JPS59230593A - Automatic pattern sewing machine - Google Patents
Automatic pattern sewing machineInfo
- Publication number
- JPS59230593A JPS59230593A JP10820083A JP10820083A JPS59230593A JP S59230593 A JPS59230593 A JP S59230593A JP 10820083 A JP10820083 A JP 10820083A JP 10820083 A JP10820083 A JP 10820083A JP S59230593 A JPS59230593 A JP S59230593A
- Authority
- JP
- Japan
- Prior art keywords
- sewing machine
- axis
- motor
- speed
- support base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Sewing Machines And Sewing (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は被縫合物を支持する台をＸ、Ｙ軸方向に移動
させて自動的に模様縫いを行なうミシンに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a sewing machine that automatically performs pattern stitching by moving a table supporting an object to be sewn in the X and Y axis directions.
この棟のミシンは例えば第１図及び第２図に示すように
構成されている。すなわち、ミシン本体１は、脚７Ｌ／
−ム２ａ、２ｂと、この７Ｌ／−ム２ａ、−２ｂ間に架
設された横フレーム３ａ、３ｂとからなり、上段の横フ
レーム３ａの下面にはミシン頭部４が設けられ、このミ
シン頭部４は上軸５を介してミシンモータ６に連結され
ている。下段の横フレーム３ｂにはミシン釜部７がミシ
ン頭部４の下方に設けられ、このミシン釜部７と、ミシ
ンｎＪ１ ｍ４とはタイミング伝達されてミシン縫合部
を構成し、両者間に設置された被縫合物を縫うようにな
っている。The sewing machines in this building are constructed as shown in FIGS. 1 and 2, for example. That is, the sewing machine main body 1 has legs 7L/
The sewing machine head 4 is provided on the lower surface of the upper horizontal frame 3a. The section 4 is connected to a sewing machine motor 6 via an upper shaft 5. A sewing machine hook 7 is provided below the sewing machine head 4 on the lower horizontal frame 3b, and timing is transmitted between the sewing machine hook 7 and the sewing machine nJ1 m4 to form a sewing machine suturing section. It is designed to sew objects to be sutured.
上記ミシン本体１の脚フレーム２ａ、２ｂにはこのフレ
ーム２ａ、２ｂに沿うレール８ａＩ８ｂが平行に設けら
れ、このレー／Ｉｚ８ａ、８ｂにレール８ａ 、Ｂｂの
軸方向（以下、Ｙ軸方向という）に移動するＹ軸台車９
が設置されている。Ｙ軸台車９はＹ軸方向に延びるねじ
軸１０ａ、１０ｂと螺合し、Ｙ軸サーボモータ１１によ
ってネジ軸１ｏｚ、ｉｏｂを回動さぜると、Ｙ軸台車９
はＹ軸方向に移動する。また、Ｙ−軸台車９１こはＹ軸
と直角方向（以下、Ｘ軸方向という）に移動するＸ軸台
車１２が載置されている。このＸ軸台車１２はＹ軸台車
９に支持されてＸ軸方向に延びるネジ軸１３が螺合し、
Ｙ軸台車９に固定されたＸ軸サーボモータ１４により、
このネジ軸１３を回動させるとＸ軸台型１２はＸ軸方向
に移動する。The leg frames 2a and 2b of the sewing machine main body 1 are provided with rails 8a and 8b parallel to the frames 2a and 2b. Moving Y-axis trolley 9
is installed. The Y-axis truck 9 is screwed together with screw shafts 10a and 10b extending in the Y-axis direction, and when the Y-axis servo motor 11 rotates the screw shafts 1oz and iob, the Y-axis truck 9
moves in the Y-axis direction. Further, on the Y-axis truck 91, an X-axis truck 12 that moves in a direction perpendicular to the Y-axis (hereinafter referred to as the X-axis direction) is mounted. This X-axis truck 12 is supported by the Y-axis truck 9, and a threaded shaft 13 extending in the X-axis direction is screwed into the X-axis truck 12.
