Frame anti-pinch method for embroidery machine

Abstract

A kind of embroidery machine frame anti-pinch method, comprising the following steps, S1, the normal operating parameter of frame is acquired, deviation threshold is set based on normal operating parameter, and security position for stop return is set;S2, embroidery machine automatic movement, whether the fluctuation of real-time operating parameter of frame is beyond deviation threshold is acquired;If the fluctuation of real-time operating parameter is beyond deviation threshold, it is judged that frame operation is abnormal, and embroidery machine stops;S3, after embroidery machine stops, frame is returned to security position;S4, after frame operation abnormality is excluded, frame is moved to frame stop position.The running parameter of frame in the working process of embroidery machine is used to judge whether there is foreign matter in frame, when there is foreign matter, frame is immediately executed return, so as to prevent foreign matter from being located between frame and embroidery machine for a long time, so as to realize anti-pinch function, and improve the safety performance of embroidery machine.

Description

Technical Field

[0001] This invention belongs to the field of embroidery machine technology, specifically relating to a method for preventing embroidery machine frames from being pinched. Background Technology

[0002] The frame of a computerized embroidery machine is the part of the device that supports and secures the material to be embroidered. It ensures the stability of the fabric during the embroidery process, facilitating precise pattern embroidery. When the computerized embroidery machine is working, the frame holding the fabric moves horizontally along the X and Y axes, while the embroidery needle moves vertically up and down to precisely embroider according to the preset pattern. Although computerized embroidery can simulate many hand embroidery stitches, due to the characteristics of the machine, some stitches requiring precise positional control and elasticity of force cannot be fully achieved by the machine. These require manual assistance during the embroidery process. However, currently, computerized embroidery machine frames lack corresponding safety devices during operation. Human error could lead to dangerous accidents such as people being trapped in the frame, endangering the lives and property of workers. Summary of the Invention

[0003] To address the above shortcomings, the technical problem to be solved by the present invention is to provide a method for preventing embroidery machine frames from being pinched, thereby preventing dangerous accidents such as people being pinched by the frame and improving the safety performance of the embroidery machine.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for preventing embroidery machine frames from being pinched includes the following steps.

[0006] S1, obtain the framework's normal operating parameters, set the deviation threshold based on the normal operating parameters, and set a safe position for shutdown and return to position;

[0007] S2, the embroidery machine moves automatically and obtains whether the fluctuation of the real-time operating parameters of the frame exceeds the deviation threshold; if the fluctuation of the real-time operating parameters exceeds the deviation threshold, it is determined that the frame is running abnormally and the embroidery machine stops.

[0008] S3, after the embroidery machine stops, the frame returns to the safe position;

[0009] S4, after the framework operation abnormality is resolved, the framework is moved to the framework shutdown position.

[0010] In a preferred embodiment of the present invention, step S1 further includes the following steps:

[0011] S1.1, drive the frame to move, and record the frame's operating parameters at different movement speeds;

[0012] S1.2, Match the frame's movement speed with the current parameters;

[0013] S1.3, set the deviation threshold based on the operating parameters.

[0014] As a preferred embodiment of the present invention, the deviation threshold setting in step S1 includes the following steps:

[0015] S1.3.1, Change the embroidery machine to manual mode;

[0016] S1.3.2, different foreign objects are placed on the frame;

[0017] S1.3.3, drive the frame to run in manual mode, so that the foreign object is clamped between the frame and the embroidery needle, and record the clamping motion parameters of the frame when the foreign object is clamped;

[0018] S1.3.4, the deviation threshold is determined by calculating the difference between the clamping motion parameters and the normal operating parameters.

[0019] As a preferred embodiment of the present invention, the operating parameters include at least the current parameters during motor operation.

[0020] As a preferred embodiment of the present invention, the embroidery machine is provided with a stop memory, which is used to store the operating parameters and frame position when the embroidery machine stops.

[0021] In a preferred embodiment of the present invention, step S2 further includes the following steps:

[0022] S2.1, Real-time determination of whether operating parameters exceed the deviation threshold;

[0023] S2.2, When the operating parameters exceed the deviation threshold, the embroidery machine stops;

[0024] S3.2 Record the frame position information when the deviation threshold is exceeded.

