Synchronous vehicle control method and system, electronic equipment and storage medium

Abstract

The invention discloses a control method and system of a synchronous vehicle, electronic equipment and a storage medium, and belongs to the technical field of garment processing equipment technologies. The control method of the synchronous car comprises the steps that when a take-up lever of the synchronous car is located at an upper needle stopping position, the initial mechanical angle of a spindle motor is recorded; judging whether a presser foot of the synchronous car is lifted or not; if yes, the current mechanical angle of the spindle motor is determined; calculating a main shaft rotation angle according to the initial mechanical angle and the current mechanical angle; if the rotating angle of the main shaft is within the preset interval, the output power of the main shaft motor is adjusted, so that the rotating torque of the main shaft motor is increased; wherein the rotation torque of the main shaft motor is used for increasing the downward movement resistance of the material-pricking and thread-picking mechanism. Downward movement of the pricking and thread picking mechanism caused by presser foot lifting can be avoided, and the safety of the synchronous car is improved.

Description

Technical Field

[0001] The present application relates to the technical field of garment processing equipment, and in particular to a control method, system, electronic equipment and storage medium for a synchronous vehicle. Background Art

[0002] The synchronous sewing machine is a sewing machine that achieves stable feeding and sewing of fabrics by precisely controlling the movement of the main shaft and presser foot. In the related art, when the presser foot of the synchronous sewing machine is lifted, the main shaft will rotate, causing the thread picking mechanism to move downward, which will lead to the inability to place the sewing material and safety hazards.

[0003] Therefore, how to avoid the downward movement of the material thread picking mechanism caused by lifting the presser foot and improve the safety of the synchronous car is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a control method, system, electronic device and storage medium for a synchronous vehicle, which can avoid the downward movement of the material thread picking mechanism caused by lifting the presser foot, thereby improving the safety of the synchronous vehicle.

[0005] In order to solve the above technical problems, the present application provides a control method for a synchronous vehicle, in which a presser foot lifting eccentric wheel is connected to a main shaft, a lifting connecting rod is respectively connected to the presser foot lifting eccentric wheel and an eccentric connecting rod adjusting crank, the eccentric connecting rod adjusting crank is connected to a presser foot lifting front crank through a presser foot lifting shaft, the presser foot lifting front crank is connected to a presser foot feeding crank connecting rod, and the presser foot feeding crank is respectively connected to the presser foot feeding crank connecting rod and a swinging presser foot rod, and the control method for the synchronous vehicle comprises:

[0006] When the thread take-up lever of the synchronous machine is in the upper needle stop position, the initial mechanical angle of the spindle motor is recorded; wherein the spindle motor is a motor used to drive the spindle to rotate, and the spindle is used to drive the piercing material thread take-up mechanism to move;

[0007] Determining whether the presser foot of the synchronous vehicle is lifted;

[0008] If so, determining the current mechanical angle of the spindle motor;

[0009] Calculate the main shaft rotation angle according to the initial mechanical angle and the current mechanical angle;

[0010] If the spindle rotation angle is within a preset range, the output power of the spindle motor is adjusted to increase the rotational torque of the spindle motor; wherein the rotational torque of the spindle motor is used to increase the resistance of the piercing material and thread picking mechanism to downward movement.

[0011] Optionally, adjusting the output power of the spindle motor includes:

[0012] Calculating a target power value according to the spindle rotation angle; wherein the spindle rotation angle is positively correlated with the target power value;

[0013] The output power of the spindle motor is increased according to the target power value.

[0014] Optionally, when the thread take-up lever of the synchronous car is in the upper needle stop position, the method further comprises:

[0015] The output power of the spindle motor is set according to the preset self-locking force.

[0016] Optionally, after adjusting the output power of the spindle motor, the method further includes:

[0017] If the presser foot of the synchronous vehicle is lowered, the output power of the spindle motor is set according to the current working mode.

[0018] Optionally, the synchronous vehicle further comprises a presser foot lifting device;

[0019] Correspondingly, the step of judging whether the presser foot of the synchronous vehicle is lifted includes:

[0020] Whether the presser foot of the synchronous vehicle is lifted is determined according to the state of the presser foot lifting device.

