A change control method for hybrid embroidery machine

Abstract

The present invention relates to the technical field of embroidery equipment, and more specifically to a homing control method for a hybrid embroidery machine. A hybrid embroidery machine structure is proposed in which a machine head drive component and a rotary hook box drive component are independently arranged. The homing control method for the hybrid embroidery machine structure includes: homing a first rotating motor and a second rotating motor based on whether the working needle position of the embroidery machine corresponds to a tape needle position or a flat embroidery needle position; if it is a tape needle position, the next step is directly executed; if it is a flat embroidery needle position, the next step is executed based on the positional relationship between the flat embroidery needle position and the lower needle position; if the first rotating motor is at zero position, the second rotating motor is homing; if the first rotating motor is not at zero position, the first rotating motor is homing first, then the second rotating motor is homing; and finally, the corresponding machine head is homing. While improving the homing accuracy and efficiency of the hybrid embroidery machine, the homing control scheme of the hybrid embroidery machine is simplified.

Description

Technical Field

[0001] The invention relates to the technical field of embroidery equipment, and in particular to a zero-finding control method for a hybrid embroidery machine. Background Art

[0002] With the development of embroidery equipment technology and the market demand for diversified embroidery options and more efficient production methods, hybrid embroidery machines equipped with multiple head structures came into being.

[0003] However, hybrid embroidery machines currently on the market suffer from a common drawback: the control scheme for automatically finding the machine's zero position is overly complex. Specifically, when the fabric, the machine head, or other circumstances arise, the machine's zero position must be found before subsequent embroidery work can be performed to achieve the desired hybrid embroidery effect. However, because the upper and lower shafts in existing hybrid embroidery machines, which drive the upper shaft (driving the head) and the lower shaft (driving the hook box), are connected by a synchronous belt drive, the precision of this synchronous belt drive is easily affected by the belt's tightness and wear, which in turn affects the accuracy of the machine's zero position finding and, in turn, the quality of the fabric embroidery. Furthermore, because the synchronous belt drives the upper and lower shafts, finding the machine's zero position requires adjusting the belt tension and sprocket position. This cumbersome control process makes zero-finding control technology a major technical difficulty in existing hybrid embroidery machines. Consequently, in the market's pursuit of higher embroidery precision and speed, the zero-finding control schemes of existing hybrid embroidery machines struggle to meet the transmission accuracy and dynamic response requirements. This also leads to the use of offline manual adjustment for finding the zero point position of some existing hybrid embroidery machines, which seriously affects the operating efficiency of the embroidery machines. Summary of the Invention

[0004] In view of the above technical problems, the present invention proposes a zero-finding control method for a hybrid embroidery machine, which aims to improve the zero-finding accuracy and efficiency of the hybrid embroidery machine while simplifying the zero-finding control scheme of the hybrid embroidery machine.

[0005] To this end, the present invention adopts the following technical solution: a homing control method for a hybrid embroidery machine, which is applied to a hybrid embroidery machine including a tape head, a flat embroidery head, and a rotary hook box, and is provided with a first rotary motor and a second rotary motor. The first rotary motor is used to drive and adjust the needle drop height of the tape head and the flat embroidery head, and the second rotary motor is used to drive and adjust the rotation angle of the rotary hook in the rotary hook box. The control method includes:

[0006] S1, determining whether the operating needle position of the embroidery machine corresponds to a tape needle position or a flat embroidery needle position, and obtaining a determination result;

[0007] S2, performing zeroing on the first rotating motor and the second rotating motor based on the judgment result, specifically comprising:

[0008] S201: If the judgment result is the tape needle position, directly execute S202; if the judgment result is the flat embroidery needle position, execute S202 based on the positional relationship between the flat embroidery needle position and the lower needle position;

[0009] S202, determining whether the first rotating motor is at zero position, if the first rotating motor is at zero position, performing homing on the second rotating motor, if the first rotating motor is not at zero position, executing S203;

[0010] S203, after the embroidery needle of the machine head has discharged the cloth, firstly aligning the first rotating motor and then aligning the second rotating motor;

[0011] S3, after the first rotating motor and the second rotating motor have completed the homing, homing the corresponding machine head.

