阅读说明：本技术 绳绣控制方法、绳绣控制装置、控制设备和存储介质 (Rope embroidery control method, rope embroidery control device, control equipment and storage medium ) 是由 马秀珍 于 2020-06-24 设计创作，主要内容包括：本发明提供了一种绳绣控制方法、绳绣控制装置、控制设备和计算机可读存储介质。该绳绣控制方法包括：获取主轴编码器的位置信号,向送绳装置发送位置信号；送绳装置根据接收到的位置信号控制送绳机构同比转动,在绣针扎入绣绳时,利用送绳机构的偏心结构,使得绣绳与送绳机构中心轴线在送绳机构的不同转动位置产生距离差,利用该距离差从绳桶处拉出所述绣绳以实现送绳。根据本发明的绳绣控制方法,能够有效避免在送绳装置进行送绳操作的过程中刺绣端绣绳发生绣绳回退的问题,保证送绳的准确性。(The invention provides a rope embroidery control method, a rope embroidery control device, control equipment and a computer readable storage medium. The rope embroidery control method comprises the following steps: acquiring a position signal of a main shaft encoder, and sending the position signal to a rope feeding device; the rope feeding device controls the rope feeding mechanism to rotate in the same ratio according to the received position signal, when the embroidery needle penetrates into the embroidery rope, the eccentric structure of the rope feeding mechanism is utilized, so that distance differences are generated between the central axes of the embroidery rope and the rope feeding mechanism at different rotating positions of the rope feeding mechanism, and the embroidery rope is pulled out from the rope barrel by utilizing the distance differences to realize rope feeding. According to the rope embroidery control method provided by the invention, the problem that the embroidery rope at the embroidery end returns in the rope feeding operation process of the rope feeding device can be effectively avoided, and the rope feeding accuracy is ensured.)

1. A rope embroidery control method is characterized in that a rope feeding device comprises a rotary driving mechanism and a rope feeding mechanism, the rope feeding mechanism is in driving connection with the rotary driving mechanism and rotates under the driving of the rotary driving mechanism, the rope feeding mechanism is arranged on a traveling path of an embroidery rope and is provided with a first rotating position and a second rotating position, the rope feeding mechanism is arranged on the traveling path of the embroidery rope and is provided with a first rotating position and a second rotating position, when the rope feeding mechanism rotates from the first rotating position to the second rotating position, the embroidery rope can be pulled out from a rope barrel in a mode of changing the distance between the embroidery rope and the central axis of the rope feeding mechanism so as to realize rope feeding, and the rope embroidery control method comprises the following steps:

acquiring a position signal of a main shaft encoder, and sending the position signal to a rope feeding device; the rope feeding device controls the rope feeding mechanism to rotate in the same ratio according to the received position signal, when the embroidery needle pricks the embroidery rope, the rope feeding mechanism just rotates to the rope feeding position, the distance difference is generated between the central axes of the embroidery rope and the rope feeding mechanism at different rotating positions of the rope feeding mechanism by utilizing the eccentric structure of the rope feeding mechanism, and the embroidery rope is pulled out from the rope barrel by utilizing the distance difference to realize rope feeding.

2. The rope embroidery control method according to claim 1, wherein the position signal of the spindle encoder is a rotation angle of the spindle.

3. The embroidery control method of claim 1, further comprising:

detecting whether the embroidery machine is started;

when the embroidery machine is started, before the embroidery is started, the rope loosening device is controlled to perform the rope loosening operation, so that the stretching length of all embroidery ropes is out of the rope feeding range of the rope feeding device.

4. The embroidery control method of claim 1, further comprising:

detecting whether embroidery is finished;

and after the embroidery is finished and before the embroidery machine stops, controlling the rope loosening device to perform the rope loosening operation so that the stretching length of all embroidery ropes is out of the rope feeding range of the rope feeding device.

5. A rope embroidery control device, comprising:

the detection module is used for acquiring a position signal of the spindle encoder;

and the rope feeding module is used for controlling the rope feeding mechanism to rotate in the same ratio after receiving the position signal of the main shaft encoder, when the embroidery needle is inserted into the embroidery rope, the rope feeding mechanism just rotates to the rope feeding position, the distance difference is generated between the central axes of the embroidery rope and the rope feeding mechanism at different rotating positions of the rope feeding mechanism by utilizing the eccentric structure of the rope feeding mechanism, and the embroidery rope is pulled out from the rope barrel by utilizing the distance difference to realize rope feeding.

6. A control device comprising a memory and a processor; the memory is used for storing a computer program; the processor is configured to invoke the computer program stored in the memory to cause the control device to execute the embroidery control method of any one of claims 1-4.

7. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the embroidery control method of any one of claims 1-4.

Technical Field

The present invention relates to the field of embroidery technology, and in particular, to a method and apparatus for controlling embroidery, a control device, and a computer-readable storage medium.

Background

In mechanical assembly processing, in the stay cord equipment very much, need send the material to the rope among the next process, present more traditional method is artifical pay-off, perhaps more ordinary feeding mechanism, hardly accomplishes the rope and send the material to next process, not only wastes time and energy, and is with high costs, still the structure is complicated. For the automatic feeding mechanism, in the process of stretching the embroidery rope, the embroidery rope at the position of the embroidery needle is easily pulled out due to the action of the pulling force of the rope feeding, so that the embroidery rope is retracted, and the rope feeding accuracy is low.

Disclosure of Invention

The invention aims to provide a rope embroidery control method, a rope embroidery control device, control equipment and a computer readable storage medium, which can effectively avoid the problem that an embroidery rope at an embroidery end returns in the process of carrying out rope feeding operation by a rope feeding device and ensure the accuracy of rope feeding.

In order to solve the above technical problem, as an aspect of the present invention, there is provided a embroidery control method including: acquiring a position signal of a main shaft encoder, and sending the position signal to a rope feeding device; the rope feeding device controls the rope feeding mechanism to rotate in the same ratio according to the received position signal, when the embroidery needle pricks the embroidery rope, the rope feeding mechanism just rotates to the rope feeding position, the distance difference is generated between the central axes of the embroidery rope and the rope feeding mechanism at different rotating positions of the rope feeding mechanism by utilizing the eccentric structure of the rope feeding mechanism, and the embroidery rope is pulled out from the rope barrel by utilizing the distance difference to realize rope feeding.

According to the rope feeding device, when the embroidery needle is inserted into the embroidery rope, the rope feeding mechanism is controlled to rotate to carry out rope feeding operation, so that the embroidery rope at the embroidery end can be fixed by pressing the embroidery rope with the embroidery needle, the rope feeding operation is ensured that only the embroidery rope at the rope barrel is pulled out, the problem that the embroidery rope at the embroidery end of the embroidery rope rolls back in the rope feeding operation process of the rope feeding device can be effectively avoided, the reliability and the stability of the rope feeding device during operation are improved, and the accuracy of the rope feeding is ensured.

Drawings

FIG. 1 is a schematic diagram illustrating an exploded view of a rope feeding device according to an embodiment of the present invention;

FIG. 2 is an exploded view schematically showing an embroidery machine according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view illustrating an embroidering machine according to an embodiment of the present invention;

FIG. 4 is a perspective view schematically illustrating a rope drum assembly of an embroidering machine according to an embodiment of the present invention;

FIG. 5 is a schematic exploded view illustrating a rope drum assembly of an embroidering machine according to an embodiment of the present invention;

FIG. 6 is a schematic exploded view illustrating a thread releasing device of an embroidering machine according to an embodiment of the present invention;

FIG. 7 is a view schematically illustrating an embroidery thread routing structure of the embroidery machine according to the embodiment of the present invention;

fig. 8 schematically shows a flowchart of a method for controlling a cord embroidery of an embroidery machine according to an embodiment of the present invention.

Reference numbers in the figures: 1. a rotating shaft; 2. a strip plate; 3. a rope feeding rod; 4. a fixed seat; 5. a drive motor; 6. a reducer assembly; 7. a bearing support seat; 8. a coupling; 9. a rope barrel; 10. a hinge mount; 11. a mounting seat; 12. a first connecting seat; 13. a second connecting seat; 14. a hinge shaft; 15. a hinge hole; 16. an opening; 17. an angle aluminum frame; 18. an angle aluminum hole; 19. mounting a disc; 20. a support bar; 21. a pin shaft; 22. a telescoping mechanism; 23. loosening the rope rod; 24. a connector; 25. embroidering ropes.

Detailed Description

The following detailed description of embodiments of the invention, but the invention can be practiced in many different ways, as defined and covered by the claims.

Referring to fig. 1 to 7, according to an embodiment of the present invention, the rope feeding device includes a rotation driving mechanism and a rope feeding mechanism, the rope feeding mechanism is drivingly connected to the rotation driving mechanism and is driven by the rotation driving mechanism to rotate, the rope feeding mechanism is disposed on a traveling path of the embroidery rope and has a first rotational position and a second rotational position, and when the rope feeding mechanism rotates from the first rotational position to the second rotational position, the embroidery rope can be fed from the rope barrel 9 by changing a distance between the embroidery rope and a central axis of the rope feeding mechanism.