[0021] Optionally, before calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle, the method further includes:

[0022] Determining the rotation direction of the spindle motor;

[0023] If the rotation direction is a preset direction, the step of calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle is entered; wherein the preset direction is the rotation direction of the spindle motor when it is in a working state;

[0024] If the rotation direction is opposite to the preset direction, the rotation torque of the spindle motor is reduced.

[0025] The present application also provides a control system for a synchronous vehicle, in which a presser foot lifting eccentric wheel is connected to a main shaft, a lifting connecting rod is respectively connected to the presser foot lifting eccentric wheel and an eccentric connecting rod adjusting crank, the eccentric connecting rod adjusting crank is connected to a presser foot lifting front crank through a presser foot lifting shaft, the presser foot lifting front crank is connected to a presser foot feeding crank connecting rod, and the presser foot feeding crank is respectively connected to the presser foot feeding crank connecting rod and a swinging presser foot rod, and the control system of the synchronous vehicle includes:

[0026] An angle recording module, used for recording the initial mechanical angle of the spindle motor when the thread take-up lever of the synchronous machine is in the upper needle stop position; wherein the spindle motor is a motor used to drive the spindle to rotate, and the spindle is used to drive the piercing material thread take-up mechanism to move;

[0027] A presser foot status detection module, used to determine whether the presser foot of the synchronous vehicle is lifted;

[0028] An angle detection module, used to determine the current mechanical angle of the spindle motor if the presser foot of the synchronous vehicle is lifted;

[0029] A rotation angle calculation module, used to calculate the main shaft rotation angle according to the initial mechanical angle and the current mechanical angle;

[0030] The self-locking module is used to adjust the output power of the spindle motor if the spindle rotation angle is within a preset range so as to increase the rotational torque of the spindle motor; wherein the rotational torque of the spindle motor is used to increase the resistance of the downward movement of the piercing material and thread picking mechanism.

[0031] Optionally, the piercing material and thread taking-up mechanism includes: a needle bar crank, a thread take-up bar crank, a needle bar crank, a needle bar, a needle bar joint and a machine needle.

[0032] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the control method of the synchronized vehicle are implemented.

[0033] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of executing the above-mentioned synchronous vehicle control method are implemented.

[0034] The present application provides a control method for a synchronous vehicle. When the thread take-up lever of the synchronous vehicle is in the upper needle stop position, the scheme records the initial mechanical angle of the spindle motor; after the presser foot is lifted, the current mechanical angle of the spindle motor is determined, and the spindle rotation angle is calculated in combination with the initial mechanical angle and the current mechanical angle. If the spindle rotation angle is within a preset range, the output power of the spindle motor is adjusted to increase the rotational torque of the spindle motor so as to prevent the material thread take-up mechanism from moving downward. The present application realizes adaptive adjustment of the self-locking force by adjusting the output power of the spindle motor. Therefore, the present application can avoid the downward movement of the material thread take-up mechanism caused by lifting the presser foot, thereby improving the safety of the synchronous vehicle. The present application also provides a control system, a storage medium and an electronic device for a synchronous vehicle, which have the above-mentioned beneficial effects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A flow chart of a synchronous vehicle control method provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of a synchronous vehicle provided in an embodiment of the present application;

[0038] Figure 3 A flow chart of preventing needle rod from falling provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of a synchronous vehicle control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] See below Figure 1 , Figure 1 A flowchart of a synchronous vehicle control method provided in an embodiment of the present application.

[0042] Specific steps may include:

[0043] S101: When the thread take-up lever of the synchronous machine is at the upper needle stop position, recording the initial mechanical angle of the spindle motor;

[0044] Among them, this embodiment can be applied to the controller of the synchronous vehicle, and the synchronous vehicle can also include a presser foot, a swing presser foot rod, a presser foot feeding crank, a presser foot feeding crank connecting rod, a presser foot lifting shaft, a presser foot lifting front crank, an eccentric connecting rod adjustment crank, a lifting connecting rod, a presser foot lifting eccentric wheel, a spindle, a piercing material thread taking-up mechanism, and a spindle motor. The spindle motor is a motor used to drive the spindle to rotate, and the spindle is used to drive the piercing material thread taking-up mechanism to move.