[0012] The present invention proposes a hybrid embroidery machine structure in which the first rotating motor and the second rotating motor are independently driven, that is, the head drive component and the hook box drive component are independently arranged, and a corresponding hybrid embroidery machine homing control method, thereby effectively avoiding the existing hybrid embroidery machine homing control scheme being easily affected by the tightness and wear of the synchronous belt and the relatively complex technical defects, improving the accuracy of the hybrid embroidery machine's zero point position search, thereby improving the embroidery quality of the fabric to a certain extent, and simplifying the control scheme for automatic zero point search of the hybrid embroidery machine, while improving the adaptability of the upper and lower axis movements of the hybrid embroidery machine to quickly respond to the homing needs of the hybrid embroidery machine, thereby improving production efficiency to a certain extent.

[0013] Preferably, in S203, after the embroidery needle of the machine head discharges the cloth, the first rotating motor is firstly zeroed, and then the second rotating motor is zeroed, which specifically includes:

[0014] The position of the first rotating motor is detected, and based on the position detection result, it is determined whether the position of the embroidery needle in the machine head is above the fabric. If the embroidery needle is above the fabric, the second rotating motor is first zeroed, and then the second rotating motor is driven to adjust the rotary hook in the rotary hook box to rotate to the needle drop point, and then the first rotating motor is zeroed, and finally the second rotating motor is zeroed. If the embroidery needle is below the fabric, the first rotating motor is first zeroed, and then the second rotating motor is zeroed.

[0015] Preferably, performing position detection on the first rotating motor and determining whether the embroidery needle in the machine head is located above the fabric based on the position detection result specifically includes:

[0016] presetting a target position of the first rotating motor based on the position of the fabric;

[0017] Performing position detection on the first rotating motor to obtain an actual position of the first rotating motor;

[0018] The actual position of the first rotating motor is compared with a preset target position, and based on the comparison result, it is determined whether the position of the embroidery needle in the machine head is located above the fabric.

[0019] Preferably, in S3, after the first rotating motor and the second rotating motor complete the homing, homing is performed on the corresponding machine head, specifically including:

[0020] If the working needle position of the embroidery machine corresponds to the tape needle position, the machine head is separated from the motor and zeroed so that the tape head is in the working state for embroidery and the flat embroidery head is in the standby non-working state. The tape presser foot is zeroed, the spool rotating motor is zeroed, and the spool swing motor is zeroed.

[0021] If the working needle position of the embroidery machine corresponds to the flat embroidery needle position, the machine head is separated from the motor and zeroed so that the flat embroidery machine head is in the working state for embroidery and the tape head is in the non-working state of standby. The flat embroidery presser foot is zeroed, and the tape presser foot, the spool rotating motor and the spool swinging motor are not zeroed.

[0022] Preferably, in S201, S202 is performed based on the positional relationship between the flat embroidery needle position and the lower needle position, specifically including:

[0023] Determine whether the flat embroidery needle position is the lower needle position. If the flat embroidery needle position is the lower needle position, directly execute S202. If the flat embroidery needle position is not the lower needle position, adjust the flat embroidery needle position to the lower needle position and then execute S202.

[0024] Preferably, the flat embroidery machine head has a plurality of flat embroidery needle positions, and the lower needle position is determined according to the color of the embroidery thread. Embroidery threads of different colors correspond to different lower needle positions.

[0025] Preferably, when the machine head needs to be switched during the execution of the homing control method for the hybrid embroidery machine, the homing of the cutting motor is performed after S3.

[0026] Preferably, when power is cut off during the process of switching the machine heads, the cutting head motor is directly re-zeroed after the embroidery machine is powered on again.

