JP2013132330A - Sewing machine - Google Patents

Abstract

[PROBLEMS] To reduce the size and weight around the shuttle and increase the operation speed.
SOLUTION: A needle bar 12, a shuttle 801, a sewing machine motor 21, a shuttle drive motor 401, a needle bar rotating mechanism 30 for rotating the needle bar about a center line C, and a rotation about a center line C. A possible rotation table 130, a needle rotation motor 32 that rotates the needle bar, a hook rotation motor 402 that rotates the hook rotation table, and an input shaft 411 and an output shaft 412 that transmit the hook rotation power. The differential transmission mechanism 400 includes a support frame 431 that rotates around an input shaft and an output shaft arranged on the center line C, and a support frame supported by the support frame. From the transmission body 434 that transmits the rotational force to the output shaft, the driven member 422 that is provided on either the shuttle rotating base or the support frame, and is rotated by the shuttle rotating motor, and the driven member The rotary power of the hook rotates the rotary table and the support frame in the same direction and And a rotation interlock mechanism 440 for rotating at twice the amount of rotation of the lifting frame.
[Selection] Figure 2

Description

  The present invention relates to a sewing machine that performs a rotation operation of the entire shuttle mechanism.

In the single-needle sewing machine and the double-needle sewing machine, there is a demand for rotating the needle bar and the shuttle mechanism around the center line parallel to the needle bar for the following reasons.
In the case of a single-needle sewing machine, when the workpiece is conveyed in at least two different sewing directions centered on the needle bar, the upper thread is spiraled according to the sewing direction so-called seams are formed. In order to prevent hitch stitches from occurring and form so-called perfect stitches that do not become spiral, the needle bar and the shuttle mechanism are rotated around the needle bar. In other words, when performing forward feed and reverse feed, or when moving the needle to an arbitrary needle entry position that is predetermined for each stitch, when sewing in the sewing direction in which hitch stitches are likely to occur, Since the occurrence of hitch stitches can be prevented by appropriately changing the direction in which the sword tip captures the upper thread, it is required to rotate the sewing needle and the shuttle mechanism.

  In the case of a two-needle sewing machine, when the workpiece is conveyed in an arbitrary sewing direction centering on two needle bars, the interval between the stitches should be kept constant in any direction. It is necessary to control the operation so that the alignment direction of the two needles is perpendicular to the sewing direction by rotating the needle bar so that the two needle bars rotate. It is necessary to rotate the two hooks in the same way.

  In order to respond to the request for the rotation of the needle bar and the hook as described above, for example, the two needle bars are held so as to be movable up and down and supported so as to be rotatable about the vertical axis with respect to the sewing machine frame. A needle bar base and a hook base that supports two hooks so as to be rotatable about a vertical axis, and the direction in which the two needles are aligned with respect to the cloth conveyed in an arbitrary direction by the cloth holding frame There has been proposed a sewing machine that forms two seams along a predetermined shape by performing control so as to be aligned in a direction that is always orthogonal to the sewing direction (see, for example, Patent Document 1).

The conventional sewing machine includes a hook mechanism having two hooks below the needle plate, and a hook rotating mechanism that rotates the hook base around the same axis as the sewing needle. The shuttle mechanism was rotated in synchronization with the rotation of the rod.
Although this conventional example illustrates a two-needle sewing machine, it is possible to easily realize a single-needle sewing machine that rotates the hook by removing one sewing needle and one hook. is there.

Chinese Patent Application Publication No. 1018545718

In the above conventional sewing machine, when rotational power is transmitted from the outside of the pot base that rotates to the hook mounted on the pot base, the rotation of the pot base causes a phase shift corresponding to the rotation angle. Therefore, by mounting a motor for rotating the hook on the pot base, the transmission system is placed on the pot base to prevent the occurrence of phase shift.
However, if such a structure is adopted, the weight of the entire kettle base increases, and a large and high output motor is required as a rotary drive source for the kettle, and the strength of the structure that supports the kettle base is required. And increased weight. In addition, the increase in the weight of the hook base makes it difficult to rotate the hook at high speed, and there is a problem that sewing cannot be performed at high speed.
Moreover, in the conventional sewing machine, the motor that is the rotation driving source of the hook is mounted on the outer edge part away from the rotation center line of the pot base, so that the moment of inertia of the pot base becomes large, which is the rotation of the hook. It was a factor that further hindered the high-speed operation.

  In addition, when a motor is mounted on a rotary base that rotates, a slip ring that is a sliding contact is required to supply power to the motor, but many slip rings suitable for the motor are large, By mounting the slip ring, there has been a problem that the weight, size, and sewing speed of the pot base are further increased.

An object of the present invention is to reduce the size and weight around the shuttle.
Another object of the present invention is to increase the speed of the shuttle turning operation.
Furthermore, another object of the present invention is to perform the shuttle turning operation with high accuracy.

The present invention relates to a needle bar that moves up and down while holding a sewing needle, a hook that catches an upper thread and entangles the upper thread with a lower thread by a rotating operation, and a sewing machine motor that is a driving source for the vertical movement of the needle bar A hook drive motor serving as a rotation drive source for the hook to capture the upper thread, a needle bar turning mechanism for turning the needle bar around a predetermined center line parallel to the needle bar, A shuttle turntable mounted with a shuttle and supported so as to be rotatable about the same center line as the needle bar with respect to the sewing machine frame; and a needle rotation motor as a drive source for the rotational movement of the needle bar; A sewing machine including a hook rotation motor serving as a driving source for the rotation operation of the hook rotation table, and a differential transmission mechanism including an input shaft and an output shaft for transmitting power from the hook drive motor to the hook. Yes.
According to the present invention, the differential transmission mechanism includes a support frame in which the input shaft and the output shaft are arranged on a rotation center line of the needle bar and rotate around the input shaft and the output shaft. And a transmission body that is rotatably supported by the support frame and transmits the rotational force between the input shaft and the output shaft by the rotation, and either the shuttle turntable or the support frame And a driven member to which rotational power is input from the shuttle rotation motor, and the rotational force input from the driven member, the same direction when the shuttle rotation base and the support frame are viewed from the sewing machine frame. And a pivot interlocking mechanism that pivots the shuttle pivot table by a pivot amount twice that of the support frame.

  The “rotating operation for the hook to catch the upper thread” means a full rotation, that is, a continuous rotation in a certain direction, and a half rotation, that is, a reciprocating rotation operation. In other words, the “hook” referred to here includes both a full rotary hook and a half rotary hook.

In the above configuration, the rotation interlocking mechanism may use a gear mechanism including gears provided on each of the shuttle rotation table and the sewing machine frame or each of the support frame and the sewing machine frame.
The rotation interlocking mechanism includes a fixed gear fixed to a support frame, a driven gear fixed to the support frame, a support shaft rotatably supported by the shuttle rotation table, and the support shaft. A first gear that is fixed to the fixed gear and meshed with the fixed gear, and a second gear that is fixed to the support shaft and meshed with the driven gear may be provided.
The sewing machine motor and the shuttle drive motor may be shared by a single motor.
Further, the needle rotation motor and the shuttle rotation motor may be shared by a single motor.

  In addition to the above-described configuration, the present invention is a single-needle sewing machine having a moving mechanism capable of moving a sewing product in an arbitrary direction on a plane perpendicular to the rotation center line. Before moving the sewing product by the moving mechanism, if the moving direction of the sewing product is included in a predetermined hitch stitch generation range, the needle rotation motor and the It is good also as a structure provided with the sewing control means which drives a shuttle hook motor.

  Alternatively, according to the present invention, in addition to the above-described configuration, the sewing machine is a two-needle sewing machine, which is mounted on the shuttle rotation table and transmits rotation from the output shaft to the two shuttles. A mechanism and a moving mechanism capable of moving the workpiece in an arbitrary direction on a plane perpendicular to the rotation center line located between the two sewing needles, and moving the workpiece by the moving mechanism The needles so that the two sewing needles and the two hooks are aligned along a direction perpendicular to the moving direction of the sewing product on a plane perpendicular to the rotation center line. It is good also as a structure provided with the sewing control means which controls a rotation motor and the said hook rotation motor.

In the above-described invention, the rotary motion can be imparted to the shuttle through the input shaft and the output shaft, and when the orientation of the shuttle is changed, the shuttle rotation table is rotated by the shuttle rotation motor.
At this time, the differential transmission mechanism rotates the support frame in the same direction as the shuttle rotation table by a half rotation angle. As a result, the transmission body of the differential transmission mechanism can give a phase difference twice the amount of rotation of the support frame between the input shaft and the output shaft, and the phase difference due to the pivoting operation of the hook is eliminated. The
In other words, when a rotary motion is applied to the hook from the outside of the hook rotation base without mounting the hook drive motor on the hook rotation base, a phase difference occurs when the hook rotates due to the rotation of the hook rotation base. Can be eliminated.
This eliminates the need to mount the hook drive motor on the hook turntable, thus making it possible to reduce the weight of the hook turntable and to use a small hook turnmotor with a small output. At the same time, it becomes possible to reduce the size of the support structure of the rotary table.
In addition, the moment of inertia of the rotary table can be reduced, the error of the rotary operation of the shuttle can be reduced, and precise operation control and high-speed rotary operation of the shuttle are possible.

  In addition, since it is not necessary to mount the hook drive motor on the hook rotating table, a special part such as a slip ring for supplying power to the hook drive motor is unnecessary, and the manufacturing cost of the sewing machine can be reduced. In addition, the sewing machine can be downsized.

Further, the hook rotation motor applies a rotation operation to either the hook rotation table or the support frame through the driven member, and the rotation of the hook rotation table and the support frame is the same by the rotation interlocking mechanism. The rotation is transmitted at a ratio of 2: 1 in the direction, and the shuttle rotation table and the support frame are arranged to perform the rotation operation on the same axis.
On the other hand, as a comparative example, when compared with a configuration in which a rotation operation is applied from the hook rotation motor to the hook rotation base and the support frame using the timing belt at the above ratio, Since the timing belt that transmits the rotation and the timing belt that transmits the rotation to the support frame may be extended in different amounts, in such a configuration, when the hook is rotated, the phase shift occurs. It is easy to cause a problem that the correction cannot be performed with high accuracy.
On the other hand, in the present invention, a rotation operation is imparted to either the hook rotation base or the support frame, and the hook rotation base and the support frame are interlocked via a rotation interlocking mechanism. As compared with the case of using the timing belt, it is possible to correct the phase shift at the time of rotating the hook with higher accuracy. Accordingly, it is possible to reduce the occurrence of skipping and the like when the hook rotates and to perform sewing with high sewing quality.

  In the case of a configuration using a gear mechanism as a rotation transmission mechanism, it depends on a difference in expansion / contraction amount of each timing belt as in the case of applying a rotation operation using a timing belt to each of the shuttle rotation table and the support frame. It becomes possible to correct the phase shift with higher accuracy.

When the sewing machine motor and the shuttle drive motor are shared by a single motor, it is possible to reduce the number of motors and improve the productivity of the sewing machine.
Further, the synchronous control of each motor is unnecessary, and the configuration of the control circuit and the like can be further simplified.
Furthermore, even when the sewing machine motor and the shuttle drive motor are shared by a single motor, since it has a rotation interlocking mechanism, for example, when the sewing machine is in a stopped state, during the maintenance, etc. When the needle is rotated, the vertical movement is not transmitted to the needle bar, and contact between the sewing needle and another object can be prevented.

When the needle rotation motor and the hook rotation motor are shared by one motor, the number of motors can be reduced and the productivity of the sewing machine can be improved.
In addition, the synchronous control of each motor is given, and the configuration of the control circuit and the like can be further simplified.

  In the single-needle sewing machine, before the workpiece is moved by the moving mechanism, the rotation motor is configured so that the movement direction of the workpiece is within a predetermined hitch stitch generation range. Therefore, it is possible to prevent the occurrence of hitch stitches in sewing that performs needle drop at an arbitrary position.