By the X-axis servo motor 14 fixed to the Y-axis trolley 9,
When this screw shaft 13 is rotated, the X-axis table mold 12 moves in the X-axis direction.
上記Ｘ軸台型１２には被縫合物Ａを支持する支持台１５
２，１５ｂ（以下−１総称符号を１５とする）が設けら
れている。The X-axis table type 12 has a support table 15 for supporting the object A to be sutured.
2, 15b (hereinafter the -1 generic code is 15) are provided.
そして、上記ミシン縫合部に対し被縫合物Ａが縫合模様
に沿って移動するとともに同一速度で移動するように、
Ｘ軸モータ１４及びＹ軸モータ１１の正逆回転数、正逆
変換位置、回転速度を予めプログラムし、支持台１５ａ
、１５ｂに被縫合物Ａを載置した状態でそのプログラム
に基づいて両モータ１１．１４を駆動させて所要の模様
を縫うようになっている。Then, so that the object A to be sewn moves along the stitching pattern and at the same speed with respect to the sewing machine stitching section,
The forward/reverse rotation speed, forward/reverse conversion position, and rotation speed of the X-axis motor 14 and the Y-axis motor 11 are programmed in advance, and the support base 15a is
, 15b, both motors 11 and 14 are driven based on the program to sew a desired pattern.
また、通常、Ｘ軸、Ｙ軸モ・−夕１４，１１をＮＣ制御
してト記のととく被縫合物Ａを縫合方向に同一速度で移
動し、ミシンモータ６を一定の回転速度で縫合するよう
になっている。すなわち、被縫合物Ａの移動速度に対し
てミシンモータ６のＤＥ速度制御は行なわれていない。Normally, the X-axis and Y-axis motors 14 and 11 are controlled by NC to move the article A to be sewn at the same speed in the sewing direction, and the sewing machine motor 6 is sewn at a constant rotation speed. It is supposed to be done. That is, the DE speed control of the sewing machine motor 6 is not performed on the moving speed of the object A to be sewn.
ところで、ＮＣ制御において、従来、布団などの重量の
有る被縫合物を高速移動させて模様の位置決めを行なっ
て縫合する際、パルスモータでは高速連転が困難なため
、サーボモータを使用する。By the way, in NC control, conventionally, when moving a heavy object to be sewn such as a futon at high speed to position the pattern and stitch it, a servo motor is used because it is difficult to continuously rotate at high speed with a pulse motor.
しかし、このサーボモータは、加速及び位置決メ減速時
にパルスの偏差で制御するため、所定速度への到達及び
完全な所定位置への停止Ｆに時間を必要とする。However, since this servo motor is controlled by pulse deviation during acceleration and deceleration during positioning, it takes time to reach a predetermined speed and completely stop at a predetermined position.
したがって、Ｘ軸、Ｙ軸モータｉａ、ｉｌの加速時、減
速時、正逆転変換時、停止時においては、ミラ１ンモー
タ６が通常パルスモータにより構成されて立上り、立下
りが早く、かつ上述のように一定速度で回転しているた
め、Ｘ軸、Ｙ軸モータ１４゜１１による支持台１５の移
動速度とミシンモータ６による運針速度のタイミングが
くるうこととなる。すなわち、第５図（イ）に示すよう
に支持台１５が停止時１゛０から移動速度Ｍａに達し、
時間Ｔ４後に停止する場合、Ｘ軸、Ｙ軸モータ１４，１
１は徐々に加速し、時間Ｔ２後Ｖａの一定速度になり、
時間Ｔ４で停止するため、時間Ｔ３で減速し始めて時間
Ｔ４で停止する。一方、ミシンモータ６は始動信号によ
り時間ＴＯで始動するが、モータの即応性、及び支持台
１５の移動速度はＸ軸方向又はＹ軸方向の直線運動を除
きＸ軸モータ１４とＹ軸モータ１１とによる合成速度と
なるため、支持台１５の立上り移動速度とミシンモータ
６による立上り運針速度きは異なり、同図側で示すよう
に、ミシンモークロは、通常時間Ｔ３より早く時間Ｔ２
後に一定速度Ｖ１ｍに達し、時間−ｒ４における停止信
号でもって駆動を停止し始め、時間Ｔ５で停止する。こ
のため、始動時（加速時）、停止時（減速時）には支持
台１５の移動速度に対し運針速度が早くなり、同図（ハ
）に示すように縫い目が縮まって見栄えか悪くなるうえ
に糸切れなどが生じる。正逆転変換時には減速・加速の
２動作が必要となるため、」二記の速度不一致時間が長
くなり上記開戸が顕著に表われる。Therefore, when the X-axis and Y-axis motors ia and il are accelerating, decelerating, converting between forward and reverse directions, and stopping, the mirror motor 6 is usually constituted by a pulse motor and has a quick start-up and fall, and the above-mentioned Since it rotates at a constant speed, the movement speed of the support base 15 by the X-axis and Y-axis motors 14 and 11 and the movement speed of the sewing machine motor 6 coincide with each other. That is, as shown in FIG. 5(A), when the support stand 15 reaches the moving speed Ma from 1'0 when stopped,
