Template machine control method, device and equipment based on frame moving speed

Abstract

The embodiment of the invention provides a template machine control method, device and equipment based on the frame moving speed. The method comprises the steps that in the operation process of a movable frame of the template machine, a first main shaft angle and a second main shaft angle of a main shaft of the template machine in the previous motion period in adjacent motion periods are obtained, and a third main shaft angle of the main shaft of the template machine in the next motion period in the adjacent motion periods is obtained; according to the first main shaft angle, the second main shaft angle and the third main shaft angle, the first speed of the movable frame in the previous motion period is determined; determining a first speed as a second speed of the moving frame in the next motion period; and according to the second speed, the movable frame is controlled to move in the next movement period. The method is used for avoiding vibration of the movable frame, so that the sewing effect of the template machine is improved.

Description

Technical Field

[0001] The present application relates to the technical field of sewing equipment, and in particular to a template machine control method, device and equipment based on moving frame speed. Background Art

[0002] The template machine is used to sew clothing, textiles or other materials. The template machine's moving frame is controlled to move, and the sewing process is completed by the needle on the main shaft of the template machine.

[0003] In the prior art, the speed of the moving frame of the template machine changes during its movement, which in turn causes the moving frame of the template machine to vibrate, resulting in poor sewing effect.

[0004] Furthermore, there is an urgent need for a solution that can prevent the movable frame of the template machine from vibrating, so as to improve the sewing effect of the template machine. Summary of the invention

[0005] The embodiments of the present application provide a template machine control method, device and equipment based on the moving frame speed, which are used to avoid vibration of the moving frame, thereby improving the sewing effect of the template machine.

[0006] In a first aspect, an embodiment of the present application provides a template machine control method based on moving frame speed, comprising:

[0007] During the operation of the moving frame of the template machine, the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in adjacent motion cycles are obtained, and the third spindle angle of the template machine in the next motion cycle in the adjacent motion cycle is obtained; wherein the first spindle angle is a preset spindle angle of the spindle at the starting moment of the previous motion cycle, the second spindle angle is a preset spindle angle of the spindle at the ending moment of the previous motion cycle; the third spindle angle is a preset spindle angle of the spindle at the starting moment of the next motion cycle;

[0008] Determine a first speed of the moving frame in a previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle; wherein the first speed is the speed of the moving frame at the end time of the previous motion cycle;

[0009] The first speed is determined as the second speed of the moving frame in the next motion cycle; wherein the second speed is the speed of the moving frame at the starting moment of the next motion cycle; and according to the second speed, the movement of the moving frame in the next motion cycle is controlled.

[0010] In a possible implementation, determining the first speed of the moving frame in the previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle includes:

[0011] If it is determined that the third main axis angle is greater than the second main axis angle, then the difference between the second main axis angle and the first main axis angle is determined as the first angle difference; and the difference between the third main axis angle and the second main axis angle is determined as the second angle difference;

[0012] A first speed of the moving frame in a previous motion cycle is determined according to the first angle difference and the second angle difference.

[0013] In a possible implementation, determining the first speed of the moving frame in the previous motion cycle according to the first angle difference and the second angle difference includes:

[0014] Determine a spindle angle change set of the moving frame according to the first angle difference and the second angle difference; wherein the spindle angle change set indicates the spindle angle change of the moving frame in a previous motion cycle and the spindle angle change of the moving frame between the previous motion cycle and the next motion cycle;

[0015] The first speed is determined according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle; wherein the movement distance of the previous movement cycle is a preset movement distance of the moving frame in the previous movement cycle.

[0016] In a possible implementation manner, the main axis angle variation set includes one or more of the following: a first alternative angle, a second alternative angle, a third alternative angle, and a fourth alternative angle;

[0017] The first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle;

[0018] The second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process;

[0019] The third alternative angle represents the difference between the first angle difference, the first alternative angle and the second alternative angle;

[0020] The fourth alternative angle is the second angle difference.

[0021] In a possible implementation, determining a principal axis angle change set of the moving frame according to the first angle difference and the second angle difference includes:

[0022] Determine a first candidate angle according to the first angle difference and the first ratio value; wherein the first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle; and the first ratio value is a positive number less than 1;

[0023] Determine a second candidate angle according to the first angle difference and the second ratio value; wherein the second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process; and the second ratio value is a positive number less than 1;

[0024] Determine the first angle difference, and subtract the first candidate angle and the second candidate angle in sequence to obtain a difference value as the third candidate angle;

[0025] A second angle difference is determined as a fourth candidate angle.

[0026] In a possible implementation, determining the first speed according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle includes:

[0027] Determine the sum of the first angle difference and the second angle difference as the third angle difference;

[0028] Determine the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value;

[0029] The product of the uniform speed of the moving frame in the uniform speed process of the previous motion cycle and the preset speed ratio value of the moving frame in the previous motion cycle is determined as the first speed.

[0030] In a possible implementation, determining the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, and the third angle difference value includes:

[0031] When the previous motion cycle is the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value;

[0032] When the previous motion cycle is not the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, the third angle difference and the third speed; wherein the third speed is the speed of the moving frame at the end moment of the previous motion cycle of the previous motion cycle.