[0027] The beneficial technical effects of the present invention include at least: adopting a homing control method for a hybrid embroidery machine, proposing a hybrid embroidery machine structure in which the first rotating motor and the second rotating motor are independently driven, that is, the head drive component and the hook box drive component are independently arranged, and a corresponding hybrid embroidery machine homing control method, effectively avoiding the existing hybrid embroidery machine homing control scheme being easily affected by the tightness and wear of the synchronous belt and the more complex technical defects, improving the accuracy of the hybrid embroidery machine's zero point position search, and thus improving the embroidery quality of the fabric to a certain extent, and simplifying the control scheme for automatic zero point search of the hybrid embroidery machine, while improving the adaptability of the upper and lower axis movements of the hybrid embroidery machine to quickly respond to the homing needs of the hybrid embroidery machine, thereby improving production efficiency to a certain extent.

[0028] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] Figure 1 This is a flow chart of the zero finding control method for a hybrid embroidery machine according to an embodiment of the present invention.

[0031] Figure 2 This is a structural schematic diagram of a hybrid embroidery machine with independently driven upper and lower shafts according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0033] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0034] The embodiment of the present application provides a method for controlling the zeroing of a hybrid embroidery machine, which is applied to a hybrid embroidery machine including a tape head 101, a flat embroidery head 102 and a rotary hook box 201. Figure 1 and attached Figure 2, a first rotary motor 103 and a second rotary motor 202 are provided. The first rotary motor 103 is used to drive and adjust the up and down reciprocating movement of the tape head 101 and the flat embroidery head 102, thereby controlling the needle drop height of the tape head 101 and the flat embroidery head 102. The second rotary motor 202 is used to drive and adjust the rotation angle of the rotary hook in the rotary hook box 201. The control method includes:

[0035] S1, determining whether the operating needle position of the embroidery machine corresponds to a tape needle position or a flat embroidery needle position, and obtaining a determination result.

[0036] Among them, the determination of whether the working needle position of the embroidery machine corresponds to the tape needle position or the flat embroidery needle position can be achieved by the following method, which is not limited in this embodiment:

[0037] 1. Position encoder: By installing position encoders on the tape machine head 101 and the flat embroidery machine head 102, the positions of the machine heads can be monitored in real time, thereby determining the machine head type corresponding to the current operating needle position.

[0038] 2. Mechanical switch sensor: A mechanical switch sensor is set on the head of the embroidery machine. When the head reaches a specific position, the mechanical switch sensor can trigger a signal to determine the type of head corresponding to the current operating needle position.

[0039] 3. Photoelectric sensor: The photoelectric sensor installed on the embroidery machine can detect the patterns and stitches on the fabric, thereby determining whether the current operating needle position is the tape needle position or the flat embroidery needle position.

[0040] S2, performing zeroing on the first rotating motor 103 and the second rotating motor 202 based on the judgment result, specifically comprising:

[0041] S201, if the judgment result is the tape needle position, directly execute S202, if the judgment result is the flat embroidery needle position, execute S202 based on the positional relationship between the flat embroidery needle position and the lower needle position.

[0042] Further, based on the positional relationship between the flat embroidery needle position and the lower needle position, step S202 is executed, specifically including:

[0043] Determine whether the flat embroidery needle position is the lower needle position. If the flat embroidery needle position is the lower needle position, directly execute S202. If the flat embroidery needle position is not the lower needle position, adjust the flat embroidery needle position to the lower needle position and then execute S202.

[0044] Furthermore, the flat embroidery machine head 102 has a plurality of flat embroidery needle positions, and the lower needle position is determined according to the color of the embroidery thread. Embroidery threads of different colors correspond to different lower needle positions.

[0045] For example, this embodiment can determine whether the flat embroidery needle position is the lower needle position by using a color-changing potentiometer. Specifically, first, by installing a color-changing potentiometer on the flat embroidery machine head 102, the color-changing potentiometer can change its resistance as the flat embroidery needle position changes. Secondly, each flat embroidery needle position is calibrated by the installed color-changing potentiometer, that is, the resistance value at the lower needle position corresponding to each embroidery thread color is measured. These values ​​will be used as the threshold for determining the lower needle position. Then, through appropriate circuits and sensors, the resistance change of the color-changing potentiometer is monitored in real time. When the resistance value is lower than the preset lower needle position threshold, it can be determined that the corresponding flat embroidery needle position is in the lower needle position. Finally, the signal detected by the resistance value is input into the logic judgment circuit to determine whether the flat embroidery needle position is the lower needle position. Logical operations are performed according to the preset threshold to determine the specific position of the flat embroidery needle position.

