阅读说明：本技术 绣花机换色控制方法和电子设备 (Embroidery machine color changing control method and electronic equipment ) 是由 徐伟成 王立庆 俞永刚 宣东良 于 2021-09-15 设计创作，主要内容包括：本发明提供一种绣花机换色控制方法和电子设备,如果换色时与初始化系统时螺杆或凸轮旋转方向相同,则换色时传输给步进电机推杆移动距离数据为两个颜色针杆架位置差；如果换色时与初始化系统时螺杆或凸轮旋转方向相反,则换色时传输给步进电机推杆移动距离为两个颜色针杆架位置差与预定距离之和,步进电机驱动螺杆或凸轮旋转该距离后,步进电机驱动螺杆或凸轮旋转同初始化系统时相同方向再移动预定距离。本发明的绣花机换色控制方法,因为通过回程中增加移动预定距离然后返回预定距离,从而消除了产生的机械回程差,换色时针位相对准确度得到了进一步提高,提高了绣品的品质。(The invention provides an embroidery machine color changing control method and electronic equipment, wherein if the rotating direction of a screw rod or a cam is the same when the color is changed and the system is initialized, the moving distance data transmitted to a push rod of a stepping motor during color changing is the position difference of needle rod frames with two colors; if the rotating direction of the screw or the cam is opposite to that of the screw or the cam during the system initialization during color changing, the moving distance transmitted to the push rod of the stepping motor during color changing is the sum of the position difference of the two color needle bar frames and the preset distance, and after the stepping motor drives the screw or the cam to rotate the distance, the stepping motor drives the screw or the cam to rotate in the same direction and then move the preset distance again during the system initialization. The embroidery machine color changing control method of the invention eliminates the mechanical return stroke difference by increasing the movement preset distance and then returning the preset distance in the return stroke, further improves the phase alignment accuracy during color changing, and improves the quality of embroidery.)

1. The embroidery machine color changing control method is characterized in that a system is initialized, and a stepping motor drives a screw rod or a cam to rotate clockwise or anticlockwise singly, so that a needle position signal of the stepping motor corresponds to the position of a needle rod frame; when changing color, the encoder receives a color changing needle position signal of the electric control system, transmits the moving distance data of the push rod to the stepping motor, and the stepping motor drives the screw rod or the cam to rotate so that the color changing needle position signal corresponds to the position of the needle rod frame; if the rotating direction of the screw or the cam is the same as that of the screw or the cam during the system initialization during color changing, the moving distance data transmitted to the push rod of the stepping motor during color changing is the position difference of the two color needle rod frames; if the rotating direction of the screw or the cam is opposite to that of the screw or the cam during the system initialization during color changing, the moving distance transmitted to the push rod of the stepping motor during color changing is the sum of the position difference of the two color needle bar frames and the preset distance, and after the stepping motor drives the screw or the cam to rotate the distance, the stepping motor drives the screw or the cam to rotate in the same direction and then move the preset distance again during the system initialization.

2. The embroidery machine color changing control method according to claim 1, wherein the predetermined distance is greater than a mechanical return difference of a fit clearance.

3. The embroidery machine color-changing control method according to claim 2, wherein the predetermined distance is smaller than a distance between two adjacent needle bars.

4. The color changing control method of the embroidery machine according to claim 1, wherein the needle position signal is collected by a potentiometer and a rack and pinion transmission pair mechanism.

5. The embroidery machine color changing control method according to claim 2, wherein the predetermined distance is greater than twice a mechanical return difference of the fit-in gap.

6. The color-changing control method of the embroidery machine according to claim 1, wherein after initializing the system, the stepping motor drives the screw or the cam to rotate in the same direction as that during initialization, so that all the needle position signals correspond to the needle bar frame positions.

7. The color-changing control method of the embroidery machine according to claim 1, wherein the moving distance data is a number of rotations or an angle of a stepping motor.

8. The embroidery machine color-changing control method according to claim 1, wherein the switching time interval of the clockwise and counterclockwise rotations of the stepping motor at the time of color-changing is 5 seconds or more.

9. An embroidery machine color change control electronic device, characterized in that the electronic device comprises a processor, an encoder and a memory for storing computer instructions, the processor being configured to execute the computer instructions stored in the memory to cause the electronic device to perform the control method of any one of the preceding claims 1 to 8.