When stopping after time T4, the X-axis and Y-axis motors 14, 1
1 gradually accelerates and reaches a constant speed of Va after time T2,
Since it stops at time T4, it starts decelerating at time T3 and stops at time T4. On the other hand, the sewing machine motor 6 is started at time TO by the start signal, but the immediate response of the motor and the moving speed of the support base 15 are limited to the X-axis motor 14 and the Y-axis motor 11 except for linear movement in the X-axis direction or Y-axis direction. Therefore, the rising movement speed of the support stand 15 and the rising hand movement speed of the sewing machine motor 6 are different.
Later, the constant speed V1m is reached, and the drive begins to stop with a stop signal at time -r4, and stops at time T5. Therefore, when starting (accelerating) and stopping (decelerating), the needle movement speed becomes faster than the moving speed of the support base 15, and as shown in FIG. thread breakage may occur. Since two operations of deceleration and acceleration are required at the time of forward/reverse conversion, the speed mismatch time described in "2" becomes longer and the above-mentioned door opening becomes noticeable.
上記問題を解決する手ズとして、支持台１５の加速・減
速、正逆転変倹、停止の動作特性を考慮し、ミシンモー
タ６の動作をその特性に対応するように予めプログラム
しておくことが考えられる。As a way to solve the above problem, it is possible to consider the operating characteristics of the support base 15 such as acceleration/deceleration, forward/reverse movement, and stopping, and program the operation of the sewing machine motor 6 in advance to correspond to the characteristics. Conceivable.
しかし、この手段は、加速時などの特殊動作全てに対し
て異なったプログラムをしなければならず、その動作点
は非常に多く大変な労力を必要とする。However, with this method, different programs must be prepared for all special operations such as acceleration, and the number of operating points is very large, requiring a great deal of effort.
この発明は、支持台の移動速度を検出し、この検出値に
基づいてミシンモータを作動するようにして上記縫い目
の不揃い、糸切れの問題を解決することを目的とする。An object of the present invention is to detect the moving speed of a support base and operate a sewing machine motor based on the detected value to solve the problems of uneven stitches and thread breakage.
この目的を達成するため、この発明は、上記自動模様縫
いミシンにおいて、Ｘ軸移動モータとＹ軸移動モータの
それぞれの回転速度を検出する手段を設けるとともに、
その両横出値に基づいて支持台速度を算出する手段を設
け、この算出値に基づきミシンモータの回転速度を縫い
目ピッチカ一定になるように制御する手段を設けたもの
である。In order to achieve this object, the present invention provides the above-mentioned automatic pattern stitch sewing machine with means for detecting the respective rotational speeds of the X-axis movement motor and the Y-axis movement motor, and
Means is provided for calculating the speed of the support base based on the values of both side exits, and means is provided for controlling the rotational speed of the sewing machine motor so that the stitch pitch is constant based on this calculated value.