[0045] In the synchronous car, the presser foot lifting eccentric wheel is connected to the main shaft, the lifting connecting rod is respectively connected to the presser foot lifting eccentric wheel and the eccentric connecting rod adjusting crank, the eccentric connecting rod adjusting crank is connected to the presser foot lifting front crank through the presser foot lifting shaft, the presser foot lifting front crank is connected to the presser foot feeding crank connecting rod, and the presser foot feeding crank is respectively connected to the presser foot feeding crank connecting rod and the swing presser foot rod.

[0046] When the thread take-up lever of the synchronous car is in the upper stop position, the present embodiment can record the initial mechanical angle of the spindle motor through the angle sensor to provide a reference for the subsequent control when the presser foot is lifted. This step ensures that the starting position of the spindle motor is accurately captured for precise motion control. The above initial mechanical angle is the angle of the spindle motor when the thread take-up lever is detected to be switched from other positions to the upper stop position. The operations of S102 to S105 in the present embodiment are all based on the premise that the thread take-up lever of the synchronous car is in the upper stop position. If the thread take-up lever of the synchronous car is not in the upper stop position, the process can be terminated.

[0047] S102: Determine whether the presser foot of the synchronous vehicle is lifted; if so, proceed to step S103; if not, end the process;

[0048] In this embodiment, the state of the presser foot can be detected by a limit switch or position sensor installed on the presser foot. When the sensor detects that the presser foot is lifted, subsequent control actions are triggered, such as recording the current mechanical angle and adjusting the output power of the spindle motor.

[0049] Furthermore, the synchronous vehicle further comprises a presser foot lifting device; accordingly, the present embodiment can determine whether the presser foot of the synchronous vehicle is lifted according to the state of the presser foot lifting device.

[0050] If the presser foot of the synchronous vehicle is lifted, the process proceeds to step S103; if the presser foot of the synchronous vehicle is not lifted, the process may be terminated, or the process may proceed to step S102 again after a certain delay.

[0051] S103: Determine the current mechanical angle of the spindle motor;

[0052] Among them, when the thread take-up lever of the synchronous machine is in the upper needle stop position and the presser foot of the synchronous machine is lifted, this embodiment can continuously detect the angle of the spindle motor to obtain the current mechanical angle.

[0053] S104: Calculating the main shaft rotation angle according to the initial mechanical angle and the current mechanical angle;

[0054] Among them, this embodiment can subtract the initial mechanical angle from the current mechanical angle to obtain the spindle rotation angle. The spindle rotation angle is used to describe the rotation angle of the spindle (i.e., the spindle motor) within the target time period. The target time period is the time period corresponding to the moment when the thread take-up lever is in the upper needle stop position to the current moment.

[0055] S105: If the spindle rotation angle is within a preset range, adjusting the output power of the spindle motor to increase the rotation torque of the spindle motor;

[0056] Among them, if the rotation angle of the spindle is within a preset range (for example, 0° to 2°), the output power of the spindle motor is adjusted, and the current or voltage of the motor is increased to increase the rotational torque of the spindle motor. This embodiment increases the resistance to the downward movement of the piercing material and thread taking-up mechanism by increasing the rotational torque, thereby avoiding the downward movement of the piercing material and thread taking-up mechanism when the presser foot is raised, thereby ensuring the stability and safety of the synchronous vehicle. The rotational torque of the spindle motor described above is used to increase the resistance to the downward movement of the piercing material and thread taking-up mechanism. The piercing material and thread taking-up mechanism includes a needle bar crank, a thread taking-up bar crank, a needle bar crank, a needle bar, a needle bar joint and a machine needle.

[0057] In this embodiment, when the thread take-up lever of the synchronous vehicle is in the upper needle stop position, the initial mechanical angle of the spindle motor is recorded; after the presser foot is lifted, the current mechanical angle of the spindle motor is determined, and the spindle rotation angle is calculated in combination with the initial mechanical angle and the current mechanical angle. If the spindle rotation angle is within a preset range, the output power of the spindle motor is adjusted to increase the rotational torque of the spindle motor so as to prevent the material thread take-up mechanism from moving downward. This embodiment realizes adaptive adjustment of the self-locking force by adjusting the output power of the spindle motor. Therefore, this embodiment can avoid the downward movement of the material thread take-up mechanism caused by lifting the presser foot, thereby improving the safety of the synchronous vehicle.