The rope feeding device of the invention arranges the rope feeding mechanism on the advancing path of the embroidery rope, adjusts the advancing path of the embroidery rope by adjusting the rotating position of the rope feeding mechanism, thereby utilizing the tension force formed by the embroidery rope at the two rotating positions of the rope feeding mechanism to lead the embroidery rope to be pulled out of the rope barrel under the action of the rope feeding mechanism in the process of pressing the embroidery needle to form the rope feeding operation, the whole process does not need to lead the embroidery rope and the rope feeding mechanism to form a fixed connection relation, only needs to utilize the external supporting acting force of the rope feeding mechanism on the embroidery rope caused by the different rotating positions of the rope feeding mechanism to lead the embroidery rope to be released from the rope barrel, when the rotating position of the rope feeding mechanism is adjusted again, can ensure that the embroidery rope pre-pulled out from the rope barrel can be smoothly utilized by the embroidery needle, thereby utilizing the rope feeding mechanism to form the pre-pulling of the embroidery rope instead of utilizing the tension force generated by the action of the embroidery needle to pull out the embroidery rope, the rope feeding device has the advantages of reducing the resistance of the embroidery needle action, improving the convenience in the embroidery needle embroidering process, being simple in structure, being capable of realizing quick and automatic rope feeding, reducing the rope embroidering difficulty and improving the rope embroidering efficiency.

The rope feeding mechanism comprises a rotating shaft 1 and a rope pulling portion arranged on at least one side of the rotating shaft 1, when the rope feeding mechanism is located at a first rotating position, the distance between the outermost edge of the rope pulling portion and the central axis of the rotating shaft 1 is larger than the distance between an embroidery rope and the central axis of the rotating shaft 1, the embroidery rope is located on the outer side of an area formed by the rope pulling portion and the rotating shaft 1, and the embroidery rope is not connected with the rope feeding mechanism. In the working process of the rope feeding mechanism, when the rope feeding mechanism moves to a first rotating position, the distance between the outermost edge of the rope pulling portion and the central axis of the rotating shaft 1 is larger than the distance between the embroidery rope and the central axis of the rotating shaft 1, and because the rope feeding mechanism rotates to an avoiding position at the moment, on the section of the rotating shaft 1, a connecting line between the outermost edge of the rope pulling portion and the central axis of the rotating shaft 1 is approximately parallel to the extending direction of the embroidery rope, the narrowest position of the rope pulling portion is positioned at the inner side of the embroidery rope and is not in contact with the embroidery rope or is in contact with the embroidery rope, the embroidery rope is approximately linear at the moment or forms a small recess, the embroidery rope is subjected to a small acting force of the rope feeding mechanism, and therefore the rope feeding stretching is not carried out; when the rope feeding mechanism rotates from the first rotating position to the second rotating position, because the distance between the outermost edge of the rope pulling part and the central axis of the rotating shaft 1 is greater than the distance between the embroidery rope and the central axis of the rotating shaft 1 when the rope feeding mechanism is at the first rotating position, after the rope feeding mechanism rotates to the position where the outermost edge is in contact with the embroidery rope, the traveling path of the embroidery rope starts to be changed, so that the concave depth of the embroidery rope is increased, similar to the case that the height of a triangle formed by the embroidery rope gradually increases in the process that the rope feeding mechanism rotates to the second rotating position, and under the condition that the bottom edge of the embroidery rope is not changed, the height of the triangle formed by the embroidery rope increases, which means that the lengths of two side edges of the triangle formed by the embroidery rope increase, namely the total length of the embroidery rope at the position of the matching area of the rope feeding mechanism increases, under the external supporting force of the rope feeding mechanism, the embroidery rope is pre-stretched to a certain length from the rope barrel 9, when the outermost edge of the rope feeding mechanism reaches the triangular maximum height position of the embroidery rope, the embroidery rope is stretched to the maximum length at the position of the matching area of the embroidery rope and the rope feeding mechanism, then the rope feeding mechanism rotates from the second rotating position to the first rotating position, the embroidery rope is not supported by the rope feeding mechanism, and therefore the embroidery rope starts to be loosened.