[0025] As a preferred embodiment of the present invention, step S3 further includes the following steps:

[0026] S3.1, retrieve the frame movement route program;

[0027] S3.2, Reverse route program, causes the frame to move in the opposite direction along the route;

[0028] S3.3, the frame moves in the reverse direction and then moves to a safe position.

[0029] In a preferred embodiment of the present invention, step S4 further includes the following steps:

[0030] S4.1, the frame moves in the reverse direction and then to a safe position;

[0031] S4.2, Cut the thread off the embroidery needle;

[0032] S4.3 After the framework operation abnormality is resolved, the framework is moved to the framework stop position.

[0033] As a preferred embodiment of the present invention, step S4.3 further includes the following steps:

[0034] S4.3.1, The embroidery machine is powered off; troubleshoot any abnormal frame operation.

[0035] S4.3.2, Complete the button start-up of the embroidery machine through anomaly troubleshooting;

[0036] S4.3.3, the frame is moved to the frame stop position.

[0037] The beneficial effect of this invention is that it determines whether there are foreign objects inside the frame by the operating parameters of the frame during the operation of the embroidery machine. When there are foreign objects, the frame immediately returns to its original position, thereby preventing foreign objects from being located between the frame and the embroidery machine for a long time, thus achieving the anti-pinch function and improving the safety performance of the embroidery machine. Detailed Implementation

[0038] The embroidery machine includes a frame and embroidery needles. The embroidery needles move up and down under the drive of the lifting drive device, and the frame moves laterally or longitudinally in a plane under the drive of the translation drive device, changing the position of the fabric and embroidery needles fixed on the frame. Thus, the embroidery needles perform embroidery operations in the plane of the fabric. During normal operation of the embroidery machine, the operating parameters of the lifting drive device and the translation drive device are relatively stable. When the embroidery machine is malfunctioning, the operating parameters of the lifting drive device and the translation drive device will deviate. In this embodiment, the embroidery machine is judged to be malfunctioning by whether the operating parameters of the lifting drive device and the translation drive device deviate.

[0039] A method for preventing embroidery machine frames from being pinched includes the following steps.

[0040] S1: Obtain the normal operating parameters of the frame. During normal operation, the values ​​of the operating parameters will fluctuate. To prevent the equipment from stopping during normal operation, a deviation threshold is set based on the operating parameters so that the operating parameters of the frame can fluctuate within a certain deviation threshold range. A safe position is set so that the frame can return to the safe position in the event of an abnormal stop of the embroidery machine.

[0041] S2, the embroidery machine moves automatically and determines whether the difference between the real-time operating parameters and the normal operating parameters exceeds the preset deviation threshold range; if the difference between the real-time operating parameters and the normal operating parameters exceeds the preset deviation threshold range, the frame operation is determined to be abnormal and the embroidery machine stops.

[0042] S3. After the embroidery machine stops, the translation drive device returns the frame to its original position, separating the embroidery needle from the frame's stopping position and returning the frame to a safe position. This allows the control module inside the equipment to obtain the positional relationship between the safe position and the frame's stopping position, thus facilitating the control module to calculate the route for the frame to return from the safe position to the frame's stopping position and improving the efficiency of the frame resetting to the frame's stopping position.

[0043] S4, after the framework operation abnormality is resolved, drive the framework to move to the framework stop position.

[0044] In this embodiment, the operating parameters include at least the current parameters of each motor when the lifting drive device and the translation drive device are working. When the embroidery machine jams during the embroidery process, the current parameters of each motor will fluctuate. The magnitude of the fluctuation of the current parameters is used to determine whether an abnormality has occurred during the operation of the embroidery machine.

