System and method for controlling upper shaft and lower shaft of sewing machine to synchronously rotate by electronic hand wheel
阅读说明：本技术 电子手轮控制缝纫机上轴和下轴同步转动的系统和方法 (System and method for controlling upper shaft and lower shaft of sewing machine to synchronously rotate by electronic hand wheel ) 是由 王俊跃 洪武 于 2019-11-15 设计创作，主要内容包括：本发明公开了一种电子手轮控制缝纫机上轴和下轴同步转动的系统和方法,所述系统包括：控制系统；上轴电机,用于驱动上轴旋转；上轴电机驱动器,与控制系统、上轴电机相连接,接受控制系统的指令,驱动上轴电机运转；上轴角度传感器,与控制系统相连接,采集上轴的转动角度并反馈给控制系统；下轴电机,用于驱动下轴旋转；下轴电机驱动器,与控制系统、下轴电机相连接,接受控制系统的指令,驱动下轴电机运转；下轴角度传感器,与控制系统相连接,采集下轴的转动角度并反馈给控制系统；电子手轮,与控制系统相连接,将其转动的角度实时地输入控制系统。本发明采用简单的方案,可以手动地同步转动上轴和下轴,便于进行手动调试。(The invention discloses a system and a method for controlling an upper shaft and a lower shaft of a sewing machine to synchronously rotate by an electronic hand wheel, wherein the system comprises: a control system; the upper shaft motor is used for driving the upper shaft to rotate; the upper shaft motor driver is connected with the control system and the upper shaft motor, receives the instruction of the control system and drives the upper shaft motor to operate; the upper shaft angle sensor is connected with the control system, and is used for collecting the rotation angle of the upper shaft and feeding back the rotation angle to the control system; the lower shaft motor is used for driving the lower shaft to rotate; the lower shaft motor driver is connected with the control system and the lower shaft motor, receives the instruction of the control system and drives the lower shaft motor to operate; the lower shaft angle sensor is connected with the control system, and is used for collecting the rotation angle of the lower shaft and feeding the rotation angle back to the control system; and the electronic hand wheel is connected with the control system and inputs the rotating angle of the electronic hand wheel into the control system in real time. The invention adopts a simple scheme, can manually and synchronously rotate the upper shaft and the lower shaft, and is convenient for manual debugging.)
1. A system for controlling an upper shaft and a lower shaft of a sewing machine to synchronously rotate by an electronic hand wheel is characterized by comprising the following components: a control system;
the upper shaft motor is used for driving the upper shaft to rotate;
the upper shaft motor driver is respectively connected with the control system and the upper shaft motor and is used for receiving the instruction of the control system and driving the upper shaft motor to operate;
the upper shaft angle sensor is connected with the control system and used for collecting the rotation angle of the upper shaft and feeding back the rotation angle to the control system;
the lower shaft motor is used for driving the lower shaft to rotate;
the lower shaft motor driver is respectively connected with the control system and the lower shaft motor and is used for receiving the instruction of the control system and driving the lower shaft motor to operate;
the lower shaft angle sensor is connected with the control system and used for collecting the rotation angle of the lower shaft and feeding back the rotation angle to the control system;
and the electronic hand wheel is connected with the control system and inputs the rotating angle of the electronic hand wheel into the control system in real time.
2. The system of claim 1, wherein the upper and lower axis angle sensors employ encoders.
3. The system of claim 1 or 2, wherein the upper shaft angle sensor is connected to an output shaft of an upper shaft motor or an upper shaft; the lower shaft angle sensor is connected with an output shaft of the lower shaft motor or the lower shaft.
4. The system of claim 1, wherein the electronic handwheel is a hand pulse generator.
5. A method of controlling synchronous rotation of an upper shaft and a lower shaft of a sewing machine using the system of claim 1, comprising the steps of:
s1, under the state that the sewing machine stops sewing, the electronic hand wheel is rotated, and an electric signal which represents the rotation angle value A of the electronic hand wheel is transmitted to the control system;
s2, the control system generates a control instruction and simultaneously transmits the control instruction to the upper shaft motor driver and the lower shaft motor driver, wherein the control instruction is used for enabling the upper shaft and the lower shaft to synchronously rotate for the same angle value nA, and n is a preset proportionality coefficient;
s3, feeding back the actual rotation angle A1 of the upper shaft and the actual rotation angle A2 of the lower shaft to the control system by the upper shaft angle sensor and the lower shaft angle sensor;
and S4, comparing A1 and A2 by the control system, and if A1 is not equal to A2, sending a correction compensation command to the upper shaft motor driver and/or the lower shaft motor driver to enable the final rotation angles of the upper shaft and the lower shaft to be equal.
6. The method of claim 5, wherein in the step S1, the electrical signal representing the angle value of the electronic handwheel rotation is an analog signal, a digital signal or a pulse signal.
