵ９１はエンコーダ５４の検出結果に依り、上軸５３の回転位相を取得する（Ｓ６）。ＣＰＵ９１はＳ６で取得した上軸５３の回転位相が所定位相か否かを判断する（Ｓ７）。所定位相は検出する縫製不良に応じて設定する。糸切れの発生時、上糸９の張力は一周期分の縫製期間に亘って変位しない。目飛びの発生時、上糸９の張力は一周期分の縫製期間の内、釜捕捉期間、天秤引上期間に正常時に比べて小さくなり、釜捕捉期間、天秤引上期間以外の期間は正常時に近い値となる。故に、本例の縫製装置１は一周期分の縫製期間の内、正常時と不良発生時とで位置検出器２６の検出結果の差分が比較的大きい釜捕捉期間、天秤引上期間に対応する上軸５３の回転位相が０〜９０度の範囲を所定位相とする。
The CPU 91 starts driving the main motor 27, and starts a process of forming a seam on the object to be sewn (S4). The CPU 91 determines whether or not the sewing end instruction has been detected (S5). When the operator finishes sewing, the pedal 36 stops stepping on the pedal 36, and the pedal 36 inputs the sewing end instruction to the I / O 95. When the sewing end instruction has not been acquired (S5: NO), the CPU 91 acquires the rotation phase of the upper shaft 53 based on the detection result of the encoder 54 (S6). The CPU 91 determines whether or not the rotation phase of the upper shaft 53 acquired in S6 is a predetermined phase (S7). The predetermined phase is set according to the sewing defect to be detected. When thread breakage occurs, the tension of the needle thread 9 does not displace over the sewing period for one cycle. When skipping occurs, the tension of the needle thread 9 becomes smaller during the hook catching period and the balance pulling period than in the normal state during the sewing period for one cycle, and is normal during the periods other than the hook catching period and the balance pulling period. It becomes a value close to the time. Therefore, the sewing device 1 of this example corresponds to the hook catching period and the balance pulling period in which the difference between the detection results of the position detector 26 is relatively large between the normal time and the defective state in the sewing period for one cycle. A predetermined phase is defined as a range in which the rotation phase of the upper shaft 53 is 0 to 90 degrees.
Ｓ６で取得した上軸５３の回転位相が所定位相でない時（Ｓ７：ＮＯ）、ＣＰＵ９１は回数に０を設定し（Ｓ９）、処理をＳ５に戻す。Ｓ９の処理は回数が０でない時のみ実行してもよい。Ｓ６で取得した上軸５３の回転位相が所定位相である時（Ｓ７：ＹＥＳ）、ＣＰＵ９１は位置検出器２６の検出結果に依り、第二糸調子皿２３の相対位置を取得する（Ｓ８）。ＣＰＵ９１は例えば図６（Ｂ）のＴ１内の相対位置を取得する。ＣＰＵ９１は記憶装置９４を参照し、Ｓ６で取得した回転位相に対応する基準値を取得する（Ｓ１０）。本例の記憶装置９４は正常縫製時且つ所定位相における糸調子皿２３の相対位置と上軸５３の回転位相の関係を記憶する。正常縫製時、所定位相における糸調子皿２３の相対位置と上軸５３の回転位相の関係は、図６（Ａ）のグラフの内、矢印Ｔで示す範囲の値で示す。
When the rotation phase of the upper shaft 53 acquired in S6 is not a predetermined phase (S7: NO), the CPU 91 sets the number of times to 0 (S9) and returns the process to S5. The process of S9 may be executed only when the number of times is not 0. When the rotation phase of the upper shaft 53 acquired in S6 is a predetermined phase (S7: YES), the CPU 91 acquires the relative position of the second thread tension plate 23 based on the detection result of the position detector 26 (S8). The CPU 91 acquires, for example, the relative position in T1 of FIG. 6 (B). The CPU 91 refers to the storage device 94 and acquires a reference value corresponding to the rotation phase acquired in S6 (S10). The storage device 94 of this example stores the relationship between the relative position of the thread tension plate 23 and the rotation phase of the upper shaft 53 at the time of normal sewing and in a predetermined phase. The relationship between the relative position of the thread tension plate 23 and the rotation phase of the upper shaft 53 in a predetermined phase during normal sewing is indicated by a value in the range indicated by the arrow T in the graph of FIG. 6 (A).
