Method of controlling an automaton and automaton

Abstract

This invention discloses a control method and an automatic machine. The automatic machine includes a lifting head, a clamp, and a controller. Both the clamp and the lifting head are electrically connected to the controller. The control method of the automatic machine is executed by the controller. The control method includes: acquiring position information of the clamp and the lifting head, as well as the operating state of the automatic machine; and controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, and the operating state of the automatic machine, so that the lifting head avoids the clamp. The control method and automatic machine provided by this invention can improve control reliability.

Description

Technical Field

[0001] The embodiments of the present invention relate to automatic control technology, and more particularly to a control method for an automatic machine and an automatic machine. Background Technology

[0002] Automated machines, such as automatic sewing machines, are widely used in various fields, including garment manufacturing. These machines need to control their own operation to ensure normal functioning. Currently, existing control methods for automated machines suffer from the problem of the lifting head colliding with the clamps and damaging the lifting head. Summary of the Invention

[0003] This invention provides a control method and an automaton for improving control reliability.

[0004] In a first aspect, embodiments of the present invention provide a control method for an automated machine, the automated machine including a lifting head, a clamp, and a controller, wherein the clamp and the lifting head are both electrically connected to the controller, and the control method is executed by the controller; the control method includes: Acquire the position information of the clamp and the lifting head, as well as the working status of the automatic machine; Based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, the movement state of the lifting head is controlled so that the lifting head avoids the clamp.

[0005] Optionally, controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the automatic machine is in sewing mode, and the clamp moves away from its own working position toward the sewing station of the automatic machine, the lifting head is controlled to rise.

[0006] Optionally, controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the lifting head descends, if the clamp deviates from the automatic working position and moves toward the sewing station of the automatic machine, the lifting head is controlled to rise.

[0007] Optionally, controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: During the movement of the clamp, the lifting head is controlled to descend, and the height of the lifting head is controlled to be higher than the height of the clamp.

[0008] Optionally, controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the automatic machine is in sewing mode and the clamp is in its working position, the state of the lifting head and the state of the clamp are controlled according to preset control parameters.

[0009] Optionally, controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the lifting head descends and the clamp is in its working position, the state of the lifting head and the state of the clamp are controlled according to preset control parameters.

[0010] Secondly, embodiments of the present invention provide an automatic machine, including: a lifting head, a clamp, and a controller, wherein the clamp and the lifting head are both electrically connected to the controller; the control method of the automatic machine as described in the first aspect is executed by the controller.

[0011] Optionally, the automatic machine also includes a sensor electrically connected to the controller, the sensor being used to collect position information of the clamp and position information of the lifting head.

[0012] Optionally, the automatic machine also includes a guide rail and a cylinder. The lifting head is driven by the cylinder, which is electrically connected to the controller. The controller is used to control the cylinder to slide along the guide rail to drive the lifting head to rise and fall.

[0013] Optionally, the lifting head is a sewing lifting head.

[0014] The present invention provides a control method and an automatic machine for an automated machine. The automated machine includes a lifting head, a clamp, and a controller. Both the clamp and the lifting head are electrically connected to the controller. The control method of the automated machine is executed by the controller. The control method includes: acquiring position information of the clamp and the lifting head, as well as the working state of the automated machine; and controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, and the working state of the automated machine, so that the lifting head avoids the clamp. The control method and the automated machine provided by the present invention control the movement state of the lifting head based on the acquired position information of the clamp and the lifting head, and the working state of the automated machine. For example, after the clamp picks up material, the height of the lifting head is controlled to be higher than the height of the clamp, avoiding collision and damage to the lifting head, thereby improving control reliability. Attached Figure Description

