Control for sewing machine

Claim 2

A sewing machine comprising a work-supporting table, stitching mechanisms mounted on said table and including a needle movable through a stitch-forming stroke at a stitching location, means mounting said table and said stitching mechanisms for rotation through 360* about a table axis substantially coaxial with said needle, a work clamp movable relative to said table to move work past said stitching location to provide a stitching pattern in said work, an overhead frame mounted above said table, means for suspending said work clamp from said overhead frame such that said stitching mechanisms may rotate and stitch through 360* about said table axis, a movable pattern-supporting platen carried by said overhead frame and being operatively connected to and movable with said work clamp, clamp control means including first means for moving said work clamp and said patternsupporting platen in accordance with the X coordinate of said stitching pattern and second means for simultaneously moving said work clamp and said pattern-supporting platen in accordance with the Y coordinate of said stitching pattern, and table control means for rotating said table in accordance with the tangent function of the X and Y coordinates of said stitching pattern.

Claim 3

A sewing machine according to claim 1 wherein said suspending means includes first and second sets of ways disposed at right angles to each other, said first set of ways being attached to said overhead frame and said second set of ways being movably mounted on said first set of ways, the suspending means for said work clamp being operatively connected to said second set of ways.

Claim 4

A sewing machine according to claim 2 including a pattern-controlled carrier movably mounted on said second set of ways, the suspending means for said work clamp being directly connected to said carrier.

Claim 5

A sewing machine according to claim 3 wherein said clamp control means includes a first servo-control motor operatively connected to said second set of ways for moving the same along said first set of ways and a second servo-control motor operatively connected to said carrier for moving the same along said second set of ways.

Claim 6

In a sewing machine, a work-supporting table, stitching mechanisms mounted on said table and including a motor and a needle movable through a stitch-forming stroke at a stitching location, a work clamp movable relative to said table for moving work past said stitching location, said work clamp being suspended above said table, clamp control means for moving said work clamp in accordance with the X and Y coordinates of a stitch pattern, a movable platen for supporting said stitch pattern being operatively connected to and movable with said work clamp, electro-optical scanning means arranged to read a line drawing corresponding substantially to said stitch pattern and providing an X coordinate control signal and a Y coordinate control signal, X coordinate servo means responsive to said X coordinate control signal and operatively connected to said work clamp for moving same in accordance with the X coordinate of said stitch pattern, Y coordinate servo means responsive to said Y coordinate control signal and operatively to said work clamp for moving same in accordance with the Y coordinate of said stitch pattern, means mounting said table and said stitching mechanisms for rotation through 360* about said needle, means for deriving a tangent function control signal from said electro-optical scanning means and tangent function servo means responsive to said tangent function control signal and operatively connected to the mounting means for said table and said stitching mechanisms for moving same in accordance with the tangent function of said stitch pattern.

Claim 7

In a sewing machine, a work-supporting table, stitching mechanisms mounted on said table and including a motor and a needle movable through a stitch-forming stroke at a stitching location, a work clamp movable relative to said table for moving work past said stitching location, said work clamp being suspended above said table, clamp control means for moving said work clamp in accordance with the X and Y coordinates of a stitch pattern, a movable platen for supporting said stitch pattern being operatively connected to and movable with said work clamp, electro-optical scanning means arranged to read a line drawing corresponding substantially to said stitch pattern and providing an X coordinate control signal and a Y coordinate control signal, X coordinate servo means responsive to said X coordinate control signal and operatively connected to said work clamp for moving same in accordance with the X coordinate of said stitch pattern, Y coordinate servo means responsive to said Y coordinate control signal and operatively to said work clamp for moving same in accordance with the Y coordinate of said stitch pattern, means mounting said table and said stitching mechanisms for rotation through 360* about said needle, means for deriving a tangent function control signal from said electro-optical scanning means and tangent function servo means responsive to said tangent function control signal and operatively connected to the mounting means for said table and said stitching mechanisms for moving same in accordance with the tangent function of said stitch pattern.