[0058] As for Figure 1 Further introduction to the corresponding embodiment, this embodiment can adjust the output power of the spindle motor in the following manner: calculate the target power value based on the spindle rotation angle; wherein the spindle rotation angle is positively correlated with the target power value; and increase the output power of the spindle motor according to the target power value.

[0059] The above process calculates the target power value according to the spindle rotation angle, and the spindle rotation angle is positively correlated with the target power value, that is, the larger the rotation angle, the higher the target power value. After calculating the target power value, this embodiment increases the output power of the spindle motor according to the value. The above process ensures that the adjustment of the motor output power matches the actual movement of the spindle, effectively increases the rotational torque, prevents the material picking mechanism from moving downward, and improves the stability and safety of the synchronous vehicle.

[0060] As for Figure 1Further introduction to the corresponding embodiment, when the thread take-up lever of the synchronous vehicle is in the upper stop position, the output power of the spindle motor can also be set according to the preset self-locking force. When the thread take-up lever of the synchronous vehicle is in the upper stop position, the output power of the spindle motor can be set according to the preset self-locking force requirement. The above process can ensure that the spindle motor has sufficient rotational torque at the initial position to prevent the downward movement of the thread take-up mechanism when the presser foot is raised later.

[0061] As for Figure 1 According to a further description of the corresponding embodiment, after adjusting the output power of the spindle motor, if the presser foot of the synchronous machine is lowered, the output power of the spindle motor is set according to the current working mode. Through the above operation, when the spindle motor returns to a normal working state, appropriate torque can be provided to support normal sewing operation, thereby ensuring efficient and stable operation of the synchronous machine.

[0062] As for Figure 1 Further introduction to the corresponding embodiment, before calculating the spindle rotation angle based on the initial mechanical angle and the current mechanical angle, the rotation direction of the spindle motor can be determined; if the rotation direction is a preset direction, then the step of calculating the spindle rotation angle based on the initial mechanical angle and the current mechanical angle is entered; wherein, the preset direction is the rotation direction of the spindle motor when it is in a working state; if the rotation direction is the opposite direction of the preset direction, the rotation torque of the spindle motor is reduced.

[0063] The process described in the above embodiment is explained below through an embodiment in actual application.

[0064] The synchronous car includes the structure of stepper motor, spindle, sensor, and parts of sewing machine needle bar - including presser foot lifting eccentric wheel connected to the spindle, lifting connecting rod connected to presser foot lifting eccentric wheel and eccentric connecting rod adjustment crank, eccentric connecting rod adjustment crank connected to presser foot lifting front crank through presser foot lifting shaft, front crank connected to presser foot feeding crank connecting rod through screw and nut, presser foot feeding crank connected to presser foot feeding crank connecting rod and swing presser foot rod, which can make the swing presser foot rod move upward and make subsequent parts work together. Presser foot lifting shaft and presser foot lifting front crank are riveted, and the connection relationship of other structures is axial connection.

[0065] See also Figure 2 , Figure 2This is a structural schematic diagram of a synchronous machine provided in an embodiment of the present application, in which 1 represents a clamping rod, 2 represents a swing presser foot rod, 3 represents a presser foot feed crank, 4 represents a presser foot feed crank connecting rod, 5 represents a presser foot lifting shaft, 6 represents a presser foot lifting front crank, 7 represents an eccentric connecting rod adjustment crank, 8 represents a lifting connecting rod, 9 represents a presser foot lifting eccentric wheel, 10 represents a main shaft, 11 represents a needle bar crank, 12 represents a thread take-up rod crank, 13 represents a needle bar crank, 14 represents a needle bar, 15 represents a needle bar joint, 16 represents a machine needle, and 17 represents a needle plate.