[0033] In a possible implementation manner, before obtaining the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycle, the method further includes:

[0034] If it is determined that the rotation speed of the spindle is greater than or equal to the preset rotation speed, the step of obtaining the first spindle angle and the second spindle angle of the spindle of the template machine in the previous motion cycle in the adjacent motion cycle is performed.

[0035] In a second aspect, an embodiment of the present application provides a template machine control device based on a moving frame speed, comprising:

[0036] An acquisition module is used to acquire, during the operation of the moving frame of the template machine, a first spindle angle and a second spindle angle of the template machine's spindle in a previous motion cycle in adjacent motion cycles, and to acquire a third spindle angle of the template machine's spindle in a subsequent motion cycle in adjacent motion cycles; wherein the first spindle angle is a preset spindle angle of the spindle at the starting moment of the previous motion cycle, the second spindle angle is a preset spindle angle of the spindle at the ending moment of the previous motion cycle; and the third spindle angle is a preset spindle angle of the spindle at the starting moment of the subsequent motion cycle;

[0037] A processing module, used to determine a first speed of the moving frame in a previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle; wherein the first speed is the speed of the moving frame at the end time of the previous motion cycle;

[0038] The processing module is also used to determine the first speed, which is the second speed of the moving frame in the next movement cycle; wherein the second speed is the speed of the moving frame at the starting moment of the next movement cycle; and according to the second speed, control the movement of the moving frame in the next movement cycle.

[0039] In a possible implementation, the first speed of the moving frame in the previous motion cycle is determined according to the first spindle angle, the second spindle angle, and the third spindle angle, and the processing module is used to:

[0040] If it is determined that the third main axis angle is greater than the second main axis angle, then the difference between the second main axis angle and the first main axis angle is determined as the first angle difference; and the difference between the third main axis angle and the second main axis angle is determined as the second angle difference;

[0041] A first speed of the moving frame in a previous motion cycle is determined according to the first angle difference and the second angle difference.

[0042] In a possible implementation, the first speed of the moving frame in the previous motion cycle is determined according to the first angle difference and the second angle difference, and the processing module is used to:

[0043] Determine a spindle angle change set of the moving frame according to the first angle difference and the second angle difference; wherein the spindle angle change set indicates the spindle angle change of the moving frame in a previous motion cycle and the spindle angle change of the moving frame between the previous motion cycle and the next motion cycle;

[0044] The first speed is determined according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle; wherein the movement distance of the previous movement cycle is a preset movement distance of the moving frame in the previous movement cycle.

[0045] In a possible implementation manner, the main axis angle variation set includes one or more of the following: a first alternative angle, a second alternative angle, a third alternative angle, and a fourth alternative angle;

[0046] The first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle;

[0047] The second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process;

[0048] The third alternative angle represents the difference between the first angle difference, the first alternative angle and the second alternative angle;

[0049] The fourth alternative angle is the second angle difference.

[0050] In a possible implementation, a main axis angle change set of the moving frame is determined according to the first angle difference and the second angle difference, and the processing module is used to:

[0051] Determine a first candidate angle according to the first angle difference and the first ratio value; wherein the first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle; and the first ratio value is a positive number less than 1;

[0052] Determine a second candidate angle according to the first angle difference and the second ratio value; wherein the second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process; and the second ratio value is a positive number less than 1;

[0053] Determine the first angle difference, and subtract the first candidate angle and the second candidate angle in sequence to obtain a difference value as the third candidate angle;

[0054] A second angle difference is determined as a fourth candidate angle.

[0055] In a possible implementation, the first speed is determined according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle, and the processing module is used to:

[0056] Determine the sum of the first angle difference and the second angle difference as the third angle difference;

[0057] Determine the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value;

[0058] The product of the uniform speed of the moving frame in the uniform speed process of the previous motion cycle and the preset speed ratio value of the moving frame in the previous motion cycle is determined as the first speed.

[0059] In a possible implementation, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value, and the processing module is used to:

[0060] When the previous motion cycle is the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value;

[0061] When the previous motion cycle is not the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, the third angle difference and the third speed; wherein the third speed is the speed of the moving frame at the end moment of the previous motion cycle of the previous motion cycle.

[0062] In a possible implementation manner, before acquiring the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycle, the acquisition module is further used to:

[0063] If it is determined that the rotation speed of the spindle is greater than or equal to the preset rotation speed, the step of obtaining the first spindle angle and the second spindle angle of the spindle of the template machine in the previous motion cycle in the adjacent motion cycle is performed.