Claim 8

A sewing machine according to claim 5 wherein thE mounting means for said stitching mechanisms includes a turntable and the means for deriving said tangent function control signal includes a resolver synchronized to the rotational position of said turntable and receiving its input from said electro-optical scanning means.

Claim 9

A sewing machine according to claim 6 including means for synchronizing said X coordinate and Y coordinate servo means to the speed of said motor of said stitching mechanisms such that the movement of the work past said stitching location by said work clamp is synchronized to the rate of stitching as established by the speed of said motor of said stitching mechanisms.

Claim 10

A sewing machine according to claim 7 wherein said coordinating means includes an X coordinate feed rate multiplier connected to said X coordinate servo means, a Y coordinate feed rate multiplier connected to said Y coordinate servo means and a speed sensor connected to said motor and providing respective input signals to said feed rate multipliers.

Claim 11

A sewing machine according to claim 8 including an adjustable potentiometer connected between said speed sensor and said feed rate multipliers for varying the respective input signals thereto for adjusting the rate at which said work is moved past said stitching mechanisms.

Claim 12

A sewing machine according to claim 7 wherein said motor includes means for providing at least a high speed stitching rate and a low speed stitching rate and means responsive to said electro-optical scanning means and the reading of said line drawing for establishing one or the other of said stitching rates.

Claim 13

A sewing machine according to claim 10 including first means for adjusting said high speed stitching rate over a predetermined range and second means for adjusting said low speed stitching rate over a predetermined range. ccording

Claim 14

A sewing machine comprising a support, a turntable mounted on said support for rotational adjustment through 360* about a turntable axis, a sewing machine mounted on said turntable for movement therewith and including a drive motor and stitching means movable through a stitch-forming sequence at a predetermined stitching station relative to said turntable axis and under control of said drive motor, a movable work feeder suspended above and overlying said turntable for moving work past said stitching station to provide a stitching pattern in said work, said work feeder being movable with respect to said turntable, respective work feeder and turntable control means for moving said work feeder and for rotating said turntable in coordinated relation to each other, a servo control system operatively connected to said work feeder and said turntable for moving said work feeder in accordance with the X and Y coordinates of said stitching pattern and for simultaneously rotationally adjusting said turntable in accordance with the corresponding tangent function of said stitching pattern, and electro-optical sensing means responsive to indicia corresponding generally to said stitching pattern and in controlling relation to said servo control system.

Claim 15

A sewing machine comprising a support, a turntable mounted on said support for rotational adjustment through 360* about a turntable axis, a sewing machine mounted on said turntable for movement therewith and including a drive motor and stitching means movable through a stitch-forming sequence at a predetermined stitching station relative to said turntable axis and under control of said drive motor, a movable work feeder suspended above and overlying said turntable for moving work past said stitching station to provide a stitching pattern in said work, said work feeder being movable with respect to said turntable, respective work feeder and turntable control means for moving said work feeder and for rotating said turntable in coordinated relation to each other, a servo control system operatively connected to said work feeder and said turntable for moving said work feeder in accordance with the X and Y coordinates of said stitching pattern and for simultaneously rotationally adjusting said turntable in accordance with the corresponding tangent function of said stitching pattern, and electro-optical sensing means responsive to indicia corresponding generally to said stitching pattern and in controlling relation to said servo control system.

Claim 16

A sewing machine according to claim 12 including an overhead carrier, means movable mounting said carrier on said support for movement in two directions corresponding to said X and Y coordinates and means suspending said work feeder from said carrier.

Claim 17

A sewing machine according to claim 13 wherein said electro-optical scanning means includes a stationary scanning head and a movable indicia-supporting platen operatively connected to and movable in unison with said carrier.