Technical Field

The invention relates to the technical field of embroidery machines, and particularly discloses an embroidery machine color changing control method and electronic equipment.

Background

The color changing device of the computerized embroidery machine is a necessary mechanism for the embroidery machine and mainly has the function of making the colors of embroidery patterns not be single colors any more.

The color changing device of the computerized embroidery machine mainly comprises two parts, one part is a needle bar frame driving device, and the other part is a needle position signal acquisition device. The needle bar frame is provided with a plurality of needles, embroidery threads on each needle have different colors, and colorful patterns are embroidered by changing the positions of the needles, so that the embroidered patterns are not single colors any more. Therefore, changing color is actually the needle changing, and since the embroidery thread on each needle has different color, the color change is commonly referred to in the row. The needle bar frame driving device is used for enabling the needle bar frame of the embroidery machine to reciprocate left and right, so that the needle position is changed, and the embroidery with color change is embroidered by the embroidery machine.

The prior known needle bar frame driving device of the computer embroidery machine has two types, one is a cam structure, and the other is a screw nut structure, please refer to the disclosure of cn201220209714.x/CN 201210144331.3.

The cam structure needle bar frame driving device consists of a variable frequency motor, a cylindrical cam, a push rod driving seat and a push rod driving seat sliding rail. The variable frequency motor is connected with the cylindrical cam through the gear set, spiral grooves are formed in the cylindrical cam at intervals, the push rod is fixedly arranged on the driving seat, the axis of the push rod is parallel to the axis of the cylindrical cam, a roller pin is fixedly arranged at one end of the driving seat, and the roller pin is connected with the spiral grooves in a rolling fit mode. When the needle changing device works, the variable frequency motor drives the cylindrical cam to rotate, the three needle positions can be changed by rotating for 360 degrees for a circle, the middle needle position passes through the two platforms, the needle roller has a 30-degree rotating angle on the platforms, and the needle position is kept still at the 30-degree rotating angle, so that the real needle changing angle is 90 degrees. When the cylindrical cam rotates, under the constraint of the driving seat slide rail, the driving seat makes linear displacement, the driving push rod also makes linear displacement, when the needle position is required to rotate, the variable frequency motor rotates reversely, the driving seat makes displacement in the opposite direction, and the needle bar frame is driven to make reciprocating linear displacement in such a reciprocating way, so that the needle changing action is completed. The needle bar frame driving device adopting the structure has high manufacturing cost due to the complex manufacturing process of the cylindrical cam and high requirement on the precision of the curve curvature of the curve groove; because a low-pair transmission structure is arranged between the roller pin and the groove, the groove is seriously abraded, and the service life of the cylindrical cam is short; in order to enable the roller pins to move along the grooves, gaps exist between the roller pins and the grooves, the needle position deviation is larger than or equal to 0.1mm under the condition that the roller pins are not abraded, moreover, the grooves are seriously abraded in the working process of the cylindrical cam, and the needle position return difference is larger when the driving seat makes reciprocating displacement.

Screw nut structure needle bar frame drive arrangement is vice by the screw nut transmission, driving screw pivoted step motor, the drive seat, push rod and guide rail are constituteed, drive seat and nut fixed connection, guide rail and drive seat sliding connection, when the screw rod rotates, the nut drives the drive seat and is linear motion, push rod and drive seat fixed connection, and push rod and guide rail parallel arrangement, needle bar frame drive arrangement is provided with the box, the screw rod passes through bearing and box rotation fixed connection, the one end and the step motor axle fixed connection of screw rod, the encoder is connected to the step motor electricity. When the color changing device works, the encoder receives a color changing signal of the electric control system and transmits the rotation number data to the stepping motor, and the stepping motor directly drives the ball screw to rotate. Firstly, the ball screw is restricted by a rolling bearing, a bearing pressing plate, a pressure bearing and a hand wheel and can only do rotary motion but can not do axial linear motion; secondly, because the ball nut is fixed on the driving seat, the driving seat is restricted by the two guide rail shafts and can only do axial movement along the guide rail shafts, when the ball screw is driven by the stepping motor to do rotary movement, the ball nut engaged with the ball screw drives the driving seat to do reciprocating linear displacement. The push rod arranged on the driving seat makes synchronous linear motion along with the driving seat, and the push rod is connected with the needle bar frame through the pull rod to finish the color changing action of the needle position. The stepping motor drives the ball screw to rotate, the ball nut is constrained by the guide rail to make uniform linear reciprocating displacement, rolling friction exists between the screw nut pair, the screw nut pair is not easy to wear, and a large gap is not easy to generate in a return stroke, so that the needle position is relatively accurate when the needle is changed, the needle changing accuracy is improved, and the embroidery quality is improved.