[0015] Figure 1 This is a flowchart of a control method for an automaton provided in Embodiment 1 of the present invention; Figure 2 This is a flowchart of a control method for an automatic machine provided in Embodiment 2 of the present invention; Figure 3 This is a flowchart of another control method for an automaton provided in Embodiment 2 of the present invention; Figure 4 This is a structural block diagram of a control device for an automatic machine provided in Embodiment 3 of the present invention; Figure 5 This is a structural block diagram of an automaton provided in Embodiment 4 of the present invention; Figure 6 This is a schematic diagram of an automaton provided in Embodiment 4 of the present invention; Figure 7 This is a schematic diagram of a partial structure of an automatic machine provided in Embodiment 4 of the present invention; Figure 8 This is a schematic diagram of another automatic machine part structure provided in Embodiment 4 of the present invention; Figure 9 This is a schematic diagram of the structure of a terminal provided in Embodiment 5 of the present invention. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0017] Example 1 Figure 1 This is a flowchart of a control method for an automatic machine according to Embodiment 1 of the present invention. This embodiment can be applied to the control of automatic machines such as automatic sewing machines. The automatic machine includes a lifting head, a clamp, and a controller. The clamp and the lifting head are electrically connected to the controller. The control method is executed by the controller, which can be implemented in software and / or hardware. The method specifically includes the following steps: Step 110: Obtain the position information of the clamp and the lifting head, as well as the working status of the automatic machine.

[0018] The position information of the clamp and the position information of the lifting head are collected by sensors. The controller is electrically connected to the sensors to obtain the position information of the clamp and the position information of the lifting head. The working status of the automatic machine can be controlled by the controller in real time.

[0019] Step 120: Based on the position information of the clamp and the lifting head, as well as the working status of the automatic machine, control the movement of the lifting head so that the lifting head avoids the clamp.

[0020] Specifically, taking an automatic sewing machine as an example, the clamp is used to pick up the fabric and transport it to the sewing position of the machine, and the lifting head is a sewing lifting head. The sewing lifting head can rise and fall to sew the fabric held by the clamp. In one embodiment, when the clamp moves towards the sewing position after picking up the fabric, the height of the lifting head is controlled to be higher than the height of the clamp to avoid collision and damage to the lifting head, thus improving control reliability. Furthermore, since the lifting head is expensive, replacement if it is damaged increases the cost of the automatic machine. Therefore, by controlling the lifting head to avoid the clamp, the increased cost caused by replacement due to lifting head damage is avoided.

[0021] The automatic machine control method provided in this embodiment includes: acquiring position information of the clamp and the lifting head, as well as the working state of the automatic machine; and controlling the movement state of the lifting head according to the position information of the clamp and the lifting head, and the working state of the automatic machine, so that the lifting head avoids the clamp. The automatic machine control method provided in this embodiment controls the movement state of the lifting head according to the acquired position information of the clamp and the lifting head, and the working state of the automatic machine. For example, after the clamp picks up the material, the height of the lifting head is controlled to be higher than the height of the clamp, avoiding collision between the lifting head and the clamp and damage to the lifting head, thereby improving control reliability.

[0022] Example 2 Figure 2 This is a flowchart of a control method for an automatic machine provided in Embodiment 2 of the present invention. This embodiment can be applied to the control of automatic machines such as automatic sewing machines. The automatic machine includes a lifting head, a clamp, and a controller. The clamp and the lifting head are electrically connected to the controller. The control method is executed by the controller, which can be implemented in software and / or hardware. The method specifically includes the following steps: Step 210: Obtain the position information of the clamp and the lifting head, as well as the working status of the automatic machine.

[0023] The position information of the fixture includes the height of its different components. The position information of the fixture and the lifting head is acquired by sensors. The controller is electrically connected to the sensors to obtain the position information of the fixture and the lifting head. The working status of the automatic machine can be controlled in real time by the controller.

[0024] Step 220: When the automatic machine is in sewing mode and the clamp moves away from its own working position toward the sewing position of the automatic machine, control the lifting head to rise.