In the whole working process of the rope feeding mechanism, the rope feeding mechanism and the embroidery rope are not directly connected and only can be contacted, then the rope feeding mechanism is utilized to rotate, the embroidery rope is externally supported due to the distance difference formed by the width difference of the rope in two vertical directions, after the rope releasing operation of the embroidery rope is completed, the embroidery rope is not required to be actively released, the embroidery rope can be automatically released only by continuously changing the rotating position of the rope feeding mechanism, the operation of grasping the embroidery rope in front of a stay rope and loosening the embroidery rope after the stay rope is omitted, the rope feeding operation of the embroidery rope can be continuously realized by utilizing the circular rotation of the rope feeding mechanism, the rope feeding mechanism is simple in structure and easy to realize, the rope feeding operation is smoother, the embroidery operation cannot be influenced, and the embroidery efficiency is higher.

Send rope mechanism still includes strip shaped plate 2, and strip shaped plate 2 is fixed to be set up at the both ends of pivot 1, and stay cord portion is including setting up the rope feeding rod 3 in 2 at least one ends of strip shaped plate.

In this embodiment, two ends of the strip-shaped plate 2 are respectively provided with the rope feeding rod 3, the rope feeding rods 3 at the two ends of the strip-shaped plate 2 are symmetrical about the central axis of the rotating shaft 1, and the central axes of the two rope feeding rods 3 and the central axis of the rotating shaft 1 are located on the same plane.

Through the mode that sets up respectively at the both ends of bar shaped plate and send rope pole 3, can utilize the inconsistent mode of length and width of bar shaped plate to form the distance difference on the one hand, and then utilize the distance difference to realize sending the rope operation of embroidery rope, on the other hand can all form at the both ends of bar shaped plate and send the rope structure to make embroidery rope can send the rope operation twice in 180 within ranges formation, improve and send the rope frequency, guarantee the embroidery rope supply.

The rotary driving mechanism comprises a fixed seat 4, a driving motor 5, a speed reducer assembly 6 and a bearing supporting seat 7, wherein the driving motor 5 is arranged on the fixed seat 4, the speed reducer assembly 6 is in driving connection with the driving motor 5, a bearing is arranged in the bearing supporting seat 7, and the rope feeding mechanism is supported on the bearing and is in driving connection with an output shaft of the speed reducer assembly 6.

The speed reducer assembly 6 is connected with the rope feeding mechanism through a coupling 8.

In the application, the rope feeding device controls the rope feeding mechanism to rotate when the embroidery needle is inserted into the embroidery rope, so that the rope feeding operation is carried out, the embroidery rope at the embroidery end can be fixed by pressing the embroidery rope with the embroidery needle, the rope feeding operation is guaranteed only when the embroidery rope at the rope barrel 9 is pulled out, the problem that the embroidery rope at the embroidery end is withdrawn in the rope feeding operation process of the rope feeding device can be effectively solved, and the reliability and the stability of the rope feeding device during working are improved.

Referring to fig. 1 to 6 in combination, according to an embodiment of the present application, an embroidery machine includes a thread feeding device, which is the thread feeding device described above.

The embroidery machine further comprises a base and a rope barrel 9, the embroidery rope is sleeved on the rope barrel 9, the base comprises a hinge seat 10 and a mounting seat 11, the mounting seat 11 can be arranged on the hinge seat 10 in a turnover mode, the rope barrel 9 can be rotatably arranged on the mounting seat 11, and the mounting seat 11 can be positioned at a vertical first position and a horizontal second position. In this application, because the state of rope bucket 9 can be adjusted, consequently can adjust the state of placing of rope bucket 9 as required, can make it keep flat, also can make it put perpendicularly to according to the mode of placing of walking line route selection suitable rope bucket 9, conveniently carry out the operation of being qualified for the next round of competitions.

In the embodiment, the hinge seat 10 and the mounting seat 11 are hinged by a hinge assembly, the hinge assembly comprises a first connecting seat 12, a second connecting seat 13 and a hinge shaft 14, the first connecting seat 12 is fixedly connected to the hinge seat 10, the second connecting seat 13 is fixedly connected to the mounting seat 11, and the hinge shaft 14 is hinged between the first connecting seat 12 and the second connecting seat 13. This application utilizes articulated mode to realize that the rotation between hinge seat 10 and the mount pad 11 is connected, can set up limit structure on hinge seat 10 or mount pad 11 for rope bucket 9 is placed or the level is placed the position homoenergetic and is effectively fixed vertically, and keeps at the current position, has improved the stability and the reliability of the structural mounting of rope bucket 9.