In a two-needle sewing machine, when the workpiece is moved by the movement mechanism, control is performed so that the two sewing needles and the two hooks are aligned along the direction orthogonal to the movement direction of the workpiece. Thus, the two seams can be formed in parallel while maintaining a constant interval.
In the above embodiment,

It is a perspective view of a sewing machine of a first embodiment. It is the block diagram which illustrated schematically the mechanism structure of the sewing machine. It is a perspective view of a shuttle mechanism and a differential transmission mechanism. It is sectional drawing along the centerline and YZ plane of the needle bar of a shuttle mechanism and a differential transmission mechanism. FIG. 5A is an explanatory diagram of a state in which the hook transmission portion rotates the hook by the rotation of the hook rotation base and the support frame, and FIG. 5A shows a state before the hook rotation base and the support frame are rotated. (B) shows the state after rotation of the shuttle turntable and the support frame. It is a top view of a shuttle mechanism. It is the perspective view which mainly showed the opener action | operation part of the shuttle mechanism. It is the perspective view which mainly showed the knife mechanism of the shuttle mechanism. 9A is a horizontal cross-sectional view of the oil supply mechanism, and FIG. 9B is a vertical cross-sectional view of the oil supply mechanism. It is a block diagram which shows the control system of a sewing machine. It is explanatory drawing which showed the sewing direction which a hitch stitch generate | occur | produces on the XY plane when the direction which goes to the shuttle from the centerline of a needle bar is made into a reference | standard. It is a flowchart of hitch stitch avoidance control. It is a perspective view of the differential transmission mechanism of 2nd embodiment. It is sectional drawing along the centerline and YZ plane of the needle bar of the differential transmission mechanism of 2nd embodiment. It is the perspective view shown about the structure in the sewing machine arm part of the sewing machine of 3rd embodiment. It is the side view which showed the structure of the periphery of the needle bar of 3rd embodiment. It is sectional drawing of the periphery structure of a needle bar by the cross section along the center of the needle bar of 3rd embodiment. It is a perspective view of the position switching mechanism and operation member of a third embodiment. FIG. 19A is an explanatory view showing the change in position of the small sprocket of the needle bar side differential transmission mechanism during the turning operation of the needle bar turntable, and FIG. 19B shows the change in position of the interlocking gear. It is explanatory drawing and FIG.19 (C) is explanatory drawing which shows the position change of a differential member. It is the perspective view shown about the differential transmission mechanism and shuttle mechanism of 3rd embodiment. It is the perspective view which abbreviate | omitted illustration of the support frame and the pot base about the differential transmission mechanism and the hook mechanism of 3rd embodiment. It is a block diagram which shows the control system of the sewing machine of 3rd embodiment. It is the figure which showed an example of the sewing pattern which forms two needle stitches. It is a flowchart which shows the sewing control for performing formation of the two-needle stitch of the sewing pattern shown in FIG.

[First embodiment]
1st Embodiment of this invention is described based on FIGS.
A sewing machine 100 described below as the present embodiment is a so-called electronic cycle sewing machine, and has a holding frame as a cloth holding portion that holds a cloth that is a sewing object to be sewn, and the holding frame is attached to the sewing needle. By relatively moving, a sewing pattern based on predetermined sewing data is formed on the fabric held by the holding frame.
FIG. 1 is a perspective view of a sewing machine 100 according to the present invention, and FIG.
Here, the direction in which the sewing needle 11 to be described later moves up and down is defined as the Z-axis direction (vertical direction), and one direction orthogonal thereto is defined as the X-axis direction (left-right direction). The direction perpendicular to the Y axis direction is defined as the Y-axis direction (front-rear direction).

  The sewing machine 100 includes a needle bar 12 that holds the sewing needle 11 at its lower end and moves up and down along the Z-axis direction, and a needle up-and-down moving mechanism 20 that moves the sewing needle up and down using the sewing machine motor 21 as a drive source. A needle bar rotating mechanism 30 that rotates the needle bar 12 about its center line along the Z-axis direction, and a hook mechanism 800 including a hook 801 that entangles the lower thread with the upper thread passed through the sewing needle 11; A differential transmission mechanism 400 that includes an input shaft 411 and an output shaft 412 that transmit the power of the rotation of the hook from a hook drive motor 401 as a driving means to the hook mechanism 800, and that can change and adjust the phase difference between these shafts; , A cloth movement mechanism 102 as a movement mechanism for arbitrarily moving and positioning along the XY plane, a control device 110 as an operation control means for controlling the operation of each of the above components, and each configuration of the sewing machine 100 Support A thin frame 101 mainly includes.

[Sewing frame]
As shown in FIG. 1, the sewing machine 100 includes a sewing machine frame 101 whose outer shape is substantially U-shaped when viewed from the X-axis direction. The sewing machine frame 101 includes a sewing machine arm portion 101a that extends above the sewing machine 100 and extends in the Y-axis direction, a sewing machine bed portion 101b that extends below the sewing machine 100 and extends in the Y-axis direction, and a sewing machine arm portion 101a and a sewing machine positioned above and below. It has the vertical trunk | drum 101c which connects the bed part 101b.

[Cloth movement mechanism]
As shown in FIG. 1, the cloth moving mechanism 102 includes a holding frame 102a that holds an article to be sewn on the upper surface of the sewing machine bed portion 101b, a support arm 102b that supports the holding frame 102a to be movable up and down, and a support arm 102b. An X-axis motor 102c (see FIG. 10) that moves the holding frame 102a in the X-axis direction, and a Y-axis motor 102d (see FIG. 10) that moves the holding frame 102a in the Y-axis direction via the support arm 102b. ing.
With this configuration, the cloth moving mechanism 102 can move and position the workpiece to an arbitrary position on the XY plane via the holding frame 102a, and can perform needle dropping at an arbitrary position for each stitch. It is possible to form a free seam.

[Needle vertical movement mechanism]
As shown in FIGS. 1 and 2, the needle up-and-down moving mechanism 20 includes an upper shaft 22 that is rotatably supported in a state along the Y-axis direction in the sewing machine arm portion 101 a, and an end portion of the upper shaft 22. A sewing machine motor 21 for applying a rotational force; a needle bar crank 23 provided at the other end of the upper shaft 22; a crank rod 24 having one end connected to an eccentric position with respect to the center of rotation of the needle bar crank 23; A needle bar holder 25 that transmits vertical movement from the rod 24 to the needle bar 12 is provided.
The upper shaft 22 is directly connected to the output shaft of the sewing machine motor 21 and is driven to rotate. The rotation of the upper shaft 22 is converted into an up and down reciprocating motion by the needle bar crank 23 and the crank rod 24 and is passed through the needle bar holder 25. Is transmitted to the needle bar 12.

  The needle bar 12 is rotated around its center line by a needle bar rotating mechanism 30 described later. For this reason, a square piece 26 provided at the other end of the crank rod 24 so as to be rotatable about the axis in the Y-axis direction is formed in the outer periphery of the needle bar holder 25 so as to surround the needle bar 12. The crank rod 24 and the needle bar holder 25 are connected to each other by being fitted into the groove 25a and the inner surface of the concave groove 25a sandwiching the square piece 26 vertically. Thereby, even if the needle bar holder 25 rotates together with the needle bar 12, the square piece 26 does not slide inside the concave groove 25a and is not disconnected, and the crank rod 24 is allowed to rotate while allowing the needle bar 12 to rotate. It is possible to give up and down movement from.

[Needle bar rotation mechanism]
As shown in FIG. 2, the needle bar rotating mechanism 30 is provided inside the end of the sewing machine arm 101a on the surface side, and supports a needle bar rotating base 31 that supports the needle bar 12 so as to move up and down. A needle rotation motor 32 serving as a rotation drive source for the bar 12 and a transmission mechanism for transmitting rotational force from the needle rotation motor 32 to the needle bar rotation base 31 are provided.
The needle bar rotating base 31 supports the needle bar 12 so as to be slidable along the Z-axis direction by a needle bar metal (metal bearing) (not shown), and around the Z-axis by the sewing machine frame 101 at the upper and lower ends thereof. It is rotatably supported. The needle bar rotating base 31 is formed with a guide groove 36 along the Z-axis direction into which a detent extending along the Y-axis direction is inserted from the needle bar holder 25 described above. While allowing the bar 12 to move up and down, the needle bar 12 supports the needle bar rotating base 31 so as to rotate around the Z axis. The center line of the needle bar 12 and the rotation center line of the needle bar rotation base 31 are designed to be on the same line. Note that the center line of the needle bar 12, the rotation center line of the needle bar rotation base 31, and the rotation center line of the hook rotation base 130, which will be described later, are all on the same straight line. Let's say.

  The transmission mechanism includes a main drive sprocket 33 provided on the output shaft of the needle rotation motor 32, a driven sprocket 34 provided concentrically with the center line C and fixed to the upper end of the needle bar rotation base 31, and these sprockets 33. , 34 is provided with a timing belt 35. As a result, the needle bar rotating base 31 and the needle bar 12 can be arbitrarily angled around the center line C by driving the needle rotating motor 32.

[Cook turntable]
3 is a perspective view of the hook rotation base 130, the hook mechanism 800, and the differential transmission mechanism 400, and FIG. 4 is a cross-sectional view taken along the center line C and the YZ plane. The shuttle turntable 130 will be described with reference to FIGS.
The shuttle turntable 130 is attached to the mounting plate 131 on which the shuttle mechanism 800 is mounted on the upper surface along the XY plane, the upper frame 132 attached to the lower surface of the mounting plate 131, and the lower portion of the upper frame 132. The mounting plate 131, the upper frame 132, and the lower frame 133 are integrated by screwing.
The shuttle turntable 130 is supported at its upper and lower portions by a support frame 105 that forms a part of the sewing machine frame 101 so as to be rotatable around the center line C via bearings 134 and 135.

[Differential transmission mechanism]
The differential transmission mechanism 400 has a function of applying a rotational force from the hook drive motor 401 to the hook 801 of the hook mechanism 800 mounted on the upper surface of the hook rotating base 130, and It has a function of applying rotational power from the dynamic motor 402 and a function of correcting a phase fluctuation around the hook shaft 811 due to the rotation of the hook 801.
The hook 801 is a so-called full-rotation horizontal hook, and is fixedly mounted on a hook shaft 811 parallel to the center line C on the lower side of the cloth placing plate 103. It is supported so as to be rotatable around its axis.

  The differential transmission mechanism 400 includes a rotational force transmission unit 410 that transmits rotational force to the shuttle mechanism 800, and a rotational power transmission unit that rotates the shuttle turntable 130 to turn the shuttle 801 around the center line C. 420, a differential mechanism portion 430 that corrects a phase variation around the hook shaft 811 generated in the hook 801 due to the rotation, and a rotary power input from the driven sprocket 422, and the hook rotation base 130 and a support frame 431 described later. And a pivot interlocking portion 440 as a pivot interlocking mechanism for pivoting the shuttle pivot base 130 by a double pivot amount of the support frame 431. It has.

[Differential transmission mechanism: Rotational force transmission part]
The rotational force transmission unit 410 includes a shuttle drive motor 401 serving as a rotational drive source of the shuttle 801, an input shaft 411 to which torque from the shuttle drive motor 401 is input, and torque from the input shaft 411 via the differential mechanism 430. Is transmitted to the hook mechanism 800 and is output to the hook mechanism 800, a main sprocket 413 provided on the output shaft of the hook drive motor 401, a driven sprocket 414 fixedly provided on the lower end of the input shaft 411, and An internal tooth timing belt 415 spanned over the sprockets 413, 414, an output sprocket 416 fixed to the upper end of the output shaft 412, and a loop between the output sprocket 416 and the input sprocket 822 of the hook mechanism 800. A timing belt 417 of the delivered internal teeth.

  The shuttle drive motor 401 is fixed to the support frame 105 with the output shaft directed downward, and the output shaft is equipped with a main sprocket 413.

The input shaft 411 and the output shaft 412 are rotatably supported by a lower portion and an upper portion of a support frame 431 of the differential mechanism portion 430 described later. It is arranged on the same line.
A driven sprocket 414 is provided at the lower end of the input shaft 411, and torque is input from the shuttle drive motor 401 via the main sprocket 413 and the timing belt 415.
An output sprocket 416 is provided at the upper end of the output shaft 412, and torque is input from the input sprocket 822 to the shuttle mechanism 800 via the timing belt 417.

[Differential transmission mechanism: Rotating power transmission unit]
The rotating power transmission unit 420 includes a hook rotation motor 402 serving as a rotation driving source of the hook 801, a main sprocket 421 mounted on the output shaft of the hook rotation motor 402, and an upper frame 132 of the hook rotation table 130. A driven sprocket 422 as a driven member fixedly provided on the outer periphery of the upper portion, and an internal tooth timing belt 423 stretched over the sprockets 421 and 422 are provided.
With these configurations, torque is input from the hook rotation motor 402 to the hook rotation base 130 via the sprockets 421 and 422 and the timing belt 423, and the center line is formed on the upper surface of the mounting plate 131 of the hook rotation base 130. A rotating motion around the center line C is applied to the hook 801 provided at a position eccentric from C.