[0025] The working position of the fixture can be pre-stored in the controller. The controller can compare the real-time position of the fixture with the pre-stored working position of the fixture. When the fixture moves away from its own working position toward the sewing station of the automatic machine and the automatic machine is in sewing condition, the controller controls the lifting head to rise to avoid collision between the lifting head and the fixture, which would damage the lifting head.

[0026] Step 230: When the lifting head descends, if the clamp deviates from the automatic working position and moves toward the sewing station of the automatic machine, then control the lifting head to rise.

[0027] Among them, the lifting head is controlled to rise, and the height of the lifting head is higher than the height of the clamp. The specific height of the rise can be determined according to the actual control requirements, and is not limited here.

[0028] Step 240: During the movement of the clamp, control the lifting head to descend and control the height of the lifting head to be higher than the height of the clamp.

[0029] Specifically, during the movement of the clamp and before it reaches its final position, that is, during the process of the clamp picking up the fabric and moving it toward the automatic machine, the lifting head is controlled to descend according to the height of the clamp, and the height of the lifting head is controlled to be higher than the height of all the components of the clamp, so as to avoid the lifting head colliding with the clamp and causing damage to the lifting head.

[0030] Step 250: When the automatic machine is in sewing mode and the clamp is in its working position, control the state of the lifting head and the state of the clamp according to the preset control parameters.

[0031] The preset control parameters are those that control the normal operation of the lifting head and the clamp, such as the lifting speed of the lifting head and the movement speed of the clamp. When the automatic machine is in sewing mode and the clamp is in its working position indicating no abnormality, the controller controls the lifting head and the clamp to work normally, that is, controls the state of the lifting head and the clamp according to the preset control parameters.

[0032] Step 260: When the lifting head descends and the clamp is in its working position, control the state of the lifting head and the state of the clamp according to the preset control parameters.

[0033] Specifically, if the lifting head descends and the clamp is in its working position, indicating no abnormality, the controller will control the lifting head and clamp to work normally, that is, control the state of the lifting head and the clamp according to the preset control parameters.

[0034] Figure 3 This is a flowchart of another control method for an automaton provided in Embodiment 2 of the present invention. The specific control process of the controller can be referred to the description of steps 210-260 above, and will not be repeated here.

[0035] It should be noted that the magnitude of each parameter in this embodiment can be determined according to the actual control requirements of the automaton, and is not limited here.

[0036] The automatic machine control method provided in this embodiment controls the movement state of the lifting head based on the acquired position information of the clamp and the position information of the lifting head, as well as the working state of the automatic machine. When the automatic machine is in sewing mode and the clamp moves away from its own working position toward the sewing position of the automatic machine, the lifting head is controlled to rise. When the lifting head is descending, if the clamp moves away from the automatic working position toward the sewing position of the automatic machine, the lifting head is controlled to rise. During the movement of the clamp, the lifting head is controlled to descend, and the height of the lifting head is controlled to be higher than the height of the clamp to avoid collision between the lifting head and the clamp and damage to the lifting head, thereby improving control reliability.

[0037] Example 3 Figure 4 This is a structural block diagram of a control device for an automatic machine according to Embodiment 3 of the present invention. The automatic machine includes a lifting head, a clamp, and a controller. The clamp and the lifting head are both electrically connected to the controller, and the control device of the automatic machine is integrated into the controller of the automatic machine. (Reference) Figure 4 The control device of the automatic machine includes an information acquisition module 310 and a status control module 320. The information acquisition module 310 is used to acquire the position information of the clamp and the lifting head, as well as the working status of the automatic machine. The status control module 320 is used to control the movement state of the lifting head according to the position information of the clamp and the lifting head, as well as the working status of the automatic machine, so that the lifting head avoids the clamp.

[0038] Based on the above implementation, the state control module 320 includes: a first control unit, which is used to control the lifting head to rise when the automatic machine is in sewing condition and the clamp moves away from its own working position toward the sewing position of the automatic machine.