7. The method according to claim 5, wherein in step S2, the preset scaling factor n is 1.
8. The method of claim 5, wherein in the step S4, the final rotation angles of the upper shaft and the lower shaft are both equal to nA.
9. The method as claimed in claim 5, wherein the signal is transmitted in real time in steps S1-S4, and when the speed of the electric handwheel is changed, the speeds of the upper and lower shafts are changed accordingly.
10. The method of claim 5, wherein the function of the electronic handwheel is locked while the sewing machine is in a sewing state.
Technical Field
The invention relates to a control device for sewing, in particular to a system and a method for synchronously rotating an upper shaft and a lower shaft of a sewing machine.
Background
The upper shaft of the sewing machine can drive the needle rod to move up and down, so that the needle can generate cloth-pricking action; the lower shaft of the sewing machine can drive the rotating shuttle to rotate, and the rotating shuttle is matched with the cloth-pricking action of the machine needle to realize the sewing of the cloth. Generally, an upper shaft and a lower shaft of a sewing machine are driven by a motor, and the upper shaft and the lower shaft are synchronously rotated through synchronous belt transmission. The sewing machine is generally provided with a mechanical hand wheel, and the main function of the sewing machine is to manually adjust a needle bar and a rotating shuttle to required positions by rotating the hand wheel to drive an upper shaft and a lower shaft to rotate in the replacement and debugging process, thereby facilitating the operations of threading, sewing, and the like. Therefore, for the sewing machine with the traditional structure, because the structure of synchronous transmission of the upper shaft and the lower shaft is adopted, the upper shaft and the lower shaft are easy to keep synchronous no matter the sewing machine automatically rotates at high speed in the sewing process or manually rotates at low speed in the debugging process.
It is also the prior art to use an electronic hand wheel instead of a mechanical hand wheel to drive the upper and lower shafts of the sewing machine with the traditional structure to synchronously rotate, for example, chinese patent application CN104120562A discloses an "electronic hand wheel for servo control of auxiliary operation of a sewing machine", which can achieve the purposes of convenient operation and labor saving.
However, the existing needle bar rotating template machine or machine head rotating template machine is just like spring bamboo shoots after rain, the transmission structure of the existing needle bar rotating template machine or machine head rotating template machine is greatly different from that of the traditional sewing machine, and the upper shaft and the lower shaft of the existing needle bar rotating template machine are respectively driven by independent motors. For the sewing machine with the upper shaft and the lower shaft respectively driven independently, the upper shaft and the lower shaft can be kept to synchronously rotate in the sewing process, for example, the upper shaft and the lower shaft return to zero positions before starting sewing, and then the rotating speeds of the upper shaft and the lower shaft are kept the same by a control system, so that normal sewing can be realized. However, how to realize the synchronous low-speed rotation of the upper shaft and the lower shaft and synchronously stop at any position in the manual debugging process of the sewing machine with the upper shaft and the lower shaft driven independently still remains the technical problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a system for controlling the upper shaft and the lower shaft to synchronously rotate by using an electronic hand wheel for a sewing machine with an upper shaft and a lower shaft which are independently driven.
In order to solve the technical problems, the invention adopts the following technical scheme: a system for controlling an upper shaft and a lower shaft of a sewing machine to synchronously rotate by an electronic hand wheel comprises the following components: a control system; the upper shaft motor is used for driving the upper shaft to rotate; the upper shaft motor driver is respectively connected with the control system and the upper shaft motor and is used for receiving the instruction of the control system and driving the upper shaft motor to operate; the upper shaft angle sensor is connected with the control system and used for collecting the rotation angle of the upper shaft and feeding back the rotation angle to the control system; the lower shaft motor is used for driving the lower shaft to rotate; the lower shaft motor driver is respectively connected with the control system and the lower shaft motor and is used for receiving the instruction of the control system and driving the lower shaft motor to operate; the lower shaft angle sensor is connected with the control system and used for collecting the rotation angle of the lower shaft and feeding back the rotation angle to the control system; and the electronic hand wheel is connected with the control system and inputs the rotating angle of the electronic hand wheel into the control system in real time.
Preferably, the upper shaft angle sensor and the lower shaft angle sensor adopt encoders.
Preferably, the upper shaft angle sensor is connected with an output shaft of an upper shaft motor or an upper shaft; the lower shaft angle sensor is connected with an output shaft of the lower shaft motor or the lower shaft.
Preferably, the electronic handwheel is a hand pulse generator.