[0064] In a third aspect, an embodiment of the present application provides a template machine device, including: a memory, a processor;

[0065] Memory stores computer-executable instructions;

[0066] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0067] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0068] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0069] The template machine control method, device and equipment based on the moving frame speed provided in the embodiment of the present application determines the speed of the moving frame at the end time of the previous movement cycle and determines the speed of the moving frame at the start time of the next movement cycle by obtaining the first spindle angle and the second spindle angle of the previous movement cycle in the adjacent movement cycle, and the third spindle angle of the next movement cycle in the adjacent movement cycle. Thus, the moving frame speed of the adjacent movement cycles is smoother and more coherent, avoiding the sudden change of the moving frame speed between the adjacent movement cycles, thereby reducing the vibration phenomenon when the moving frame moves, and then improving the sewing effect of the template machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0071] Figure 1 It is a schematic diagram of the sudden change of the moving frame speed;

[0072] Figure 2 Schematic diagram of the process of the template machine control method based on the moving frame speed provided in this application Figure 1 ;

[0073] Figure 3 is a schematic diagram of exemplary principal axis angles of adjacent motion cycles;

[0074] Figure 4 Schematic diagram of the process of the template machine control method based on the moving frame speed provided in this application Figure 2 ;

[0075] Figure 5 Schematic diagram of the process of the template machine control method based on the moving frame speed provided in this application Figure 3 ;

[0076] Figure 6 is a schematic diagram of an exemplary set of spindle angle changes;

[0077] Figure 7 is a schematic diagram of an exemplary first motion cycle;

[0078] Figure 8 is a schematic diagram of an exemplary second motion cycle;

[0079] Fig. 9 is a schematic diagram of an exemplary third motion cycle;

[0080] Fig.10 It is a schematic diagram of the moving frame speed for three exemplary motion cycles;

[0081] Fig.11 is a schematic diagram of an exemplary intermittent action working mode;

[0082] Fig.12 A schematic diagram of the structure of the template machine control device based on the moving frame speed provided in this application;

[0083] Fig.13 This is a schematic diagram of the structure of the template machine equipment provided in this application.

[0084] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0085] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0086] First, the terms involved in this application are explained:

[0087] Template machine: refers to sewing equipment that can be used to sew clothes, textiles or other materials. The template machine includes a sewing device with a machine head, a moving frame and a table. A knitting needle is arranged in the machine head. The servo motor is connected to the knitting needle through the main shaft, and controls the knitting needle to realize up and down reciprocating motion to complete sewing. Specifically, a transmission mechanism and a reduction mechanism are also arranged between the servo motor and the main shaft, wherein the transmission mechanism can be a belt transmission mechanism, and the reduction mechanism can be a two-stage reduction belt reduction mechanism. Based on the up and down reciprocating motion of the knitting needle, combined with the moving frame that translates on the table, a preset sewing style can be formed on the material to be sewn.

[0088] Moving frame: refers to a movable frame in a template machine that can be used to fix the template and fix the material to be sewn on the template. The movement of the moving frame can be controlled by two servo motors, and the two servo motors control the moving frame to move in the x-axis direction and the y-axis direction through a transmission mechanism. The transmission mechanism may include but is not limited to: a belt transmission mechanism, a ball screw mechanism, etc.

[0089] With the development of sewing equipment technology, a variety of sewing equipment other than sewing machines have been derived, such as template machines. In the process of sewing materials with template machines, it is necessary to move the moving frame to achieve the sewing of sewing materials. The movement of the moving frame can be divided into continuous moving frame movement and non-continuous moving frame movement. When the moving frame of the template machine sews in the mode of continuous moving frame movement, the speed of the moving frame is variable. When the speed of the moving frame changes suddenly, the moving frame will vibrate, which will lead to the problem of poor actual sewing effect.

[0090] Figure 1 It is a schematic diagram of the sudden change of the moving frame speed, such as Figure 1 As shown, Figure 1 The horizontal axis is the main axis angle, and the vertical axis is the moving frame speed. Figure 1 The information indicated is the moving frame moving speed corresponding to different spindle rotation angles. Figure 1 In the figure, the first needle should be in a mode of discontinuous moving frame movement, and the second to ninth needles should be in a mode of continuous moving frame movement. Among the second to ninth needles, except for the connection between the fifth and sixth needles, there is a speed mutation phenomenon between the remaining adjacent needles. It can be understood that when the moving frame has a speed mutation, that is, the moving frame does not move smoothly between adjacent needles, vibration occurs. If the moving frame of the template machine does not move smoothly between adjacent needles and vibration occurs, it may cause poor sewing effect. Among them, the problems of poor sewing effect may include: uneven stitch length, unsightly wiring, etc. For more serious speed mutation phenomena of the moving frame, it may also cause mechanical failure of the template machine.

[0091] Therefore, it is urgent to solve the vibration problem of the moving frame of the template machine. In some embodiments, before the template machine enters formal application, the template machine is debugged, wherein the debugging includes speed planning for the moving frame and smoothing the speed mutation by filtering. Thus, the vibration of the moving frame is reduced based on the moving speed of the smoothing process. However, in the above embodiments, the solution of solving the speed mutation by filtering has a large workload of debugging, low efficiency, and poor effect of solving the speed mutation. The actual effect of solving the vibration of the moving frame is poor.

