Dual-axis synchronous template machine and control method and device thereof

Abstract

The present application belongs to the technical field of sewing machines, and in particular relates to a dual-axis synchronous template machine and its control method and device, wherein the control method comprises: obtaining associated instructions, setting the active axis and the driven axis according to the associated instructions; generating motion instructions according to a preset sewing stitch; generating a pulse instruction according to the motion instruction and a preset proportional coefficient; controlling the motion of the active axis according to the motion instruction, and controlling the synchronous movement of the driven axis and the active axis according to the pulse instruction. Through the above steps, dual-axis synchronous control is achieved, which effectively solves the problem of poor reverse sewing stitches in the prior art, and improves product quality. By presetting the rotation range, the maximum rotation range of the machine head is limited, and dual-axis rotation control is achieved through corresponding steps. Compared with the ordinary rotary template machine in the prior art, rotation control and preferred sewing stitches can be achieved without setting an electric slip ring, which effectively reduces production costs and improves equipment operation stability.

Description

Technical Field

[0001] The present application relates to the technical field of sewing machines, and in particular to a dual-axis synchronous template machine and a control method and device thereof. Background Art

[0002] Template sewing machines combine garment template CAD software, garment template sewing CAD software, and advanced CNC technology to fully automate the production of applied templates. This improves production efficiency and product quality, reduces the technical requirements of skilled workers, and replaces traditional manually operated sewing machines with more automated computer-controlled machines, reducing reliance on highly skilled personnel. While ensuring quality, they also address labor shortages and skill deficiencies in the industry. They fully automate garment sewing and promote the streamlined production of garment templates. Conventional template sewing machines control a single spindle motor, connecting the needle bar and shuttle using a connecting rod and gear mechanism. The rotation of the single spindle drives the synchronous movement of the needle bar and shuttle to achieve sewing. However, due to the mechanical connection between the needle bar and shuttle, rotational control is impossible, making it impossible to avoid reverse sewing seams, resulting in unsightly seams and poor sewing results. Therefore, improvements to existing technologies are necessary to address these issues. Summary of the Invention

[0003] The purpose of this application is to provide a dual-axis synchronous template machine and its control method and device, aiming to solve the technical problem in the prior art that the template machine cannot avoid reverse sewing stitches, resulting in unsightly sewing stitches on the product and poor sewing effect.

[0004] In order to achieve the above objectives, the present application provides a dual-axis synchronous template machine control method, comprising:

[0005] Step S100: Acquire an associated instruction, and set a driving axis and a driven axis according to the associated instruction, wherein the driving axis includes an upper rotating axis and an upper main axis, and the driven axis includes a lower rotating axis and a rotary hook axis;

[0006] Step S200: generating motion instructions according to a preset sewing stitch;

[0007] Step S300: generating a pulse instruction according to the motion instruction and a preset proportional coefficient;

[0008] Step S400: controlling the driving shaft to move according to the motion instruction, and controlling the driven shaft to move synchronously with the driving shaft according to the pulse instruction.

[0009] As a preferred solution, the step S200: generating a motion instruction according to a preset sewing stitch, specifically includes:

[0010] Step S210: obtaining a preset sewing trace, wherein the sewing trace includes a plurality of needle positions;

[0011] Step S220: generating predicted needle position parameters according to the sewing stitch, wherein the predicted needle position parameters include position information, type information and vector information;

[0012] Step S230: acquiring initial position data of the upper spindle, and generating an upper spindle motion instruction according to the initial position data, the position information, and the type information;

[0013] Step S240: acquiring initial vector data of the upper rotation axis, and generating an upper rotation axis motion instruction according to the initial vector data and the vector information;

[0014] Step S250: generating a motion instruction according to the upper spindle motion instruction and the upper rotary axis motion instruction. Step S240: acquiring initial vector data of the upper rotary axis, and generating the upper rotary axis motion instruction according to the initial vector data and the vector information, specifically includes:

[0015] Step S241: obtaining initial vector data of the upper rotation axis;

[0016] Step S242: generating corresponding target rotation angles according to the initial vector parameters and vector information of multiple needle positions, wherein the target rotation angles are one or two;

[0017] Step S243: generating a plurality of expected motion plans according to the plurality of target rotation angles;

[0018] Step S244: generating a corresponding expected rotation time according to the expected motion plan;

[0019] Step S245: designating the expected motion plan with the shortest expected rotation time as the preferred motion plan;

[0020] Step S245: Generate an upper rotation axis motion instruction according to the preferred motion scheme.