[0066] At present, there are the following problems on the synchronous sewing machine: when the thread take-up lever is in the upper needle stop position and the presser foot is lifted, the clamping rod and the swing presser foot lever move upward under the action of force, which will drive the presser foot lifting assembly to move. The presser foot lifting assembly includes a presser foot feeding crank, a presser foot feeding crank connecting rod, a presser foot lifting shaft, a presser foot lifting front crank, an eccentric connecting rod adjustment crank, and a lifting connecting rod. The lifting connecting rod is connected to the presser foot lifting eccentric wheel, and the presser foot lifting eccentric wheel is fixed on the main shaft. The presser foot lifting assembly gives the main shaft a force to cause it to rotate in a small range under the reaction force of the clamping rod spring. The thicker the sewing material sewn by the synchronous sewing machine, the higher the height of the presser foot is lifted, and the greater the rotational force generated on the main shaft. The main shaft is connected to the thread take-up lever assembly through the needle bar crank, and the thread take-up lever assembly is connected to the machine needle. The rotational force drives the machine needle to move downward, resulting in the distance between the machine needle and the needle plate being insufficient to place the sewing material. When the needle hole of the machine needle is lower than the needle plate, the sewing material cannot be placed, and there are certain safety hazards.

[0067] In view of the above problems, when the presser foot is raised, the spindle will rotate, causing the needle bar to fall, making it difficult to place the sewing material, and even causing safety hazards, affecting the user's working experience. Therefore, how to prevent the spindle from rotating when the presser foot is raised (including automatic presser foot lifter and knee presser foot lifter) to ensure that the user can use the sewing machine normally has become a key issue that needs to be solved.

[0068] In view of the technical problems existing in the above-mentioned related technologies, the present embodiment provides a control method for preventing the needle bar of a sewing machine from falling. The synchronous car includes a spindle motor that drives the main shaft to rotate and a stepper motor that controls the presser foot lifting device. When the thread take-up lever is in the upper needle stop position, the current mechanical angle of the spindle motor is set to 0 degrees. In order to avoid the spindle motor from getting hot in the working state for a long time, a spindle motor self-locking force is preset. If the sewing machine is in the presser foot lifting state at this time, and the rotation angle N of the sewing machine spindle motor is greater than 0° and within 2°, the motor control system increases the output power of the spindle motor to increase the rotational torque of the spindle motor, so that the spindle obtains a holding force to prevent the needle bar from falling.

[0069] See also Figure 3 , Figure 3A flowchart for preventing the needle bar from falling is provided in the embodiment of the present application. The specific process is as follows: when the thread take-up lever is in the upper needle stop position, a spindle motor self-locking force is preset, and the current mechanical angle of the spindle motor is 0°; the detection module is used to detect whether the presser foot is lifted at this time; if the presser foot is lifted, the rotation angle N of the spindle motor is detected. When the rotation angle N of the spindle motor meets 2°>N>0°, the output power of the spindle motor is increased to increase the rotation torque of the spindle motor. The process can be ended after the presser foot is put down, and the detection module is used to detect whether the presser foot is lifted at this time.

[0070] This embodiment provides a system for detecting whether the synchronous machine lifts the presser foot, a system for detecting the rotation angle of the spindle, and a control system for detecting the output current of the motor. This embodiment can control the rotation torque of the spindle motor by controlling the output power of the motor to achieve the effect of giving the spindle a holding force to prevent the needle bar from falling.

[0071] See also Figure 4 , Figure 4 A control schematic diagram of a synchronous machine provided in an embodiment of the present application, wherein the synchronous machine also has a detection module and a motor power control module. The detection module mainly detects whether the sewing machine is currently lifting the presser foot and detects the main shaft rotation angle (i.e., the current rotation angle of the main shaft motor). The motor power control module mainly controls the power of the main shaft motor to increase the rotation torque of the main shaft motor. Through the coordinated cooperation of the two modules, the motor spindle obtains a holding force to prevent the needle bar from falling.

[0072] This embodiment can effectively prevent the needle bar from moving downward due to the rotation of the spindle when the presser foot is raised, and the distance between the needle and the needle plate is too small, which makes it inconvenient for users to operate, difficult to place sewing materials, and even causes safety hazards. The entire control system for preventing the needle bar from falling in this embodiment is implemented at the electronic control level, and the execution accuracy is higher. This embodiment greatly improves the user experience when using the sewing machine and avoids possible safety issues.