[0092] The template machine control method based on the moving frame speed provided in the present application determines the speed of the moving frame at the end time of the previous motion cycle by acquiring the first spindle angle and the second spindle angle of the previous motion cycle within the adjacent motion cycle, and the third spindle angle of the next motion cycle within the adjacent motion cycle, and determines the speed at the end time of the previous motion cycle as the speed at the start time of the next motion cycle. Thus, the moving frame speed of adjacent motion cycles is smoother and more coherent, avoiding the sudden change of the moving frame speed between adjacent motion cycles. Based on the smooth and coherent moving frame speed, the vibration phenomenon during the movement of the moving frame is reduced, thereby improving the sewing effect of the template machine.

[0093] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0094] Figure 2 Schematic diagram of the process of the template machine control method based on the moving frame speed provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0095] Step 201. During the operation of the moving frame of the template machine, obtain the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycle, and obtain the third spindle angle of the template machine in the next motion cycle in the adjacent motion cycle.

[0096] Among them, the first spindle angle is the preset spindle angle of the spindle at the starting moment of the previous movement cycle, the second spindle angle is the preset spindle angle of the spindle at the end moment of the previous movement cycle; the third spindle angle is the preset spindle angle of the spindle at the starting moment of the next movement cycle.

[0097] Among them, the movement cycle can be understood as the spindle driving the knitting needle to sew one stitch as one movement cycle. That is, in one movement cycle, the knitting needle completes the sewing of one stitch. Correspondingly, in the movement cycle, when the knitting needle is sewing, the moving frame needs to move, so that the knitting needle and the fabric have a relative displacement, thereby completing the sewing. Therefore, in each movement cycle, the moving frame has a moving speed.

[0098] For example, Figure 3 is a schematic diagram of the main axis angles of adjacent motion cycles. Figure 3 As shown, in adjacent motion cycles, they can be divided into the previous motion cycle and the next motion cycle. The preset spindle angle at the start time of the previous motion cycle is the first spindle angle, which can also be called the motion frame start angle of the current needle; the preset spindle angle at the end time of the previous motion cycle is the second spindle angle, which can also be called the motion frame end angle of the current needle; the preset spindle angle at the start time of the next motion cycle is the third spindle angle, which can also be called the motion frame start angle of the next needle.

[0099] During the operation of the template machine, the main shaft rotates to drive the knitting needle to perform periodic reciprocating motion. In each motion cycle, the moving frame moves to complete sewing on the fabric. Taking any two adjacent motion cycles during the operation of the moving frame of the template machine as an example, the processor obtains the first and second main shaft angles of the main shaft of the template machine in the previous motion cycle, and also obtains the third main shaft angle of the main shaft of the template machine in the next motion cycle.

[0100] Specifically, the template machine's memory stores a preset sewing task, which includes the moving frame angle information of each needle, that is, the preset spindle angles at the start and end of each motion cycle. The main controller calls the preset sewing task and sends the first spindle angle, the second spindle angle, and the third spindle angle to the processor, so that the processor obtains the above three spindle angles.

[0101] Step 202: Determine the first speed of the moving frame in the previous motion cycle according to the first spindle angle, the second spindle angle and the third spindle angle.

[0102] The first speed is the speed of the moving frame at the end of the previous motion cycle.

[0103] Exemplarily, after obtaining the first spindle angle, the second spindle angle, and the third spindle angle, the processor can determine the speed of the moving frame at the end time of the previous motion cycle, that is, the ending speed of the moving frame at the current needle according to the first spindle angle, the second spindle angle, and the third spindle angle based on preset rules and algorithms.

[0104] In one example, the uniform speed of the moving frame in the previous motion cycle can be calculated based on the first spindle angle, the second spindle angle, and the preset moving distance of the moving frame. In addition, the starting speed in the motion cycle is determined based on the preset starting speed ratio value, and the ending speed in the motion cycle, i.e., the first speed, is determined based on the preset ending speed ratio value.

[0105] In another example, the difference between the first spindle angle and the second spindle angle is determined, and then the difference between the second spindle angle and the third spindle angle is determined. Based on the above two differences and the preset moving frame movement distance, the first speed of the moving frame in the previous motion cycle is determined, that is, the speed of the moving frame at the end of the previous motion cycle. Specifically, based on the above two differences and the preset moving frame movement distance, the uniform speed of the moving frame in the previous motion cycle is determined; then based on the uniform speed of the moving frame in the previous motion cycle, the first speed of the moving frame in the previous motion cycle is determined.

[0106] Step 203: Determine the first speed as the second speed of the moving frame in the next movement cycle; and control the movement of the moving frame in the next movement cycle according to the second speed.

[0107] The second speed is the speed of the moving frame at the start time of the next motion cycle.

[0108] Exemplarily, the second speed of the moving frame in the next motion cycle is set to the value of the first speed. That is, the speed of the moving frame at the end of the previous motion cycle is determined as the speed of the moving frame at the start of the next adjacent motion cycle, that is, the starting speed of the moving frame at the next stitch.

[0109] At this point, the planning of the moving frame speed during the spindle angle change process is realized. That is, the moving frame movement speed corresponding to the spindle angle is obtained. Based on the moving frame movement speed corresponding to the spindle angle, the moving frame of the template machine is controlled to move at the corresponding speed in adjacent motion cycles.

