# US 6,718,893 B1 · Apparatus and method for controlling position of embroidery frame

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 6,718,893 B1
- Document ID: US6718893B1
- Status: Granted
- Kind: B1
- Application number: 10/388,640
- Filed: 2003-03-17
- Granted: 2004-04-13
- Earliest claimed: 2003-03-17
- Assignees: Sunstar Precision Co., Ltd.
- Inventors: Byoung Min Kong
- Web page: https://patentgrep.com/patent/US6718893B1

## CPC

- D05B 21/00: Sewing machines with devices for automatically controlling movement of work-carrier relative to stitch-forming mechanism in order to obtain particular configuration of seam, e.g. program-controlled for sewing collars or for attaching pockets
- D05B 19/16: Control of workpiece movement, e.g. modulation of travel of feed dog
- D05B 69/24: Applications of devices for indicating or ascertaining sewing-tool position
- D05C 9/06: Feeding arrangements therefor, e.g. influenced by patterns, operated by pantographs
- D05B: SEWING (appliances for the tailoring trade A41H; sewing tables A47B29/00; sewing in bookbinding B42B2/00; sewing machines modified for knitting D04B39/08)
- D05C: EMBROIDERING; TUFTING (making non-woven fabrics D04H; sewing D05B)

## Abstract

Disclosed are an apparatus for controlling a position of an embroidery frame, which is capable of performing an accurate embroidering operation by feed backing a position error due to mutual operations of interlocking devices for driving the embroidery frame using a displacement sensor for sensing a displacement of the embroidery frame, and a method thereof. The apparatus comprises an X-axis driver, a Y-axis driver, a sensor and a controller. The X-axis driver moves the embroidery frame along an X-axis direction. The Y-axis driver moves the embroidery frame along a Y-axis direction. The sensor senses a displacement of the embroidery frame to the X-axis and Y-axis directions, and outputs electric signals corresponding to the sensed displacement. The controller generates X-axis and Y-axis drive control signals based on the electric signal from the sensor in order to control the X-axis and Y-axis drivers, respectively.

## Claims

### Claim 1

An apparatus to control a position of an embroidery frame in an embroidery machine, the embroidery machine having the embroidery frame to fix a fabric, the apparatus comprising:
an X-axis driver to move the embroidery frame along an X-axis direction;
a Y-axis driver to move the embroidery frame along a Y-axis direction;
a sensor to sense a displacement of the embroidery frame to the X-axis and Y-axis directions, and outputting electric signals corresponding to the sensed displacement of the embroidery frame; and
a controller to generate X-axis and Y-axis drive control signals based on the electric signals from the sensor in order to control the X-axis and Y-axis drivers, respectively.

### Claim 2 (depends on 1)

The apparatus as recited in claim 1, wherein the controller includes:
a position detector to detect the displacement of the embroidery frame based on the electric signals from the sensor;
a speed detector to detect a transport speed of the embroidery frame based on the displacement of the embroidery frame sensed by the sensor; and
a current detector to detect first and second motor drive current signals provided from the X-axis and Y-axis drivers,
wherein the controller generates the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected by the position detector, the transport speed of the embroidery frame detected by the speed detector, and the first and second motor drive current signals detected by the current detector.

### Claim 3 (depends on 2)

The apparatus as recited in claim 2, wherein:
the position detector includes a counter to count a pulse number of the electric signal from the sensor, and
the position detector detects the displacement of the embroidery frame along the X-axis and Y-axis directions based on the pulse number of the electric signal counted by the counter, and the speed detector detects the transport speed of the embroidery frame based on the pulse number of the electric signal counted by the counter.

### Claim 4 (depends on 2)

The apparatus as recited in claim 2, wherein the controller includes:
a first calculator to calculate a position error based on the displacement of the embroidery frame detected by the position detector and a displacement indicated by the embroidery frame displacement command signal;
a position controller to generate a speed control signal based on the position error calculated by the first calculator;
a second calculator to calculate a speed error based on the speed control signal from the position controller and the transport speed of the embroidery frame detected by the speed detector;
a speed controller to generate a current control signal based on the speed error calculated by the second calculator;
a third calculator to calculate an error of a driving current based on the current control signal generated by the speed controller and the current signal detected by the current detector; and
a current controller to generate a drive control signal based on the error of a driving current calculated by the third calculator.