Claim 18

A sewing machine comprising a support, a turntable mounted on said support for rotational adjustment about a turntable axis, a sewing machine mounted on said turntable for movement therewith and including a drive motor and stitching means movable through a stitching-forming sequence at a stitching station under control of said drive motor, a movable work feeder overlying said turntable for moving work past said Stitching station to provide a stitching pattern in said work, a servo control system operatively connected to said work feeder and said turntable for moving said work feeder in accordance with the X and Y coordinates of said stitching path and for simultaneously rotationally adjusting said turntable in accordance with the corresponding tangent function of said stitching path, electrooptical sensing means responsive to indicia corresponding generally to said stitching pattern and in controlling relation to said servo control system, means providing at least first and second work-storing means on said support adapted to receive corresponding first and second pieces of work, means providing an intermediate stacking and orienting station on said support, first transfer means arranged to pick said first and second piece and stack the same at said intermediate station, second transfer means arranged to move said stack from said intermediate station to said stitching station and programming means for initiating said stitch-forming sequence when said stack is moved to said stitching station.

Claim 19

A sewing machine comprising a support, a turntable mounted on said support for rotational adjustment about a turntable axis, a sewing machine mounted on said turntable for movement therewith and including a drive motor and stitching means movable through a stitching-forming sequence at a stitching station under control of said drive motor, a movable work feeder overlying said turntable for moving work past said Stitching station to provide a stitching pattern in said work, a servo control system operatively connected to said work feeder and said turntable for moving said work feeder in accordance with the X and Y coordinates of said stitching path and for simultaneously rotationally adjusting said turntable in accordance with the corresponding tangent function of said stitching path, electrooptical sensing means responsive to indicia corresponding generally to said stitching pattern and in controlling relation to said servo control system, means providing at least first and second work-storing means on said support adapted to receive corresponding first and second pieces of work, means providing an intermediate stacking and orienting station on said support, first transfer means arranged to pick said first and second piece and stack the same at said intermediate station, second transfer means arranged to move said stack from said intermediate station to said stitching station and programming means for initiating said stitch-forming sequence when said stack is moved to said stitching station.

Claim 20

A sewing machine according to claim 15 wherein the means providing said intermediate station includes a vacuum holddown, means for enabling said vacuum holddown during picking and stacking of said first and second pieces at said intermediate station and means for disabling said vacuum holddown during movement of said stack from said intermediate station to said stitching station.

Claim 21

A sewing machine according to claim 15 wherein the means providing said first and second work-storing means includes a shiftable work-supporting carrier movably mounted on said support, and means for shifting said carrier relative to said support to bring said first and second work-storing means in succession into a pickup station relative to said first transfer means such that said first piece may be picked and transferred to said intermediate station and then said second piece may be picked and transferred to said intermediate station to be stacked over said first piece.

Claim 22

A sewing machine according to claim 15 wherein said first transfer means includes a pickup head movable between a pickup position overlying said pickup station to a drop-off position overlying said intermediate station and means for raising and lowering said pickup head when in said pickup and drop-off positions respectively.

Claim 23

A sewing machine according to claim 18 wherein said pickup head includes a work-contacting face, pressure-sensitive means on said work-contacting face operable to adhere to said work at said pickup station for picking up said work and stripper means on said pickup head and movable relative to said work-contacting face for stripping said work from said pickup head at said intermediate location.

Claim 24

A sewing machine according to claim 19 including means for periodically replenishing said pressure-sensitive means at said work-contacting face.

Claim 25

A sewing machine according to claim 15 wherein said second transfer means includes a transfer sled movable between a setdown position at said intermediate station and a delivery position at said stitching station.

Claim 26

A sewing machine according to claim 21 including means for raising and lowering said sled when in said intermediate and stitching station such that said sled may engage said stack in said intermediate station and slide the same into said stitching station for transfer to and engagement by said work feeder.

Claim 27

A material picking, assembling and transferring device comprising a support, means providing at least first and second material-storing means adapted to receive corresponding first and second stacks of pieces of material, means providing an intermediate stacking and orienting station on said support, first transfer means arranged to pick pieces from said first and second stacks in succession and assemble the same at said intermediate station, means at said intermediate station for holding said first piece in a prescribed orientation During pickup and assembly thereover of said second piece, and second transfer means operable in timed relation to said first transfer means for removing the assembled pieces from said intermediate station.