[0110] Optionally, since the template machine allows the moving frame to move in the x-axis direction and the y-axis direction, the above-mentioned process of determining the speed of the moving frame in adjacent movement cycles and the process of controlling the moving frame of the template machine can be implemented in the x-axis and y-axis directions respectively. The specific implementation process can be implemented separately or simultaneously.

[0111] The template machine control method based on the moving frame speed provided in the present application obtains the moving frame starting angle of the current needle, the moving frame ending angle and the moving frame starting angle of the next needle, determines the moving frame ending speed at the current needle, and determines the moving frame ending speed at the current needle as the moving frame starting speed at the next needle. Thus, the moving frame moves more smoothly between two adjacent needles, avoiding sudden changes in the moving frame speed. Based on the smooth and coherent moving frame speed, the vibration phenomenon during the moving frame movement is reduced, thereby improving the sewing effect of the template machine.

[0112] In a possible implementation, the moving frame start angle of the next needle is greater than the moving frame end angle of the current needle, or the moving frame start angle of the next needle is less than or equal to the moving frame start angle of the current needle. This embodiment specifically explains how to determine the first speed in different situations.

[0113] Figure 4 Schematic diagram of the process of the template machine control method based on the moving frame speed provided in this application Figure 2 ,like Figure 4 As shown, in this embodiment Figure 2 Based on the embodiment, a template machine control method based on the moving frame speed is described in detail, and the method includes:

[0114] Step 401. If it is determined that the third main axis angle is greater than the second main axis angle, determine the difference between the second main axis angle and the first main axis angle as the first angle difference; and determine the difference between the third main axis angle and the second main axis angle as the second angle difference.

[0115] Exemplary, combined Figure 3 The first angle difference and the second angle difference are explained. Figure 3 As shown, when the third main axis angle is greater than the second main axis angle, the first angle difference is determined to be the difference between the second main axis angle and the first main axis angle, and the second angle difference is determined to be the difference between the third main axis angle and the second main axis angle. Exemplarily, the first angle difference can be calculated by the following formula (1):

[0116] Δθ 1a =θ 12 -θ 11

[0117] In formula (1), Δθ 1a Indicates the first angle difference of the moving frame in the previous motion cycle, θ 12 Indicates the second main axis angle of the moving frame in the previous motion cycle, θ 11 Indicates the first principal axis angle of the moving frame in the previous motion cycle.

[0118] Exemplarily, the second angle difference can be calculated by the following formula (2):

[0119] Δθ 1b =θ 21 -θ 12

[0120] In formula (2), Δθ 1b Represents the second angle difference of the moving frame in the previous motion cycle, θ 21 Indicates the third principal axis angle of the moving frame in the next motion cycle.

[0121] Optionally, when the third main axis angle is less than or equal to the second main axis angle, the method for determining the first angle difference remains unchanged, but the second angle difference is 0.

[0122] Step 402: Determine a first speed of the moving frame in a previous motion cycle according to the first angle difference and the second angle difference.

[0123] Exemplarily, the first angle difference is the angle difference of the moving frame in the previous motion cycle, and the second angle difference is the angle difference between the moving frame in the previous motion cycle and the next motion cycle. According to the first angle difference and the second angle difference, the total angle difference of the moving frame can be determined. The total moving frame angle difference of the moving frame can be divided into multiple stages, each stage corresponding to an angle difference. For example, the main axis angle difference of the moving frame in the current needle can be divided into a speed-up stage, a uniform speed stage, and a speed-down stage. Optionally, the main axis angle difference of the moving frame between the current needle and the next needle can be recorded as the ending stage. Among them, each stage has a corresponding angle difference.

[0124] In the above example, not only the first spindle angle and the second spindle angle of the previous motion cycle are considered, but also the third spindle angle of the next motion cycle is considered. Whether there is a gap between the spindle angles of two adjacent motion cycles is taken into account, that is, the second angle difference is taken into account. This lays the foundation for the first speed calculated later, and takes into account the moving frame speed planning within the second angle difference. Prevent the existence of a gap between the spindle angles of the adjacent front and rear motion cycles, which leads to a sudden change in speed at the gap. This reduces the vibration of the moving frame and improves the sewing effect of the template machine.

[0125] In one example, the ending speed of the moving frame at the current needle, that is, the first speed of the moving frame in the previous motion cycle, is determined according to the different stages of the moving frame at the current needle and the ending stage of the moving frame between the current needle and the next needle.

[0126] Figure 5 Schematic diagram of the process of the template machine control method based on the moving frame speed provided in this application Figure 3 Specifically, it can be achieved by Figure 5 The method flow shown determines the first speed. The method specifically comprises:

[0127] Step 501. Determine a main axis angle change set of the moving frame according to the first angle difference and the second angle difference.

[0128] The spindle angle change set indicates the spindle angle change of the moving frame in the previous motion cycle and the spindle angle change of the moving frame between the previous motion cycle and the next motion cycle.

[0129] In combination with the above examples, it can be seen that the total angle difference of the moving frame can be divided into multiple stages, and the main axis angle difference of the moving frame between the current needle and the next needle can be recorded as the end stage. The angle difference range of each stage can constitute a main axis angle change collection.