Preferably, the first connecting seat 12 and the second connecting seat 13 are respectively provided with a hinge hole 15, a side wall of one side of the hinge hole 15 is provided with an opening 16, the hinge shaft 14 is arranged in the hinge hole 15, the cross section of the hinge shaft 14 is polygonal, and the cross section of the hinge hole 15 is polygonal matched with the cross section of the hinge shaft 14. The polygon is preferably a regular polygon, more preferably a regular pentagon or a regular hexagon. The opening 16 is formed in the side wall on one side of the hinge hole 15, so that the side wall can form a structure similar to a clamping jaw, and a certain elastic deformation can be generated under the action of external force, so that the opening 16 is widened, and therefore, when the installation position of the rope barrel 9 does not need to be adjusted, the polygonal shaft can be effectively fixed by utilizing the matching effect of the polygonal hole and the polygonal shaft, and the rope barrel 9 can be stably kept at the current position. When the position of the rope barrel 9 needs to be adjusted, external force can be applied to the side wall of the hinge shaft 14 or the hinge hole 15, when the external force is larger than the clamping effect of the side wall of the hinge hole 15, the opening 16 is expanded, the shape and the area of the hinge hole 15 are changed at the moment, the area is larger than the sectional area of the hinge shaft 14, when the area reaches a certain degree, the hinge hole 15 does not limit the hinge shaft 14 any more, and the hinge shaft 14 can rotate in the hinge hole 15. After the rope barrel 9 is adjusted in place, external force can be removed at the moment, the side wall of the hinge hole 15 is restored to be original, the structure of the polygonal hole is matched with the polygonal shaft, the hinge hole 15 forms stop limit on the hinge shaft 14 at the moment, the hinge shaft 14 is limited in the hinge hole 15 by utilizing the matching effect of the polygonal hole and the polygonal shaft, and the fixing of the installation position of the rope barrel 9 is realized.

In this embodiment, a mounting disc 19 is arranged on the mounting seat 11, the mounting disc 19 has a disc body and a circular truncated cone protruding out of the disc body, a semicircular groove is formed in the mounting seat 11, the circular truncated cone is placed in the semicircular groove, and the mounting seat 11 and the disc body can be fixedly connected through bolts. The mounting disc 19 is provided with a pin shaft 21, a support rod 20 with a bearing is sleeved outside the pin shaft 21, the rope barrel 9 is sleeved on the support rod 20, two ends of the pin shaft 21 are respectively provided with a fixing nut, the pin shaft 21 can be fixedly arranged on the mounting disc, meanwhile, axial limitation can be formed on the mounting position of the mounting disc 19 on the pin shaft 21, and stability and reliability of a rope barrel mounting structure are guaranteed. The support rod 20 can rotate with the rope reel 9, so that the installation direction of the rope reel 9 is not limited.

The embroidery machine further comprises at least two corner aluminum frames 17, wherein the corner aluminum frames 17 are provided with corner aluminum holes 18 for threading, and the at least two corner aluminum frames 17 are arranged on two sides of the rope feeding mechanism and matched with the rope feeding mechanism to feed ropes. The position of the two corner aluminum frames 17 is reasonably set, so that the position relation between the embroidery rope and the rope feeding device can be adjusted, and then the rope feeding amount of the rope feeding device at each time is adjusted, so that the rope feeding amount of the rope feeding device at each time can be matched with the embroidery speed of an embroidery needle and the like, the matching degree of the rope feeding device and the embroidery needle in embroidery operation is further improved, and the embroidery efficiency is improved.

According to the embodiment of the application, the embroidery machine further comprises a rope loosening device, the rope loosening device is arranged in a rope feeding area of the embroidery rope and can stretch the embroidery rope, and the stretching length of the embroidery rope is larger than the maximum rope feeding radius of the rope feeding device.

In the process of embroidering by the embroidery machine, there is a situation that not all machine heads on the embroidery machine participate in embroidering, but only part of machine heads may participate in embroidering, so that in the process of working the rope feeding device, not all embroidery ropes need to be fed, but only the embroidery ropes corresponding to the machine heads which work need to be fed, and at the moment, the embroidery ropes which participate in embroidering and the embroidery ropes which do not participate in embroidering need to be distinguished, thereby avoiding the problem of extra workload caused by feeding the ropes which do not participate in embroidering.

The rope loosening device has the advantages that all embroidery ropes are initialized once before the embroidery machine starts to work, so that the embroidery ropes are positioned outside the rope feeding range of the rope feeding device, in this case, the rope feeding mechanism of the rope feeding device rotates, no stretching effect is formed on the embroidery ropes, and therefore, the ropes are not fed to any embroidery ropes. In the working process of the embroidery machine, the machine head participating in embroidery operates to operate the embroidery rope participating in embroidery, at the moment, the embroidery rope can be fed, the embroidery rope participating in embroidery can be gradually tensioned and enters the rope feeding range of the rope feeding device, the embroidery rope not participating in embroidery can be always positioned outside the rope feeding range of the rope feeding device, and the rope cannot be fed under the action of the rope feeding device, so that the embroidery ropes participating in embroidery and not participating in embroidery are simply and conveniently distinguished, the work load of the rope feeding device is reduced, the work efficiency of the rope feeding device is improved, and the embroidery ropes are quickly and accurately divided.