[0039] In one embodiment, the state control module 320 includes a second control unit, which is used to control the lifting head to rise if the clamp deviates from the automatic working position and moves toward the sewing station of the automatic machine when the lifting head descends.

[0040] Optionally, the status control module 320 includes a third control unit, which controls the lowering of the lifting head and controls the height of the lifting head to be higher than the height of the clamp during the movement of the clamp.

[0041] Optionally, the status control module 320 includes a fourth control unit, which is used to control the status of the lifting head and the status of the clamp according to preset control parameters when the automatic machine is in sewing condition and the clamp is in its working position.

[0042] Optionally, the status control module 320 includes a fifth control unit, which controls the status of the lifting head and the clamp according to preset control parameters when the lifting head descends and the clamp is in its working position.

[0043] The control device for the automaton provided in this embodiment belongs to the same inventive concept as the control method for the automaton provided in any embodiment of the present invention, and has corresponding beneficial effects. For technical details not covered in this embodiment, please refer to the control method for the automaton provided in any embodiment of the present invention.

[0044] Example 4 Figure 5 This is a structural block diagram of an automaton provided in Embodiment 4 of the present invention. Figure 6 This is a schematic diagram of an automaton provided in Embodiment 4 of the present invention. (See reference) Figure 5 and Figure 6 The automatic machine includes: a lifting head 10, a clamp 20, and a controller 30. The clamp 10 and the lifting head 20 are both electrically connected to the controller 30. The control method of the automatic machine in any embodiment of the present invention is executed by the controller 30. The specific control process of the controller 30 on the automatic machine can be referred to any of the above embodiments, and will not be repeated here.

[0045] refer to Figure 6 Optionally, the automatic machine also includes a sensor 40, which is electrically connected to the controller and is used to collect position information of the fixture and the lifting head.

[0046] Specifically, sensor 40 transmits the collected position information, including the position information of the fixture and the lifting head, to the controller, so that the controller can control the movement state of the lifting head and the fixture based on the position information collected by the sensor. Further, sensor 40 is a position acquisition sensor, which can convert the detected position into electrical signals, such as voltage, current, and digital pulses, for the controller to process. Position acquisition sensors include contact sensors and proximity sensors. Contact sensors include limit switches and two-dimensional matrix position sensors. Limit switches have a simple structure and reliable operation; when an object contacts the limit switch, its internal contacts actuate, achieving control, and are commonly used for axis limit control in machining centers. Two-dimensional matrix position sensors can detect the contact position between the device with the sensor installed and the object. Proximity sensors include electromagnetic sensors, photoelectric sensors, differential transformer sensors, eddy current sensors, capacitive sensors, and Hall effect sensors. Electromagnetic sensors use the principle of electromagnetic induction to detect the position of an object; photoelectric sensors detect the position of an object based on the photoelectric effect; and differential transformer sensors detect position by measuring changes in the characteristics of the induced magnetic field in a coil, enabling linear motion tracking or rotational position tracking. Eddy current sensors detect the position of an object using the eddy current effect and are often used as proximity sensors. Capacitive sensors determine the position of the measured object by detecting changes in capacitance. Hall effect sensors determine the object's position by measuring changes in Hall voltage. Position acquisition sensors also include photoelectric encoders, angle sensors, magnetic encoders, laser rangefinders, and ultrasonic sensors. Photoelectric encoders use a photoelectric converter to convert the object's position into a digital signal and are often used to measure rotational positions. Angle sensors (potentiometer type) determine the object's position by measuring the rotation angle and use a rheostat to detect changes in resistance. Magnetic encoders use the principle of magnetic field induction to determine the object's position by measuring changes in the magnetic field, offering high accuracy and anti-interference capabilities. Laser rangefinders use a laser beam to measure distance and determine the object's position by measuring the time or intensity of the reflected laser beam. Ultrasonic sensors measure the distance between the object and the sensor by emitting and receiving ultrasonic waves and are often used to measure the position of distant objects. It should be noted that the specific type of sensor in this embodiment can be determined according to the actual control requirements of the automatic machine and is not limited here.