この様に構成することにより、被縫合物の移動速度に対
応した運針速度が決定されて縫合がなされるため、加速
時、減速時、正逆転変換時、停止時に縫い目ピッチが狭
くなることもなく、また、糸切れも生じない。With this configuration, stitching is performed by determining the needle movement speed that corresponds to the moving speed of the object to be sewn, so the stitch pitch does not become narrow during acceleration, deceleration, forward/reverse change, or stop. Also, thread breakage does not occur.
したがって、この発明によると、縫い目の美くしい被縫
合物を得ることができるうえに、糸切れなどが生じにく
いため作業性がよい効果がある。Therefore, according to the present invention, it is possible to obtain an object to be sewn with beautiful seams, and the workability is improved because thread breakage is less likely to occur.
また、ミシンモータをＮＧ制御せずにＸ軸、Ｙ軸の補間
ＮＣ制御に組合せることができるため、ミシンモータに
ミシン用針定位置停止及び自動糸切り出力などの付いた
特種ミシン専用モ・−夕を使用できる効果もある。In addition, since the sewing machine motor can be combined with interpolation NC control on the X and Y axes without performing NG control, it is possible to combine the sewing machine motor with special sewing machine special functions such as needle fixed position stop and automatic thread trimming output. -There is also an effect that allows you to use evening.
以下、この発明の実施例を添付図面に基づいて説明する
。Embodiments of the present invention will be described below with reference to the accompanying drawings.
上述の第１図及び第２図に示した自動模様縫いミシンに
おいて、外部メモリカセット１６に予め被縫合物Ａに対
する縫′合模様をデータとし記憶させておく。このカセ
ット１６をセットすると、第３図に示すように、中央演
算装ｋ （ＣＰ Ｕ ） １７がこのカセット１６のデ
ータをランダムアクセスメモＩＪ−（ＲＡＭ）１８に読
み込み、データに従ってリードオンリーメモリー（ＲＯ
Ｍ）ｉ９のＸ軸、Ｙ軸モータ１４，１１、ミシンモータ
６などの作用プログラムによりインターフェース２０を
通１゛：てモータ制御部２１に制御信号を出力する。In the automatic pattern sewing machine shown in FIGS. 1 and 2 described above, the sewing pattern for the object A to be sewn A is stored in advance in the external memory cassette 16 as data. When this cassette 16 is set, as shown in FIG.
M) A control signal is output to the motor control section 21 through the interface 20 according to the operation program for the X-axis, Y-axis motors 14, 11, sewing machine motor 6, etc. of i9.
モータ制御部２１においては各メモリー１８゜１９から
の信号に基つきＸ軸モータ用偏差カウンター２２、Ｙ軸
モータ用偏差カウンター２３及びミシンモータ駆動部２
４にパルス列信号でもって各モータ１４，１１．１６の
制御信号を出力する。偏差カウンター２２．２３はパル
ス列をデジタル・アナログ変換してサーボ増幅器２５．
２６に出力してＸ軸モータ１４、Ｙ軸モータ１１を回転
させ、支持台１５を所望の縫合模様に沿って移動させる
。In the motor control section 21, based on the signals from each memory 18 and 19, an X-axis motor deviation counter 22, a Y-axis motor deviation counter 23, and a sewing machine motor drive section 2 are operated.
4, a control signal for each motor 14, 11.16 is outputted using a pulse train signal. The deviation counters 22, 23 convert the pulse train into digital/analog and send the pulse train to the servo amplifiers 25, 25, 23, 23, 22, 23, 22, 23, 22, 23, 22, 23, 22, 23, 23, 23, 22, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23, 23 and 23e in FIGs.
26 to rotate the X-axis motor 14 and Y-axis motor 11, and move the support base 15 along the desired stitching pattern.