After the embroidery machine finishes the embroidery work, the embroidery rope position can be initialized again through the rope loosening device, all embroidery ropes are all located at initial positions outside the rope feeding range of the rope feeding device, all embroidery ropes are reset, all embroidery ropes are convenient to arrange, the positions of the embroidery ropes can be all located at the same initial position in the next embroidery process, and subsequent embroidery operation is convenient to perform.

In this embodiment, the rope releasing device includes a telescopic mechanism 22 and a rope releasing rod 23 disposed at the telescopic end of the telescopic mechanism 22, the rope releasing rod 23 and the rope feeding device are located at the same side of the embroidery rope, and the rope releasing operation is performed on the embroidery rope before the rope releasing operation is performed on the rope feeding device or after the rope feeding operation is completed under the driving action of the telescopic mechanism 22.

The telescopic mechanism 22 in this embodiment may adopt a telescopic cylinder, an electric push rod, or a hydraulic cylinder, etc. to control the rope releasing rod 23 to extend or retract, and the central axis of the rope releasing rod 23 is parallel to the central axis of the rope feeding rod 3, so as to ensure that the initial position of the embroidery rope after the rope releasing rod 23 releases the rope is consistent with the distance of the rope feeding rod 3, and further keep the consistency of the rope releasing operation and the rope feeding operation.

In this embodiment, in order to facilitate the driving connection between the telescoping mechanism 22 and the rope releasing rod 23, a connector 24 is arranged at the telescoping end of the telescoping mechanism 22, the connector 24 is a connecting block, two connecting holes are arranged on the connecting block, the central axis of one connecting hole is consistent with the telescoping direction of the telescoping mechanism 22, so that the connection between the telescoping mechanism 22 and the central axis of the other connecting hole is consistent with the central axis of the rope releasing rod 23, and the connection between the telescoping mechanism 22 and the rope releasing rod 23 is facilitated.

For convenience of explanation, the connection hole connected with the telescopic mechanism 22 is set as a first connection hole, and the connection hole connected with the rope releasing rod 23 is set as a second connection hole, wherein the first connection hole is a blind hole, and can be a unthreaded hole or a threaded hole, as long as fixed connection between the first connection hole and the telescopic mechanism 22 can be realized. The second connecting hole is a through hole, can be a unthreaded hole, also can be a threaded hole, and the rope loosening rod 23 can be worn to establish in the second connecting hole. The purpose of this kind of structure is that, generally speaking, when the embroidery machine can complete a plurality of embroideries at one time, the length of the embroidery machine is longer at this moment, which results in the length of the rope releasing rod 23 being longer, and the diameter of the rope releasing rod 23 is limited, when the length of the rope feeding rod 23 is too long, which results in the rigidity of the rope releasing rod 23 being reduced, at this moment, a plurality of connectors 24 need to be arranged along the length direction of the rope releasing rod 23 at intervals, so as to realize the connection between a plurality of positions in the length direction of the rope releasing rod 23 and the telescoping mechanism 22, and effectively ensure the structural rigidity of the rope releasing rod 23. In addition, the rope releasing rod 23 may be divided into a plurality of sections along the length direction, so that the length of each section of rope releasing rod 23 is limited, and the structural rigidity of each section of rope releasing rod 23 is not affected, thereby satisfying the requirements of the rigidity and the diameter of the rope releasing rod 23.

In this embodiment, the rope feeding device and the rope releasing device are both arranged between the two angle aluminum frames 17, so that the rope embroidery areas acted by the rope feeding device and the rope releasing device are the same, in other embodiments, the rope embroidery areas acted by the rope feeding device and the rope releasing device may be different, and as long as the maximum rope feeding radius of the rope feeding device is smaller than the rope releasing length after the rope releasing device performs the rope releasing operation, the rope feeding operation cannot be performed.