[0046] By determining whether the flat embroidery needle position is already at the lower needle position before executing the upper and lower axis homing, the upper and lower axis homing at a position other than the lower needle position can be avoided, thereby improving the homing efficiency of the hybrid embroidery machine and reducing the wear of mechanical parts.

[0047] S202, determining whether the first rotating motor 103 is at zero position, if the first rotating motor 103 is at zero position, performing homing on the second rotating motor 202, if the first rotating motor 103 is not at zero position, executing S203.

[0048] In this embodiment, the first rotating motor 103 and the second rotating motor 202 are both equipped with motor encoders, which record the motor stroke through the encoder. The zero position of the motor, that is, the initial position of the motor, is set by the motor encoder when leaving the factory. Therefore, in this embodiment, a motor encoder or other sensor can be used to determine whether the first rotating motor 103 is at the zero position, and the motor can be zeroed, that is, the motor is controlled to rotate to the zero position according to the signal of the encoder or other sensor.

[0049] S203, after the embroidery needle of the machine head has ejected the cloth, the first rotary motor 103 is firstly reset, and then the second rotary motor 202 is reset.

[0050] S3, after the first rotary motor 103 and the second rotary motor 202 have completed the resetting, the corresponding machine head is resetting.

[0051] It can be understood that the zeroing of the machine head, that is, the operations required for the machine head, include zeroing the presser foot of the corresponding machine head or zeroing the wire wheel rocker, etc.

[0052] This embodiment proposes a hybrid embroidery machine structure in which the first rotary motor 103 and the second rotary motor 202 are independently driven, that is, the head drive component and the hook box 201 drive component are independently arranged, and a corresponding hybrid embroidery machine homing control method, which effectively avoids the existing hybrid embroidery machine homing control scheme being easily affected by the tightness and wear of the synchronous belt and the relatively complex technical defects, improves the accuracy of the hybrid embroidery machine's zero point position search, and thus improves the embroidery quality of the fabric to a certain extent, simplifies the control scheme for automatic zero point search of the hybrid embroidery machine, and at the same time improves the adaptability of the upper and lower axis movements of the hybrid embroidery machine to quickly respond to the homing needs of the hybrid embroidery machine, thereby improving production efficiency to a certain extent.

[0053] In one embodiment of the present specification, in S203, after the embroidery needle of the machine head has discharged the cloth, the first rotary motor 103 is firstly zeroed, and then the second rotary motor 202 is zeroed, which specifically includes:

[0054] The first rotary motor 103 is position-detected, and based on the position detection result, it is determined whether the embroidery needle in the machine head is located above the fabric. If the embroidery needle is located above the fabric, the second rotary motor 202 is first zeroed to rotate the rotary hook in the rotary hook box 201 to zero position. At this time, the embroidery needle in the machine head cannot be inserted into the stitch, otherwise the embroidery needle and the rotary hook will interfere with each other and cause the needle to break. Secondly, the second rotary motor 202 is driven to adjust the rotary hook in the rotary hook box 201 to rotate to the needle drop point. At this time, the embroidery needle in the machine head can match and insert the needle to perform embroidery. Embroidery work, so that the embroidery needle falls under the fabric, then the first rotating motor 103 is zeroed, the embroidery needle of the machine head is retracted to the initial position, and finally the second rotating motor 202 is zeroed, and the lower shaft is reset to the initial position, which is convenient for the next zeroing; if the embroidery needle is located below the fabric, the first rotating motor 103 is zeroed first, the embroidery needle of the machine head is retracted to the initial position, and then the second rotating motor 202 is zeroed, and the shuttle in the shuttle box 201 is rotated to zero position, which is convenient for the next zeroing.