ＣＰＵ９１はＳ８で取得した相対位置からＳ１０で取得した基準値を差し引いた差分を計算する（Ｓ１１）。ＣＰＵ９１はＳ１１で計算した差分が所定の差分閾値よりも大きいか否かを判断する（Ｓ１２）。差分閾値は相対位置の検出誤差等を考慮して予め記憶装置９４に記憶する。図６（Ｂ）のＴ１、Ｔ２、Ｔ４、Ｔ５内ではＳ１１で計算した差分は差分閾値以下である（Ｓ１２：ＮＯ）。該時、ＣＰＵ９１は処理をＳ５に戻す。図６（Ｂ）のＴ３内では差分が差分閾値よりも大きい（Ｓ１２：ＹＥＳ）。該時、ＣＰＵ９１は回数に一加算して回数を更新する（Ｓ１３）。回数の初期値は０である。ＣＰＵ９１はＳ１３で更新した回数が回数閾値よりも大きいか否かを判断する（Ｓ１４）。回数閾値は所定位相の相対位置の取得回数等を考慮して予め記憶装置９４に記憶する。本例のＣＰＵ９１は同一周期内で、差分が差分閾値よりも大きいと判定した回数が回数閾値である時を縫製不良として検出する。回数が回数閾値以下である時（Ｓ１４：ＮＯ）、ＣＰＵ９１はＳ５に戻す。図６（Ｂ）のＴ３内において回数が回数閾値よりも大きい時（Ｓ１４）、ＣＰＵ９１は縫製不良を検出し、縫製不良を検出した旨のメッセージを表示部３４に表示して報知する（Ｓ１５）。図６（Ｂ）のＴ３では、位置検出器２６の検出結果は変位するので、Ｔ３で検出した縫製不良は目飛びである。故にＣＰＵ９１はＴ３内で検出した縫製不良が目飛びである旨を報知してもよい。
The CPU 91 calculates the difference obtained by subtracting the reference value acquired in S10 from the relative position acquired in S8 (S11). The CPU 91 determines whether or not the difference calculated in S11 is larger than the predetermined difference threshold value (S12). The difference threshold is stored in the storage device 94 in advance in consideration of the detection error of the relative position and the like. Within T1, T2, T4, and T5 of FIG. 6B, the difference calculated in S11 is equal to or less than the difference threshold (S12: NO). At this time, the CPU 91 returns the process to S5. Within T3 of FIG. 6B, the difference is larger than the difference threshold (S12: YES). At that time, the CPU 91 adds one to the number of times to update the number of times (S13). The initial value of the number of times is 0. The CPU 91 determines whether or not the number of updates in S13 is larger than the number-of-times threshold value (S14). The number-of-times threshold value is stored in the storage device 94 in advance in consideration of the number of acquisitions of relative positions of a predetermined phase and the like. The CPU 91 of this example detects when the number of times it is determined that the difference is larger than the difference threshold is the number threshold within the same cycle as a sewing defect. When the number of times is equal to or less than the number of times threshold value (S14: NO), the CPU 91 returns to S5. When the number of times in T3 of FIG. 6 (B) is larger than the number-of-times threshold value (S14), the CPU 91 detects a sewing defect and displays a message to the effect that the sewing defect has been detected on the display unit 34 (S15). .. In T3 of FIG. 6B, the detection result of the position detector 26 is displaced, so that the sewing defect detected in T3 is skipped. Therefore, the CPU 91 may notify that the sewing defect detected in T3 is skipped.
