A control method, system, electronic device and storage medium for a synchronized vehicle

Abstract

The present application discloses a control method, system, electronic device and storage medium for a synchronous vehicle, and the technical field to which it belongs is clothing processing equipment technology. The control method of the synchronous vehicle includes: when the thread take-up lever of the synchronous vehicle is in the upper needle stop position, recording the initial mechanical angle of the spindle motor; judging whether the presser foot of the synchronous vehicle is lifted; if so, determining the current mechanical angle of the spindle motor; calculating the spindle rotation angle according to the initial mechanical angle and the current mechanical angle; if the spindle rotation angle is within a preset range, adjusting the output power of the spindle motor to increase the rotational torque of the spindle motor; wherein the rotational torque of the spindle motor is used to increase the resistance to the downward movement of the piercing thread take-up mechanism. The present application can avoid the downward movement of the piercing thread take-up mechanism caused by lifting the presser foot, thereby improving the safety of the synchronous vehicle.

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 device and storage medium for a synchronous vehicle. Background Art

[0002] A synchronous sewing machine is a type of sewing equipment that achieves stable fabric feeding and sewing by precisely controlling the movement of the spindle and presser foot. In related technologies, when the presser foot of a synchronous sewing machine is raised, the spindle rotates, causing the thread pick-up mechanism to move downward, which can make it difficult to place the sewing material and pose a safety hazard.

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

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

[0005] To solve the above technical problems, the present application provides a control method for a synchronous car, 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 via 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. The control method for the synchronous car includes:

[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 for driving 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] Calculating 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 to the downward movement of the piercing material and thread picking mechanism.

[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 machine 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 includes a presser foot lifting device;

[0019] Correspondingly, the step of determining 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 via 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. The control system of the synchronous vehicle includes:

[0026] An angle recording module, used to record 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 for driving 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 is used to determine whether the presser foot of the synchronous vehicle is lifted;

[0028] an angle detection module, configured 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, configured to calculate the spindle 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 to the downward movement of the piercing material and thread picking mechanism.

[0031] Optionally, the needle 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 the control method of the synchronized vehicle are executed.

[0034] The present application provides a control method for a synchronous vehicle. This solution records the initial mechanical angle of the spindle motor when the thread take-up lever of the synchronous vehicle is in the upper needle stop position; determines the current mechanical angle of the spindle motor after the presser foot is lifted, and calculates the spindle rotation angle 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 any creative work.

[0036] Figure 1 A flowchart of a method for controlling a synchronized vehicle provided in an embodiment of the present application;

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

[0038] Figure 3 A flowchart of an anti-needle rod falling method provided in an embodiment of the present application;

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

[0040] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] See below Figure 1 , Figure 1 This is a flow chart of a method for controlling a synchronized vehicle 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 in the upper needle stop position, recording the initial mechanical angle of the spindle motor;

[0044] The present embodiment can be applied to a controller of a synchronous machine, which can further include a presser foot, a swing presser foot rod, a presser foot feed crank, a presser foot feed 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 main shaft, a piercing and thread taking-up mechanism, and a main shaft motor. The main shaft motor is a motor for driving the main shaft to rotate, and the main shaft is used to drive the piercing and thread taking-up mechanism to move.

[0045] In the synchronized 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 machine is in the upper needle stop position, the present embodiment can record the initial mechanical angle of the spindle motor through the angle sensor, providing a reference for the control when the presser foot is subsequently raised. This step ensures that the starting position of the spindle motor is accurately captured for precise motion control. The above-mentioned initial mechanical angle is the angle of the spindle motor when it is detected that the thread take-up lever is switched from other positions to the upper needle stop position. The operations of S102 to S105 in this embodiment are all based on the premise that the thread take-up lever of the synchronous machine is in the upper needle stop position. If the thread take-up lever of the synchronous machine is not in the upper needle stop position, the process can be terminated.

[0047] S102: Determine whether the presser foot of the synchronous car 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 includes a presser foot lifting device; accordingly, this 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 car is lifted, the process proceeds to step S103; if the presser foot of the synchronous car is not lifted, the process can be terminated, or the process can be entered into step S102 again after a certain delay.