[Differential transmission mechanism: Differential mechanism]
The differential mechanism portion 430 is fixedly mounted on the support frame 431 that rotatably supports the input shaft 411 and the lower end portion of the output shaft 412 facing each other and the upper end portion of the input shaft 411. A transmission bevel gear 435 that meshes with both the first bevel gear 432, the second bevel gear 433 fixedly provided at the lower end of the output shaft 412, and the first and second bevel gears 432 and 433 facing each other. And a transmission body 434 including

The support frame 431 is supported by the hook rotation base 130 so as to be rotatable around the center line C with respect to the hook rotation base 130. The support frame 431 and the hook rotation base 130 are individually center lines. It is possible to rotate around C.
An input shaft 411 is supported concentrically through a bearing at the lower center of the support frame 431, and an output shaft 412 is supported concentrically through the bearing at the upper center.

Furthermore, the intermediate part in the up-down direction of the support frame 431 has a substantially rectangular frame-like structure, and the transmission body 434 is rotatably supported by the frame-like part.
The transmission body 434 passes between the opposed ends of the input shaft 411 and the output shaft 412 and has a shaft portion 436 provided on a line orthogonal to the center line C, and a transmission bevel gear 435 fixedly mounted on the shaft portion 436. The shaft portion 436 is rotatably supported by the support frame 431 via a bearing.
The transmission bevel gear 435 meshes with both the first and second bevel gears 432 and 433, and is interposed between the input shaft 411 and the output shaft 412 via the first and second bevel gears 432 and 433. Thus, it is possible to transmit rotations in the opposite directions.
With this structure, the differential mechanism 430 constitutes a so-called differential gear mechanism.

FIG. 5 is an explanatory diagram showing the influence of the rotation of the support frame 431 of the differential mechanism section 430 on the amount of transmission rotation between the input shaft 411 and the output shaft 412.
The first bevel gear 432 and the second bevel gear 433 have the same number of teeth and are transmitted in the opposite rotation directions, but the transmission speed ratio is 1: 1.
For example, when rotation is transmitted from the input shaft 411 to the output shaft 412, if the support frame 431 rotates about the input shaft 411 and the output shaft 412 by an angle α, the transmission bevel gear 435 is moved to the first bevel gear 435. The gear 432 is rotated by the number of teeth of the angle α, and the transmission bevel gear 435 rotates the second bevel gear 433 by the angle α. Further, since the support frame 431 is rotated by an angle α, the second bevel gear 433 is rotated by an angle 2α that is the sum of the rotation of the transmission bevel gear 435 and the rotation of the support frame 431. Will occur. That is, the rotation of the support frame 431 in a certain direction causes an angle difference corresponding to twice the rotation angle of the output shaft 412 in the rotation direction of the support frame 431 with respect to the input shaft 411.

[Differential transmission mechanism: Rotation interlocking part]
The rotation interlocking portion (rotation interlocking mechanism) 440 is for interlockingly rotating the support frame 431 in the reverse direction at a predetermined ratio when the shuttle rotating table 130 is rotated.
The rotation interlocking unit 440 is fixed to the support shaft 105, fixed to the support frame 105, fixed to the support shaft 442, and to the support shaft 442. A large gear 443 (first gear) that meshes with the gear 441, a small gear 444 (second gear) that is fixed to the support shaft 442 and meshes with the driven gear 445, and a support frame 431 are fixedly equipped. And a driven gear 445 that rotates around the center line C.
The fixed gear 441 is a spur gear arranged around the center line C, and the large gear 443 meshes with the fixed gear 441 and rotates around the fixed gear 441 when the hook rotating table 130 rotates. It is designed to move around. That is, in the rotation interlocking unit 440, a planetary gear mechanism in which the fixed gear 441 is a sun gear and the large gear 443 is a planetary gear is configured.
Here, the fixed gear 441 and the large gear 443 have the same number of teeth, and the transmission ratio is set to 1: 1. The small gear 444 and the driven gear 445 have 1: 2 teeth, and half rotation is transmitted to the driven gear 445 in the opposite direction with respect to the rotation of the small gear 444.

When the hook rotation base 130 rotates in a certain direction, the large gear 443 rotates around the center line C together with the hook rotation base 130 so as to be equal to the rotation angle of the hook rotation base 130. In addition, since the change with the fixed gear 441 causes an angle change around the support shaft 442 with respect to the rotary table 130, the rotary angle is equal to the rotary angle of the rotary table 130. This produces a double angle change in the same direction as 130.
On the other hand, the small gear 444 is equal to the rotation angle of the rotary table 130 by rotating around the center line C together with the rotary table 130 when the rotary table 130 rotates in a certain direction. In addition, an angle change is generated, and an angle change equal to the rotation angle of the rotary table 130 is generated around the support shaft 442 with respect to the rotary table 130 in conjunction with the large gear 443. A double angle change occurs in the same direction as the turntable 130.

On the other hand, when the small gear 444 moves around by the rotation of the rotary table 130, the driven gear 445 changes in the same direction as the rotary table 130 and has the same angular change. However, since the small gear 444 rotates around the support shaft 442 along with the rotation generated when the large gear 443 meshes with the fixed gear 441, the shuttle rotation table is rotated in the opposite direction to the shuttle rotation table 130 according to the transmission ratio. A rotation of half of the 130 rotation angle occurs. As a result, the driven gear 445 rotates in half the rotation angle of the rotary table 130 in the same direction as the rotary table 130.
That is, when the rotary table 130 is rotated by the rotation interlocking unit 440, the rotation angle of the rotary table 130 is half of the rotation angle of the rotary table 130 in the same direction as the rotary table 130 with respect to the support frame 431. The rotation operation is performed in conjunction with each other.

With the above-described configuration, the differential transmission mechanism 400 is driven via the differential mechanism unit 430 when rotation is input to the input shaft 411 in a constant direction at a constant rotational speed by driving the shuttle drive motor 401. Rotation is transmitted to the output shaft 412 at the same rotational speed in the opposite direction.
Further, when rotation is input to the rotary table 130 by a rotary rotation motor 402 at a fixed rotation angle in a fixed direction, the support frame 431 is rotated by the rotary interlocking unit 440. A rotation operation is transmitted in the same direction as the table 130 at a half rotation angle of the rotary table 130.
When the support frame 431 rotates at a half rotation angle of the rotary table 130, the differential mechanism 430 rotates the output shaft 412 in the same direction as the support frame 431 with respect to the input shaft 411. A rotational angle change that is twice the moving angle will occur.
That is, it is possible to give the output shaft 412 the same rotation angle change as the rotation angle of the rotary table 130 in the same direction as the rotary table 130 with respect to the input shaft 411. Therefore, when the shuttle turntable 130 is rotated, the output shaft 412 does not change in angle with respect to the shuttle turntable 130.
For this reason, even when the hook rotation base 130 is rotated in a state where the hook 801 of the hook mechanism 800 is rotationally driven on the hook rotation base 130, the output shaft 412 is not rotated by the rotation of the hook mechanism 800. Since the same angle change as that of the movement is given, even if the hook drive motor 401 is installed in a place where the rotation operation is not performed with respect to the hook mechanism 800 on the hook rotation base 130 that performs the rotation operation, The structure is such that no phase difference occurs in the rotation operation input to the hook mechanism 800 on the hook rotating base 130 when the moving base 130 rotates.

The operation of the rotation interlocking unit 440 will be described with a simple example in which the rotation angle is specifically determined.
When the rotary table 130 rotates 180 degrees counterclockwise, the large gear 443 and the small gear 444 fixed to the support shaft 442 rotate 180 degrees counterclockwise around the center line C together with the rotary table 130. To do. Further, the fixed gear 441 causes the large gear 443 and the small gear 444 to rotate 180 degrees around the support shaft 442 counterclockwise.
When the small gear 444 rotates 180 degrees counterclockwise around the center line C together with the shuttle turntable 130, the driven gear 445 engaged with the small gear 444 rotates 180 degrees counterclockwise around the center line C. Rotate degrees.
When the small gear 444 rotates counterclockwise about the support shaft 442 by 180 degrees, the small gear 444 and the driven gear 445 have a 1: 2 number of teeth, and the driven gear 445 is rotated clockwise around the center line C. Rotate 90 degrees in the direction.
As a result, the driven gear 445 rotates 90 degrees in the counterclockwise direction, which is the total of 180 degrees in the counterclockwise direction and 90 degrees in the clockwise direction.
The driven gear 445 is fixed to the support frame 431, and the support frame 431 also rotates 90 degrees counterclockwise. When the support frame 431 is rotated 90 degrees counterclockwise, the second bevel gear 433 is rotated by the rotation of the transmission bevel gear 435 (90 degrees in its clockwise direction) and the rotation of the support frame 431 (counterclockwise in the counterclockwise direction). 90 degrees), which is 180 degrees counterclockwise. Since the second bevel gear 433 is fixed to the output shaft 412, the output shaft 412 also rotates counterclockwise by 180 degrees.
As shown in FIG. 2, the output sprocket 416 fixed to the output shaft 412 and the input sprocket 822 of the shuttle mechanism 800 are bridged by a timing belt 417.
However, when the shuttle rotation base 130 rotates 180 degrees counterclockwise, the output shaft 412 also rotates 180 degrees counterclockwise. For this reason, since the input sprocket 822 does not rotate with the rotation of the rotary table 130, no phase difference occurs in the shuttle mechanism.

[Hook mechanism]
6 is a plan view of the hook mechanism 800, and FIGS. 7 and 8 are perspective views as seen from a different direction from FIG. 3, in which a part of the structure of the hook mechanism 800 is omitted.
As shown in FIGS. 2 to 4 and 6 to 8, the shuttle mechanism 800 is mounted on the upper surface of the mounting plate 131 of the shuttle rotating base 130. The hook mechanism 800 is configured to apply a torque from the hook 801 as a horizontal hook composed of an outer hook 802 that continuously rotates in a fixed direction and an inner hook 803 that stores a bobbin, and torque from the differential transmission mechanism 400 to the outer hook 802. A torque transmission mechanism 810 for transmission, a hook base 804 that rotatably supports the outer hook 802 via the hook shaft 811, and a convex portion 803 a provided on the inner hook 803 are fitted in the hook base 804. The rotation stopper 805 for restricting the rotation of the inner hook 803 and the inner hook 803 abutting with the vertical movement of the needle bar 12 to form a clearance through which the upper thread comes out between the rotation stopper 805 and the protrusion 803a of the inner hook. Opener 806, an opener actuating portion 820 for actuating the opener 806, a knife mechanism 830 that is mounted on the pot base 804 and cuts the lower thread, and an oil supply mechanism that supplies lubricating oil to the inside of the pot base 804 And a 40.

[Hook mechanism: Hook]
The inner hook 803 of the hook 801 is a bottomed, generally cylindrical body having an open upper portion, and a shaft portion into which a bobbin is fitted is erected at the center of the inner bottom surface, and has a function of storing the bobbin. ing.
The outer hook 802 is also a substantially cylindrical body with a bottom opened and stores and holds the inner hook 803 therein. The outer hook 802 maintains a concentric state with the inner hook 803 and is rotatably coupled to the inner hook 803. A hook shaft 811 (described later) is fixedly mounted at the center of the bottom surface of the outer hook 802 in a suspended state. The shuttle shaft 811 is supported by the shuttle base 804 so as to be rotatable along the Z-axis direction, and the fixed base 804 is fixedly mounted on the upper surface of the mounting plate 131 of the shuttle turning base 130 by screwing.
The outer hook 802 receives torque from the hook shaft 811 in a fixed direction, and rotates at a speed twice that of the needle up-and-down movement. The sword tip provided in the outer hook 802 captures the upper thread from the sewing needle 11 at a rate of once every two rotations.

The outer hook 802 is attached to the outer periphery of the inner hook 803, and continuously rotates in a fixed direction around a vertical center line while being in sliding contact with the inner hook 803.
On the other hand, the inner hook 803 is provided with a convex portion 803a projecting upward at the outer peripheral upper portion so as not to rotate together with the outer hook 802, and the convex portion 803a is fitted to a detent 805 approaching both sides in the rotation direction. doing. Note that the fitting portion is not limited to the shape protruding like the convex portion 803a, and may be a concave shape, for example, and the rotation stopper 805 may be convex to be fitted.

[Hook mechanism: Opener operating part]
The opener operating portion 820 vertically penetrates the pot base 804 and is supported rotatably in a state parallel to the Z-axis direction, and an input sprocket 822 fixedly installed at the lower end of the opener shaft 821; At the upper end of the opener shaft 821, an eccentric shaft 823 provided at a position eccentric from the rotation center line of the opener shaft 821, a crank rod 824 having one end connected to the eccentric shaft 823, an opener 806 and a crank A pivot arm 825 coupled to the other end of the rod 824.