ＣＰＵ９１は主モータ２７の駆動を停止する（Ｓ１６）。ＣＰＵ９１は糸調子ソレノイド３２の駆動を停止する（Ｓ１７）。糸調子ソレノイド３２の駆動停止に依り、糸調子ソレノイド３２の出力軸は後方に移動する。糸調子ソレノイド３２の出力軸が後方に移動すると、駆動棒２５は第一糸調子皿２２の押圧を解除し、糸調子器１０は上糸９に対する張力の付与を停止する。縫製終了指示を検出時（Ｓ５：ＹＥＳ）、ＣＰＵ９１は主モータ２７の駆動を停止する（Ｓ２１）。ＣＰＵ９１は糸切ソレノイド３３を駆動し、上糸９と下糸を切断する（Ｓ２２）。ＣＰＵ９１は糸調子ソレノイド３２の駆動を停止する（Ｓ２３）。Ｓ１７、Ｓ２３の次に、ＣＰＵ９１は電源を切るか否かを判断する（Ｓ２４）。作業者は縫製装置１の処理を終了する時、電源を切る。作業者が電源を切らない時（Ｓ２４：ＮＯ）、ＣＰＵ９１は処理をＳ２に戻す。作業者が電源を切る時（Ｓ２４：ＹＥＳ）、ＣＰＵ９１は縫製処理を終了する。
The CPU 91 stops driving the main motor 27 (S16). The CPU 91 stops driving the thread tension solenoid 32 (S17). The output shaft of the thread tension solenoid 32 moves rearward due to the drive stop of the thread tension solenoid 32. When the output shaft of the thread tension solenoid 32 moves rearward, the drive rod 25 releases the pressure on the first thread tension plate 22, and the thread tensioner 10 stops applying tension to the needle thread 9. When the sewing end instruction is detected (S5: YES), the CPU 91 stops driving the main motor 27 (S21). The CPU 91 drives the thread trimming solenoid 33 to cut the needle thread 9 and the bobbin thread (S22). The CPU 91 stops driving the thread tension solenoid 32 (S23). Next to S17 and S23, the CPU 91 determines whether or not to turn off the power (S24). When the operator finishes the process of the sewing device 1, the power is turned off. When the operator does not turn off the power (S24: NO), the CPU 91 returns the process to S2. When the operator turns off the power (S24: YES), the CPU 91 ends the sewing process.
上記実施形態の縫製装置１にいて、針棒６、糸調子軸１８、第二糸調子皿２３、駆動棒２５、糸調子器１０、位置検出器２６は本発明の針棒、糸調子軸、糸調子皿、付勢部材、糸調子器、位置検出器の一例である。上軸５３、エンコーダ５４、ＣＰＵ９１、記憶装置９４は本発明の上軸、上軸検出器、不良検出部、記憶部の一例である。
In the sewing device 1 of the above embodiment, the needle bar 6, the thread tension shaft 18, the second thread tension plate 23, the drive rod 25, the thread tensioner 10, and the position detector 26 are the needle rod, the thread tension shaft, and the position detector 26 of the present invention. This is an example of a thread tension plate, an urging member, a thread tensioner, and a position detector. The upper shaft 53, the encoder 54, the CPU 91, and the storage device 94 are examples of the upper shaft, the upper shaft detector, the defect detection unit, and the storage unit of the present invention.
上記実施形態の縫製装置１は針棒６、糸調子器１０、位置検出器２６を備える。針棒６は上糸９を挿通可能な縫針７を下端に装着できる。糸調子器１０は縫針７に至る上糸９の供給経路に設け、上糸９に張力を付与する。糸調子器１０は糸調子軸１８、糸調子皿２２、２３、駆動棒２５を備える。糸調子軸１８は針棒６の延設方向と交差する軸方向に延びる。糸調子皿２２、２３は軸方向に移動可能に糸調子軸１８に外挿する。駆動棒２５は軸方向において糸調子皿２２、２３を糸調子皿２２、２３に対し針棒６側とは反対側（前方）に付勢する。位置検出器２６は上糸９の供給経路外に設け、軸方向における第二糸調子皿２３の相対位置を検出する。縫製装置１では軸方向における第二糸調子皿２３の相対位置は上糸９の張力に応じて変化するので、位置検出器２６の検出結果は上糸９の張力の目安として利用できる。位置検出器２６は供給経路外に設け、作業者は位置検出器２６に上糸９を掛ける必要がない。故に縫製装置１は上糸９の張力に応じた検出結果を出力する位置検出器２６を備え、上糸９を供給経路に配置する作業を従来よりも簡単にできる。位置検出器２６は上糸９と接触せずに、上糸９の張力の目安となる検出結果を取得できるので、上糸９と接触して検出結果を得る装置に比べ、耐久性がよいと考えられる。
The sewing device 1 of the above embodiment includes a needle bar 6, a thread tensioner 10, and a position detector 26. The needle bar 6 can be fitted with a sewing needle 7 through which the needle thread 9 can be inserted at the lower end. The thread tensioner 10 is provided in the supply path of the needle thread 9 leading to the sewing needle 7, and tension is applied to the needle thread 9. The thread tensioner 10 includes a thread tension shaft 18, thread tension plates 22, 23, and a drive rod 25. The thread tension shaft 18 extends in an axial direction intersecting the extending direction of the needle bar 6. The thread tension plates 22 and 23 are extrapolated to the thread tension shaft 18 so as to be movable in the axial direction. The drive rod 25 urges the thread tension plates 22 and 23 with respect to the thread tension plates 22 and 23 on the side (forward) opposite to the needle rod 6 side in the axial direction. The position detector 26 is provided outside the supply path of the needle thread 9 and detects the relative position of the second thread tension plate 23 in the axial direction. In the sewing device 1, the relative position of the second thread tension plate 23 in the axial direction changes according to the tension of the needle thread 9, so that the detection result of the position detector 26 can be used as a guideline for the tension of the needle thread 9. The position detector 26 is provided outside the supply path, and the operator does not need to hang the needle thread 9 on the position detector 26. Therefore, the sewing device 1 is provided with a position detector 26 that outputs a detection result according to the tension of the needle thread 9, and the work of arranging the needle thread 9 in the supply path can be made easier than before. Since the position detector 26 can acquire a detection result that serves as a guideline for the tension of the needle thread 9 without contacting the needle thread 9, it is said that the durability is better than that of a device that obtains the detection result by contacting the needle thread 9. Conceivable.