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

[0052] When the thread take-up lever of the synchronous machine is at 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 a spindle 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] If the spindle rotation angle is within a preset range (e.g., 0° to 2°), the spindle motor output power is adjusted, and the motor current or voltage is increased to increase the spindle motor's rotational torque. This embodiment increases the resistance to the downward movement of the needle material and thread take-up mechanism by increasing the rotational torque, thereby preventing the needle material and thread take-up mechanism from moving downward when the presser foot is raised, thereby ensuring the stability and safety of the synchronous machine. The spindle motor's rotational torque is used to increase the resistance to the downward movement of the needle material and thread take-up mechanism. The needle material and thread take-up mechanism includes a needle bar crank, a thread take-up rod 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 machine 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 by combining 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 to prevent the material thread take-up mechanism from moving downward. This embodiment achieves 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 machine.

[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 based on the spindle rotation angle. The spindle rotation angle and the target power value are positively correlated; that is, the larger the rotation angle, the higher the target power value. After calculating the target power value, this embodiment increases the spindle motor output power accordingly. This process ensures that the adjustment of the motor output power matches the actual movement of the spindle, effectively increasing the rotational torque, preventing the material and thread pick-up mechanism from moving downward, and improving the stability and safety of the synchronous machine.

[0060] As for Figure 1Further describing the corresponding embodiment, when the thread take-up lever of the synchronous machine is in the upper needle stop position, the output power of the spindle motor can also be set according to a preset self-locking force. When the thread take-up lever of the synchronous machine is in the upper needle stop position, this embodiment can set the output power of the spindle motor according to the preset self-locking force requirement. The above process ensures that the spindle motor has sufficient rotational torque in the initial position to prevent the downward movement of the piercing material and thread take-up mechanism when the presser foot is subsequently raised.

[0061] As for Figure 1 In a further description of the corresponding embodiment, after adjusting the output power of the spindle motor, if the presser foot of the sewing machine is lowered, the output power of the spindle motor is set according to the current operating mode. This operation can provide appropriate torque to support normal sewing operations when the spindle motor returns to normal working state, ensuring efficient and stable operation of the sewing 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, 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 machine structure includes a stepper motor, spindle, sensor, and parts of the sewing machine needle bar. These include the presser foot lift eccentric connected to the spindle, the lifting link connected to the presser foot lift eccentric and the eccentric connecting rod adjustment crank, the eccentric connecting rod adjustment crank connected to the presser foot lift shaft and the presser foot lift front crank via a presser foot lift shaft. The front crank is connected to the presser foot feed crank connecting rod via a screw and nut. The presser foot feed crank is connected to the presser foot feed crank connecting rod and the swing presser foot rod, allowing the swing presser foot rod to move upwards and coordinate with subsequent parts. The presser foot lift shaft and the presser foot lift front crank are riveted, and the remaining components are connected by axial connection.

[0065] See 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] Currently, synchronous sewing machines have the following problems: When the thread take-up lever is in the upper needle stop position and the presser foot is raised, the pressure rod and the swing presser foot lever are forced upward, which in turn drives the presser foot lift assembly. The presser foot lift assembly includes a presser foot feed crank, a presser foot feed crank connecting rod, a presser foot lift shaft, a presser foot lift front crank, an eccentric connecting rod adjustment crank, and a lifting connecting rod. The lifting connecting rod is connected to the presser foot lift eccentric, which is fixed to the main shaft. The presser foot lift assembly, under the reaction force of the pressure rod spring, exerts a small rotational force on the main shaft. The thicker the sewing material, the higher the presser foot is raised, and the greater the rotational force exerted on the main shaft. The main shaft is connected to the thread take-up lever assembly via the needle bar crank, which is connected to the needle. This rotational force drives the needle downward, resulting in insufficient distance between the needle and the needle plate for material placement. When the needle hole is lower than the needle plate, material placement becomes even more impossible, and there are certain safety risks.

[0067] To address the aforementioned issue, when the presser foot is raised, the spindle rotates, causing the needle bar to drop, making it difficult to place the sewing material and even creating a safety hazard, affecting the user's work experience. Therefore, how to prevent the spindle from rotating when the presser foot is raised (including automatic and knee-operated presser foot lifters) to ensure normal user experience of the sewing machine has become a key issue that needs to be addressed.