As described above, the input sprocket 822 receives torque from the output sprocket 416 of the differential transmission mechanism 400 via the timing belt 417. The input sprocket 822 has a smaller diameter than the output sprocket 416, and the rotation is increased so that the input sprocket 822 rotates at the same rotational speed as the vertical movement of the needle bar 12, and torque is input.
In addition, a tension roller (not shown) is provided near the input sprocket 822. The pot base 804 is fixedly mounted on the upper surface of the mounting plate 131 of the pot rotating table 130 by screwing through a long hole, and the position is adjusted by loosening the screw, thereby enabling the position adjustment of the pot 801. By adjusting the position of the hook 801, the tension roller is always pressed against the timing belt 417 so that the timing belt 417 stretched between the input sprocket 822 and the output sprocket 416 does not loosen, and tension is applied to the belt. Yes.

The rotating arm 825 is supported on the upper portion of the pot base 804 so as to be rotatable around the Z axis, and one end of the rotating arm 825 is connected to the other end of the crank rod 824. As described above, the crank rod 824 is connected at one end to the eccentric shaft 823 and is given a circular motion, so that the rotating arm 825 is rotated at the same cycle as the rotation of the opener shaft 821 at the other end. Can do.
Accordingly, the opener 806 fixedly attached to the rotating arm 825 also reciprocally rotates together with the rotating arm 825 at its tip. The opener 806 comes into contact with a locking projection 803b extending radially outward from the outer peripheral upper portion of the inner hook 803 by the rotation operation, and the convex portion 803a of the inner hook 803 and the rotation stopper 805 are rotated when the outer hook 802 is rotated. The part where the thread is in close contact with each other is separated to allow the upper thread to pass through.

[Hook mechanism: Torque transmission mechanism]
The torque transmission mechanism 810 is fixedly attached to the hook shaft 811 as a hook rotating shaft fixedly provided at the center of the bottom surface of the outer hook 802, a main driving gear 812 fixedly provided in the middle of the opener shaft 821, and the hook shaft 811. And a driven gear 813.
The ratio of the number of teeth of the main driving gear 812 and the driven gear 813 is 2: 1, and rotation is transmitted from the opener shaft 821 to the shuttle shaft 811 at double speed. That is, the outer hook 802 of the hook 801 is rotated at a speed twice that of the number of times the sewing needle moves up and down.

  The torque transmission mechanism 810 employs a gear mechanism, but any kind of transmission mechanism capable of transmitting torque can be used. For example, a belt mechanism may be used. In this case, it is desirable to drive the shuttle drive motor 401 in the reverse rotation or use a gear mechanism by replacing the torque transmission between the output sprocket 416 and the input sprocket 822 with the timing belt 417.

[Hook mechanism: Lubrication mechanism]
9A is a horizontal cross-sectional view of the oil supply mechanism 840, and FIG. 9B is a vertical cross-sectional view of the oil supply mechanism 840.
The oil supply mechanism 840 includes an oil tank (not shown) for storing lubricating oil provided in the pot base 804, a rotating portion 841 formed at an intermediate position of the opener shaft 821, an inner periphery of the pot base 804, and a cutout of the rotating portion 841. A pump chamber 844 as an oil supply space formed by the portion 841a, oil seals 845 and 846 attached to the upper and lower portions of the pump chamber 844, an inlet 843 for lubricating oil communicating with the pump chamber 844, and a pump A lubricating oil discharge port 842 that communicates with the chamber 844 and a plunger 847 that reciprocates in contact with the outer periphery of the rotating portion 841 are provided, and a plunger pump type oil supply pump is configured by these.

The cutout portion 841a of the rotating portion 841 is formed by cutting out one side in an elliptical shape. The introduction port 843 is connected to the oil tank via a tube. The discharge port 842 is connected to the shuttle shaft 811 and the shuttle race surface via a tube.
The opener shaft 821 rotates counterclockwise when viewed from above, and a negative pressure is generated at the introduction port 843. A suction force is generated by the negative pressure, and the lubricating oil is sucked from the oil tank. The lubricating oil sucked into the pump chamber supplies the lubricating oil to the hook shaft and the hook race surface by the rotation of the opener shaft 821 and the action of the plunger 847.
In this oil supply mechanism 840, a plunger pump is illustrated, but any type of pump that can use a rotational drive source may be used.

[Hook mechanism: Female mechanism]
The knife mechanism 830 includes a knife base 832 that fixes and holds the fixed knife 831, a moving knife 833 that cuts the upper thread and the lower thread in cooperation with the fixed knife 831, a knife holding arm 834 that holds the moving knife 833, Provided at the lower end of the female support shaft 835, a female support shaft 835 that allows the female support arm 834 to rotate about the Z-axis, an outer cam 836 that serves as a cam for applying rotational power to the female support arm 834. A knife driving arm 837 to which rotational power is input from the outer cam 836, an air cylinder 838 for driving a knife for switching connection and disconnection of power input from the outer cam 836 to the female driving arm 837, and an air cylinder A transmission arm 839 for transmitting the switching operation of 838.

The knife holding arm 834 reciprocally rotates above the hook 801, and the moving knife 833 and the fixed knife 831 cut the upper thread and the lower thread.
The power for reciprocating rotation of the knife holding arm 834 is input from the knife drive arm 837 through the knife support shaft 835.
The knife driving arm 837 holds a roller 837a at the rotation end thereof, and the roller 837a is brought into contact with the outer periphery of the outer cam 836 so that the rotation operation is input according to the outer shape of the outer cam 836. Is done.
The outer peripheral cam 836 is fixedly installed below the opener shaft 821 and rotates together with the opener shaft 821. A part of the outer periphery has a large distance from the center of rotation, and a rotating operation is imparted to the knife driving arm 837 from the portion via the roller 837a.
As described above, the knife mechanism 830 obtains the power of the thread trimming operation from the opener shaft 821.

  On the other hand, since the opener shaft 821 continuously rotates in a constant direction during sewing, the outer peripheral cam 836 also rotates continuously in the same manner. Therefore, the knife mechanism 830 controls the air cylinder 838 for driving the knife during sewing so that the roller 837a is retracted to the position where it does not come into contact with the outer peripheral cam 836 via the transmission arm 839, and when the sewing is finished. When the thread trimming is executed, the air cylinder 838 is operated to bring the roller 837a into contact with the outer peripheral cam 836, thereby performing the thread trimming.

[Sewing machine control system: control device]
FIG. 10 is a block diagram showing a control system of sewing machine 100. The sewing machine 100 includes a control device 110 as operation control means for controlling the operation of each unit and each member described above. The control device 110 includes a ROM 112 that stores a program for performing operation control during sewing, a RAM 113 that is a work area for arithmetic processing, and a nonvolatile data memory 114 that serves as storage means for storing sewing data. And a CPU 111 for executing a program in the ROM 112.

Further, the CPU 111 is connected to the sewing machine motor drive circuit 21a, the X-axis motor drive circuit 102e, the Y-axis motor drive circuit 102f, the shuttle drive motor drive circuit 401a, the shuttle rotation motor drive circuit 402a, and the needle rotation motor via an interface (not shown). It is connected to the drive circuit 32a, and is further connected to each of the sewing machine motor 21, the X-axis motor 102c, the Y-axis motor 102d, the shuttle drive motor 401, the shuttle rotation motor 402, and the needle rotation motor 32 through these. The drive of each motor 21, 102c, 102d, 401, 402, 32 is controlled.
The sewing machine motor 21 includes an encoder (not shown), and the detected angle is output to the CPU 111.
The motors 102c, 102d, 401, 402, and 32 are stepping motors. These origin search means (not shown) are connected to the CPU 111, and the CPU 111 can recognize the origin position of each motor from the output.
Further, the CPU 111 is connected to a drive circuit 838b for switching opening and closing of the electromagnetic valve 838a for operating the knife driving air cylinder 838 of the shuttle mechanism 800 via the interface, and controls the electromagnetic valve 838a via the drive circuit 838b. Do.

The sewing data stored in the data memory 114 sequentially stores the operation amounts of the X-axis motor 102c and the Y-axis motor 102d for each stitch for sewing a predetermined sewing pattern. In this case, operation control for driving the X-axis motor 102c and the Y-axis motor 102d is performed for each needle.
Further, during sewing, the control device 110 performs synchronous control so that the sewing machine motor 21 and the shuttle drive motor 401 match the vertical movement cycle of the needle bar 12 and the rotation cycle of the shuttle 801. For this reason, the sewing machine motor 21 and the shuttle drive motor 401 are each provided with an encoder (not shown).

Further, the CPU 111 executes hitch stitch avoidance control along with execution of sewing control based on the sewing data. FIG. 11 shows a case where the direction of the reference line P (see FIG. 2) from the position of the center line C of the needle bar to the position of the rotation center line of the shuttle 801 is the reference (0 °) on the XY plane. FIG. 5 is an explanatory diagram showing a sewing direction in which a hitch stitch occurs in a hatched area H. That is, as shown in the drawing, when the needle is moved in the angle range of θ1 to θ2 with respect to the direction from the position of the needle bar center line C toward the shuttle 801, hitch stitches are generated. Since the direction in which such hitch stitch occurs varies depending on the type of hook and other various conditions, the numerical values of the angles θ1 and θ2 obtained by performing trial sewing or the like for each sewing machine may be specified. The values of θ1 and θ2 are registered in the data memory 114 in advance.
Then, the CPU 111 reads the operation amount of the X-axis motor 102c and the Y-axis motor 102d for each stitch of the sewing data at the time of sewing, calculates the sewing direction of the next needle movement from each operation amount, and the current hook 801 It is determined whether or not the sewing direction calculated based on the position is within an angle range of θ1 to θ2. When it is within the range, before the needle drop is performed, the needle rotation motor 32 and the hook rotation motor 402 are driven synchronously to an angle outside the angle range of θ1 to θ2, and the needle bar 12 and the hook base 804 are driven. Is rotated around the center line C. Further, when the sewing direction is outside the angle range of θ1 to θ2, the current rotational positions of the needle bar 12 and the hook base 804 are maintained.
By performing the hitch stitch avoidance control for all the stitches of the sewing data, it is possible to avoid the occurrence of hitch stitches in the entire sewing pattern.
That is, this control device 110 functions as a sewing control means.

FIG. 12 is a flowchart of the hitch stitch avoidance control. Based on this, hitch stitch avoidance control will be specifically described.
First, at the time of sewing, the CPU 111 reads the amount of movement in the X-axis direction and the Y-axis direction from the sewing data and reads the storage of the angle centered on the current center line C of the hook 801 (step S1).
Then, an angle θ0 in the sewing direction with respect to a reference line P connecting the position of the center line C and the center position of the shuttle 801 is calculated (step S3).
Further, the CPU 111 determines whether or not the calculated angle θ0 in the sewing direction is within the angle range of θ1 to θ2 (step S5).

If the angle is out of the angle range, the process is terminated as it is, and the needle drop is performed.
That is, it is determined whether or not the absolute value of θ1−θ0 is smaller than the absolute value of θ2−θ0. If the absolute value of θ1−θ0 is small, an angle α that becomes a margin is added to the value. The hook 801 and the needle bar 12 are rotated in the forward direction (step S9).
When the absolute value of θ2−θ0 is small, the shuttle 801 and the needle bar 12 are rotated in the reverse direction by an angle obtained by adding the margin angle α to the value (step S11).
Note that it is desirable that the angle α serving as a margin can be arbitrarily set, and the set value is stored in the data memory 114. This α is also an absolute value.
Further, the CPU 111 stores the angle around the center line of the hook 801 after the rotation for the next hitch stitch angle region determination.
And hitch stitch avoidance control is complete | finished. Such control is performed before the needle drop of each needle.
In the above control, after searching the origin of the hook rotation motor 402, it is possible to always grasp the angle of the hook 801 around the center line C by sequentially storing the control operation amount. Alternatively, an angle sensor may be provided on the hook rotating base 130 or the needle bar rotating base 31, and the angle of the hook 801 may be acquired by detecting the angle sensor.

[Operational effects of the first embodiment]
With the above configuration, the sewing machine 100 is included in the range in which hitch stitches are generated in which the movement direction of the sewing product is determined before the control device 110 moves the sewing product by the cloth moving mechanism 102. In this case, it is possible to effectively avoid the occurrence of hitch stitches by driving the hook rotation motor 402 so that the hook base 804 and the needle bar 12 are rotated around the center line C so as to be out of the range. It is possible to improve the sewing quality dramatically by realizing perfect stitching throughout the sewing.
Further, even if the hook base 804 is rotated around the center line C by the differential transmission mechanism 400, the phase of the hook 801 with respect to the sewing needle 11 is maintained constant, so that the sword tip of the hook 801 is sewn at an appropriate timing. The upper thread can be captured from 11, and stable sewing can be performed.