[0130] Exemplarily, the main axis angle variation set includes one or more of the following: a first alternative angle, a second alternative angle, a third alternative angle, and a fourth alternative angle.

[0131] Figure 6 Schematic diagram of an exemplary set of spindle angle changes. Figure 6 Each candidate angle in the main axis angle change set is explained.

[0132] The first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase of the moving frame in the previous motion cycle. Exemplarily, the first candidate angle represents the difference between the spindle angle at the start time in the previous motion cycle and the maximum spindle angle during the uniform speed increase of the moving frame.

[0133] The second candidate angle represents the difference between the maximum spindle angle and the minimum spindle angle during the deceleration process of the moving frame in the previous motion cycle. Exemplarily, the second candidate angle represents the difference between the maximum spindle angle and the minimum spindle angle during the uniform decrease of the moving frame speed in the previous motion cycle.

[0134] The third candidate angle represents the difference between the first angle difference, the first candidate angle and the second candidate angle. Exemplarily, the third candidate angle represents the difference between the first angle difference of the moving frame, the first candidate angle and the second candidate angle in the previous motion cycle.

[0135] The fourth alternative angle is the difference value of the second angle. Exemplarily, the value of the fourth alternative angle is the same as the value of the second angle difference. It can be understood that when the third main axis angle is greater than the second main axis angle, the value of the fourth alternative angle is the same as the value of the second angle difference; when the third main axis angle is less than or equal to the second main axis angle, the value of the fourth alternative angle is the same as the value of the second angle difference, and both are 0.

[0136] It can be understood that the first alternative angle, the second alternative angle, and the third alternative angle indicate the change in the main axis angle of the motion frame in the previous motion cycle; the fourth alternative angle indicates the change in the main axis angle of the motion frame between the previous motion cycle and the next motion cycle.

[0137] In the above example, the angle difference in the previous motion cycle is divided into candidate angles at different stages, which lays a foundation for the subsequent calculation of the uniform speed and the first speed in the previous motion cycle based on these candidate angles.

[0138] Step 502: Determine a first speed according to a set of main axis angle changes of the moving frame and a movement distance of the moving frame in a previous movement cycle.

[0139] The motion distance of the previous motion cycle is a preset moving distance of the moving frame in the previous motion cycle.

[0140] Exemplarily, the movement distance of the moving frame in the previous movement cycle may be a preset movement distance. Specifically, a preset sewing task is stored in the memory of the template machine, and the preset sewing task includes, in addition to the moving frame angle information of each stitch, a preset movement distance of each stitch. According to the movement cycle in which the current moving frame is located, the movement distance of the moving frame in the previous movement cycle in the adjacent movement cycle is determined.

[0141] Exemplarily, the first speed of the dispatch frame in the previous motion cycle is determined according to one or more candidate angles in the main axis angle change set and the motion distance.

[0142] Specifically, the uniform speed of the dispatch frame within the third candidate angle can be determined based on one or more candidate angles in the main axis angle change set and the action distance. Then, the first speed of the dispatch frame at the end of the motion cycle is determined based on the uniform speed, and / or the starting speed of the dispatch frame at the start of the motion cycle is determined.

[0143] Optionally, if the previous motion cycle is the first motion cycle, the starting speed of the moving frame at the first main axis angle is 0; if the previous motion cycle is not the first motion cycle, the starting speed of the moving frame at the first main axis angle can be determined according to the uniform speed, or the starting speed is the speed at the end moment of the previous motion cycle of the previous motion cycle.

[0144] In the above embodiment, the change of the main shaft angle of the moving frame in the previous movement cycle is further divided according to the change of the moving frame speed, and is divided into a speed-up stage, a uniform speed stage, and a speed-down stage, and speed planning is performed for each stage. The change of the movement speed of the moving frame in the previous movement cycle can be made smooth and coherent. In addition, the speed planning of the moving frame within the second angle difference is taken into account. It is prevented that there is a gap between the main shaft angles of adjacent front and rear movement cycles, thereby causing a sudden change in speed at the gap. Thereby reducing the vibration of the moving frame and improving the sewing effect of the template machine.

[0145] Based on the above-mentioned embodiment, this embodiment further explains how to determine the first speed.

[0146] In an exemplary sewing task, a total of three stitches are included, which are performed in a mode where the moving frame moves continuously. It can be understood that the sewing task includes a total of three motion cycles, which are recorded as the first motion cycle, the second motion cycle, and the third motion cycle. Correspondingly, in the first motion cycle, the first stitch is sewn; in the second motion cycle, the second stitch is sewn; and in the third motion cycle, the third stitch is sewn.

[0147] In one example, the first main axis angle and the second main axis angle of the moving frame in the first motion cycle and the third main axis angle of the second motion cycle are first obtained. The previous motion cycle in adjacent motion cycles is the first motion cycle, and the next motion cycle is the second motion cycle.