[0045] Since the embroidery machine frame operates in at least two states during movement: fast movement and slow movement, where fast movement quickly moves the frame to the embroidery position and slow movement coordinates with the embroidery to create patterns on the fabric, the motor current parameters differ between these two states. To prevent machine stoppages caused by current parameter fluctuations during state switching, step S1 further includes the following steps:

[0046] S1.1, drive the frame to move, and record the frame's operating parameters at different movement speeds, that is, record the motor's current parameters at different movement speeds of the frame;

[0047] S1.2, Match the frame's movement speed with the current parameters; that is, pair the current parameters of the frame in its fast movement state with the fast movement program segment in the frame's movement program, and pair the current parameters of the frame in its slow movement state with the slow movement program segment in the frame's movement program.

[0048] S1.3, based on the operating parameters, set the deviation threshold. It is worth noting that the deviation threshold of the current parameter is consistent under different motion states of the frame.

[0049] When determining the motor's motion parameters under different frame movement states, the embroidery machine can be switched to manual mode. In manual mode, the embroidery program of the embroidery machine is run. Since the embroidery program has multiple program segments, and the frame moves at different speeds in each program segment, the motor's current parameters are obtained during the operation of each program segment (each moving speed).

[0050] During the frame movement, motor parameters may change due to obstructions such as fabric wrinkles and loose threads. In this case, the equipment can continue to operate. However, motor parameters may also change due to obstructions such as foreign objects or worker limbs. In this case, the equipment will stop. To prevent accidental shutdown, this embodiment also provides a method for determining the deviation from the threshold in step S1. The specific steps are as follows.

[0051] S1.3.1, Change the embroidery machine to manual mode;

[0052] S1.3.2, Set different foreign objects on the frame, such as: fabric wrinkles, thread ends, simulated prosthetic hands, etc.;

[0053] S1.3.3, drive the frame to run in manual mode, so that the foreign object is clamped between the frame and the embroidery needle. Record the clamping motion parameters of the frame when different foreign objects are clamped. By combining the clamping motion parameters of the frame under multiple different foreign object clamping states, the actual clamping motion parameters of the embroidery machine that pose a danger can be obtained.

[0054] S1.3.4, the deviation threshold is determined by calculating the difference between the clamping motion parameters and the normal operating parameters.

[0055] The embroidery machine is equipped with a stop memory, which is used to store the operating parameters and frame position when the embroidery machine stops. In this embodiment, the stop memory adopts an encoder. The encoder compares the real-time operating parameters and the normal operating parameters to determine whether there is an abnormality in the operation of the embroidery machine. If it is determined that there is an abnormality in the operation of the embroidery machine, the encoder stores the operating parameters and frame position when the embroidery machine stops.

[0056] Step S2 also includes the following steps:

[0057] S2.1, Real-time determination of whether operating parameters exceed the deviation threshold; specifically, real-time determination of whether the fluctuation of current parameters of each motor exceeds the deviation threshold.

[0058] S2.2, When the operating parameters exceed the deviation threshold, the embroidery machine stops;

[0059] S3.2 Record the frame position information when the deviation threshold is exceeded.

[0060] Because the embroidery machine has a lifting drive device and a translation drive device, there are at least three motors inside the embroidery machine. When the current parameter fluctuation value of any one of the three motors exceeds the deviation threshold, the embroidery machine is controlled to stop.

[0061] When a foreign object gets caught between the embroidery machine frame and the embroidery needle, to prevent the foreign object from moving further between the embroidery machine frame and the embroidery needle, and to protect the foreign object and the various parts of the embroidery machine, step S3 also includes the following steps.

[0062] S3.1, retrieve the frame movement route program and obtain the program segment before the stopping position;

[0063] S3.2, Reverse route program, causes the frame to move in the opposite direction along the route, that is, the frame retraces along the original route;

[0064] S3.3, the frame moves in the reverse direction and then moves to a safe position.

[0065] In some preferred embodiments, in step S3.2, after running the route program in reverse for a certain distance, the frame is quickly retreated to a safe position. Preferably, after running the route program in reverse for five to ten segments, the frame is quickly retreated to a safe position.

[0066] It should be noted that the embroidery machine's route program consists of multiple route program segments. Each route program segment performs a certain distance movement in one direction. That is, each route program segment performs a horizontal or vertical displacement once. After running five to ten route program segments in reverse, the frame retracts along the original route, thereby creating a certain gap between the foreign object on the frame and the embroidery needle, making it easier to remove the foreign object from the frame.