Further, the differential transmission mechanism 400 prevents the occurrence of a phase difference generated in the hook 801 when the pot base 804 is rotated without mounting the pot drive motor 401 serving as a rotation driving source of the pot 801 on the pot base 804. As a result, it is possible to reduce the weight of the rotary table 130 and to use a small rotary motor 402 with a small output. It becomes possible to reduce the size.
Further, the moment of inertia of the rotary table 130 can be reduced, the error of the rotary movement of the hook can be reduced, and precise operation control and high-speed rotary movement of the hook 801 are possible. Therefore, the sewing speed can be increased.

As another example of the differential transmission mechanism, without using the rotation interlocking part 440, the shuttle rotating base 130 and the support frame 431 are individually equipped with driven sprockets having an outer diameter of 1: 2, The driven sprockets are arranged concentrically and are driven to rotate from the hook rotation motor 402 via timing belts, respectively, so that the hook rotation base 130 and the support frame 431 are linked in the same direction at a rotation angle of 2: 1. It is also possible to rotate.
However, in the case of the above-described configuration, an error due to individual elongation occurs in the timing belt for the hook rotation base 130 and the timing belt for the support frame 431, so that a phase difference occurs in the hook 801 when the hook base 804 rotates. Occurs and the sword tip may not be able to catch the upper thread at an appropriate timing.
On the other hand, in the sewing machine 100, since the rotation interlocking portion 440 is provided between the shuttle rotation table 130 and the support frame 431, either the shuttle rotation motor 402 to the shuttle rotation table 130 or the support frame 431 is provided. If rotation is given to one of them, rotation can be given to the other. Accordingly, the phase shift of the hook 801 due to the difference in the length of extension generated in the two timing belts, as in the case of individually turning the hook rotating base 130 and the support frame 431 by the two timing belts. Can be suppressed.
Further, in the case of the sewing machine 100, there is a possibility that the rotation interlocking portion 440 may cause a deviation between the shuttle rotation table 130 and the support frame 431. However, the shuttle rotation table 130 and the support frame 431 are concentrically close to each other. Therefore, the displacement due to the rotation interlocking unit 440 can be sufficiently reduced. In particular, by configuring the rotation interlocking portion 440 with a gear mechanism, it is possible to eliminate the deviation caused by the extension of the timing belt, and the sword tip of the hook 801 can capture the upper thread at a more appropriate timing. To do. Accordingly, it is possible to reduce the occurrence of skipping and the like when the hook rotates and to perform sewing with high sewing quality.

  The needle rotation motor 32 of the needle bar rotation mechanism 30 and the shuttle rotation motor 402 of the differential transmission mechanism 400 may be shared by a single motor. For example, the power of the shuttle rotation motor 402 is transmitted to the needle bar rotation table 31 by a known power transmission mechanism including a shaft, a gear mechanism, a belt mechanism, or a combination thereof arranged in the sewing machine frame 101 and rotated. It is good also as a structure made to do. Conversely, a configuration may be adopted in which the power of the needle rotation motor 32 is transmitted to the shuttle rotation base 130 side of the differential transmission mechanism 400 by a known power transmission mechanism. Specifically, the sewing machine frame 101 is provided with a rotation shaft along the Z-axis direction from the sewing machine arm portion 101a to the sewing machine bed portion 101b, and a single motor (needle rotation motor 32 or shuttle rotation motor) is provided on the rotation shaft. In 402), the rotational power is applied, and the main sprockets 33 and 421 may be provided on the rotary shaft, and the main sprockets 33 and 421 may be rotated from the rotary shaft via a belt mechanism or a gear mechanism. May be transmitted.

  As described above, when the needle rotation motor 32 and the hook rotation motor 402 are configured to be shared by one motor, the number of motors can be reduced and the productivity of the sewing machine can be improved. Become. Further, the synchronous control of the motors 32 and 402 is not required, and the configuration of the control circuit and the like can be further simplified.

In the sewing machine 100, torque is input from the differential transmission mechanism 400 to the opener shaft 821 instead of the shuttle shaft 811 of the shuttle mechanism 800, and the speed is doubled from the opener shaft 821 via the torque transmission mechanism 810. The rotation is transmitted to the shuttle shaft 811.
Since the opener shaft 821 is a shaft for periodically rotating the opener 806, the opener shaft 821 may be rotated at the same cycle as the vertical movement of the needle bar 12, and is rotated at half the rotational speed of the shuttle shaft 811. I do. Accordingly, the shuttle drive motor 401 only needs to rotate at half the speed compared with the case where torque is input to the shuttle shaft 811, and a small motor with a small output can be used.

Further, torque is input to the opener shaft 821 that rotates at half the speed of the hook shaft 811, and torque is applied from the opener shaft 821 to each component of the hook mechanism 800, that is, the oil supply mechanism 840, the female mechanism 830, and the hook 801. It is configured to do. In this case, compared with the case where torque is input to the hook shaft 811 and torque is applied from the hook shaft 811 to each of the oil supply mechanism 840, the female mechanism 830, and the opener operating portion 820, the same speed as the hook 801 is obtained. Since the number of members that rotate at the double speed of the needle bar 12 is reduced, the power for operating the hook mechanism 800 as a whole can be reduced. From this point also, the hook drive motor 401 has a small output and a small size. A motor can be used.
In addition, the configuration is such that torque is applied from the opener shaft 821 to the oil supply mechanism 840, the female mechanism 830, and the hook 801 of the hook mechanism 800, so that the power is concentrated and the necessary number of drive sources and the power transmission to each part are performed. It becomes possible to reduce the number of members.

[Modification Example in Each Part of First Embodiment]
The sewing machine motor 21 and the shuttle drive motor 401 of the differential transmission mechanism 400 may be shared by a single motor. For example, the power of the shuttle drive motor 401 is transmitted to the upper shaft 22 by a known power transmission mechanism including a shaft, a gear mechanism, a belt mechanism, or a combination thereof arranged in the sewing machine frame 101, and the needle bar 12 is moved up and down. It is good also as a structure which performs. Conversely, the power may be transmitted to the input shaft 411 side of the differential transmission mechanism 400 by the power of the sewing machine motor 21 using a known power transmission mechanism.
Specifically, the sewing machine frame 101 is provided with a rotation shaft along the Z-axis direction from the sewing machine arm portion 101a to the sewing machine bed portion 101b, and the bevel gear mechanism can transmit power to the rotation shaft and the upper shaft 22. It is good also as a structure which connects, connects the input shaft 411 with the said rotating shaft with a belt mechanism or a gear mechanism so that power transmission is possible, and omits the shuttle drive motor 401.
Alternatively, the sewing machine motor 21 may be omitted by applying a rotational force from the shuttle driving motor 401 to the rotating shaft described above to drive the upper shaft 22 to rotate.

As described above, when the sewing machine motor 21 and the shuttle drive motor 401 are configured to be shared by one motor, the number of motors can be reduced and the productivity of the sewing machine can be improved.
Further, the synchronous control of each motor is unnecessary, and the configuration of the control circuit and the like can be further simplified.
Furthermore, even when the sewing machine motor 21 and the shuttle drive motor 401 are shared by a single motor, since the rotation interlocking portion 440 is provided, for example, when maintenance is performed in a state where the sewing machine is stopped, the shuttle 801 When the shuttle turn base 130 is turned, the vertical movement is not transmitted to the needle bar 12, and the contact between the sewing needle 11 and another object can be prevented.

In the sewing machine 100, the hook 801 composed of a horizontal full rotation hook is illustrated, but a full rotation vertical hook or a half rotation vertical hook may be used.
In the case of using a vertical hook, a bevel gear mechanism or the like is provided in the middle of the power transmission path from the hook drive motor 401 to the hook 801 (for example, the pot base 804), and rotational force is applied to the hook shaft along the horizontal direction. It is desirable to adopt a configuration that transmits In that case, since an opener is not necessary, it is desirable to apply a rotational force to the shuttle shaft without going through the opener shaft.
In addition, when a half-turn hook is used, a well-known conversion mechanism (for example, a full rotation is converted into a reciprocating rotation in the middle of a power transmission path from the hook drive motor 401 to the hook 801 (for example, the pot base 804). It is desirable to provide an eccentric cam mechanism or a crank mechanism.
When the torque is input from the sewing machine motor 21 to the input shaft 411 via a gear mechanism and the torque is applied to the opener shaft 821, the double speed of the upper shaft is applied as in the case of applying to the shuttle shaft. Unlike the case where torque is applied, the torque may be applied at the same speed as the upper shaft, so that wear of transmission members such as gears can be reduced and durability can be improved.

  It should be noted that the above-mentioned common motor and change of the type of the hook are basically applicable to other embodiments or other modifications shown below.

[Second Embodiment]
A second embodiment of the present invention will be described. The sewing machine according to the second embodiment includes a rotational power transmission unit 420A and a differential mechanism unit 430A adopting a structure different from the rotational power transmission unit 420, the differential mechanism unit 430, and the rotation interlocking unit 440 of the sewing machine 100 described above. And the differential transmission mechanism 400A which has the rotation interlocking | linkage part 440A is mounted.
In the following description, only the difference between the differential transmission mechanism 400A and the differential transmission mechanism 400 will be described, and the same components will be denoted by the same reference numerals and redundant description will be omitted.

13 is a perspective view of the differential transmission mechanism 400A, and FIG. 14 is a sectional view taken along the center line C.
First, the rotating power transmission unit 420A is different from the above-described rotating power transmission unit 420 in that the rotating power is applied to the support frame 431A instead of the shuttle turntable 130. That is, the rotational power transmission unit 420A applies rotational power from the shuttle rotation motor 402 to a driven sprocket 422A as a driven member attached to the upper portion of the support frame 431A.

  The differential mechanism portion 430A is rotatably supported around the center line C by the support frame 105, and can rotate with the upper end portion of the input shaft 411 and the lower end portion of the output shaft 412 facing each other. A supporting frame 431A to be supported, a first spur gear 432A fixedly provided at the upper end portion of the input shaft 411, and a second spur gear 433A fixedly provided at the lower end portion of the output shaft 412 are opposed to each other. And a transmission body 434A having spur gears 435A and 437A meshing with the second spur gears 432A and 433A, respectively.

The transmission body 434A has a shaft portion 436A that is rotatably supported by the support frame 431A in a state along the Z-axis direction, and two spur gears 435A and 437A are fixedly mounted on the shaft portion 436A up and down. Can be rotated simultaneously.
The ratio of the number of teeth of the first spur gear 432A and the spur gear 435A meshing with the first spur gear 432A is 3: 1, and the rotation from the first spur gear 432A is transmitted to the spur gear 435A in the reverse direction at triple speed. .
The ratio of the number of teeth of the second spur gear 433A and the spur gear 437A meshing with the second spur gear 433A is 1: 1, and the rotation from the spur gear 437A is transmitted to the second spur gear 433A at the same speed in the reverse direction. .
In such a configuration, for example, when the support frame 431A is rotated in a predetermined direction while the input shaft 411 is stopped, the two spur gears 435A and 437A have four support frames 431A in the same direction as the support frame 431A. Rotation occurs at double angle. As a result, the rotation is transmitted to the second spur gear 433A at a double angle of the support frame 431A in the opposite direction to the support frame 431A. With this structure, the differential mechanism section 430A constitutes a so-called differential gear mechanism.
The angle change of the second spur gear 433A will be described in detail.
In the second spur gear 433A, an angle change equal to the rotation angle occurs in the same direction as the support frame 431A. In addition, the second spur gear 433A undergoes a triple speed change in the opposite direction to the support frame 431A due to the triple speed around the shaft portion 436A of the spur gear 437A. When these two angle changes are added together, the rotation is transmitted to the second spur gear 433A at a double angle of the support frame 431A in the opposite direction to the support frame 431A.
Accordingly, in order to prevent a phase change in the transmission rotation from the input shaft 411 to the output shaft 412 when the shuttle rotating table 130 is rotated, the support frame 431A is placed in the opposite direction to the shuttle rotating table 130. What is necessary is just to make it rotate at the half angle of the hook rotation stand 130.