### Claim 5 (depends on 3)

The apparatus as recited in claim 3, wherein the controller includes:
a first calculator to calculate a position error based on the displacement of the embroidery frame detected by the position detector and a displacement indicated by an external embroidery fume displacement command signal;
a position controller to generate a speed control signal based on the position error calculated by the first calculator;
a second calculator to calculate a speed error based on the speed control signal from the position controller and the transport speed of the embroidery frame detected by the speed detector;
a speed controller to generate a current control signal based on the speed error calculated by the second calculator;
a third calculator to calculate an error of a driving current based on the current control signal generated by the speed controller and the current signal detected by the current detector; and
a current controller to generate a drive control signal based on the error of the driving current calculated by the third calculator.

### Claim 6 (depends on 1)

The apparatus as recited in claim 1, wherein the sensor is respectively installed at predetermined X-axis and Y-axis positions of the embroidery frame.

### Claim 7 (depends on 1)

The apparatus as recited in claim 1, wherein the sensor comprises a displacement sensor.

### Claim 8 (depends on 7)

The apparatus as recited in claim 7, wherein the displacement sensor outputs an electric signal which corresponds to the displacement sensed by the sensor in a linear scale fashion.

### Claim 9

A method to control a position of an embroidery frame which moves the position of the embroidery frame along X-axis and Y-axis directions according to X-axis and Y-axis drive control signals from X-axis and Y-axis drivers, the method comprising:
detecting an electric signal corresponding to a displacement after moving the embroidery frame along an X-axis and a Y-axis; and
generating the X-axis and Y-axis drive control signals based on the electric signal detected.

### Claim 10 (depends on 9)

The method as defined in claim 9, wherein generating the X-axis and Y-axis device control signals based on the electric signal detected includes:
detecting the displacement of the embroidery frame based on the electric signal detected;
detecting a transfer speed of the embroidery frame based on the displacement of the embroidery frame detected;
detecting motor drive current signals which the X-axis and Y-axis drivers output; and
generating the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected, the transfer speed of the embroidery frame detected, and the motor drive current signals detected.

### Claim 11 (depends on 10)

The method of claim 10, wherein detecting the displacement of the embroidery frame based on the electric signal detected includes counting the pulse number of the detected electric signal, and detecting a displacement and a transfer speed of the embroidery frame to the X-axis and Y-axis directions based on the pulse number.

### Claim 12 (depends on 10)

The method as defined of claim 10, wherein generating the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected, the transfer speed of the embroidery frame detected, and the motor drive current signals detected includes:
calculating a position error based on the displacement of the embroidery frame detected and a displacement indicated by an external embroidery frame displacement command signal;
generating a speed control signal based on the position error calculated;
calculating a speed error based on the speed control signal generated and the transport speed of the embroidery frame detected;
generating a current control signal based on the speed error calculated;
calculating an error of a driving current based on the current control signal generated and the motor drive current signals detected; and
generating a drive control signal-based on the error of the driving current calculated.

### Claim 13 (depends on 10)

The method of claim 10, wherein generating the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected, the transfer speed of the embroidery frame detected, and the motor drive current signals detected includes:
calculating a position error based on the displacement of the embroidery frame detected and a displacement indicated by an external embroidery frame displacement command signal;
generating a speed control signal based on the position error calculated;
calculating a speed error based on the speed control signal generated and the transport speed of the embroidery frame detected;
generating a current control signal based on the speed error calculated;
calculating an error of a driving current based on the current control signal generated and the motor drive current signals detected; and
generating a drive control signal based on the error of a driving current calculated.

### Claim 14 (depends on 9)

The method of claim 9, wherein detecting the displacement of the embroidery frame based on the electric signal detected is performed in a linear scale fashion.

### Claim 15

An apparatus to control a position of an embroidery frame in an embroidery machine, the embroidery machine having the embroidery frame to fix a fabric, the apparatus comprising:
an X-axis driver to move the embroidery frame along an X-axis direction;
a Y-axis driver to move the embroidery frame along a Y-axis direction;
a sensor to sense a displacement of the embroidery frame to the X-axis and Y-axis directions, and outputting electric signals corresponding to the sensed displacement of the embroidery frame; and
a controller to generate X-axis and Y-axis drive control signals based on the electric signals from the sensor in order to control the X-axis and Y-axis drivers, respectively,
wherein the controller includes:
a position detector to detect the displacement of the embroidery frame based on the electric signals from the sensor;
a speed detector to detect a transport speed of the embroidery frame based on the displacement of the embroidery frame sensed by the sensor; and
a current detector to detect first and second motor drive current signals provided from the X-axis and Y-axis drivers,
wherein the controller generates the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected by the position detector, the transport speed of the embroidery frame detected by the speed detector, and the first and second motor drive current signals detected by the current detector.