[0067] The thread end on the embroidery needle is attached to the fabric. As the frame moves from the stopped position to the safe position, the thread end is stretched. To prevent the stretched thread end from affecting the embroidery operation after the embroidery machine restarts, step S4 also includes the following steps.

[0068] S4.1, the frame moves in the reverse direction and then to a safe position;

[0069] S4.2, Cut the thread off the embroidery needle;

[0070] S4.3 After the framework operation abnormality is resolved, the framework is moved to the framework stop position.

[0071] To prevent accidental restarts of the embroidery machine, a troubleshooting completion button is installed on the embroidery machine. Step S4.3 also includes the following steps:

[0072] S4.3.1, The embroidery machine is powered off; troubleshoot any abnormal frame operation.

[0073] S4.3.2, Complete the button start-up of the embroidery machine through anomaly troubleshooting;

[0074] S4.3.3, the control module of the embroidery machine determines the positional relationship between the safe position and the frame stop position, and calculates the route from the safe position to the frame stop position. The translation drive device quickly moves the frame to the frame stop position.

[0075] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention; therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for preventing pinching of an embroidery machine frame, characterized in that, Includes the following steps, S1, obtain the framework's normal operating parameters, set the deviation threshold based on the normal operating parameters, and set a safe position for shutdown and return to position; S2, the embroidery machine moves automatically, and the fluctuation of the frame's real-time operating parameters is obtained to see if it exceeds the deviation threshold; If the fluctuation of real-time operating parameters exceeds the deviation threshold, the frame is judged to be operating abnormally, and the embroidery machine is stopped. S3, after the embroidery machine stops, the frame returns to the safe position; S4, after the framework operation abnormality is resolved, the framework is moved to the framework shutdown position; Step S1 also includes the following steps: S1.1, drive the frame to move, and record the frame's operating parameters at different movement speeds; S1.2, Match the frame's movement speed with the current parameters; S1.3, set the deviation threshold based on the operating parameters; Step S1, which involves setting the deviation threshold, includes the following steps: S1.3.1, Change the embroidery machine to manual mode; S1.3.2, different foreign objects are placed on the frame; S1.3.3, drive the frame to run in manual mode, so that the foreign object is clamped between the frame and the embroidery needle, and record the clamping motion parameters of the frame when the foreign object is clamped; S1.3.4, the deviation threshold is determined by calculating the difference between the clamping motion parameters and the normal operating parameters.

2. The method for preventing pinching of an embroidery machine frame according to claim 1, characterized in that, The operating parameters include at least the current parameters when the motor is running.

3. The method for preventing pinching of an embroidery machine frame according to claim 1, characterized in that, The embroidery machine is equipped with a stop memory, which is used to store the operating parameters and frame position when the embroidery machine stops.

4. The method for preventing embroidery machine frames from being pinched according to claim 1, characterized in that, Step S2 also Includes the following steps, S2.1, Real-time determination of whether operating parameters exceed the deviation threshold; S2.2, When the operating parameters exceed the deviation threshold, the embroidery machine stops; S3.2 Record the frame position information when the deviation threshold is exceeded.

5. The method for preventing pinching of an embroidery machine frame according to claim 1, characterized in that, Step S3 also Includes the following steps, S3.1, retrieve the frame movement route program; S3.2, Reverse route program, causes the frame to move in the opposite direction along the route; S3.3, the frame moves in the reverse direction and then moves to a safe position.

6. The method for preventing pinching of an embroidery machine frame according to claim 1, characterized in that, Step S4 also Includes the following steps, S4.1, the frame moves in the reverse direction and then to a safe position; S4.2, Cut the thread off the embroidery needle; S4.3 After the framework operation abnormality is resolved, the framework is moved to the framework stop position.

7. The method for preventing pinching of an embroidery machine frame according to claim 6, characterized in that, Step S4.3 also includes the following steps: S4.3.1, The embroidery machine is powered off; troubleshoot any abnormal frame operation. S4.3.2, Complete the button start-up of the embroidery machine through anomaly troubleshooting; S4.3.3, the frame is moved to the frame stop position.