[0148] Figure 7 is a schematic diagram of an exemplary first motion cycle. Figure 7 As shown, the third main axis angle is greater than the second main axis angle, then the first angle difference Δθ of the first motion cycle can be determined according to formula (1) and formula (2) in the above embodiment: 1a and the second angle difference Δθ 1b .

[0149] Determine the first alternative angle according to the first angle difference and the first ratio value; determine the second alternative angle according to the first angle difference and the second ratio value; determine the first angle difference, subtract the first alternative angle and the second alternative angle in sequence to obtain the difference as the third alternative angle; determine the second angle difference as the fourth alternative angle.

[0150] Exemplarily, the above-mentioned alternative angles are all alternative angles of the first motion cycle, that is, the main axis angle change set of the first motion cycle. Each alternative angle in the main axis angle change set of the first motion cycle can be calculated by the following formula (3):

[0151]

[0152] In formula (3), Δθ u1 Denotes the first candidate angle of the first motion cycle, Δθ 1a represents the first angle difference of the first motion cycle, t1 represents the first ratio value, Δθ d1 represents the second alternative angle of the first motion cycle, t2 represents the second proportional value, Δθ e1 The third alternative angle, Δθ, represents the first motion cycle t1 The fourth alternative angle, Δθ, represents the first motion cycle 1b Represents the second angle difference of the first motion cycle. Wherein, the first ratio value and the second ratio value are both positive numbers less than 1. Optionally, the values ​​of the first ratio value and the second ratio value can be the same or different; and the first ratio value and the second ratio value can also be expressed in the form of percentages. For example, the first ratio value is 25% and the second ratio value is 30%. It should be noted that the above-mentioned values ​​for the first ratio value and the second ratio value are only examples. In actual applications, any positive number less than 1 can be selected as the first ratio value and the second ratio value.

[0153] It can be understood that the first motion cycle is the first motion cycle. When the previous motion cycle is the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference.

[0154] Exemplarily, the sum of the first angle difference and the second angle difference is determined as the third angle difference. Exemplarily, the third angle difference of the moving frame in the first motion cycle can be calculated according to the following formula (4):

[0155] Δθ1=Δθ 1b +Δθ1 b

[0156] In formula (4), Δθ1 represents the third angle difference of the moving frame in the first movement cycle.

[0157] Exemplarily, the movement distance of the moving frame in the previous movement cycle is a preset movement distance of the moving frame in the first movement cycle.

[0158] Furthermore, the speed of the moving frame at the start time of the first movement cycle is 0, and the uniform speed of the moving frame during the uniform speed process of the first movement cycle can be calculated by the following formula (5):

[0159]

[0160] In formula (5), v e1 represents the uniform speed of the moving frame in the uniform speed process of the first movement cycle, S1 represents the movement distance of the moving frame in the first movement cycle, and v2 represents the preset speed ratio value. The preset speed ratio value is a positive number less than 1.

[0161] The product of the uniform speed of the moving frame in the uniform speed process of the previous motion cycle and the preset speed ratio value of the moving frame in the previous motion cycle is determined as the first speed.

[0162] Exemplarily, the first speed of the first motion cycle can be calculated by the following formula (6):

[0163] v d1 =v e1 ×v2

[0164] In formula (6), v d1 Indicates the first speed of the first motion cycle.

[0165] The first speed of the first motion cycle is determined as the second speed of the second motion cycle, that is, the speed value of the moving frame at the start time of the second motion cycle is the same as the value of the first speed of the first motion cycle.

[0166] Combination Figure 7 To explain, the speed of the moving frame at the starting moment of the first motion cycle is 0. When the spindle angle is within the first alternative angle, the speed of the moving frame is uniformly accelerated from 0 to the uniform speed of the first motion cycle. When the spindle angle is within the third alternative angle, the speed of the moving frame remains at the uniform speed of the first motion cycle. When the spindle angle is within the second alternative angle, the speed of the moving frame is uniformly decelerated from the uniform speed of the first motion cycle to the first speed of the first motion cycle. When the spindle angle is within the fourth alternative angle, the speed of the moving frame remains at the first speed of the first motion cycle. And the speed of the moving frame at the starting moment of the second motion cycle is the same as the value of the first speed of the first motion cycle. At the speed obtained by the above plan, the moving frame of the template machine is controlled to move in the first motion cycle, and the moving frame of the template machine is controlled to enter the second motion cycle at the first speed of the first motion cycle.

[0167] After entering the second motion cycle, first obtain the first and second main axis angles of the moving frame in the second motion cycle, and the third main axis angle of the third motion cycle. In adjacent motion cycles, the previous motion cycle is the second motion cycle, and the next motion cycle is the third motion cycle.

[0168] Figure 8 is a schematic diagram of an exemplary second motion cycle. Figure 8 As shown, the third main axis angle is greater than the second main axis angle, then the first angle difference Δθ of the second motion cycle can be determined. 2a and the second angle difference Δθ 2b Among them, the first angle difference Δθ of the second motion cycle is determined 2a and the second angle difference Δθ 2b and the first angle difference Δθ for determining the first motion cycle 1a and the second angle difference Δθ 1b Similarly, the first angle difference of the second motion cycle can be determined by the following formula (7):

[0169] Δθ 2a =θ 22 -θ 21

[0170] In formula (7), Δθ 2a represents the first angle difference of the second motion cycle, θ 22 represents the second principal axis angle of the second motion cycle, θ 21 Represents the first principal axis angle of the second motion cycle.