Another technical problem to be solved by the present invention is to provide a method for controlling synchronous rotation of an upper shaft and a lower shaft of a sewing machine by using the above system, comprising the following steps:
s1, under the state that the sewing machine stops sewing, the electronic hand wheel is rotated, and an electric signal which represents the rotation angle value A of the electronic hand wheel is transmitted to the control system;
s2, the control system generates a control instruction and simultaneously transmits the control instruction to the upper shaft motor driver and the lower shaft motor driver, wherein the control instruction is used for enabling the upper shaft and the lower shaft to synchronously rotate for the same angle value nA, and n is a preset proportionality coefficient;
s3, feeding back the actual rotation angle A1 of the upper shaft and the actual rotation angle A2 of the lower shaft to the control system by the upper shaft angle sensor and the lower shaft angle sensor;
and S4, comparing A1 and A2 by the control system, and if A1 is not equal to A2, sending a correction compensation command to the upper shaft motor driver and/or the lower shaft motor driver to enable the final rotation angles of the upper shaft and the lower shaft to be equal.
Preferably, in step S1, the electrical signal representing the angle value of the rotation of the electronic handwheel is an analog signal, a digital signal or a pulse signal.
Preferably, in step S2, the preset scaling factor n is 1.
Preferably, in step S4, the final rotation angles of the upper shaft and the lower shaft are both equal to nA.
Preferably, in the steps S1-S4, the transmission of the signal is performed in real time, and when the rotation speed of the electronic handwheel changes, the rotation speeds of the upper shaft and the lower shaft also change correspondingly.
Preferably, the function of the electronic handwheel is locked when the sewing machine is in a state of sewing.
The present invention has the following advantageous effects.
1. The invention provides a feasible solution to the problem that the upper shaft and the lower shaft are difficult to rotate synchronously manually in a sewing machine with the upper shaft and the lower shaft driven independently.
2. The technical scheme of the invention has simple structure and convenient operation, and the system of the invention can be formed by only adding few components on the inherent structure of the sewing machine, thereby having low cost.
3. By adopting the technical scheme of the invention, the upper shaft and the lower shaft can be manually rotated at low speed, and the upper shaft and the lower shaft can be ensured to be accurately and synchronously rotated, so that the sewing machine can be conveniently manually debugged, the positions of the needle bar and the rotating shuttle can be flexibly adjusted, and the operations of threading, needle aligning and the like are facilitated.
Drawings
FIG. 1 is a schematic diagram of the system for controlling the synchronous rotation of the upper shaft and the lower shaft of a sewing machine by an electronic hand wheel according to the present invention.
FIG. 2 is a schematic view of a sewing machine with independent upper and lower shaft drives.
FIG. 3 is a flow chart illustrating a method for controlling synchronous rotation of an upper shaft and a lower shaft of a sewing machine by an electronic hand wheel according to the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to limit the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 2, in the sewing machine in which the upper shaft and the lower shaft are independently driven, an
As shown in fig. 1, the system for controlling the upper shaft and the lower shaft of the sewing machine to synchronously rotate by the electronic hand wheel further comprises the following components: the device comprises a control system, an upper shaft motor driver, an upper shaft angle sensor, a lower shaft motor driver, a lower shaft angle sensor and an electronic hand wheel. The upper shaft motor driver is respectively connected with the control system and the upper shaft motor and is used for receiving the instruction of the control system and driving the upper shaft motor to operate; the upper shaft angle sensor is connected with the control system and used for measuring the rotation angle of the upper shaft and feeding back the rotation angle to the control system, and the upper shaft angle sensor can be connected with an output shaft of an upper shaft motor or the upper shaft. The lower shaft motor driver is respectively connected with the control system and the lower shaft motor and is used for receiving the instruction of the control system and driving the lower shaft motor to operate; the lower shaft angle sensor is connected with the control system and used for measuring the rotation angle of the lower shaft and feeding back the rotation angle to the control system, and the lower shaft angle sensor can be connected with an output shaft of the lower shaft motor or the lower shaft. The upper shaft angle sensor and the lower shaft angle sensor can adopt encoders, and other types of sensors capable of measuring angles can be adopted.
In order to realize the manual control of the rotation of the upper shaft and the lower shaft, the invention adopts an electronic hand wheel to be connected with a control system, and when the electronic hand wheel is rotated by hands, the electronic hand wheel generates an electric signal which can represent the rotation angle of the electronic hand wheel and inputs the electric signal into the control system in real time. For example, the hand-operated pulse generator can be adopted as the electronic hand wheel, in the rotating process, a pulse signal can be generated, and the number of pulses can represent the rotating angle. Of course, the electronic handwheel may also use analog signals such as voltage, current, etc. to characterize its angle of rotation, or may generate digital signals representative of its angle value. In summary, the electronic handwheel of the present invention is understood to be a knob or similar manually rotatable device connected to an angle sensor, capable of outputting an electrical signal representative of its angle of rotation.