[0021] As a preferred solution, the step S242: generating a corresponding target rotation angle according to the initial vector parameter and the vector information of the plurality of needle positions, specifically includes:

[0022] Step S2421: generating an initial rotation angle according to the initial vector parameter and the vector information of the next needle position;

[0023] Step S2422: obtaining a preset rotation range of the upper rotation axis, wherein the rotation range includes an upper rotation limit value and a lower rotation limit value;

[0024] Step S2423: generating a first target angle and a second target angle according to the initial rotation angle and the rotation interval, wherein the first target angle and the second target angle are the target rotation angles;

[0025] Step S2424: According to the vector information of the current needle position and the vector information of the next needle position, the target rotation angle of the current needle position is obtained, and so on, until the target rotation angle of each needle position is obtained.

[0026] As a preferred solution, step S244: generating a corresponding expected rotation time according to the expected motion plan, specifically includes:

[0027] Step S2441: Calculating a corresponding rotation angle increment according to the target rotation angle of each expected motion plan;

[0028] Step S2442: Classify the rotation angle increments according to the preset angle intervals to obtain corresponding time ratio parameters;

[0029] Step S2443: generating an estimated time according to the rotation angle increment and the preset proportional coefficient;

[0030] Step S2444: Calculate the expected rotation time according to the estimated time corresponding to each target rotation angle.

[0031] As a preferred solution, the step S400: controlling the driving shaft to move according to the motion instruction, and controlling the driven shaft to move synchronously with the driving shaft according to the pulse instruction, further includes:

[0032] Step S510: stop acquiring the motion instruction and disconnect the active axis from being enabled;

[0033] Step S520: obtaining feedback position information of the active shaft;

[0034] Step S530: In response to a manual operation by a user, obtaining adjustment position information of the driving shaft;

[0035] Step S540: generating a deviation value according to the feedback position information and the adjustment position information;

[0036] Step S550: generating an adjustment instruction according to the deviation value to control the movement of the driven shaft.

[0037] As a preferred solution, the step S100 of obtaining an associated instruction and setting the driving axis and the driven axis according to the associated instruction specifically includes:

[0038] Step S110: Acquire a return-to-zero instruction, wherein the return-to-zero instruction includes a return-to-zero direction parameter and a return-to-zero speed parameter;

[0039] Step S120: controlling the driving shaft and the driven shaft to move to the mechanical zero position according to the zero return instruction;

[0040] Step S130: Acquire an associated instruction, and set the upper main shaft and the upper rotating shaft as the driving shaft, and the rotary hook shaft and the lower rotating shaft as the driven shaft according to the associated instruction.

[0041] The present application also provides a dual-axis synchronous template machine control device, comprising:

[0042] An associated instruction acquisition module is used to acquire associated instructions and set the driving axis and the driven axis according to the associated instructions, wherein the driving axis includes an upper rotating axis and an upper main axis, and the driven axis includes a lower rotating axis and a rotary hook axis;

[0043] A motion instruction generating module, used for generating motion instructions according to preset sewing stitches;

[0044] A pulse instruction generating module, configured to generate a pulse instruction according to the motion instruction and a preset proportional coefficient;

[0045] The synchronous motion control module is used to control the motion of the active shaft according to the motion instruction, and to control the synchronous motion of the driven shaft and the active shaft according to the pulse instruction.

[0046] Compared with the prior art, the above one or more technical solutions in the dual-axis synchronous template machine control method and device provided by the present application have at least one of the following technical effects:

[0047] By obtaining associated instructions, the active axis and the driven axis are set according to the associated instructions; a motion instruction is generated according to a preset sewing stitch; a pulse instruction is generated according to the motion instruction and a preset proportional coefficient; the active axis is controlled to move according to the motion instruction, and the driven axis is controlled to move synchronously with the active axis according to the pulse instruction; dual-axis synchronous control is achieved, which effectively solves the problem of poor reverse sewing stitches in the prior art and improves product quality.