位置検出器２６は、軸方向において第二糸調子皿２３と対向し、且つ第二糸調子皿２３に対し針棒６側とは反対側に設ける。縫製装置１は軸方向において第二糸調子皿２３に対し針棒６側に位置検出器２６を設けた装置よりも作業者が意図せず位置検出器２６に触れる可能性が低い。
The position detector 26 is provided so as to face the second thread tension plate 23 in the axial direction and to the side opposite to the needle bar 6 side with respect to the second thread tension plate 23. The sewing device 1 is less likely to be unintentionally touched by the operator than the device provided with the position detector 26 on the needle bar 6 side with respect to the second thread tension plate 23 in the axial direction.
縫製装置１は上軸５３、エンコーダ５４、ＣＰＵ９１を備える。上軸５３は回転することで針棒６を上下動する。エンコーダ５４は上軸５３の回転位相を検出する。ＣＰＵ９１はエンコーダ５４が検出した上軸５３の回転位相が所定位相である時の位置検出器２６の検出結果に依り、縫製不良を検出する（Ｓ１５）。縫製装置１は上軸５３の回転位相が所定位相である時の位置検出器２６の検出結果に依り縫製不良を検出できる。位置検出器２６は、上糸９と接触して検出結果を得る装置よりも、耐久性がよいと考えられ、縫製装置１は位置検出器２６の検出結果に依り縫製不良の検出精度を従来よりも向上できる。
The sewing device 1 includes an upper shaft 53, an encoder 54, and a CPU 91. The upper shaft 53 moves up and down the needle bar 6 by rotating. The encoder 54 detects the rotational phase of the upper shaft 53. The CPU 91 detects a sewing defect based on the detection result of the position detector 26 when the rotation phase of the upper shaft 53 detected by the encoder 54 is a predetermined phase (S15). The sewing device 1 can detect a sewing defect based on the detection result of the position detector 26 when the rotation phase of the upper shaft 53 is a predetermined phase. The position detector 26 is considered to have better durability than a device that obtains a detection result by contacting with the needle thread 9, and the sewing device 1 has conventionally improved the detection accuracy of sewing defects based on the detection result of the position detector 26. Can also be improved.
縫製装置１のＣＰＵ９１は上軸５３の一回転を一周期とし、周期毎の上軸５３の回転位相の所定位相における検出結果に依り、縫製不良を検出する（Ｓ１５）。縫製装置１は位置検出器２６の検出結果に依り上軸５３の一回転を一周期とする周期毎に縫製不良を検出できる。位置検出器２６は、上糸９と接触して検出結果を得る装置よりも、耐久性がよいと考えられ、縫製装置１は縫製速度が比較的速い条件下でも位置検出器２６の検出結果に依り縫製不良の検出精度を従来よりも向上できる。
The CPU 91 of the sewing device 1 sets one rotation of the upper shaft 53 as one cycle, and detects a sewing defect based on the detection result in a predetermined phase of the rotation phase of the upper shaft 53 for each cycle (S15). The sewing device 1 can detect sewing defects in each cycle in which one rotation of the upper shaft 53 is one cycle, depending on the detection result of the position detector 26. The position detector 26 is considered to have better durability than the device that obtains the detection result by contacting the needle thread 9, and the sewing device 1 obtains the detection result of the position detector 26 even under the condition that the sewing speed is relatively high. Therefore, the detection accuracy of sewing defects can be improved as compared with the conventional case.