両モー１１４．１１にはパルスジェネレータ２７ 、２
８及ヒタコジェネレータ２９，３０を取付け、ハルスジ
エネレータ２７．２８によりモータ１４，１１の回持台
１５を所望のＸＹ座標上に位置させるとともに、タコジ
ェネレータ２９．３０によりモータ１４゜１１の回転速
度を回転で生じる起電圧でもって検出し、その検出信号
を増幅器３３．３４を介してサーボモー多増幅器２５．
２６及びモータ制御部２１に入力させてモータ１４．１
１を所望の速度で回転させてＸ軸・Ｙ軸方向の合成速度
である支持台１５の移動速度を一定にする。Both motors 114.11 have pulse generators 27, 2
8 and the tacho generators 29 and 30 are installed, and the Halszi generators 27 and 28 position the rotating bases 15 of the motors 14 and 11 on the desired XY coordinates, and the tacho generators 29 and 30 rotate the motors 14 degrees and 11 degrees. The speed is detected by the electromotive force generated by rotation, and the detected signal is sent to the servo motor multi-amplifier 25.34 via the amplifiers 33.34.
26 and the motor control unit 21 to control the motor 14.1.
1 at a desired speed to keep the moving speed of the support base 15 constant, which is the combined speed in the X-axis and Y-axis directions.
さらに、タコジェネレータ２９，３０の出力信号はミシ
ンモータ制御部２４に入力し、この制御部２４にて、ジ
ェネレータ２９．３０の出力信号に基づき支持台１５の
移動速度を算出し、この速度において縫い目が一定ピッ
チとなるようにミシンモータ６を制御する。制御部２４
は例えば第４図に示すように構成する。すなわち、Ｘ軸
・Ｙ軸タコジェネレータ２９．３０からのＸ軸・Ｙ軸方
向の速度成分信号’ＪＪｘ 、 ’Ｙを増幅器３５．３
６を介して掛は算器３７．３８に入力して各速度の２乗
を算出し、この算出値ＭＸ、Ｖｙ２を加算器３９にて加
算したのち平方根演算器４０で Ｍｘ＋■ｙ を演算
し、この値Ｖすなわち支持台１５の移動速度に基づき増
幅器４１を介してミシンモータ６を駆動する。したがっ
て、移動速度Ｖが速くなればモータ６が加速されて運針
速度も増し、遅くなれば減速されて運針速度がおそくな
って縫い目のピッチがほぼ一定に保たれる。なお、図中
、４２はミシンモータ６の駆動スイッチであり、信号４
３によりオン・オフする。Further, the output signals of the tacho generators 29 and 30 are input to the sewing machine motor control section 24, and the control section 24 calculates the moving speed of the support base 15 based on the output signals of the generators 29 and 30, and at this speed, the stitches are sewn. The sewing machine motor 6 is controlled so that the pitch is constant. Control unit 24
is configured as shown in FIG. 4, for example. That is, the speed component signals 'JJx and 'Y in the X-axis and Y-axis directions from the X-axis and Y-axis tacho generators 29.30 are input to the amplifier 35.3.
6, the multiplier is input to calculators 37 and 38 to calculate the square of each speed, and after adding these calculated values MX and Vy2 in adder 39, Mx+■y is calculated in square root calculator 40. , the sewing machine motor 6 is driven via the amplifier 41 based on this value V, that is, the moving speed of the support stand 15. Therefore, if the moving speed V becomes faster, the motor 6 is accelerated and the needle movement speed increases, and if it becomes slower, the motor 6 is decelerated, the needle movement speed becomes slower, and the pitch of the stitches is kept almost constant. In the figure, 42 is a drive switch for the sewing machine motor 6, and the signal 4
3 turns on/off.
実施例は以上のように構成されており、いま、第５図（
イ）に示すように支持台１５の速度が変化すると、その
速度変化がミシンモータ制御部２４において検出され、
その検出値に基つき、同図に）に示すように運針速度（
ミシン動作特性）が（イ）の変化曲線とほぼ同一の変化
曲線を描くように制卸され、同（ホ）に示すように支持
台１５の始動から停止までにおいて縫い、目が一定ピッ
チで縫合される。The embodiment is configured as described above, and now shown in Fig. 5 (
When the speed of the support base 15 changes as shown in b), the speed change is detected by the sewing machine motor control section 24,
Based on the detected value, the hand movement speed (
The sewing machine operating characteristics) are controlled so as to draw a change curve that is almost the same as the change curve in (a), and as shown in (e), the stitches are sewn at a constant pitch from the start to the stop of the support base 15. be done.