Claim 28

A material picking, assembling and transferring device comprising a support, means providing at least first and second material-storing means adapted to receive corresponding first and second stacks of pieces of material, means providing an intermediate stacking and orienting station on said support, first transfer means arranged to pick pieces from said first and second stacks in succession and assemble the same at said intermediate station, means at said intermediate station for holding said first piece in a prescribed orientation During pickup and assembly thereover of said second piece, and second transfer means operable in timed relation to said first transfer means for removing the assembled pieces from said intermediate station.

Claim 29

A device according to claim 23 wherein the holding means includes a vacuum holddown, means for enabling said holddown during the assembly of said first and second pieces at said intermediate station and means for disabling said holddown when the assembled pieces are engaged by said second transfer means.

Claim 30

A device according to claim 24 wherein the means providing said first and second work-storing means includes a shiftable work-supporting carrier movably mounted on said support, and means for shifting said carrier relative to said support to bring said first and second work-storing means in succession into a pickup station relative to said first transfer means such that said first piece may be picked and transferred to said intermediate station and then said second piece may be picked and transferred to said intermediate station to be stacked over said first piece.

Claim 31

A device according to claim 23 wherein said first transfer means includes a pickup head movable between a pickup position overlying said pickup station to a drop-off position overlying said intermediate station and means for raising and lowering said pickup head when in said pickup and drop-off positions respectively.

Claim 32

A device according to claim 16 wherein said pickup head includes a work-contacting face, pressure-sensitive means on said work-contacting face operable to adhere to said work at said pickup station for picking up said work and stripper means on said pickup head and movable relative to said work-contacting face for stripping said work from said pickup head at said intermediate location.

Claim 33

A device according to claim 27 including means for periodically replenishing said pressure-sensitive means at said work-contacting face.

Claim 34

A material picking and assembling device for at least two pieces of material comprising a support, a carrier, means mounting said carrier for movement relative to said support, means providing at least first and second material-storing means on said carrier adapted to receive corresponding first and second stacks of pieces of material, means for moving said carrier to bring said first and second material-storing means into a pickup station, means on said support providing a material-assembly station removed from said pickup station, holddown means at said material-assembly station for holding down said pieces of material during assembly, a pickup head, means including a mounting member mounting said pickup head for transfer movement between a pickup position overlying said pickup station and a drop-off position overlying said material-assembly station, and means for raising and lowering said mounting member when said pickup head is in said pickup and drop-off positions respectively.

Claim 35

A material picking and assembling device for at least two pieces of material comprising a support, a carrier, means mounting said carrier for movement relative to said support, means providing at least first and second material-storing means on said carrier adapted to receive corresponding first and second stacks of pieces of material, means for moving said carrier to bring said first and second material-storing means into a pickup station, means on said support providing a material-assembly station removed from said pickup station, holddown means at said material-assembly station for holding down said pieces of material during assembly, a pickup head, means including a mounting member mounting said pickup head for transfer movement between a pickup position overlying said pickup station and a drop-off position overlying said material-assembly station, and means for raising and lowering said mounting member when said pickup head is in said pickup and drop-off positions respectively.

Claim 36

In a sewing machine, stitching mechanisms including a multiple-speed motor drive and a needle movable through a stitch-forming stroke at a stitching location at at least high and lower stitching rates, a movably mounted work clamp for moving work past said stitching location in accordance with the X and Y coordinates of a stitch pattern, electro-optical scanning means arranged to read a line drawing corresponding substantially to said stitch pattern and providing an X coordinate control signal and a Y coordinate control signal, X coordinate servo means responsive to said X coordinate control signal and operatively connected to said work clamp for moving the same in accordance with the X coordinate of said stitch pattern, Y coordinate servo means responsive to said Y coordinate control signal and operatively connected to work clamp for moving same in accordance with the Y coordinate of said stitch pattern, means for synchronizing said X and Y coordinate servo means to the speed of said motor drive such that the movement of said work past said stitching location is synchronized to the rate of stitching as established by said motor drive and is normally at said higher stitching rate, means including a turntable mounting said stitching mechanisms for rotation about said needle, means for deriving a tangent function control signal from said electro-optical scanning means and tangent function servo means responsive to said tangent function control signal and operatively connected to said turntable for moving same in accordance with the tangent function of said stitch pattern.