[0055] Furthermore, the position of the first rotating motor 103 is detected, and based on the position detection result, it is determined whether the position of the embroidery needle in the machine head is located above the fabric, which specifically includes:

[0056] Presetting a target position of the first rotating motor 103 based on the position of the fabric;

[0057] Performing position detection on the first rotating motor 103 to obtain an actual position of the first rotating motor 103;

[0058] The actual position of the first rotary motor 103 is compared with a preset target position, and based on the comparison result, it is determined whether the position of the embroidery needle in the machine head is located above the fabric.

[0059] The actual position of the first rotating motor 103 is obtained by performing position detection on the first rotating motor 103 , which may involve a sensor, an encoder or other position detection device to monitor the actual position of the motor, and this embodiment does not limit this.

[0060] In this embodiment, the first rotary motor 103 and the second rotary motor 202 are zeroed in turn according to the relative positions between the embroidery needle and the fabric, thereby achieving precise control of the zeroing of the upper and lower axes, reducing possible interference and malfunctions that may occur during the zeroing process of the hybrid embroidery machine, and thus ensuring the accuracy and stability of the embroidery work.

[0061] In one embodiment of the present specification, in S3, after the first rotating motor 103 and the second rotating motor 202 have completed homing, homing the corresponding machine head is performed, which specifically includes:

[0062] If the working needle position of the embroidery machine corresponds to the tape needle position, the machine head is separated from the motor and zeroed so that the tape head 101 is in the working state for embroidery, that is, the main shaft 104 rotates and the tape head 101 lowers the needle, while the flat embroidery machine head 102 is in a standby non-working state, that is, the main shaft 104 rotates idly and the tape head 101 does not lower the needle, wherein the main shaft 104 is the shaft driven by the first rotating motor 103, the tape presser foot is zeroed, the line wheel rotating motor is zeroed, and the line wheel swinging motor is zeroed.

[0063] If the working needle position of the embroidery machine corresponds to the flat embroidery needle position, the machine head is separated from the motor and zeroed so that the flat embroidery machine head 102 is in the working state for embroidery and the taping machine head 101 is in the standby non-working state, and the flat embroidery presser foot is zeroed. There is no wire pulley structure in the flat embroidery machine head 102, and the taping presser foot, the wire pulley rotating motor and the wire pulley swinging motor are not zeroed.

[0064] It can be understood that, in the machine head homing operation in this embodiment, there is no order restriction for the machine head disengaging motor homing, the presser foot homing, the wire wheel rotating motor homing, and the wire wheel swinging motor homing.

[0065] The flat embroidery head 102 in this embodiment is preferably a flat embroidery head 102 having a clutch drive mechanism, as described in the embroidery machine head publication number CN218291310U. When the first rotary motor 103 is running, the clutch drive mechanism can control the flat embroidery head 102 to be in an embroidery working state or a standby non-working state. Furthermore, the tape embroidery head in this embodiment is preferably a tape embroidery head having a clutch drive mechanism, as described in the embroidery machine head publication number CN218291310U. When the first rotary motor 103 is running, the clutch drive mechanism can control the tape embroidery head to be in an embroidery working state or a standby non-working state. In this embodiment, the head separation motor is the driving component of the clutch drive mechanism.

[0066] In one embodiment of the present specification, when the machine head needs to be switched during the execution of the homing control method of the hybrid embroidery machine, the homing of the cutting head motor 3 is performed after S3.

[0067] It can be understood that the cutting head motor 3 is the motor that drives the hybrid embroidery machine to switch the heads.

[0068] Furthermore, when the power is cut off during the process of switching the machine heads, the trimming motor 3 is directly re-zeroed after the embroidery machine is powered on again.

[0069] In this embodiment, the cutting head motor 3 is preferably homed after the upper and lower shafts and the machine head are homed, which can avoid unnecessary mechanical movement and interference, improve the stability of the hybrid embroidery machine in switching the machine head during the home search process, and simplify the home search control scheme of the hybrid embroidery machine while improving the home search efficiency.