The following describes a method for controlling the synchronous rotation of an upper shaft and a lower shaft of a sewing machine by using the above system, as shown in fig. 3, comprising the steps of:
s1, in the state that the sewing machine stops sewing, the electronic hand wheel is rotated by hands, along with the change of the rotation angle of the electronic hand wheel, the generated electric signal changes, the electric signal is transmitted to the control system, and the control system can acquire the rotation angle value A of the electronic hand wheel; as described above, the electrical signal that represents the angular value of the electronic handwheel rotation may be an analog signal, a digital signal, or a pulsed signal.
S2, the control system generates a control instruction and simultaneously transmits the control instruction to the upper shaft motor driver and the lower shaft motor driver, wherein the control instruction is used for enabling the upper shaft and the lower shaft to synchronously rotate for the same angle value nA, and n is a preset proportionality coefficient; when n is equal to 1, the control system gives a command to rotate the upper shaft and the lower shaft by the same angle A as the electronic hand wheel. Of course, n may also take a value greater than 1 or less than 1, meaning that the angle of rotation of the upper and lower shafts may also be greater than the angle of rotation of the electronic handwheel, or less than the angle of rotation of the electronic handwheel. However, the angle of rotation of the upper and lower shafts in the control command is proportional to the angle of rotation of the electronic hand wheel, and is a linear relationship. For example, if the electronic handwheel outputs a pulse signal, and it rotates by an angle a to generate X pulses, the control system may send a command to the upper shaft motor driver and the lower shaft motor driver to generate X pulses to drive the upper shaft motor and the lower shaft motor to rotate, and the theoretical angle of rotation of the upper shaft motor and the lower shaft motor after receiving X pulses is B, which may be equal to or different from a, but B should be proportional to a, i.e., B ═ nA.
S3, since the angle value nA set for the synchronous rotation of the upper and lower shafts in the above step S2 is only a theoretical value, there may be a deviation from the actual rotation angle. Therefore, the invention is also provided with an upper shaft angle sensor and a lower shaft angle sensor which respectively measure the actual rotating angle A1 of the upper shaft and the actual rotating angle A2 of the lower shaft and feed back to the control system.
And S4, the control system compares the actual rotation angle A1 of the upper shaft with the actual rotation angle A2 of the lower shaft, and if A1 is equal to A2, the rotation of the upper shaft and the lower shaft is accurately synchronized, so that the control target is achieved. If a1 ≠ a2, which indicates that the rotation of the upper shaft and the lower shaft is not completely synchronous, a correction compensation command is sent to the upper shaft motor driver and/or the lower shaft motor driver, for example, the rotation angle of the motor (shaft) with a small rotation angle is increased, of course, in the process of correction compensation, the upper shaft angle sensor and the lower shaft angle sensor still feed back the actual rotation angle of the upper shaft and the lower shaft, and the final rotation angle of the upper shaft and the lower shaft is equal through real-time feedback adjustment. And preferably, the final rotation angles of the upper shaft and the lower shaft are both equal to nA, that is, in the control process, the actual rotation angle a1 of the upper shaft and the actual rotation angle a2 of the lower shaft are compared to be equal to the theoretical angle value nA, and through correction compensation, a1 is finally equal to a 2. Therefore, in the control process, the actual rotating angle A1 of the upper shaft and the actual rotating angle A2 of the lower shaft can be close to a determined theoretical angle value nA, so that the control algorithm can be simplified, and a more stable synchronous rotating effect can be obtained. Of course, if a1 ≠ a2 ≠ nA, it is also possible to achieve the purpose of synchronously rotating the upper and lower shafts.
Preferably, in the above steps S1-S4, the signals (the trigger signal of the electronic handwheel, the command signal of the control system and the feedback signal of the angle sensor) are transmitted in real time, and since the speed of manually rotating the electronic handwheel is very slow, it can be considered that the control processes of the above steps S1-S4 are performed correspondingly to each slight angle change in the rotation process of the electronic handwheel, so that the upper shaft and the lower shaft are also rotated synchronously by corresponding angles, thereby showing the effect of synchronous following of the upper shaft and the lower shaft relative to the electronic handwheel. Also because of the effect of synchronous following, when the rotation speed of the electronic hand wheel changes, the rotation speeds of the upper shaft and the lower shaft also change correspondingly. Therefore, in the manual debugging mode, the electronic hand wheel can control the rotation angle (corresponding to the positions of the needle and the rotating shuttle) of the upper shaft and the lower shaft and also can control the rotation speed of the upper shaft and the lower shaft, so that the upper shaft and the lower shaft slowly rotate synchronously along with the electronic hand wheel, and the manual debugging is convenient.
When the sewing machine starts to sew, the control system exits from the manual debugging mode, the function of the electronic hand wheel is locked, the upper shaft and the lower shaft rotate at high speed in the sewing process, and at the moment, even if the electronic hand wheel is rotated, the upper shaft and the lower shaft cannot be influenced.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
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