However, in the above solutions, there is a fit clearance between the needle roller and the spiral groove of the cam-structured needle bar frame driving device, and there is also a fit clearance between the screw and the nut of the screw-nut structured needle bar frame driving device, and a mechanical return difference equal to the fit clearance is also generated in the return stroke, and the needle position alignment accuracy needs to be further improved when changing the needle.

Disclosure of Invention

The invention aims to provide a color changing control method of an embroidery machine aiming at the defects of the prior art.

The purpose of the invention is realized by the following technical scheme:

a color changing control method of an embroidery machine is characterized in that a system is initialized, a stepping motor drives a screw rod or a cam to rotate clockwise or anticlockwise singly, and a needle position signal of the stepping motor corresponds to the position of a needle rod frame; when changing color, the encoder receives a color changing needle position signal of the electric control system, transmits the moving distance data of the push rod to the stepping motor, and the stepping motor drives the screw rod or the cam to rotate so that the color changing needle position signal corresponds to the position of the needle rod frame; if the rotating direction of the screw or the cam is the same as that of the screw or the cam during the system initialization during color changing, the moving distance data transmitted to the push rod of the stepping motor during color changing is the position difference of the two color needle rod frames; if the rotating direction of the screw or the cam is opposite to that of the screw or the cam during the system initialization during color changing, the moving distance transmitted to the push rod of the stepping motor during color changing is the sum of the position difference of the two color needle bar frames and the preset distance, and after the stepping motor drives the screw or the cam to rotate the distance, the stepping motor drives the screw or the cam to rotate in the same direction and then move the preset distance again during the system initialization.

Furthermore, the needle position signal is collected through a potentiometer and a gear and rack transmission pair mechanism.

Further, the predetermined distance is greater than a mechanical return difference of the fit clearance.

Further, the predetermined distance is smaller than a distance between two adjacent needle bars.

Further, after initializing the system, the stepping motor drives the screw or the cam to rotate in the same direction as that in the initialization, so that all needle position signals correspond to the positions of the needle bar frame.

Further, the moving distance is the number of rotation turns or the angle of the stepping motor.

Further, the switching time interval of clockwise and anticlockwise rotation of the stepping motor in color changing is more than or equal to 5 seconds.

The invention also provides electronic equipment for controlling color changing of the embroidery machine, which comprises a processor, an encoder and a memory, wherein the memory is used for storing computer instructions, and the processor is used for executing the computer instructions stored in the memory so as to enable the electronic equipment to execute the control method.

Compared with the prior art, the invention has the following beneficial effects:

according to the embroidery machine color changing control method, the preset distance is moved and then returned in the return stroke, so that the generated mechanical return stroke difference is eliminated, the phase alignment accuracy during color changing is further improved, and the quality of embroidery is improved.

Other advantageous effects of the present invention will be described in detail in the following specific examples.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.

Fig. 1 is a schematic view of a color changing control method of an embroidery machine.

Detailed Description

The present invention will be further described with reference to the following detailed description, wherein the drawings are provided for illustrative purposes only and are not intended to be limiting; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Referring to fig. 1, embodiment 1, an embroidery machine color changing control method, initializing a system, wherein a stepping motor drives a screw or a cam to rotate clockwise or counterclockwise in a single direction, so that a needle position signal corresponds to a needle bar frame position; when changing color, the encoder receives a color changing needle position signal of the electric control system, transmits the moving distance data to the stepping motor, and the stepping motor drives the screw rod or the cam to rotate clockwise or anticlockwise singly so that the color changing needle position signal corresponds to the position of the needle rod frame; if the rotation direction of the screw or the cam is the same as that of the screw or the cam during the system initialization during color changing, the moving distance transmitted to the push rod of the stepping motor during color changing is the position difference of the two color needle rod frames; if the rotating direction of the screw or the cam is opposite to that of the screw or the cam during the system initialization during color changing, the moving distance transmitted to the push rod of the stepping motor during color changing is the sum of the position difference of the two color needle bar frames and the preset distance, and after the stepping motor drives the screw or the cam to rotate the distance, the stepping motor drives the screw or the cam to rotate in the same direction and then move the preset distance again during the system initialization.