Claim 37

In a sewing machine, stitching mechanisms including a multiple-speed motor drive and a needle movable through a stitch-forming stroke at a stitching location at at least high and lower stitching rates, a movably mounted work clamp for moving work past said stitching location in accordance with the X and Y coordinates of a stitch pattern, electro-optical scanning means arranged to read a line drawing corresponding substantially to said stitch pattern and providing an X coordinate control signal and a Y coordinate control signal, X coordinate servo means responsive to said X coordinate control signal and operatively connected to said work clamp for moving the same in accordance with the X coordinate of said stitch pattern, Y coordinate servo means responsive to said Y coordinate control signal and operatively connected to work clamp for moving same in accordance with the Y coordinate of said stitch pattern, means for synchronizing said X and Y coordinate servo means to the speed of said motor drive such that the movement of said work past said stitching location is synchronized to the rate of stitching as established by said motor drive and is normally at said higher stitching rate, means including a turntable mounting said stitching mechanisms for rotation about said needle, means for deriving a tangent function control signal from said electro-optical scanning means and tangent function servo means responsive to said tangent function control signal and operatively connected to said turntable for moving same in accordance with the tangent function of said stitch pattern.

Claim 38

A sewing machine according to claim 30 wherein said line drawing and the corresponding stitch pattern includes at least first and second courses meeting at a corner, said line drawing including speed-change indicia along said first course in advance of said corner and means responsive to the sensing of said indicia by said electro-optical scanning means and in controlling relation to said motor drive for changing to said lower stitching rate as the corner of the stitching pattern approaches said stitching location.

Claim 39

A sewing machine according to claim 31 including means operable in response to tangent function control signals in excess of a predetermined threshhold and as the corner of the stitching pattern approaches said stitching location for disabling said stitching mechanisms such that said turntable brings said stitching mechanisms into the required orientation relative to said second course under the control of said tangent function servo means prior to enabling said stitching mechanisms for stitching along said second course.

Claim 40

A sewing machine for stitching a pattern having first and second courses meeting at a corner comprising a work-supporting table, stitching mechanisms mounted on said table and including a multiple-speed drive and a needle movable through a stitch-forming stroke at a stitching location for stitching at at least high and low speeds, means mounting said table for rotation about a table axis substantially coaxial with said needle, a work clamp arranged relative to said table to move work past said stitching location to stitch along at least said first course of said pattern, clamp control means for moving said work clamp relative to said needle as a function of said pattern, table control means for rotating said table about said needle as a function of said pattern, said stitching mechanisms operating at said high speed along the major extent of said first course, means responsive to the approach of said corner to said stitching location to slow said stitching mechanisms to said low speed and means operable thereafter to disable said stitching mechanisms and to actuate said table control means for rotating said table to abruptly change the heading of said stitching mechanisms.

Claim 41

A sewing machine for stitching a pattern having first and second courses meeting at a corner comprising a work-supporting table, stitching mechanisms mounted on said table and including a multiple-speed drive and a needle movable through a stitch-forming stroke at a stitching location for stitching at at least high and low speeds, means mounting said table for rotation about a table axis substantially coaxial with said needle, a work clamp arranged relative to said table to move work past said stitching location to stitch along at least said first course of said pattern, clamp control means for moving said work clamp relative to said needle as a function of said pattern, table control means for rotating said table about said needle as a function of said pattern, said stitching mechanisms operating at said high speed along the major extent of said first course, means responsive to the approach of said corner to said stitching location to slow said stitching mechanisms to said low speed and means operable thereafter to disable said stitching mechanisms and to actuate said table control means for rotating said table to abruptly change the heading of said stitching mechanisms.