[0073] The embodiment of the present application provides a control system for a synchronous vehicle, in which a presser foot lifting eccentric wheel is connected to a main shaft, a lifting connecting rod is respectively connected to the presser foot lifting eccentric wheel and an eccentric connecting rod adjusting crank, the eccentric connecting rod adjusting crank is connected to a presser foot lifting front crank through a presser foot lifting shaft, the presser foot lifting front crank is connected to a presser foot feeding crank connecting rod, and the presser foot feeding crank is respectively connected to the presser foot feeding crank connecting rod and a swinging presser foot rod, and the control system of the synchronous vehicle includes:

[0074] An angle recording module, used for recording the initial mechanical angle of the spindle motor when the thread take-up lever of the synchronous machine is in the upper needle stop position; wherein the spindle motor is a motor used to drive the spindle to rotate, and the spindle is used to drive the piercing material thread take-up mechanism to move;

[0075] A presser foot status detection module, used to determine whether the presser foot of the synchronous vehicle is lifted;

[0076] An angle detection module, used to determine the current mechanical angle of the spindle motor if the presser foot of the synchronous vehicle is lifted;

[0077] A rotation angle calculation module, used to calculate the main shaft rotation angle according to the initial mechanical angle and the current mechanical angle;

[0078] The self-locking module is used to adjust the output power of the spindle motor if the spindle rotation angle is within a preset range so as to increase the rotational torque of the spindle motor; wherein the rotational torque of the spindle motor is used to increase the resistance of the downward movement of the piercing material and thread picking mechanism.

[0079] In this embodiment, when the thread take-up lever of the synchronous vehicle is in the upper needle stop position, the initial mechanical angle of the spindle motor is recorded; after the presser foot is lifted, the current mechanical angle of the spindle motor is determined, and the spindle rotation angle is calculated in combination with the initial mechanical angle and the current mechanical angle. If the spindle rotation angle is within a preset range, the output power of the spindle motor is adjusted to increase the rotational torque of the spindle motor so as to prevent the material thread take-up mechanism from moving downward. This embodiment realizes adaptive adjustment of the self-locking force by adjusting the output power of the spindle motor. Therefore, this embodiment can avoid the downward movement of the material thread take-up mechanism caused by lifting the presser foot, thereby improving the safety of the synchronous vehicle.

[0080] Furthermore, the needle material thread taking-up mechanism includes: a needle bar crank, a thread take-up bar crank, a needle bar crank, a needle bar, a needle bar joint and a machine needle.

[0081] Furthermore, the process of the self-locking module adjusting the output power of the spindle motor includes: calculating a target power value based on the spindle rotation angle; wherein the spindle rotation angle is positively correlated with the target power value; and increasing the output power of the spindle motor according to the target power value.

[0082] Furthermore, it also includes:

[0083] The self-locking module is used to set the output power of the spindle motor according to a preset self-locking force when the thread take-up lever of the synchronous machine is in the upper needle stop position.

[0084] Furthermore, it also includes:

[0085] The power adjustment module is used to set the output power of the spindle motor according to the current working mode after adjusting the output power of the spindle motor if the presser foot of the synchronous vehicle is lowered.

[0086] Furthermore, the synchronous vehicle also includes a presser foot lifting device;

[0087] Correspondingly, the process of the presser foot state detection module judging whether the presser foot of the synchronous vehicle is lifted includes: judging whether the presser foot of the synchronous vehicle is lifted according to the state of the presser foot lifting device.

[0088] Furthermore, it also includes:

[0089] A judgment module is used to determine the rotation direction of the spindle motor before calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle; and is also used to enter the step of calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle if the rotation direction is a preset direction; wherein the preset direction is the rotation direction of the spindle motor when it is in a working state; and is also used to reduce the rotation torque of the spindle motor if the rotation direction is the opposite direction of the preset direction.