縫製装置１は所定位相における正常時の検出結果を基準値として記憶する記憶装置９４を更に備え、ＣＰＵ９１は所定位相における検出結果と基準値の差が閾値以上である時を縫製不良として検出する（Ｓ１５）。縫製装置１は比較的簡単な処理で位置検出器２６の検出結果に依り、縫製不良の有無を適切に判断できる。
The sewing device 1 further includes a storage device 94 that stores a normal detection result in a predetermined phase as a reference value, and the CPU 91 detects when the difference between the detection result in the predetermined phase and the reference value is equal to or greater than a threshold value (sewing failure). S15). The sewing device 1 can appropriately determine the presence or absence of a sewing defect based on the detection result of the position detector 26 with a relatively simple process.
本発明は上記実施例に限らない。縫製装置１の種類は適宜変更してよい。位置検出器２６の配置は糸調子器１０の構成、配置に応じて適宜変更してよい。図７の如く、縫製装置１は例えば位置検出器２６を軸方向において第一糸調子皿２２と対向し、且つ第一糸調子皿２２に対し針棒６側に設けてもよい。図７において図２に示す上記実施形態の縫製装置１と同じ構成には同じ符号を付与している。変形例の縫製装置１は、糸調子機構１１に変えて糸調子機構１２を備える点、位置検出器２６の配置、前部フレーム５１は孔５５を備える点で異なり、他の構成は上記実施形態と同様である。糸調子機構１２は固定部２４に変えて固定部６５を備え、他の構成は上記実施形態と同様である。固定部６５は前後方向に貫通する孔６４を備えない。位置検出器２６は前部フレーム５１の内、糸調子台１６の上方、且つ第一糸調子皿２２の後方に設けた前後方向に延びる孔５５に挿通して支持する。縫製装置１は第一糸調子皿２２の相対位置を、軸方向において第一糸調子皿２２に対し針棒６側から検出し、検出結果を制御部９０に出力する。縫製装置１は軸方向において第一糸調子皿２２に対し針棒６側とは反対側に位置検出器２６を設けた装置よりも位置検出器２６の保守が容易である。変形例の縫製装置１の位置検出器２６は、第一糸調子皿２２に対し針棒６側から第一糸調子皿２２の相対位置を検出するので、軸方向における糸調子皿２２の相対位置と上軸５３の回転位相の関係を示すグラフは、図６に示すグラフと逆の変化パターンを示す。即ち、上軸５３の回転位相が０〜９０度の範囲の釜捕捉期間、天秤引上期間に値が減少し、９０〜３６０（０）度の範囲は、釜捕捉期間、天秤引上期間の値よりも大きい値を示す。
The present invention is not limited to the above examples. The type of sewing apparatus 1 may be changed as appropriate. The arrangement of the position detector 26 may be appropriately changed according to the configuration and arrangement of the thread tensioner 10. As shown in FIG. 7, for example, the position detector 26 may be provided with the position detector 26 facing the first thread tension plate 22 in the axial direction and on the needle bar 6 side with respect to the first thread tension plate 22. In FIG. 7, the same reference numerals are given to the same configurations as those of the sewing apparatus 1 of the above embodiment shown in FIG. The sewing device 1 of the modified example is different in that the thread tension mechanism 12 is provided instead of the thread tension mechanism 11, the position detector 26 is arranged, and the front frame 51 is provided with a hole 55. Is similar to. The thread tension mechanism 12 includes a fixing portion 65 instead of the fixing portion 24, and other configurations are the same as those in the above embodiment. The fixing portion 65 does not have a hole 64 penetrating in the front-rear direction. The position detector 26 is supported by being inserted into a hole 55 extending in the front-rear direction provided above the thread tensioning table 16 and behind the first thread tensioning plate 22 in the front frame 51. The sewing device 1 detects the relative position of the first thread tension plate 22 from the needle bar 6 side with respect to the first thread tension plate 22 in the axial direction, and outputs the detection result to the control unit 90. The sewing device 1 is easier to maintain than the device provided with the position detector 26 on the side opposite to the needle bar 6 side with respect to the first thread tension plate 22 in the axial direction. Since the position detector 26 of the sewing device 1 of the modified example detects the relative position of the first thread tension plate 22 from the needle bar 6 side with respect to the first thread tension plate 22, the relative position of the thread tension plate 22 in the axial direction. The graph showing the relationship between the rotation phase of the upper shaft 53 and the rotation phase of the upper shaft 53 shows a change pattern opposite to the graph shown in FIG. That is, the value decreases during the hook catching period and the balance pulling period in which the rotation phase of the upper shaft 53 is in the range of 0 to 90 degrees, and the range of 90 to 360 (0) degrees is the hook catching period and the balance pulling period. Indicates a value greater than the value.