[0048] By presetting the rotation range, the maximum rotation range of the machine head is limited, and corresponding steps are used to achieve dual-axis rotation control. Compared with conventional rotary template machines in the prior art, this system can achieve rotation control and optimal sewing stitches without the need for electric slip rings, effectively reducing production costs and improving equipment operation stability.

[0049] The present application also provides a dual-axis synchronous template machine, comprising the control device, a machine platform and a machine head;

[0050] The machine includes a first drive motor, a second drive motor, a rotary hook shaft and a lower rotating shaft, wherein the rotary hook shaft is connected to the first drive motor and the lower rotating shaft is connected to the second drive motor;

[0051] The machine head is arranged above the machine platform, and the machine head includes a third drive motor, a fourth drive motor, an upper spindle and an upper rotating shaft, the upper spindle is connected to the third drive motor, and the upper rotating shaft is connected to the fourth drive motor;

[0052] The control device is connected to the first drive motor, the second drive motor, the third drive motor and the fourth drive motor to control the synchronous movement of the upper main shaft and the rotary hook shaft, and the synchronous movement of the upper rotating shaft and the lower rotating shaft.

[0053] Compared with the prior art, the above one or more technical solutions in the dual-axis synchronous template machine provided by this application have at least one of the following technical effects:

[0054] By upgrading the single-spindle control in the existing technology to dual-axis synchronous control, the upper spindle is synchronized with the shuttle shaft, and the upper rotating shaft is synchronized with the lower rotating shaft, eliminating the mechanical connection between the machine table and the machine head, realizing rotation control, and effectively avoiding the problem of unsightly reverse sewing stitches and poor sewing effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 This is a flow chart of the dual-axis synchronous template machine control method in this application.

[0057] Figure 2 Flowchart for generating motion instructions in this application.

[0058] Figure 3 This is a flow chart for generating the upper rotary axis motion instructions in this application.

[0059] Figure 4 Flowchart for generating target rotation angle in this application.

[0060] Figure 5 Flowchart for generating expected rotation time for this application.

[0061] Figure 6 This is a flow chart for adjusting the slave axis position in this application.

[0062] Figure 7 This is a flowchart for obtaining associated instructions in this application.

[0063] Figure 8 This is a structural block diagram of the dual-axis synchronous template machine control device in this application.

[0064] Figure 9 This is a structural diagram of the dual-axis synchronous template machine in this application.

[0065] Figure 10 A schematic diagram of the machine structure in this application;

[0066] Figure 11 It is a structural diagram of the nose in this application.

[0067] Description of reference numerals:

[0068] 100 - control device; 110 - associated instruction acquisition module; 120 - motion instruction generation module; 130 - pulse instruction generation module; 140 - synchronous motion control module; 150 - slave axis position adjustment module;

[0069] 200-machine platform; 210-first drive motor; 220-second drive motor; 230-rotating hook shaft; 240-lower rotating shaft;

[0070] 300 - machine head; 310 - third drive motor; 320 - fourth drive motor; 330 - upper spindle; 340 - upper rotating shaft. DETAILED DESCRIPTION

[0071] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0072] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0074] In the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0075] In one embodiment of the present application, Figure 1-Figure 7 As shown, a dual-axis synchronous template machine control method is provided, comprising:

[0076] Step S100: Acquire an associated instruction, and set a driving axis and a driven axis according to the associated instruction, wherein the driving axis includes an upper rotating axis and an upper main axis, and the driven axis includes a lower rotating axis and a rotary hook axis;

[0077] Step S200: generating motion instructions according to a preset sewing stitch;

[0078] Step S300: generating a pulse instruction according to the motion instruction and a preset proportional coefficient;

[0079] Step S400: controlling the driving shaft to move according to the motion instruction, and controlling the driven shaft to move synchronously with the driving shaft according to the pulse instruction.

[0080] In another embodiment of the present invention, the step S100 of obtaining an associated instruction and setting the driving axis and the driven axis according to the associated instruction specifically includes:

[0081] Step S110: Acquire a return-to-zero instruction, wherein the return-to-zero instruction includes a return-to-zero direction parameter and a return-to-zero speed parameter;

[0082] Step S120: controlling the driving shaft and the driven shaft to move to the mechanical zero position according to the zero return instruction;

[0083] Step S130: Acquire an associated instruction, and set the upper main shaft and the upper rotating shaft as the driving shaft, and the rotary hook shaft and the lower rotating shaft as the driven shaft according to the associated instruction.