[0047] refer to Figure 6 Optionally, the automatic machine also includes a guide rail 50 and a cylinder 60. The lifting head 10 is driven by a cylinder 30, and the cylinder 60 is electrically connected to a controller. The controller is used to control the cylinder 60 to slide along the guide rail 50 to drive the lifting head to rise and fall. The extension direction of the guide rail 50 is the same as the extension direction of the lifting head, both being vertical, so that the controller can control the cylinder 60 to slide along the guide rail 50 to drive the lifting head to rise and fall.

[0048] Optionally, the lifting head is a sewing lifting head.

[0049] Specifically, a sewing machine head with a lifting function is widely used in various industrial and special sewing machines, effectively improving the convenience and adaptability of sewing. The sewing machine head can adapt to different materials: the height of the head can be flexibly adjusted according to the thickness and shape of the material. For example, when sewing thick materials, raising the head ensures that the needle penetrates the material smoothly, avoiding problems such as needle jamming and thread breakage. After completing a sewing operation, the controller raises the sewing machine head, facilitating material replacement or the next process, improving work efficiency. When encountering raised structures on the material surface, the head can be raised at the end of each sewing segment to avoid uneven stitches or damage to the material, thus ensuring sewing quality. Sewing machine lifting heads are widely used in industrial sewing such as garment manufacturing, home textile sewing, and specialty sewing. Their intelligent lifting function can meet the sewing needs of various complex patterns and thick materials, adapting to materials of different thicknesses and ensuring sewing quality and efficiency. Furthermore, the overall structure of the automatic machine is simple and low-cost.

[0050] Figure 7 This is a schematic diagram of a partial structure of an automatic machine provided in Embodiment 4 of the present invention, for reference. Figure 7 The automatic machine includes a body 70, a first connecting plate 80, a rotating head 90, a rotating head seat 91, a second connecting plate 92, and a floating joint 93. The rotating head 90 is located above the rotating head seat 91, and the controller can control the rotating head 90 to drive the lifting head to rotate. Figure 8 This is a schematic diagram of another automaton structure provided in Embodiment 4 of the present invention, for reference. Figure 8 The automatic machine also includes a motor 94, a slip ring 95, a motor mounting plate 96, and a bearing 97. The controller is electrically connected to the motor 94 and controls the working status of the motor. When the motor is working, it can drive the rotating head 90 to rotate.

[0051] The automaton provided in this embodiment belongs to the same inventive concept as the control method of the automaton provided in any embodiment of the present invention, and has corresponding beneficial effects. For technical details not covered in this embodiment, please refer to the control method of the automaton provided in any embodiment of the present invention.

[0052] Example 5 Figure 9 This is a schematic diagram of the structure of a terminal provided in Embodiment 5 of the present invention. Figure 9 A block diagram of an exemplary device 412 suitable for implementing embodiments of the present invention is shown. Figure 9 The device 412 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0053] like Figure 9As shown, device 412 is represented as a general-purpose device. Components of device 412 may include, but are not limited to: one or more processors 416, storage device 428, and bus 418 connecting different system components (including storage device 428 and processor 416).

[0054] Bus 418 represents one or more of several bus architectures, including a memory device bus or memory device controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Subversive Alliance (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0055] Device 412 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 412, including volatile and non-volatile media, removable and non-removable media.

[0056] Storage device 428 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 430 and / or cache memory 432. Device 412 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 434 may be used to read and write non-removable, non-volatile magnetic media (… Figure 9 Not shown; usually referred to as a "hard drive"). Although Figure 9As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc, such as a Compact Disc Read-Only Memory (CD-ROM), a Digital Video Disc Read-Only Memory (DVD-ROM), or other optical media. In these cases, each drive may be connected to bus 418 via one or more data media interfaces. Storage device 428 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0057] A program / utility 440 having a set (at least one) of program modules 442 may be stored in, for example, a storage device 428. Such program modules 442 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 442 typically perform the functions and / or methods described in the embodiments of the present invention.