Referring to fig. 7, which is a routing diagram of an embroidery rope 25 of the embroidery machine in the present embodiment, it can be seen from the figure that after the embroidery rope 25 is released from the rope barrel 9, the embroidery rope is wound to the outer side of the rope feeding device through a threading hole on a first aluminum frame 17 located above the rope barrel 9, and then passes through a threading hole on a second aluminum frame 17 located on the outer side of the rope feeding device, and then passes below the rope feeding device and the rope loosening device, a hanging ring or a rope loop is arranged on a rack on which the rope feeding device and the rope loosening device are mounted, the hanging ring and the second aluminum frame are respectively located on both sides of the rope feeding device, so that the embroidery rope 25 passes through the threading hole on the second aluminum frame, and can inevitably pass below the rope feeding device and the rope loosening device, and enter a movable area of the rope feeding device and the rope loosening device, so that the rope feeding device can perform an effective rope feeding function, and the rope loosening device can perform an effective rope loosening function, the embroidery rope 25 then passes through the hanging ring, passes under the rope feeding device and the rope loosening device again, reaches the third angle aluminum frame 17 positioned under the second angle aluminum frame 17, passes through the rope threading hole on the third angle aluminum frame 17, and reaches the next position. The second angle aluminum frame 17 and the third angle aluminum frame are both positioned at the outer sides of the rope feeding devices, so that double-layer embroidery ropes 25 are formed below the rope feeding devices and the rope loosening devices, the adjusting lengths of the rope feeding devices and the rope loosening devices to the embroidery ropes 25 can be increased, and the adjusting efficiency is improved. In this embodiment, the third angle aluminum frame 17 is fixed below the fixing base 4, so that the embroidery rope 25 can more conveniently walk towards the lower part after wearing out from the third angle aluminum frame 17, and the routing path of the embroidery rope 25 is more reasonable and more convenient for routing.

Referring to fig. 8 in combination, according to an embodiment of the present application, to which the above-described cord feeding apparatus and the embroidery machine are applied, the cord embroidery control method includes: acquiring a position signal of a main shaft encoder, and sending the position signal to a rope feeding device; the rope feeding device controls the rope feeding mechanism to rotate in the same ratio according to the received position signal, when the embroidery needle pricks the embroidery rope, the rope feeding mechanism just rotates to the rope feeding position, the distance difference is generated between the central axes of the embroidery rope and the rope feeding mechanism at different rotating positions of the rope feeding mechanism by utilizing the eccentric structure of the rope feeding mechanism, and the embroidery rope is pulled out from the rope barrel 9 by utilizing the distance difference to realize rope feeding.

According to the rope feeding device, when the embroidery needle is inserted into the embroidery rope, the rope feeding mechanism is controlled to rotate to carry out the rope feeding operation, so that the embroidery rope at the embroidery end can be fixed by pressing the embroidery rope by the embroidery needle, the rope feeding operation is ensured that only the embroidery rope at the rope barrel 9 is pulled out, the problem that the embroidery rope at the embroidery end returns back during the rope feeding operation of the rope feeding device can be effectively avoided, the reliability and the stability of the rope feeding device during working are improved, and the accuracy of the rope feeding is ensured.

In this embodiment, one embroidery cycle may be a cycle in which the embroidery needle completes one pattern embroidery, or the embroidery process may be divided according to the embroidery progress of the embroidery needle, and one embroidery cycle is determined according to the divided progress, in this embodiment, the rope feeding mechanism may rotate 360 ° to be one rope feeding cycle, or the rope feeding mechanism may rotate 180 ° to be one rope feeding cycle, which is specifically determined according to the number of the rope feeding rods 3.

The position signal of the main shaft encoder is obtained as the rotation angle of the main shaft, the main shaft drives the needle rod to move, and the signal of the embroidery needle for inserting the embroidery rope can be determined through the rotation angle of the main shaft.

In this embodiment, actually, the rope feeding operation of the rope feeding device can also be controlled by the rotation angle of the main shaft acquired by the main shaft encoder, and the rope feeding length of the rope feeding device is not matched with the embroidery rope length in the embroidery process, so that the rope feeding device can be always ensured to feed the rope in time only by determining the rotation angle of the main shaft for one time, and the difference is that the tightness of the embroidery rope is different to a certain extent only when the rope is fed, but the rope feeding operation of the rope feeding device cannot be influenced by the difference, and the embroidery action of the embroidery machine cannot be influenced. The rope feeding control is carried out by utilizing the rotation angle of the main shaft acquired by the main shaft encoder, the rope feeding control has obvious advantages, the embroidery needle can be effectively ensured to be inserted into the embroidery rope to fix the embroidery rope when the rope is fed every time, the rope is fed at the moment, the rope return can be effectively avoided, the reliability and the stability of the rope feeding process of the rope feeding device are ensured, the coordination consistency of the embroidery operation and the rope feeding operation can be conveniently realized, the adverse effects on the rope feeding and the embroidery operation of the rope feeding device caused by structural errors and the like can be avoided as much as possible, the continuity of the embroidery operation and the rope feeding operation is realized, and the embroidery efficiency is improved.