Based on the above premise, the rotation interlocking portion (rotation interlocking mechanism) 440A has a function of rotating the support frame 431A in a direction opposite to the hook rotating base 130 at a half angle of the hook rotating base 130. ing. In other words, the rotation interlocking unit 440A interlocks the shuttle rotation table 130 at a rotation angle twice as large as the support frame 431A when the support frame 431A is rotated by the shuttle rotation motor 402. Rotate.
In other words, the rotation interlocking unit 440A includes three planetary gears 441A that are rotatably supported by the support frame 105, external gear driven gears 443A that are concentrically fixedly mounted on the rotary table 130, and a support frame. 431A and an internal toothed main gear 445A fixedly concentrically with 431A.
The driven gear 443A is concentrically fixed to the lower part of the rotary table 130 and rotates around the center line C together with the rotary table 130.
The main driving gear 445A is concentrically fixed to the upper portion of the support frame 431A, and rotates around the center line C together with the support frame 431A.
The externally driven gear 443A is concentrically disposed inside the internally driven main gear 445A, and the planetary gear 441A is disposed between the gears 443A and 445A.
Then, the ratio of the number of teeth of the internal driven main gear 445A and the external driven gear 443A is 2: 1. When the support frame 431A is rotated by the shuttle rotation motor 402, the support frame 431A is The rotation is transmitted to the rotary table 130 at a double rotation angle in the reverse direction.
Accordingly, the rotation interlocking unit 440A rotates in cooperation with the differential mechanism unit 430A when rotation is transmitted from the input shaft 411 to the output shaft 412 when the shuttle rotating table 130 is rotated. Therefore, it is possible to prevent the phase shift.
Note that the planetary gear 441A of the rotation interlocking unit 440A is supported by the support frame 105, and thus does not move around the driven gear 443A that is a sun gear, but when viewed from the viewpoint of the driven gear 443A, Since the planetary gear 441A moves around the driven gear 443A, it can be said that the rotation interlocking portion 440A substantially constitutes a planetary gear mechanism.

  The differential transmission mechanism 400 </ b> A having the above configuration can also obtain the same effects as the differential transmission mechanism 400.

[Third embodiment]
A sewing machine 100B according to a third embodiment will be described with reference to FIGS.
In the following description, only the difference between the sewing machine 100B and the sewing machine 100 will be described, and the same components will be denoted by the same reference numerals and redundant description will be omitted.
The sewing machine 100B is a so-called double needle sewing machine. In a two-needle sewing machine, when the workpiece is transported in an arbitrary sewing direction centered on the needle bar, the needle bar is set so that the interval between the stitches can be kept constant in any direction. The two hooks are rotated in order to keep the direction in which the two needles are aligned with respect to the sewing direction maintained constant by rotating them. In the case of a two-needle sewing machine, it is necessary to rotate the needle bar and shuttle about a predetermined center line C, as in the case of the sewing machine 100 that is the single-needle sewing machine described above. As described above, this is performed for the purpose of maintaining the interval between the two stitches constant, and is not performed to eliminate the occurrence of hitch stitches.

FIG. 15 is a perspective view showing the configuration inside the sewing machine arm portion 101a, and FIG. 16 is a side view showing the configuration around the two needle bars 12B and 12B.
In the sewing machine 100 described above, a straight line passing through the sewing needle 11 in the vertical vertical direction is used as the center line C of the rotation of the needle bar 12B and the shuttle 801. , 11 is a straight line along the vertical vertical direction passing through the middle of the two needle bars 12B and the center line C of the rotation of the two hooks 801.

The sewing machine 100B has two needle bars 12B and 12B that each move up and down along the Z-axis direction while holding the sewing needle 11 at the lower end thereof, and the sewing needle that moves up and down using the sewing machine motor 21 as a drive source. A center line C along the Z-axis direction of the two needle bars 12B, 12B via a needle up-and-down movement mechanism 20B to be moved and a needle bar rotating base 31B that supports the two needle bars 12B, 12B to be movable up and down. The needle bar rotation mechanism 30B that rotates around, the latch mechanism 50B that holds the two needle bars 12B and 12B and transmits the vertical movement operation by the needle vertical movement mechanism 20B, and the holding state of the latch mechanism 50B are released. Stopper mechanism 90B for holding the needle bar 12B, the operating member 16B for switching the holding state and the releasing state of each needle bar 12B, 12B by the latch mechanism 50B, and position switching for switching the position of the operating member 16B A structure 60B, a hook mechanism 800B having two hooks 801 and 801 entangled with the upper thread passed through the sewing needles 11 and 11, and a hook mechanism 800B, and a differential for transmitting power from the hook drive motor 401 to the hooks 801 and 801. The transmission mechanism 400B, the cloth moving mechanism 102 as a moving mechanism that holds the cloth and arbitrarily moves and positions along the XY plane, the sewing machine frame 101, and the control device 110B that controls each component (see FIG. 22). And mainly.
As described above, in the two-needle sewing machine, the latch mechanism 50B and the stopper mechanism 90B for selectively holding the arbitrary needle bar 12B of the two needle bars 12B and 12B so as not to drop the needle are provided. Further, a position switching mechanism 60B for switching the holding state and the releasing state of the needle bars 12B, 12B by these is required. Moreover, the point which requires the structure for performing rotation and rotation to the two shuttle hooks 801 is mainly different from the sewing machine 100 mentioned above.

[Needle vertical movement mechanism]
As shown in FIGS. 15 and 16, the needle up-and-down moving mechanism 20B is connected to the needle bars 12B and 12B via the upper shaft 22, the sewing machine motor 21, the needle bar crank 23, the crank rod 24, and the latch mechanism 50B. The needle bar holder 25B is connected, and an annular member 26B that holds the needle bar holder 25B so as to be rotatable about the Z axis is provided.

The needle bar rotating base 31B that supports the needle bars 12B and 12B is supported by the sewing machine frame 101 so as to be rotatable about the Z axis, and is rotated around the Z axis from the crank rod 24 with respect to the needle bars 12B and 12B. It is necessary to convey the vertical movement while allowing the movement.
For this reason, the needle bar holder 25B is formed in a substantially ring shape, and the needle bars 12B and 12B, the latch mechanism 50B and the needle bar rotating base 31B are inserted into the central opening thereof, and the needle bar 12B is provided inside thereof. , 12B, two support shafts 251B and 251B are provided along the Y-axis direction that are connected to both sides of the latch mechanism 50B. With the support shafts 251B and 251B, the needle bar holder 25B can move up and down integrally with the needle bars 12B and 12B via the latch mechanism 50B.
The needle bar holder 25B has a groove 252B formed on the entire outer circumferential surface thereof, and the annular member 26B is fitted into the groove 252B, and the needle is moved along the groove 252B. The rod 12B is slidable. The annular member 26B has a semicircular shape. One end portion of the annular member 26B in the diameter direction is connected to the lower end portion of the crank rod 24 so as to be rotatable around the Y axis, and a rectangular square piece 261B is provided at the other end portion so as to be rotatable around the Y axis. Has been. Further, a square piece 241B is mounted on the opposite side of the lower end portion of the crank rod 24 to the annular member 26B so as to be rotatable about the Y axis. These square pieces 241B and 261B are fitted into guide grooves (not shown) formed in the sewing machine frame 101 along the Z-axis direction, and the annular member 26B and the needle bar holder 25B are maintained in a horizontal orientation. Vertical movement is guided. The annular member 26B is semicircular in plan view, but may be formed in a ring shape over the entire circumference.
With this structure, the vertical movement operation at the lower end of the crank rod 24 is transmitted to the two needle bars 12B and 12B via the annular member 26B, the needle bar holder 25B, and the latch mechanism 50B, and the needle bar rotating base. It is possible to allow a rotation operation around the Z axis in 31B.

[Needle bar rotating base]
As shown in FIGS. 15 and 16, the needle bar rotating base 31 </ b> B has an upper part 311 </ b> B and a lower part 312 </ b> B formed in a block shape, and two upper side walls 313 </ b> B extending along the Z-axis direction. , 314B are connected.
The upper portion 311B and the lower portion 312B both have through-holes extending through the two needle bars 12B and 12B along the Z-axis direction, and these are rotatably supported by the sewing machine frame 101. Yes. The rotation center line C of the needle bar rotation base 31B is parallel to the Z-axis direction, and is designed to pass through substantially the middle between the two needle bars 12B and 12B when viewed from above. ing.
In addition, a long hole 315B is formed in the side wall 313B along the Z-axis direction, and one support shaft 251B that connects the needle bar holder 25B and the latch mechanism 50B is inserted.

[Latch mechanism]
FIG. 17 is a cross-sectional view of the peripheral structure of the needle bar 12B by a cross section along the center of one needle bar 12B.
As shown in the figure, the needle bar 12B described above is formed with a groove 121B along the Z-axis direction, and an engagement hole 122B for the latch mechanism 50B to hold the needle bar 12B is formed below the groove 121B. An engagement hole 123B for the stopper mechanism 90B to hold the needle bar 12B is formed in the upper part of the groove 121B. A swing plate 124B for switching the needle bar holding state by the stopper mechanism 90B to the needle bar holding state by the latch mechanism 50B is swingably provided inside the groove 121B.

  The latch mechanism 50B includes a holding body 51B in which two insertion holes for inserting the two needle bars 12B and 12B are formed in the Z-axis direction, and a circular support hole penetrating from the front surface of the holding body 51B to each insertion hole. The two latch members 52B to be inserted, the two driven links 53B for moving the respective latch members 52B forward and backward individually, and the moving force in the forward direction individually for each latch member 52B via the respective driven links 53B Two pressing springs 54B to be applied, two locking claws 55B that lock each latch member 52B in the retracted state (retracted position), and two pressures that each locking claw 55B presses in the locking direction. Two pressing springs 56B and a release pin 57B capable of inputting an operation for releasing the locking by each locking claw 55B from the outside are provided.

The two insertion holes of the holding body 51B are formed along the X-axis direction, and support the substantially cylindrical latch member 52B slidably along the X-axis direction.
The rear end portion of the latch member 52B is connected to a driven link 53B, and the driven link 53B presses the latch member 52B toward the needle bar 12B by a pressing spring 54B. The end of the latch member 52B is formed in a shape that can be inserted into the engagement hole 122B of the needle bar 12B, and the pressing force of the pressing spring 54B is an engagement between the latch member 52B and the engagement hole 122B of the needle bar 12B. The combined state is maintained, and the needle bar 12B is held by the latch mechanism 50B.

Further, when the upper end portion of the driven link 53B is pressed downward, the latch member 52B can be retracted, and the holding state of the needle bar 12B by the latch mechanism 50B can be released.
Further, when the latch member 52B is retracted, the locking claw 55B that is constantly pressed upward by the pressing spring 56B locks the tip of the latch member 52B, thereby restricting the forward movement of the latch member 52B. Note that the two locking claws 55B can be released from the latched state of the latch member 52B by being pressed downward by the release pin 57B.

The upper end portion of the driven link 53B is supported so as to be slidable in the Y-axis direction at the upper portion 311B of the needle bar rotating base 31B when the needle bar 12B reaches the top dead center in the vertical movement of the needle bar 12B. It can press by colliding with the protrusion 161B (shown in FIG. 17) of the actuating member 16B shown. That is, the actuating member 16B can be moved in the Y-axis direction by a solenoid 61B that can switch the position of three positions, and a position P1 that collides with a driven link 53B that releases the holding state of one needle bar 12B. Then, control for switching the position between the position P3 that collides with the driven link 53B that releases the holding state of the other needle bar 12B and the position P2 that collides with the release pin 57B is performed. The actuating member 16B releases the holding state of each needle bar by the latch mechanism 50B by performing a position switching operation on the needle bar rotating base 31B.
Thereby, it is possible to individually hold and release the two needle bars 12B and 12B in the latch mechanism 50B.

[Stopper mechanism]
The stopper mechanism 90B includes two stopper members 91B inserted into two circular insertion holes penetrating from the front surface of the needle bar rotating base 31 to the insertion hole of the needle bar 12B in the upper part 311B of the needle bar rotating base 31B. The two pressing springs 92B that individually press each stopper member 91B toward the needle bar 12B side, and the cover body 93B that supports each pressing spring 92B rearward and covers and closes the insertion hole of the stopper member 91B. .

The insertion holes of the stopper members 91B are all formed along the X-axis direction, and support the substantially cylindrical stopper member 91B so as to be slidable along the X-axis direction.
The distal end portion of the stopper member 91B is formed in a shape that can be inserted into the engagement hole 123B of the needle bar 12B, and the pressing force of the pressing spring 92B is engaged between the stopper member 91B and the engagement hole 123B of the needle bar 12B. The state is maintained, and the holding force of the needle bar 12B is provided by the stopper mechanism 90B.
However, the pressing spring 92B of the stopper member 91B is set to have a sufficiently smaller pressing force than the pressing spring 54B of the latch member 52B. Unless the latch member 52B is released, the latch member 52B is moved by the swing plate 124B. The needle bar 12B is not held by the stopper mechanism 90B. That is, the stopper mechanism 90B holds only the needle bar 12B released from the holding by the latch mechanism 50B when the driven link 53B collides with the protrusion 161B of the operating member 16B.