Typically, the needle bar housing is 24 needle bar stands, and assuming a first needle bar stand position of 0, the system is initialized, typically by a single direction clockwise rotation, to correspond the first needle position signal to the first needle bar stand position. If the distance between every two needle bar frames is strict and accurate, the distance between every two adjacent needle bar frames is 15mm, and if the color is changed to the third needle bar frame, the color can be accurately changed by clockwise rotating and moving the push rod for 30 mm; similarly, if the color is changed to the 24 th needle bar frame, the color can be accurately changed by rotating the moving push rod 23x15mm clockwise. Then, when the color needs to be changed to the 22-needle bar frame, the push rod needs to be rotated and moved from the 24 th needle bar frame anticlockwise, at this time, the mechanical return stroke difference exists, the mechanical return stroke difference is generally within 1mm, and the mechanical return stroke difference is assumed to be 0.5 mm. The encoder receives a color changing needle position signal of the electric control system, 30mm of moving distance data is transmitted to the stepping motor, the counterclockwise rotating moving push rod does not move 30mm accurately, but moves 29.5mm, and the color changing accuracy is problematic. In order to accurately change the color, a preset distance of 5mm is set, an encoder receives a color changing needle position signal of an electronic control system, the moving distance data of 30+5mm is transmitted to a stepping motor, the stepping motor drives a screw or a cam to rotate anticlockwise to move a push rod for 35mm, the stepping motor drives the screw or the cam to rotate clockwise to move the push rod for 5mm, the actual moving distance is (35-0.5) - (5-0.5) ═ 30mm, and the accurate 30mm is achieved. Thus, by keeping the same clockwise rotation positioning as that in the initialization of the system, no mechanical return difference is generated, and the phase alignment accuracy in color changing is ensured. In actual use, the preset distance is larger than the mechanical return difference of the fit clearance, but considering the color changing time, the preset distance is smaller than the distance between two adjacent needle bars and is larger than twice of the mechanical return difference; the time interval for switching the clockwise rotation and the anticlockwise rotation of the stepping motor is more than or equal to 5 seconds, and the mechanical impact of reverse movement is prevented. For the distance of movement, typically the number of rotations or angles applied directly by the stepper motor.

After the embroidery machine is assembled, the distance between each needle bar frame is not strictly accurate, and after the system is initialized, a screw rod or a cam is driven to rotate in the same direction as that during initialization through a stepping motor, so that all needle position signals correspond to the positions of the needle bar frames. In the embodiment 1, the accurate position of each needle bar frame can be determined and stored in the system before the delivery of the embroidery machine through a manual checking method, and the accurate moving distance data can be called and calculated when the color is changed.

The needle position signal can be collected by a potentiometer and a gear and rack transmission pair mechanism, the signal collecting device consists of a gear and rack pair and a potentiometer, a gear is fixedly arranged on a potentiometer shaft, the potentiometer can be arranged on a needle bar frame driving seat or a push rod, and a rack meshed with the potentiometer is fixedly arranged on the box body; or the potentiometer is fixedly arranged on the box body, and the rack is fixedly arranged on the driving seat and is used as a push rod connected with the needle bar frame. Thus, when the driving seat makes linear reciprocating displacement, the linear motion of the driving seat during color changing is directly converted into the rotary motion of the potentiometer shaft by the gear-rack pair, so that the potentiometer shaft rotates, and a needle position signal is generated through the rotation angle of the potentiometer shaft.

The invention also provides electronic equipment for controlling color changing of the embroidery machine, which comprises a processor, an encoder and a memory, wherein the memory is used for storing computer instructions, and the processor is used for executing the computer instructions stored in the memory so as to enable the electronic equipment to execute the control method.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the individual specific technical features in any suitable way. The invention is not described in detail in order to avoid unnecessary repetition. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.