It should be noted that the main shaft of the embroidery machine is provided with a corresponding main shaft encoder, the main shaft encoder can convert the angular displacement into a periodic signal and further into counting pulses, and the number of the pulses can represent the size of the angular displacement. The main shaft of the embroidery machine rotates for one circle, namely rotates for 360 degrees, the main shaft encoder can send out fixed pulse number, and therefore the rotating angle of the main shaft of the embroidery machine can be converted according to the pulse number.

When the main shaft of the embroidery machine rotates at a constant speed, the pulse number corresponds to the rotation time of the embroidery machine. For example, when the spindle of the embroidery machine rotates at 1000rpm and the spindle rotates 1 turn to send 1000 pulses, the spindle pulse number corresponding to 1ms is 1000/60 ≈ 16.7 when the spindle rotates 1 turn for 60 ms.

The rotation angle of the main shaft of the embroidery machine may be set to 0 ° to 359 °. Generally, when the angle of a main shaft of the embroidery machine is 100 degrees, the corresponding pulse number of the main shaft is 0, and when the angle of the main shaft of the embroidery machine is from 100 degrees to 359 degrees and then to 99 degrees, the corresponding pulse number of the main shaft is increased progressively; and when the angle of the main shaft of the embroidery machine reaches 100 degrees again, the corresponding main shaft pulse number is reset to 0 for recounting.

The rope embroidery control method further comprises the following steps: detecting whether the embroidery machine is started; when the embroidery machine is started, before the embroidery is started, the rope loosening device is controlled to perform the rope loosening operation, so that the stretching length of all embroidery ropes is out of the rope feeding range of the rope feeding device.

The rope embroidery control method further comprises the following steps: detecting whether embroidery is finished; and after the embroidery is finished and before the embroidery machine stops, controlling the rope loosening device to perform the rope loosening operation so that the stretching length of all embroidery ropes is out of the rope feeding range of the rope feeding device.

The rope loosening device has the advantages that all embroidery ropes are initialized once before the embroidery machine starts to work, so that the embroidery ropes are positioned outside the rope feeding range of the rope feeding device, in this case, the rope feeding mechanism of the rope feeding device rotates, no stretching effect is formed on the embroidery ropes, and therefore, the ropes are not fed to any embroidery ropes. In the working process of the embroidery machine, the machine head participating in embroidery operates to operate the embroidery rope participating in embroidery, at the moment, the embroidery rope can be fed, the embroidery rope participating in embroidery can be gradually tensioned and enters the rope feeding range of the rope feeding device, the embroidery rope not participating in embroidery can be always positioned outside the rope feeding range of the rope feeding device, and the rope cannot be fed under the action of the rope feeding device, so that the embroidery ropes participating in embroidery and not participating in embroidery are simply and conveniently distinguished, the work load of the rope feeding device is reduced, the work efficiency of the rope feeding device is improved, and the embroidery ropes are quickly and accurately divided.

After the embroidery machine finishes the embroidery work, the embroidery rope position can be initialized again through the rope loosening device, all embroidery ropes are all located at initial positions outside the rope feeding range of the rope feeding device, all embroidery ropes are reset, all embroidery ropes are convenient to arrange, the positions of the embroidery ropes can be all located at the same initial position in the next embroidery process, and subsequent embroidery operation is convenient to perform.

According to an embodiment of the present application, a rope embroidery control device includes: the detection module is used for acquiring a position signal of the spindle encoder; and the rope feeding module is used for controlling the rope feeding mechanism to rotate in the same ratio after receiving the position signal of the main shaft encoder, when the embroidery needle is inserted into the embroidery rope, the rope feeding mechanism just rotates to the rope feeding position, the distance difference is generated between the central axes of the embroidery rope and the rope feeding mechanism at different rotating positions of the rope feeding mechanism by utilizing the eccentric structure of the rope feeding mechanism, and the embroidery rope is pulled out from the rope barrel by utilizing the distance difference to realize rope feeding.

The embroidery control device provided by the embodiment can be used for executing the technical scheme in the embroidery control method, the implementation principle and the technical effect are similar, and the description is omitted here.

According to an embodiment of the present application, a control device includes a memory and a processor; the memory is used for storing a computer program; the processor is used for calling the computer program stored in the memory so as to enable the control equipment to execute the embroidery control method.

According to an embodiment of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described embroidery control method.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.