縫製装置１が縫製処理を実行する為の指令を含むプログラムはＣＰＵ９１がプログラムを実行する迄に、縫製装置１の記憶装置９４に記憶されればよい。従って、プログラムの取得方法、取得経路、プログラムを記憶する機器の夫々は適宜変更してもよい。ＣＰＵ９１が実行するプログラムはケーブル又は無線通信を介して他の装置から受信し、フラッシュメモリ等の記憶装置に記憶されてもよい。他の装置は例えば、ＰＣ、ネットワーク網を介して縫製装置１と接続するサーバを含む。位置検出器２６は軸方向における糸調子皿２２、２３の少なくとも何れかの相対位置を糸調子皿２２、２３の側面から検出してもよい。位置検出器２６は糸調子皿２２、２３の軸方向の相対位置を画像から検出する撮影装置でもよい。
The program including the command for the sewing device 1 to execute the sewing process may be stored in the storage device 94 of the sewing device 1 by the time the CPU 91 executes the program. Therefore, the program acquisition method, acquisition route, and device for storing the program may be changed as appropriate. The program executed by the CPU 91 may be received from another device via a cable or wireless communication and stored in a storage device such as a flash memory. Other devices include, for example, a PC, a server that connects to the sewing device 1 via a network. The position detector 26 may detect at least one relative position of the thread tension plates 22 and 23 in the axial direction from the side surface of the thread tension plates 22 and 23. The position detector 26 may be a photographing device that detects the relative positions of the thread tension plates 22 and 23 in the axial direction from the image.
縫製装置１が実行する処理の一部又は全部はＣＰＵ９１とは別の電子機器（例えば、ＡＳＩＣ）が実行してもよい。縫製装置１が実行する処理は複数の電子機器（例えば、複数のＣＰＵ）が分散処理してもよい。縫製装置１が実行する処理の各ステップは必要に応じて順序の変更、ステップの省略、追加ができる。本発明の範囲は縫製装置１上で稼動するオペレーティングシステム（ＯＳ）等が、ＣＰＵ９１の指令で各処理の一部又は全部を行う態様も含む。縫製装置１は例えば、上記実施形態に以下の変更を適宜加えてもよい。縫製装置１が検出可能な縫製不良の種類は適宜変更してよく、例えば、縫製装置１は縫製不良として糸締り不良を検出してもよい。糸締り不良は天秤８が上糸９を引上げた時に被縫製物に縫目を形成する上糸９と下糸の均衡不良である。例えば上糸９が下糸に強固に絡まり過ぎると、縫目近くの被縫製物は縮む。縫製装置１は検出する縫製不良に応じ、所定位相を適宜変更してよい。縫製不良であるか否かの判定方法は、検出する縫製不良に応じ適宜変更してよい。縫製装置１は任意の時機に取得した検出結果に依り縫製不良を検出してもよい。位置検出器２６の検出結果は縫製不良の検出以外の処理に用いてもよい。
A part or all of the processing executed by the sewing device 1 may be executed by an electronic device (for example, ASIC) different from the CPU 91. The processing executed by the sewing device 1 may be distributed processing by a plurality of electronic devices (for example, a plurality of CPUs). The order of each step of the process executed by the sewing device 1 can be changed, the step can be omitted, or the step can be added as needed. The scope of the present invention also includes a mode in which an operating system (OS) or the like operating on the sewing apparatus 1 performs a part or all of each process by a command of the CPU 91. The sewing device 1 may appropriately make the following changes to the above embodiment, for example. The type of sewing defect that can be detected by the sewing device 1 may be appropriately changed. For example, the sewing device 1 may detect a thread tightening defect as a sewing defect. The poor thread tightening is an imbalance between the needle thread 9 and the bobbin thread that form a seam on the object to be sewn when the balance 8 pulls up the needle thread 9. For example, if the needle thread 9 is too tightly entangled with the bobbin thread, the sewn object near the seam shrinks. The sewing device 1 may appropriately change the predetermined phase according to the detected sewing defect. The method for determining whether or not there is a sewing defect may be appropriately changed according to the detected sewing defect. The sewing device 1 may detect a sewing defect based on the detection result acquired at any time. The detection result of the position detector 26 may be used for processing other than detection of sewing defects.