[0084] In this embodiment, the driving axis (including the upper rotary axis and upper spindle) and the driven axis (including the lower rotary axis and rotary hook axis) perform a zero return motion before synchronous movement. Based on the zero return direction and zero return speed parameters, the driving axis and the driven axis are controlled to move in the zero return direction and at the zero return speed to the mechanical zero position and then stop. After the driving and driven axes complete the zero return, the upper rotary axis and upper spindle are set as the driving axes, and the lower rotary axis and rotary hook axis are set as the driven axes. Of course, the lower rotary axis and rotary hook axis can also be set as the driving axes, and the upper rotary axis and upper spindle as the driven axes, depending on the application requirements.

[0085] In another embodiment of the present invention, the step S200 of generating a motion instruction according to a preset sewing stitch specifically includes:

[0086] Step S210: obtaining a preset sewing trace, wherein the sewing trace includes a plurality of needle positions;

[0087] Step S220: generating predicted needle position parameters according to the sewing stitch, wherein the predicted needle position parameters include position information, type information and vector information;

[0088] Step S230: acquiring initial position data of the upper spindle, and generating an upper spindle motion instruction according to the initial position data, the position information, and the type information;

[0089] Step S240: acquiring initial vector data of the upper rotation axis, and generating an upper rotation axis motion instruction according to the initial vector data and the vector information;

[0090] Step S250: generating a motion instruction according to the upper spindle motion instruction and the upper rotary axis motion instruction.

[0091] In another embodiment of the present invention, the step S240 of obtaining initial vector data of the upper rotation axis and generating an upper rotation axis motion instruction according to the initial vector data and the vector information specifically includes:

[0092] Step S241: obtaining initial vector data of the upper rotation axis;

[0093] Step S242: generating corresponding target rotation angles according to the initial vector parameters and vector information of multiple needle positions, wherein the target rotation angles are one or two;

[0094] Step S243: generating a plurality of expected motion plans according to the plurality of target rotation angles;

[0095] Step S244: generating a corresponding expected rotation time according to the expected motion plan;

[0096] Step S245: designating the expected motion plan with the shortest expected rotation time as the preferred motion plan;

[0097] Step S246: Generate an upper rotation axis motion instruction according to the preferred motion scheme.

[0098] In another embodiment of the present invention, the step S242 of generating a corresponding target rotation angle according to the initial vector parameter and vector information of multiple needle positions specifically includes:

[0099] Step S2421: generating an initial rotation angle according to the initial vector parameter and the vector information of the next needle position;

[0100] Step S2422: obtaining a preset rotation range of the upper rotation axis, wherein the rotation range includes an upper rotation limit value and a lower rotation limit value;

[0101] Step S2423: generating a first target angle and a second target angle according to the initial rotation angle and the rotation interval, wherein the first target angle and the second target angle are the target rotation angles;

[0102] Step S2424: According to the vector information of the current needle position and the vector information of the next needle position, the target rotation angle of the current needle position is obtained, and so on, until the target rotation angle of each needle position is obtained.

[0103] In this embodiment, the rotation range of the active shaft is generally [-180°, 180°], [-270°, 270°], or [-360°, 360°]. Taking the rotation range of [-270°, 270°] as an example, the initial rotation angle θ is added to 360° to obtain the first target angle θ. 1 (i.e. θ+360°=θ 1 ), the second target angle θ is obtained by subtracting the initial rotation angle θ from -360° 2 (i.e. θ-360°=θ 2 ). If θ 1 and θ 2 If one of them is within the rotation interval [-270°, 270°], the initial rotation angle θ is not unique and all angles need to be recorded.

[0104] In another embodiment of the present invention, step S244: generating a corresponding expected rotation time according to the expected motion plan, specifically includes:

[0105] Step S2441: Calculating a corresponding rotation angle increment according to the target rotation angle of each expected motion plan;

[0106] Step S2442: Classify the rotation angle increments according to the preset angle intervals to obtain corresponding time ratio parameters;

[0107] Step S2443: generating an estimated time according to the rotation angle increment and the preset proportional coefficient;

[0108] Step S2444: Calculate the expected rotation time according to the estimated time corresponding to each target rotation angle.