[Needle bar rotation mechanism]
As shown in FIGS. 15 and 16, the needle bar rotating mechanism 30B is provided at the upper end of the needle bar rotating base 31B, the needle rotating motor 32, the main driving sprocket 33, and the needle bar rotating base 31B. A driven sprocket 34 fixedly provided and a timing belt 35 are provided. When the needle rotation motor 32 is driven, the needle bar rotation base 31B can be rotated around the rotation center line C through the main sprocket 33, the timing belt 35, and the driven sprocket 34. .

[Position switching mechanism]
FIG. 18 is a perspective view of the position switching mechanism 60B and the operating member 16B.
The position switching mechanism 60B transmits and imparts a position switching operation to the actuating member 16B mounted on the needle bar rotating base 31B, which rotates from a solenoid 61B as an actuator fixedly mounted inside the sewing machine frame 101. Mechanism.
The position switching mechanism 60B includes a solenoid 61B that can be stopped at three positions, a rack member 62B that is mounted on a plunger of the solenoid 61B, and a needle bar side that transmits a position switching operation from the solenoid 61B to the operating member 16B through the rack member 62B. And a differential transmission mechanism 63B.

The solenoid 61B can be controlled to selectively stop at three positions, and each stop position corresponds to the switching positions P1 to P3 of the operating member 16B described above.
The rack member 62B can move forward and backward along the Y-axis direction by the solenoid 61B, and rack teeth are formed along the forward and backward movement direction.

The needle bar side differential transmission mechanism (differential transmission mechanism) 63B includes an input gear 631B as an input member to which a rotation operation is input from a solenoid 61B as an actuator via a rack member 62B, and an operation member by the rotation operation. An output gear 632B as an output member for giving a position switching operation to 16B, a transmission body 64B for transmitting the rotational force between the input gear 631B and the output gear 632B, and the transmission body 64B as a needle bar turntable. A rotation support body 65B (shown in FIG. 16) is provided to support the rotation around the rotation center line C of 31B.
The input gear 631B, the output gear 632B, and the rotation support body 65B are all supported so as to be rotatable around the rotation center line C by a shaft-like portion 316B formed at the upper end of the needle bar rotation base 31B. Has been. The input gear 631B has an upper first gear portion 631Ba and a lower second gear portion 631Bb, and the gear portions 631Ba and 631Bb are integrally formed although their tooth shapes are different. A rack member 62B meshes with the first gear portion 631Ba, and a belt 644B (described later) is stretched over the second gear portion 631Bb (input sprocket).

  The input gear 631B is positioned below the driven sprocket 34B described above, and an upper first gear portion 631Ba formed on the outer peripheral surface thereof meshes with the rack member 62B described above. The input gear 631B can be rotated separately from the needle bar rotating base 31B.

  The rotation support body 65B shown in FIG. 16 is fixed to the upper surface of the support plate 651B that supports the transmission body 64B so as to be rotatable about the Z axis, and is rotated by the needle rotation motor 32B described above. An input sprocket 652B (not shown in FIG. 18) is provided.

The support plate 651B is circular and is positioned below the input gear 631B, and is rotatably supported by the shaft-like portion 316B of the needle bar rotating base 31B.
The transmission body 64B described above includes a rotation shaft 641B along the Z-axis direction, a small sprocket 642B fixed to the upper end portion of the rotation shaft 641B, and an interlocking gear 643B fixed to the lower end portion of the rotation shaft 641B. I have.
The support plate 651B rotatably supports the rotating shaft 641B of the transmission body 64B, and the small sprocket 642B is disposed on the upper surface side, and the interlocking gear 643B is disposed on the lower surface side. Then, on the upper surface side of the support plate 651B, a belt 644B is stretched over the small sprocket 642B and the second gear portion 631Bb of the input gear 631B, and the small sprocket 642B and the input gear 631B are interlocked in the same rotational direction. It is designed to rotate. When the small sprocket 642B rotates, the interlocking gear 643B connected by the rotating shaft 641B also rotates by the same angular amount in the same direction.

The sprocket 652B has an opening at the center thereof, and the input gear 631B is loosely inserted therein.
The sprocket 652B is fixed to the upper surface of the support plate 651B with screws (not shown). The small sprocket 642B described above is disposed inside a recess formed on the upper surface of the support plate 651B, and is connected to the second gear portion 631Bb of the input gear 631B and the belt 644B below the sprocket 652B. .
The sprocket 652B is connected to a main driving sprocket 333 provided in the needle rotation motor 32 of the needle bar rotation mechanism 30B by a timing belt 653B.
That is, the needle rotation motor 32B simultaneously rotates the driven sprocket 34B that rotates the needle bar rotation base 31B and the sprocket 652B that rotates the rotation support body 65B. The rotation sprocket 34B and the sprocket are such that the rotation angle amount input to the rotation support 65B from the needle rotation motor 32B is exactly ½ of the rotation angle amount input to the needle bar rotation base 31B. An effective diameter of 652B is set. Moreover, these rotation directions are set to the same direction. That is, the needle rotation motor 32B inputs a rotation angle that is half of the rotation angle to the needle bar rotation table 31B to the rotation support 65B when inputting the rotation operation to the needle bar rotation table 31B.
In this manner, the sprocket 652B is turned from the needle turning motor 32, whereby the transmitting body 64B supported by the support plate 651B can be moved around the turning center line C.

The output gear 632B is positioned below the support plate 651B and meshes with the interlocking gear 643B of the transmission body 64B. Further, the ratio of the effective diameters of the input gear 631B and the small sprocket 642B is designed to match the ratio of the effective diameters of the output gear 632B and the interlocking gear 643B.
Accordingly, when rotation of a predetermined angle is input to the input gear 631B in a state where the rotation support 65B is not rotated, the output gear 632B rotates by the same angle in the reverse rotation direction.

As shown in FIG. 18, the aforementioned operating member 16B has rack teeth formed on one upper surface thereof and meshes with the output gear 632B. The actuating member 16B is supported by the groove 311Ba of the upper portion 311B of the needle bar rotating base 31B and is slidable along the tangential direction of the circumscribed circle of the output gear 632B.
The solenoid 61B can stop the rack member 62B at three positions. When the rack member 62B stops at each position, it is necessary to stop the protrusions 161B of the operating member 16B at the respective positions P1 to P3.
On the other hand, the operating member 16B is mounted on a needle bar rotating base 31B that performs a rotating operation at the time of sewing. The solenoid 61B that is a drive source for switching the position of the operating member 16B includes a sewing machine frame 101. It is fixed to. Therefore, when the needle bar rotation base 31B is rotated, the input gear 631B meshing with the rack member 62B cannot rotate together with the needle bar rotation base 31, and as a result, the needle bar rotation A relative rotation operation is performed between the base 31B and the input gear 631B.
The needle bar side differential transmission mechanism 63B is configured so that even if a relative rotation angle difference occurs between the needle bar rotation base 31B and the input gear 631B due to the rotation of the needle bar rotation base 31B. The position of the operation member 16B with respect to the turntable 31B can be kept constant.

Hereinafter, the operating state of the needle bar side differential transmission mechanism 63B when the needle bar rotating base 31B is rotating will be described with reference to FIGS. 19 (A) to 19 (C).
Here, a case where the needle bar rotating base 31B rotates 180 ° clockwise with the solenoid 61B stopped is illustrated.
First, as shown in FIG. 19A, when the needle bar rotation base 31B is rotated 180 ° clockwise by the needle rotation motor 32B, the rotation support body 65B is moved in the same direction through the sprocket 652B. Is given a 90 ° rotation. As a result, the small sprocket 642B moves 90 degrees in the clockwise direction. At this time, since the small sprocket 642B is connected to the input gear 631B in a stopped state by the belt 644B, the small sprocket 642B itself is counterclockwise (the diameter of the input gear 631B / the diameter of the small sprocket) × 90 °. Rotation takes place.

Accordingly, as shown in FIG. 19B, the interlocking gear 643B performs the same circular movement and rotation as the small sprocket 642B. As a result, the output gear 632B meshed with the interlocking gear 643B has a clockwise rotation (= 90 °) corresponding to the circular movement of the interlocking gear 643B and a clockwise rotation (= 90 °) due to the rotation of the interlocking gear 643B. The output gear 632B is rotated 180 ° in the clockwise direction.
That is, when the needle bar rotating base 31B is used as a reference, the input gear 631B is rotated 180 ° counterclockwise relative to the needle bar rotating base 31B, but the output gear 632B is a needle bar. It will be in the state which has not produced rotation with respect to the rotation stand 31B.

As a result, as shown in FIG. 19 (C), since the relative angle change between the output gear 632B and the operating member 16B does not occur, the operating member 16B does not move on the needle bar rotating base 31B. The protrusion 161B can maintain a fixed position.
Even when the solenoid 61B is operated and the input gear 631B is rotated during the rotation of the needle bar rotating base 31B, the same can be said as described above, so that an appropriate value is set according to the operating position of the solenoid 61B. It is possible to position the protrusion 161B of the operating member 16B at the position.

[Hook mechanism]
20 is a perspective view of the differential transmission mechanism 400B and the hook mechanism 800B, and FIG. 201 is a perspective view of the support frame 105 and the pot bases 804 and 804 to be described later.
20 and 21, the hook mechanism 800B includes a hook 801, a pot base 804, a detent 805, an opener 806, a torque transmission mechanism 810, an opener operating portion 820, a female mechanism 830, and an oil supply mechanism 840 (FIG. 20, In FIG. 21, two sets of units (not shown) are provided, and these units are mounted symmetrically on the upper surface of the mounting plate 131 of the shuttle turntable 130 with the center line C in between.
The shuttles 801 and 801 rotate in the same direction, and are arranged at intervals at which the upper thread can be captured from each of the two sewing needles 11 and 11.

[Differential transmission mechanism]
The differential transmission mechanism 400B is configured such that the torque can be input to each of the two input sprockets 822 in which the rotational force transmission unit 410B transmits the rotational torque to each of the two hooks 801 and 801. The rotating power transmission unit 420, the differential mechanism unit 430, and the rotation interlocking unit 440 are the same as the differential transmission mechanism 400.
Therefore, only the rotational force transmission unit 410B will be described here.

The rotational force transmission unit 410B includes a shuttle drive motor 401, a main sprocket 413, a driven sprocket 414, a timing belt 415, an input shaft 411, an output shaft 412, and an output sprocket 416.
Further, in the rotational force transmitting portion 410B, the teeth formed on the inner surface of the two input sprockets 822 rotatably supported on the mounting plate 131 are meshed with the teeth formed on the outer surface of the output sprocket 416. A timing belt 417B having teeth formed on both sides thereof, and a tension roller 418B that applies tension to the timing belt 417B.
When the output sprocket 416 rotates, the two-tooth timing belt 417B transmits the rotation to each input sprocket 822 in the opposite direction. Therefore, it is necessary to drive the shuttle drive motor 401 in the reverse direction to the shuttle drive motor 401 of the rotational force transmission unit 410 described above.

[Sewing operation of sewing machine]
FIG. 22 is a block diagram showing a control system of the sewing machine 100B. The control device 110B of the sewing machine 100B functions as a sewing control unit that executes sewing control for forming a two-needle stitch according to a sewing pattern, and is connected to the CPU 111B via an interface (not shown) and a drive circuit 61Ba. It differs from the control system of the sewing machine 100 described above in that a solenoid 61B for switching the rods 12B and 12B is connected.

A sewing operation for forming a two-needle stitch according to the sewing pattern of FIG. 23 will be described based on the flowchart of FIG.
First, as a premise, the control device 110B of the sewing machine 100B has data of position coordinates indicating the sewing pattern of one sewing needle 11 in the data memory 114B, and from the position coordinate data to the needle drop position of each needle. The drive operation amounts of the X-axis motor 102c and the Y-axis motor 102d for dropping the one sewing needle 11 are calculated (step S21).

  Further, the stitching advance direction of each needle is obtained from the data of the driving operation amounts of the X-axis motor 102c and Y-axis motor 102d of each needle, and the needle bars 12B and 12B and the shuttles 801 and 801 are arranged in a direction orthogonal to the advance direction. Thus, the respective turning angles are calculated (step S23).

  Then, the sewing machine motor 21 is driven to start sewing, the X-axis motor 102c and the Y-axis motor 102d are driven for each stitch to advance the sewing in a predetermined sewing direction, and the needle bar 12B, The needle rotation motor 32 and the hook rotation motor 402 are controlled so that 12B and the hooks 801 and 801 are arranged in the predetermined direction (step S25).

If the current sewing position is one of the apexes A1 to A4 where the sewing pattern is determined (step S27), the solenoid 61B is released so as to release the holding of the needle bar 12B that performs the inner sewing by the latch mechanism 50B. Is controlled (step S29).
Thereby, only the needle bar 12B on the outer side performs sewing (step S31). That is, the needle turning motor 32 and the hook turning motor 402 are driven halfway to turn 90 ° to form a corner seam with one needle, and then the latch mechanism 50B of the needle bar 12B that has been released. The position of the solenoid 61B is controlled so as to resume the holding by (Step S33).