[0068] In response to the technical problems existing in the above-mentioned related technologies, this 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 mechanical angle of the current 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 self-locking force of the spindle motor 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 Figure 3 , Figure 3The present invention provides a flowchart for preventing the needle bar from falling. 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 detects whether the presser foot is raised at this time. If the presser foot is raised, the spindle motor's rotation angle N is detected. When the spindle motor rotation angle N meets the condition of 2°>N>0°, the spindle motor's output power is increased to increase the spindle motor's rotational torque. The process ends after the presser foot is lowered, and the detection module detects whether the presser foot is raised at this time.

[0070] This embodiment provides a system for detecting whether the synchronous machine has raised its presser foot, a system for detecting the spindle's rotation angle, and a control system for detecting the motor's output current. This embodiment controls the spindle motor's rotational torque by controlling the motor's output power, thereby providing a holding force on the spindle to prevent the needle bar from falling.

[0071] See Figure 4 , Figure 4 This is a schematic diagram of the control principle of a synchronous sewing machine provided in an embodiment of the present application. The synchronous sewing machine also includes a detection module and a motor power control module. The detection module primarily detects whether the sewing machine's presser foot is currently raised and detects the spindle rotation angle (i.e., the current rotation angle of the spindle motor). The motor power control module primarily controls the spindle motor power to increase the spindle motor's rotational torque. Through the coordinated cooperation of these two modules, the motor spindle obtains a holding force, preventing the needle bar from falling.

[0072] This embodiment effectively prevents the downward movement of the needle bar caused by the rotation of the spindle when the presser foot is raised. This reduces the distance between the needle and the needle plate, making it difficult to operate the machine, placing sewing material, and even creating safety hazards. The entire needle bar drop prevention control system in this embodiment is implemented electronically, resulting in higher execution accuracy. This embodiment significantly improves the user experience when using the sewing machine and avoids potential safety issues.

[0073] The embodiment of the present application provides a control system for a synchronous car, 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 via 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. The control system of the synchronous car includes:

[0074] An angle recording module, used to record 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 for driving 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 is used to determine whether the presser foot of the synchronous vehicle is lifted;

[0076] an angle detection module, configured 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, configured to calculate the spindle 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 to the downward movement of the piercing material and thread picking mechanism.

[0079] In this embodiment, 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; after the presser foot is lifted, the current mechanical angle of the spindle motor is determined, and the spindle rotation angle is calculated by combining 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 to prevent the material thread take-up mechanism from moving downward. This embodiment achieves 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 machine.

[0080] Furthermore, the needle 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.

[0081] Furthermore, the process of the self-locking module adjusting the output power of the spindle motor includes: calculating the 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 rod 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 if the presser foot of the synchronous vehicle is lowered after adjusting the output power of the spindle motor.

[0086] Furthermore, the synchronous vehicle further comprises a presser foot lifting device;

[0087] Correspondingly, the process of the presser foot status 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 status 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 based on the initial mechanical angle and the current mechanical angle; and is also used to enter the step of calculating the spindle rotation angle based on 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, and will not be repeated here.

[0091] This application also provides a storage medium having a computer program stored thereon. When executed, the computer program can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other medium capable of storing program code.

[0092] The present application also provides an electronic device that may include 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 provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, 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 this 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 used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A method for controlling a synchronized vehicle, characterized in that: 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. The control method of the synchronous car 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 for driving 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; Calculating 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 to the downward movement of the piercing material and thread picking mechanism.

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 includes: 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 car also includes a presser foot lifting device; Accordingly, determining 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 main shaft 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 synchronized vehicle, characterized in that: 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. The control system of the synchronous car includes: An angle recording module, used to record 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 for driving 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 is used to determine whether the presser foot of the synchronous vehicle is lifted; an angle detection module, configured 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, configured to calculate the spindle 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 to 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 and 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 a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the method for controlling a synchronized vehicle according to any one of claims 1 to 6 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which, when loaded and executed by the processor, implement the steps of the method for controlling a synchronized vehicle according to any one of claims 1 to 6.

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