[0109] In this embodiment, when the target rotation angle is not unique, a target rotation angle θ is selected and used as a reference to calculate the target rotation angle θ of each needle position. n , according to the target rotation angle θ of the previous needle position n-1 The rotation angle increment △θ is calculated from the value of n , according to △θ n The process is divided into three categories: (1) small-angle rotation: sewing does not decelerate, and the active axis rotates synchronously to the target rotation angle; (2) corner rotation: sewing decelerates to the corner speed (set by parameters), and the active axis rotates synchronously to the target rotation angle; (3) rotary rotation: sewing decelerates and stops, the active axis rotates into place, and then sewing accelerates to the maximum speed. Small-angle rotation does not affect sewing efficiency and is not included in the estimated time. The acceleration and deceleration time of corner rotation is recorded as T1, the acceleration and deceleration time of rotary rotation is recorded as T2, and the stopping time of rotary rotation is recorded as T3 (rotation time). The expected rotation time is generated based on the sum of T1, T2 and T3.

[0110] In another embodiment of the present invention, the step S400 of controlling the driving shaft to move according to the motion instruction and controlling the driven shaft to move synchronously with the driving shaft according to the pulse instruction further includes:

[0111] Step S510: stop acquiring the motion instruction and disconnect the active axis from being enabled;

[0112] Step S520: obtaining feedback position information of the active shaft;

[0113] Step S530: In response to a manual operation by a user, obtaining adjustment position information of the driving shaft;

[0114] Step S540: generating a deviation value according to the feedback position information and the adjustment position information;

[0115] Step S550: generating an adjustment instruction according to the deviation value to control the movement of the driven shaft.

[0116] The present invention also provides a dual-axis synchronous template machine control device, such as Figure 8As shown, it includes: an associated instruction acquisition module 110, a motion instruction generation module 120, a pulse instruction generation module 130 and a synchronous motion control module 140.

[0117] The associated instruction acquisition module 110 is used to acquire associated instructions and set the driving axis and the driven axis according to the associated instructions, wherein the driving axis includes the upper rotating axis and the upper main axis, and the driven axis includes the lower rotating axis and the rotary hook axis;

[0118] A motion instruction generating module 120 is used to generate motion instructions according to a preset sewing stitch;

[0119] A pulse instruction generating module 130 is configured to generate a pulse instruction according to the motion instruction and a preset proportional coefficient;

[0120] The synchronous motion control module 140 is configured to control the motion of the active shaft according to the motion instruction, and to control the driven shaft to move synchronously with the active shaft according to the pulse instruction.

[0121] In another embodiment of the present invention, a slave axis position adjustment module 150 is further included, which is used to stop obtaining the motion instruction and disconnect the enable of the active axis; obtain feedback position information of the active axis;

[0122] In response to a manual operation of a user, the adjustment position information of the active shaft is acquired; a deviation value is generated according to the feedback position information and the adjustment position information; and an adjustment instruction is generated according to the deviation value to control the movement of the driven shaft.

[0123] In another embodiment of the present invention, the dual-axis master-slave setting module 110 is further used to: obtain a return to zero instruction, wherein the return to zero instruction includes a return to zero direction parameter and a return to zero speed parameter; control the active axis and the driven axis to move to the mechanical zero position according to the return to zero instruction; obtain an associated instruction, and set the upper main axis and the upper rotating axis as the active axis, and the rotary shuttle axis and the lower rotating axis as the driven axis according to the associated instruction.

[0124] In another embodiment of the present invention, the spindle motion control module 120 is also used to: obtain a preset sewing stitch, wherein the sewing stitch includes multiple needle positions; generate predicted needle position parameters based on the sewing stitch, wherein the predicted needle position parameters include position information, type information and vector information; obtain the initial position data of the upper spindle, and generate an upper spindle motion instruction based on the initial position data, the position information and the type information; obtain the initial vector data of the upper rotary axis, and generate an upper rotary axis motion instruction based on the initial vector data and the vector information; generate a motion instruction based on the upper spindle motion instruction and the upper rotary axis motion instruction.