[0090] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0091] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0092] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0093] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0094] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method for a synchronous vehicle, characterized in that: In the synchronous vehicle, the presser foot lifting eccentric wheel is connected to the main shaft, the lifting connecting rod is respectively connected to the presser foot lifting eccentric wheel and the eccentric connecting rod adjusting crank, the eccentric connecting rod adjusting crank is connected to the presser foot lifting front crank through the presser foot lifting shaft, the presser foot lifting front crank is connected to the presser foot feeding crank connecting rod, the presser foot feeding crank is respectively connected to the presser foot feeding crank connecting rod and the swing presser foot rod, and the control method of the synchronous vehicle includes: When the thread take-up lever of the synchronous machine is in the upper needle stop position, the initial mechanical angle of the spindle motor is recorded; wherein the spindle motor is a motor used to drive the spindle to rotate, and the spindle is used to drive the piercing material thread take-up mechanism to move; Determining whether the presser foot of the synchronous vehicle is lifted; If so, determining the current mechanical angle of the spindle motor; Calculate the main shaft rotation angle according to the initial mechanical angle and the current mechanical angle; If the spindle rotation angle is within a preset range, the output power of the spindle motor is adjusted to increase the rotational torque of the spindle motor; wherein the rotational torque of the spindle motor is used to increase the resistance of the piercing material and thread picking mechanism to downward movement.

2. The control method of the synchronized vehicle according to claim 1, characterized in that: Adjusting the output power of the spindle motor includes: Calculating a target power value according to the spindle rotation angle; wherein the spindle rotation angle is positively correlated with the target power value; The output power of the spindle motor is increased according to the target power value.

3. The control method of the synchronized vehicle according to claim 1, characterized in that: When the thread take-up lever of the synchronous car is in the upper needle stop position, the method further comprises: The output power of the spindle motor is set according to the preset self-locking force.

4. The control method of the synchronized vehicle according to claim 1, characterized in that: After adjusting the output power of the spindle motor, the method further comprises: If the presser foot of the synchronous vehicle is lowered, the output power of the spindle motor is set according to the current working mode.

5. The control method of the synchronized vehicle according to claim 1, characterized in that: The synchronous vehicle also includes a presser foot lifting device; Correspondingly, the step of judging whether the presser foot of the synchronous vehicle is lifted includes: Whether the presser foot of the synchronous vehicle is lifted is determined according to the state of the presser foot lifting device.

6. The control method of the synchronized vehicle according to claim 1, characterized in that: Before calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle, the method further includes: Determining the rotation direction of the spindle motor; If the rotation direction is a preset direction, the step of calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle is entered; wherein the preset direction is the rotation direction of the spindle motor when it is in a working state; If the rotation direction is opposite to the preset direction, the rotation torque of the spindle motor is reduced.

7. A control system for a synchronous vehicle, characterized in that: In the synchronous vehicle, the presser foot lifting eccentric wheel is connected to the main shaft, the lifting connecting rod is respectively connected to the presser foot lifting eccentric wheel and the eccentric connecting rod adjusting crank, the eccentric connecting rod adjusting crank is connected to the presser foot lifting front crank through the presser foot lifting shaft, the presser foot lifting front crank is connected to the presser foot feeding crank connecting rod, the presser foot feeding crank is respectively connected to the presser foot feeding crank connecting rod and the swing presser foot rod, and the control system of the synchronous vehicle includes: An angle recording module, used for recording the initial mechanical angle of the spindle motor when the thread take-up lever of the synchronous machine is in the upper needle stop position; wherein the spindle motor is a motor used to drive the spindle to rotate, and the spindle is used to drive the piercing material thread take-up mechanism to move; A presser foot status detection module, used to determine whether the presser foot of the synchronous vehicle is lifted; An angle detection module, used to determine the current mechanical angle of the spindle motor if the presser foot of the synchronous vehicle is lifted; A rotation angle calculation module, used to calculate the main shaft rotation angle according to the initial mechanical angle and the current mechanical angle; The self-locking module is used to adjust the output power of the spindle motor if the spindle rotation angle is within a preset range so as to increase the rotational torque of the spindle motor; wherein the rotational torque of the spindle motor is used to increase the resistance of the downward movement of the piercing material and thread picking mechanism.

8. The control system of the synchronized vehicle according to claim 7, characterized in that: The piercing material thread taking-up mechanism comprises: a needle bar crank, a thread take-up bar crank, a needle bar crank, a needle bar, a needle bar joint and a machine needle.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the synchronous vehicle control method as claimed in any one of claims 1 to 6 when calling the computer program in the memory.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the synchronous vehicle control method according to any one of claims 1 to 6 are implemented.

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