[0058] Device 412 can also communicate with one or more external devices 414 (e.g., keyboard, pointing terminal, display 424, etc.), and with one or more terminals that enable a user to interact with device 412, and / or with any terminal that enables device 412 to communicate with one or more other computing terminals (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 422. Furthermore, device 412 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 420. Figure 9 As shown, network adapter 420 communicates with other modules of device 412 via bus 418. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with device 412, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, Redundant Arrays of Independent Disks (RAID) systems, tape drives, and data backup storage systems.

[0059] The processor 416 (which can be considered as the controller of the automaton) executes various functional applications and data processing by running a program stored in the storage device 428, such as implementing the control method of the automaton provided in the embodiments of the present invention, the method including: Acquire the position information of the fixture and the lifting head, as well as the working status of the automatic machine; Based on the position information of the clamp and the lifting head, as well as the working status of the automatic machine, the movement of the lifting head is controlled so that the lifting head avoids the clamp.

[0060] Example 6 Embodiment 6 of the present invention provides a computer-readable storage medium storing a computer program thereon. When executed by a controller, the program implements the control method of the automaton as provided in the embodiments of the present invention. The method includes: Acquire the position information of the fixture and the lifting head, as well as the working status of the automatic machine; Based on the position information of the clamp and the lifting head, as well as the working status of the automatic machine, the movement of the lifting head is controlled so that the lifting head avoids the clamp.

[0061] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0062] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0063] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0064] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0065] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, rearrangements, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for an automatic machine, characterized in that, The automatic machine includes a lifting head, a clamp, and a controller. The clamp and the lifting head are both electrically connected to the controller, and the control method is executed by the controller. The control method includes: Acquire the position information of the clamp and the lifting head, as well as the working status of the automatic machine; Based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, the movement state of the lifting head is controlled so that the lifting head avoids the clamp.

2. The control method for the automatic machine according to claim 1, characterized in that, The step of controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the automatic machine is in sewing mode, and the clamp moves away from its own working position toward the sewing station of the automatic machine, the lifting head is controlled to rise.

3. The control method for the automatic machine according to claim 1, characterized in that, The step of controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the lifting head descends, if the clamp deviates from the automatic working position and moves toward the sewing station of the automatic machine, the lifting head is controlled to rise.

4. The control method for the automatic machine according to claim 1, characterized in that, The step of controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: During the movement of the clamp, the lifting head is controlled to descend, and the height of the lifting head is controlled to be higher than the height of the clamp.

5. The control method for an automatic machine according to claim 1, characterized in that, The step of controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the automatic machine is in sewing mode and the clamp is in its working position, the state of the lifting head and the state of the clamp are controlled according to preset control parameters.

6. The control method for an automatic machine according to claim 1, characterized in that, The step of controlling the movement state of the lifting head based on the position information of the clamp and the lifting head, as well as the working state of the automatic machine, includes: When the lifting head descends and the clamp is in its working position, the state of the lifting head and the state of the clamp are controlled according to preset control parameters.

7. An automatic machine, characterized in that, include: The elevator head, the clamp, and the controller are all electrically connected to the controller. The control method of the automaton as described in any one of claims 1-6 is executed by the controller.

8. The automatic machine according to claim 7, characterized in that, It also includes a sensor, which is electrically connected to the controller, and is used to collect the position information of the clamp and the position information of the lifting head.

9. The automatic machine according to claim 7, characterized in that, It also includes a guide rail and a cylinder. The lifting head is driven by the cylinder. The cylinder is electrically connected to the controller. The controller is used to control the cylinder to slide along the guide rail so as to drive the lifting head to rise and fall.

10. The automatic machine according to claim 9, characterized in that, The lifting head is a sewing machine lifting head.

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