[0125] In another embodiment of the present invention, the spindle motion control module 120 is also used to: obtain the initial vector data of the upper rotation axis; generate corresponding target rotation angles based on the initial vector parameters and the vector information of multiple needle positions, wherein the target rotation angles are one or two; generate multiple expected motion schemes based on the multiple target rotation angles; generate corresponding expected rotation times based on the expected motion schemes; designate the expected motion scheme with the shortest expected rotation time as the preferred motion scheme; and generate upper rotation axis motion instructions based on the preferred motion scheme.

[0126] In another embodiment of the present invention, the spindle motion control module 120 is also used to: generate an initial rotation angle based on the initial vector parameters and the vector information of the next needle position; obtain a preset rotation range of the upper rotation axis, wherein the rotation range includes an upper rotation limit value and a lower rotation limit value; generate a first target angle based on the initial rotation angle and the upper rotation limit value, and generate a second target angle based on the predicted rotation angle and the lower rotation limit value, wherein the first target angle and the second target angle are the target rotation angles; obtain the target rotation angle of the current needle position based on the vector information of the current needle position and the vector information of the next needle position, and so on, until the target rotation angle of each needle position is obtained.

[0127] In another embodiment of the present invention, the spindle motion control module 120 is further used to: calculate the corresponding rotation angle increment based on the target rotation angle of each expected motion scheme; classify the rotation angle increment according to a preset angle range to obtain the corresponding time proportion parameter; generate an estimated time based on the rotation angle increment and the proportional coefficient; calculate the expected rotation time based on the estimated time corresponding to each of the target rotation angles.

[0128] The present invention also provides a dual-axis synchronous template machine, such as Figures 9-11 As shown, it includes the control device 100, the machine platform 200 and the machine head 300.

[0129] The machine 200 includes a first driving motor 210 , a second driving motor 220 , a rotary hook shaft 230 and a lower rotating shaft 240 . The rotary hook shaft 230 is connected to the first driving motor 210 , and the lower rotating shaft 240 is connected to the second driving motor 220 .

[0130] The machine head 300 is disposed above the machine platform 200 , and includes a third drive motor 310 , a fourth drive motor 320 , an upper spindle 330 and an upper rotating shaft 340 . The upper spindle 330 is connected to the third drive motor 310 , and the upper rotating shaft 340 is connected to the fourth drive motor 320 .

[0131] The control device 100 is connected to the first drive motor 210, the second drive motor 220, the third drive motor 310 and the fourth drive motor 320 to control the synchronous movement of the upper main shaft 330 and the rotary hook shaft 230, and the synchronous movement of the upper rotating shaft 340 and the lower rotating shaft 240.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0133] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of these modules may be selected to achieve the purpose of this embodiment based on actual needs.

[0134] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0135] If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a readable storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned readable storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0136] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dual-axis synchronous template machine control method, characterized in that: include: Step S100: Acquire an associated instruction, and set a driving axis and a driven axis according to the associated instruction, wherein the driving axis includes an upper rotating axis and an upper main axis, and the driven axis includes a lower rotating axis and a rotary hook axis; Step S200: generating motion instructions according to the preset sewing stitches, specifically including: Step S210: obtaining a preset sewing trace, wherein the sewing trace includes a plurality of needle positions; Step S220: generating predicted needle position parameters according to the sewing stitch, wherein the predicted needle position parameters include position information, type information and vector information; Step S230: acquiring initial position data of the upper spindle, and generating an upper spindle motion instruction according to the initial position data, the position information, and the type information; Step S240: Acquire initial vector data of the upper rotation axis, and generate an upper rotation axis motion instruction according to the initial vector data and the vector information, specifically including: Step S241: obtaining initial vector data of the upper rotation axis; Step S242: generating corresponding target rotation angles according to the initial vector data and vector information of multiple needle positions, wherein the target rotation angles are one or two; Step S243: generating a plurality of expected motion plans according to the plurality of target rotation angles; Step S244: generating a corresponding expected rotation time according to the expected motion plan; Step S245: designating the expected motion plan with the shortest expected rotation time as the preferred motion plan; Step S246: generating an upper rotation axis motion instruction according to the preferred motion scheme; Step S250: generating a motion instruction according to the upper spindle motion instruction and the upper rotary axis motion instruction; Step S300: generating a pulse instruction according to the motion instruction and a preset proportional coefficient; Step S400: controlling the driving shaft to move according to the motion instruction, and controlling the driven shaft to move synchronously with the driving shaft according to the pulse instruction.

