Patent attributes
A cloth-holder frame transfer apparatus for a sewing machine includes a carriage detachably attachable to a cloth-holder frame holding workpiece cloth, a carriage driving mechanism including an actuator moving the carriage in two directions intersecting each other on a horizontal plane, an external force detector which detects an external force applied by an operator to the cloth-holder frame attached to the carriage, an assisting force output device which produces force assisting the movement of the cloth-holder frame by the external force, and a control device controlling the assisting force output device based on the external force detected by the external force detector. The carriage driving mechanism includes first and second direction movement actuators provided with first and second direction displacement sensors respectively. The first and second direction movement actuators include respective stepping motors, and the first and second direction displacement sensors include respective rotary encoders.