[0070] The above description is merely a description of the preferred embodiments disclosed in this application and the technical principles employed. Those skilled in the art should understand that the scope of protection provided by this disclosure is not limited to technical solutions formed by a specific combination of the aforementioned technical features, but also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents without departing from the scope of the disclosure. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0071] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

Claims

1. A method for controlling the change of a hybrid embroidery machine, which is applied to a hybrid embroidery machine including a tape head, a flat embroidery head and a rotary hook box, and is characterized in that: A first rotary motor and a second rotary motor are provided, wherein the first rotary motor is used to drive and adjust the needle drop height of the tape machine head and the flat embroidery machine head, and the second rotary motor is used to drive and adjust the rotation angle of the rotary hook in the rotary hook box. The control method includes: S1, determining whether the operating needle position of the embroidery machine corresponds to a tape needle position or a flat embroidery needle position, and obtaining a determination result; S2, performing zeroing on the first rotating motor and the second rotating motor based on the judgment result, specifically comprising: S201: If the judgment result is the tape needle position, directly execute S202; if the judgment result is the flat embroidery needle position, execute S202 based on the positional relationship between the flat embroidery needle position and the lower needle position; S202, determining whether the first rotating motor is at zero position, if the first rotating motor is at zero position, performing homing on the second rotating motor, if the first rotating motor is not at zero position, executing S203; S203, after the embroidery needle of the machine head has discharged the cloth, firstly aligning the first rotating motor and then aligning the second rotating motor, specifically including: presetting a target position of the first rotating motor based on the position of the fabric; Performing position detection on the first rotating motor to obtain an actual position of the first rotating motor; comparing the actual position of the first rotating motor with a preset target position, and determining whether the embroidery needle in the machine head is located above the fabric based on the comparison result; If the embroidery needle is located above the fabric, the second rotary motor is first zeroed, and then the second rotary motor is driven to adjust the rotary hook in the rotary hook box to rotate to the needle drop point, and then the first rotary motor is zeroed, and finally the second rotary motor is zeroed. If the embroidery needle is located below the fabric, the first rotary motor is first zeroed, and then the second rotary motor is zeroed; S3, after the first rotating motor and the second rotating motor have completed the homing, homing the corresponding machine head.

2. The method for controlling the zero position of a hybrid embroidery machine according to claim 1, wherein: In S3, after the first rotating motor and the second rotating motor have completed the homing, homing is performed on the corresponding machine head, specifically including: If the working needle position of the embroidery machine corresponds to the tape needle position, the machine head is separated from the motor and zeroed so that the tape head is in the working state for embroidery and the flat embroidery head is in the standby non-working state. The tape presser foot is zeroed, the spool rotating motor is zeroed, and the spool swing motor is zeroed. If the working needle position of the embroidery machine corresponds to the flat embroidery needle position, the machine head is separated from the motor and zeroed so that the flat embroidery machine head is in the working state for embroidery and the tape head is in the non-working state of standby. The flat embroidery presser foot is zeroed, and the tape presser foot, the spool rotating motor and the spool swinging motor are not zeroed.

3. The method for controlling the zero position of a hybrid embroidery machine according to claim 1, wherein: In S201, S202 is executed based on the positional relationship between the flat embroidery needle position and the lower needle position, specifically including: Determine whether the flat embroidery needle position is the lower needle position. If the flat embroidery needle position is the lower needle position, directly execute S202. If the flat embroidery needle position is not the lower needle position, adjust the flat embroidery needle position to the lower needle position and then execute S202.

4. A method for controlling the zeroing of a hybrid embroidery machine as claimed in claim 3, characterized in that: The flat embroidery machine head has a plurality of flat embroidery needle positions, and the lower needle position is determined according to the color of the embroidery thread. Embroidery threads of different colors correspond to different lower needle positions.

5. A homing control method for a hybrid embroidery machine according to any one of claims 1 to 4, characterized in that: When the machine head needs to be switched during the execution of the homing control method for the hybrid embroidery machine, the homing of the cutting head motor is performed after S3.

6. A method for controlling the zeroing of a hybrid embroidery machine as claimed in claim 5, characterized in that: If the power is cut off during the process of switching the machine heads, the cutting head motor will be reset directly after the embroidery machine is powered on again.

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