2. The dual-axis synchronous template machine control method according to claim 1, characterized in that: The step S242: generating a corresponding target rotation angle according to the initial vector data and the vector information of the plurality of needle positions, specifically includes: Step S2421: generating an initial rotation angle according to the initial vector data and the vector information of the next needle position; Step S2422: obtaining a preset rotation range of the upper rotation axis, wherein the rotation range includes an upper rotation limit value and a lower rotation limit value; Step S2423: generating a first target angle and a second target angle according to the initial rotation angle and the rotation interval, wherein the first target angle and the second target angle are the target rotation angles; Step S2424: According to the vector information of the current needle position and the vector information of the next needle position, the target rotation angle of the current needle position is obtained, and so on, until the target rotation angle of each needle position is obtained.

3. The dual-axis synchronous template machine control method according to claim 1, characterized in that: Step S244: generating a corresponding expected rotation time according to the expected motion plan, specifically including: Step S2441: Calculating a corresponding rotation angle increment according to the target rotation angle of each expected motion plan; Step S2442: Classify the rotation angle increments according to the preset angle intervals to obtain corresponding time ratio parameters; Step S2443: generating an estimated time according to the rotation angle increment and the preset proportional coefficient; Step S2444: Calculate the expected rotation time according to the estimated time corresponding to each target rotation angle.

4. The control method for a dual-axis synchronous template machine according to any one of claims 1 to 3, characterized in that: The step S400: controlling the driving shaft to move according to the motion instruction, and controlling the driven shaft to move synchronously with the driving shaft according to the pulse instruction, and then further includes: Step S510: stop acquiring the motion instruction and disconnect the active axis from being enabled; Step S520: obtaining feedback position information of the active shaft; Step S530: In response to a manual operation by a user, obtaining adjustment position information of the driving shaft; Step S540: generating a deviation value according to the feedback position information and the adjustment position information; Step S550: generating an adjustment instruction according to the deviation value to control the movement of the driven shaft.

5. The control method of a dual-axis synchronous template machine according to any one of claims 1 to 3, characterized in that: The step S100: obtaining an associated instruction and setting the driving axis and the driven axis according to the associated instruction specifically includes: Step S110: Acquire a return-to-zero instruction, wherein the return-to-zero instruction includes a return-to-zero direction parameter and a return-to-zero speed parameter; Step S120: controlling the driving shaft and the driven shaft to move to the mechanical zero position according to the zero return instruction; Step S130: Acquire an associated instruction, and set the upper main shaft and the upper rotating shaft as the driving shaft, and the rotary hook shaft and the lower rotating shaft as the driven shaft according to the associated instruction.

6. A control device for a dual-axis synchronous template machine, the control device adopting the dual-axis synchronous template machine control method according to any one of claims 1 to 3, characterized in that: include: An associated instruction acquisition module is used to acquire associated instructions and set the driving axis and the driven axis according to the associated instructions, wherein the driving axis includes an upper rotating axis and an upper main axis, and the driven axis includes a lower rotating axis and a rotary hook axis; A motion instruction generating module, used for generating motion instructions according to preset sewing stitches; A pulse instruction generating module, configured to generate a pulse instruction according to the motion instruction and a preset proportional coefficient; The synchronous motion control module is used to control the motion of the active shaft according to the motion instruction, and to control the synchronous motion of the driven shaft and the active shaft according to the pulse instruction.

7. A dual-axis synchronous template machine, comprising the control device according to claim 6, characterized in that: It also includes the machine table and machine head; The machine includes a first drive motor, a second drive motor, a rotary hook shaft and a lower rotating shaft, wherein the rotary hook shaft is connected to the first drive motor and the lower rotating shaft is connected to the second drive motor; The machine head is arranged above the machine platform, and the machine head includes a third drive motor, a fourth drive motor, an upper spindle and an upper rotating shaft, the upper spindle is connected to the third drive motor, and the upper rotating shaft is connected to the fourth drive motor; The control device is connected to the first drive motor, the second drive motor, the third drive motor and the fourth drive motor to control the synchronous movement of the upper main shaft and the rotary hook shaft, and the synchronous movement of the upper rotating shaft and the lower rotating shaft.

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