第１図及び第２図は自動模様縫いミシンの胆略正面図及
び平面図、第３図はこの発明の一実施例の制御回路ブロ
ック図、第４図は第３図のミシンモータ制御部の回路図
、第５図は従来のミシンとこの発明によるミシンのタイ
ミングチャート図である。
４・・・ミシン頭ＩＩ、６・・・ミシンモータ、７・・
・ミシン釜部、１１・・・Ｙ軸モータ、１４・・・Ｘ軸
モータ、１５・・・支持台、２１・・・モータ制御部。1 and 2 are a schematic front view and a plan view of an automatic pattern stitch sewing machine, FIG. 3 is a control circuit block diagram of an embodiment of the present invention, and FIG. 4 is a circuit of the sewing machine motor control section shown in FIG. 3. 5 are timing charts of a conventional sewing machine and a sewing machine according to the present invention. 4... Sewing machine head II, 6... Sewing machine motor, 7...
- Sewing machine hook section, 11... Y-axis motor, 14... X-axis motor, 15... Support stand, 21... Motor control unit.
Claims (1)
縫いを行なうミシンにおいて、Ｘ軸モークとＹ軸モータ
のそれぞれの回転速度を検出する手段を設けるとともに
、その両検出値に基づいて前記支持台速度を算出する手
段を設け、この算出値に基づきミシンモータの回転速度
を縫い目ピッチが一定になるように制御する手段を設け
たこ゛とを特徴とする自動模様縫いミシン。In a sewing machine that performs pattern stitching by moving a table that supports a workpiece in the X and Y axes, a means is provided to detect the rotational speed of each of the X-axis motor and the Y-axis motor, and a means is provided based on the detected values of both. An automatic pattern stitch sewing machine characterized by comprising: means for calculating the speed of the support base based on the calculated value, and means for controlling the rotational speed of the sewing machine motor so that the stitch pitch is constant based on the calculated value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10820083A JPS59230593A (en) | 1983-06-13 | 1983-06-13 | Automatic pattern sewing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10820083A JPS59230593A (en) | 1983-06-13 | 1983-06-13 | Automatic pattern sewing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59230593A true JPS59230593A (en) | 1984-12-25 |
Family
ID=14478552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10820083A Pending JPS59230593A (en) | 1983-06-13 | 1983-06-13 | Automatic pattern sewing machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59230593A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0237075U (en) * | 1988-08-31 | 1990-03-12 | ||
| US7620472B2 (en) | 2006-09-28 | 2009-11-17 | Brother Kogyo Kabushiki Kaisha | Sewing machine |
| US8082866B2 (en) | 2008-02-15 | 2011-12-27 | Brother Kogyo Kabushiki Kaisha | Sewing machine and computer readable medium storing sewing machine control program |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4919955A (en) * | 1972-06-15 | 1974-02-21 | ||
| JPS56355A (en) * | 1979-06-14 | 1981-01-06 | Aisin Seiki | Automatic embroidering machine |
| JPS5668154A (en) * | 1979-11-07 | 1981-06-08 | Aisin Seiki | Control apparatus of automatic embroidering machine |
-
1983
- 1983-06-13 JP JP10820083A patent/JPS59230593A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4919955A (en) * | 1972-06-15 | 1974-02-21 | ||
| JPS56355A (en) * | 1979-06-14 | 1981-01-06 | Aisin Seiki | Automatic embroidering machine |
| JPS5668154A (en) * | 1979-11-07 | 1981-06-08 | Aisin Seiki | Control apparatus of automatic embroidering machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0237075U (en) * | 1988-08-31 | 1990-03-12 | ||
| JPH049992Y2 (en) * | 1988-08-31 | 1992-03-12 | ||
| US7620472B2 (en) | 2006-09-28 | 2009-11-17 | Brother Kogyo Kabushiki Kaisha | Sewing machine |
| US8082866B2 (en) | 2008-02-15 | 2011-12-27 | Brother Kogyo Kabushiki Kaisha | Sewing machine and computer readable medium storing sewing machine control program |
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