### Claim 16 (depends on 15)

The apparatus as recited in claim 15, wherein:
the position detector includes a counter to count a pulse number of the electric signal from the sensor, and
the position detector detects the displacement of the embroidery frame along the X-axis and Y-axis directions based on the pulse number of the electric signal counted by the counter, and the speed detector detects the transport speed of the embroidery frame based on the pulse number of the electric signal counted by the counter.

### Claim 17 (depends on 15)

The apparatus as recited in claim 15, wherein the controller includes:
a first calculator to calculate a position error based on the displacement of the embroidery frame detected by the position detector and a displacement indicated by the embroidery frame displacement command signal;
a position controller to generate a speed control signal based on the position error calculated by the first calculator;
a second calculator to calculate a speed error based on the speed control signal from the position controller and the transport speed of the embroidery frame detected by the speed detector;
a speed controller to generate a current control signal based on the speed error calculated by the second calculator;
a third calculator to calculate an error of a driving current based on the current control signal generated by the speed controller and the current signal detected by the current detector; and
a current controller to generate a drive control signal based on the error of a driving current calculated by the third calculator.

### Claim 18 (depends on 16)

The apparatus as recited in claim 16, wherein the controller includes:
a first calculator to calculate a position error based on the displacement of the embroidery frame detected by the position detector and a displacement indicated by an external embroidery fume displacement command signal;
a position controller to generate a speed control signal based on the position error calculated by the first calculator;
a second calculator to calculate a speed error based on the speed control signal from the position controller and the transport speed of the embroidery frame detected by the speed detector;
a speed controller to generate a current control signal based on the speed error calculated by the second calculator;
a third calculator to calculate an error of a driving current based on the current control signal generated by the speed controller and the current signal detected by the current detector; and
a current controller to generate a drive control signal based on the error of the driving current calculated by the third calculator.

### Claim 19 (depends on 15)

The apparatus as recited in claim 15, wherein the sensor is respectively installed at predetermined X-axis and Y-axis positions of the embroidery frame.

### Claim 20

A method to control a position of an embroidery frame which moves the position of the embroidery frame along X-axis and Y-axis directions according to X-axis and Y-axis drive control signals from X-axis and Y-axis drivers, the method comprising:
detecting an electric signal corresponding to a displacement after moving the embroidery frame along an X-axis and a Y-axis; and
generating the X-axis and Y-axis drive control signals based on the electric signal detected, wherein generating the X-axis and Y-axis device control signals based on the electric signal detected includes:
detecting the displacement of the embroidery frame based on the electric signal detected;
detecting a transfer speed of the embroidery frame based on the displacement of the embroidery frame detected;
detecting motor drive current signals which the X-axis and Y-axis drivers output; and
generating the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected, the transfer speed of the embroidery frame detected, and the motor drive current signals detected.

### Claim 21 (depends on 20)

The method of claim 20, wherein detecting the displacement of the embroidery frame based on the electric signal detected includes counting the pulse number of the detected electric signal, and detecting a displacement and a transfer speed of the embroidery frame to the X-axis and Y-axis directions based on the pulse number.

### Claim 22 (depends on 20)

The method of claim 20, wherein generating the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected, the transfer speed of the embroidery frame detected, and the motor drive current signals detected includes:
calculating a position error based on the displacement of the embroidery frame detected and a displacement indicated by an external embroidery frame displacement command signal;
generating a speed control signal based on the position error calculated;
calculating a speed error based on the speed control signal generated and the transport speed of the embroidery frame detected;
generating a current control signal based on the speed error calculated;
calculating an error of a driving current based on the current control signal generated and the motor drive current signals detected; and
generating a drive control signal based on the error of the driving current calculated.

### Claim 23 (depends on 20)

The method of claim 20, wherein generating the X-axis and Y-axis drive control signals using the displacement of the embroidery frame detected, the transfer speed of the embroidery frame detected, and the motor drive current signals detected includes:
calculating a position error based on the displacement of the embroidery frame detected and a displacement indicated by an external embroidery frame displacement command signal;
generating a speed control signal based on the position error calculated;
calculating a speed error based on the speed control signal generated and the transport speed of the embroidery frame detected;
generating a current control signal based on the speed error calculated;
calculating an error of a driving current based on the current control signal generated and the motor drive current signals detected; and
generating a drive control signal based on the error of a driving current calculated.