  Then, it is determined whether or not the last needle in the sewing pattern has been reached (step S35), and when the sewing is performed up to the final needle, the driving of all the motors is stopped and the sewing is finished. If the final stitch has not yet been reached, the process returns to step S25 to continue sewing.

[Effect of the third embodiment]
In the sewing machine 100B, the differential transmission mechanism 400B operates in the same manner as the differential transmission mechanism 400 described above, whereby the shuttles 801 and 801 are synchronously rotated when the two needle bars 12B and 12B are rotated. In addition, it is possible to prevent the occurrence of the phase difference generated in each hook 801 when the pot base 804 is rotated without mounting the pot drive motor 401 serving as the rotation drive source of the pot 801 on the pot base 804. It is possible to reduce the weight of the moving table 130, and to use a small rotary output motor 402 with a small output, and to reduce the size of the support structure of the rotary table 130. It becomes possible.
Further, the moment of inertia of the rotary table 130 can be reduced, the error of the rotary movement of the hook can be reduced, and precise operation control and high-speed rotary movement of the hook 801 are possible. Therefore, it is possible to realize high-speed and high-precision sewing for forming a double stitch.

In the sewing machine 100B, as described above, the needle bar side differential transmission mechanism 63B that transmits the position switching operation from the solenoid 61B to the operating member 16B reverses the rotational force between the input gear 631B and the output gear 632B. Since the rotation support body 65B that supports the transmission body 64B that transmits the rotation rotates at a half angle of the needle bar rotation base 31B when the needle bar rotation base 31B rotates, the rotation support body 65B meshes with the rack member 62B. Even when the input gear 631B does not rotate together with the needle bar rotating table 31 and a rotation angle difference occurs between them, the output gear 632B side has the same direction as the needle bar rotating table 31B by the transmitting body 64B. Can be rotated at the same rotation angle. Therefore, the operating member 16B mounted on the needle bar rotating base 31B does not shift in position due to the rotation of the needle bar rotating base 31B.
For this reason, even if the solenoid 61B and the needle rotation motor 32 are not mounted on the needle bar rotation base 31B, the operating member 16B can be kept in the correct position, and the needle bar 12B can be held and released correctly. It becomes possible.
As a result, the turning weight of the needle bar rotating base 31B can be reduced, and the needle rotating motor 32 that performs the rotating operation can be operated at a high speed without increasing the size, and the sewing speed can be increased. It becomes possible to do. The turning weight of the needle bar rotating base 31B can be reduced, the moment of inertia of the needle bar rotating base 31B can be reduced, and highly accurate sewing can be realized.
Further, since it is not necessary to mount a solenoid on the needle bar rotating base 31B, a special part such as a slip ring for supplying power to the solenoid is not required, and the manufacturing cost of the sewing machine can be reduced and the sewing machine can be reduced. It becomes possible to achieve downsizing.

[Correspondence with Claims]
In the first to third embodiments, needle bars 12 and 12B that hold the sewing needle and move up and down, a hook 801 that captures the upper thread and entangles the upper thread with the lower thread by a rotating operation, and a needle Sewing machine motor 21 serving as a driving source for the vertical movement of the bar, shuttle driving motor 401 serving as a rotation driving source for the hook to catch the upper thread, and the needle bar about a predetermined center line parallel to the needle bar The needle bar rotating mechanism 30 and 30B to be rotated, and a hook mounted thereon, a hook rotating table 130 supported on the sewing machine frame 101 so as to be rotatable around the same center line as the needle bar, and a needle bar In a sewing machine including needle rotation motors 32 and 32B serving as a driving source for the rotation operation and a hook rotation motor 402 serving as a driving source for the rotation operation of the hook rotation base, power is transmitted from the hook driving motor to the hook. Differential transmission mechanisms 400, 400A, 40 having an input shaft 411 and an output shaft 412 B, the differential transmission mechanism includes an input shaft and an output shaft arranged on the rotation center line of the needle bar, a support frame 431 that rotates around the input shaft and the output shaft, and a support frame Provided on either one of the transmission bodies 434 and 434A that are rotatably supported and transmit the mutual rotational force between the input shaft and the output shaft by the rotation, and the shuttle turntable or the support frame, The shuttle members 422 and 422A to which the rotational force is input from the shuttle rotation motor and the rotational force input from the follower member are rotated in the same direction as viewed from the sewing machine frame. In addition, there is described a mechanism including rotation interlocking mechanisms 440 and 440A for rotating the shuttle rotating base 130 by a rotation amount twice that of the support frame 431.
In the above-described embodiment, it is described that the rotation interlocking mechanism uses a gear mechanism including gears provided on each of the shuttle rotation base and the sewing machine frame or the support frame and the sewing machine frame.
In the above embodiment, the rotation interlocking mechanism includes a fixed gear 441 fixed to the support frame, a driven gear 445 fixed to the support frame, and a support shaft rotatably supported by the shuttle rotation table. 442, a first gear 443 fixed to the support shaft and meshed with the fixed gear, and a second gear 444 fixed to the support shaft and meshed with the driven gear.
In the above embodiment, it is described that the sewing machine motor and the shuttle drive motor are shared by one motor.
According to this configuration, when the sewing machine motor and the shuttle drive motor are shared by one motor, the number of motors can be reduced and the productivity of the sewing machine can be improved.

In the above-described embodiment, it is described that the needle rotation motor and the shuttle rotation motor are shared by one motor.
According to this configuration, when the needle rotation motor and the shuttle rotation motor are shared by a single motor, it is possible to reduce the number of motors and improve the productivity of the sewing machine. .
In addition, the synchronous control of each motor is given, and the configuration of the control circuit and the like can be further simplified.

In the above embodiment, the sewing machine 100 is a single needle sewing machine,
A moving mechanism 102 that can move the sewing product in an arbitrary direction on a plane perpendicular to the rotation center line is provided, and before the sewing product is moved by the moving mechanism, the movement direction of the sewing product is determined in advance. And a sewing control means (110, 110B) for driving the needle rotation motor (32, 32B) and the hook rotation motor 402 so as to be out of the range when the hitch stitch is generated. Have been described. According to this configuration, in the single-needle sewing machine, the range when the movement direction of the sewing product is included in a predetermined hitch stitch generation range before moving the sewing product by the moving mechanism. Since the sewing control means for driving the rotation motor so as to disengage from the sewing machine is provided, it is possible to prevent the occurrence of hitch stitches in the sewing where the needle drop is performed at an arbitrary position.

In the above-described embodiment, the sewing machine is a two-needle sewing machine 100B, which is mounted on a rotary table and transmits rotation from the output shaft to the two hooks (420, 420A), two A movement mechanism 102 capable of moving the workpiece in an arbitrary direction on a plane perpendicular to the rotation center line located between the sewing needles, and when the workpiece is moved by the movement mechanism, Needle rotation motors (32, 32B) and two sewing needles and the two hooks are arranged in a direction perpendicular to the direction of movement of the workpiece on a plane perpendicular to the rotation center line, respectively. What is provided with sewing control means (110, 110B) for controlling the hook rotation motor 402 is described.
According to the above configuration, when the sewing product is moved by the moving mechanism in the two-needle sewing machine, the two sewing needles and the two hooks are respectively moved along the direction orthogonal to the moving direction of the sewing product. It can be controlled so that the two stitches are lined up, and the two stitches can be formed in parallel while maintaining a certain distance.

11 Needle 12, 12B Needle bar 20, 20B Needle up / down movement mechanism 21 Sewing motor 30, 30B Needle bar rotation mechanism 31, 31B Needle bar rotation base 32, 32B Needle rotation motor 100 Sewing machine (single needle sewing machine)
100B sewing machine (double needle sewing machine)
101 sewing frame 102 cloth moving mechanism (moving mechanism)
102a Holding frame 102c X-axis motor 102d Y-axis motor 103 Cloth placement plate (needle plate)
105 Support frame 110, 110B Control device (sewing control means)
130 Pot rotation table 400, 400A, 400B Differential transmission mechanism 401 Pot drive motor 402 Pot rotation motors 410, 410B Rotation force transmission part 411 Input shaft 412 Output shaft 420 Rotation power transmission part 420A Rotation power transmission part (Pull rotation transmission mechanism)
421 main sprocket 422, 422A driven sprocket (driven member)
430, 430A Differential mechanism part 431, 431A Support frame 432 Gear 432A Spur gear 433 Gear 433A Spur gear 434, 434A Transmission body 435 Gear 435A Spur gears 436, 436A Shaft part 437A Spur gears 440, 440A Interlocking mechanism)
441 Fixed gear 441A Planetary gear 442 Support shaft 443 Large gear 443A Driven gear (sun gear)
444 Small gear 445 Driven gear 445A Driving gear 800, 800B Hook mechanism 801 Hook mechanism 803a Projection 803b Locking projection 804 Hook base 806 Opener 810 Torque transmission mechanism (transmission mechanism)
811 Hook shaft (Hook rotation shaft)
812 Main gear 813 Follower gear 820 Opener operating portion 821 Opener shaft 830 Female mechanism 831 Fixed knife 832 Female base 833 Moving knife 836 Outer cam (cam)
837a Roller 841 Rotating body (actuating body)
844 Plunger C Center line

Claims (7)

A needle bar that holds the sewing needle and moves up and down;
A hook that catches the upper thread and entangles the upper thread with the lower thread by rotation;
A sewing machine motor serving as a drive source for the vertical movement of the needle bar;
A shuttle drive motor serving as a rotational drive source for the shuttle to capture the upper thread;
A needle bar rotation mechanism for rotating the needle bar around a predetermined center line parallel to the needle bar;
A shuttle turntable mounted with the shuttle and supported so as to be rotatable about the same center line as the needle bar with respect to the sewing machine frame;
A needle rotation motor serving as a drive source for the rotation operation of the needle bar;
In a sewing machine provided with a hook rotation motor serving as a drive source for the rotation operation of the hook rotation table,
A differential transmission mechanism comprising an input shaft and an output shaft for transmitting power from the hook drive motor to the hook;
The differential transmission mechanism is
The input shaft and the output shaft are disposed on the rotation center line of the needle bar, and a support frame that rotates around the input shaft and the output shaft;
A transmission that is rotatably supported by the support frame and transmits the rotational force between the input shaft and the output shaft by the rotation;
A driven member that is provided on either the shuttle rotating table or the support frame and receives rotational force from the shuttle rotating motor;
With the rotational force input from the driven member, the shuttle turntable and the support frame are turned in the same direction as seen from the sewing machine frame, and the turntable is turned twice as much as the support frame. The sewing machine is provided with a rotation interlocking mechanism that is rotated at the same time.   2. The sewing machine according to claim 1, wherein the rotation interlocking mechanism uses a gear mechanism comprising gears provided on each of the shuttle rotation base and the sewing machine frame or the support frame and the sewing machine frame. The rotation interlocking mechanism is
A fixed gear fixed to the support frame;
A driven gear fixed to the support frame;
A support shaft rotatably supported by the shuttle turntable;
A first gear fixed to the support shaft and meshing with the fixed gear;
The sewing machine according to claim 2, further comprising: a second gear fixed to the support shaft and meshing with the driven gear.   The sewing machine according to any one of claims 1 to 3, wherein the sewing machine motor and the shuttle drive motor are shared by a single motor.   The sewing machine according to any one of claims 1 to 4, wherein the needle rotation motor and the shuttle rotation motor are shared by a single motor. The sewing machine is a single needle sewing machine,
A moving mechanism capable of moving the sewing product in an arbitrary direction on a plane perpendicular to the rotation center line;
Before the movement of the sewing product by the moving mechanism, when the movement direction of the sewing product is included in a predetermined hitch stitch generation range, the needle rotation motor and the shuttle are moved out of the range. The sewing machine according to any one of claims 1 to 5, further comprising sewing control means for driving a rotation motor. The sewing machine is a two-needle sewing machine,
A hook rotation transmission mechanism mounted on the hook rotation base and transmitting rotation from the output shaft to the two hooks;
A moving mechanism capable of moving the workpiece in an arbitrary direction on a plane perpendicular to the rotation center line located between the two sewing needles;
When the workpiece is moved by the moving mechanism, the two sewing needles and the two hooks along a direction orthogonal to the moving direction of the workpiece on a plane perpendicular to the rotation center line. The sewing machine according to any one of claims 1 to 5, further comprising sewing control means for controlling the needle rotation motor and the hook rotation motor so that the needle rotation motor and the hook rotation motor are arranged.

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