[0171] Exemplarily, the second angle difference of the second motion cycle can be determined by the following formula (8):

[0172] Δθ 2b =θ 31-θ 22

[0173] In formula (8), Δθ 2b represents the second angle difference of the second motion cycle, θ 31 Represents the third principal axis angle of the third motion cycle.

[0174] Determine the first alternative angle according to the first angle difference and the first ratio value; determine the second alternative angle according to the first angle difference and the second ratio value; determine the first angle difference, subtract the first alternative angle and the second alternative angle in sequence to obtain the difference as the third alternative angle; determine the second angle difference as the fourth alternative angle.

[0175] Exemplarily, the above-mentioned alternative angles are all alternative angles of the second motion cycle, that is, the main axis angle change set of the second motion cycle. Each alternative angle in the main axis angle change set of the second motion cycle can be calculated by the following formula (9):

[0176]

[0177] In formula (9), Δθ u2 Denotes the first alternative angle of the second motion cycle, Δθ 2a represents the first angle difference of the second motion cycle, t1 represents the first ratio value, Δθ d2 represents the second alternative angle of the second motion cycle, t2 represents the second ratio value, Δθ e2 The third alternative angle, Δθ, represents the second motion cycle t2 The fourth alternative angle, Δθ, represents the second motion cycle 2b The first ratio value and the second ratio value are both positive numbers less than 1.

[0178] It can be understood that the second motion cycle is not the first motion cycle. When the previous motion cycle is not the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, the third angle difference and the third speed.

[0179] The third speed is the speed of the moving frame at the end time of the previous motion cycle of the previous motion cycle.

[0180] Exemplarily, the sum of the first angle difference and the second angle difference is determined as the third angle difference. Exemplarily, the third angle difference of the moving frame in the second motion cycle can be calculated according to the following formula (10):

[0181] Δθ2=Δθ 2a +Δθ2b

[0182] In formula (10), Δθ2 represents the third angle difference of the moving frame in the second movement cycle.

[0183] Exemplarily, the uniform speed of the moving frame in the uniform speed process of the second motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the second motion cycle, the preset speed ratio value, the third angle difference and the third speed.

[0184] For example, the uniform speed of the moving frame during the uniform speed process of the second motion cycle can be calculated by the following formula (11):

[0185]

[0186] In formula (11), v e2 represents the uniform speed of the moving frame in the uniform speed process of the second movement cycle, S2 represents the movement distance of the moving frame in the second movement cycle, and v u2 Represents the third speed of the second motion cycle.

[0187] Exemplarily, the third speed is the speed of the moving frame at the end time of the previous motion cycle of the second motion cycle. It can be understood that the value of the third speed of the second motion cycle is the first speed of the first motion cycle. That is, v u2 =v d1 .

[0188] The product of the uniform speed of the moving frame in the uniform speed process of the previous motion cycle and the preset speed ratio value of the moving frame in the previous motion cycle is determined as the first speed.

[0189] Exemplarily, the first speed of the second motion cycle can be calculated by the following formula (12):

[0190] v d2 =v e2 ×v2

[0191] In formula (12), v d2 Indicates the first speed of the second motion cycle. The preset speed ratio value v2 is a positive number less than 1.

[0192] The first speed of the second motion cycle is determined as the second speed of the third motion cycle, that is, the speed value of the moving frame at the start time of the third motion cycle is the same as the value of the first speed of the second motion cycle.

[0193] Combination Figure 8To explain, the speed of the moving frame at the starting moment of the second motion cycle is the third speed, which is numerically equal to the first speed of the first motion cycle. When the spindle angle is within the first alternative angle, the speed of the moving frame is uniformly accelerated from the third speed of the second motion cycle to the uniform speed of the second motion cycle. When the spindle angle is within the third alternative angle, the speed of the moving frame remains at the uniform speed of the second motion cycle. When the spindle angle is within the second alternative angle, the speed of the moving frame is uniformly decelerated from the uniform speed of the second motion cycle to the first speed of the second motion cycle. When the spindle angle is within the fourth alternative angle, the speed of the moving frame remains at the first speed of the second motion cycle. And the speed of the moving frame at the starting moment of the third motion cycle is the same as the value of the first speed of the second motion cycle. At the speed obtained by the above plan, the moving frame of the template machine is controlled to move in the second motion cycle, and the moving frame of the template machine is controlled to enter the third motion cycle at the first speed of the second motion cycle.

[0194] After entering the third motion cycle, first obtain the first spindle angle and the second spindle angle of the moving frame in the third motion cycle. Since the third motion cycle is the last motion cycle of this sewing task, there is no need to obtain the third spindle angle of the next motion cycle. The third motion cycle is taken as the previous motion cycle of the adjacent motion cycle.

[0195] Fig. 9 FIG. 4 is a schematic diagram of an exemplary third motion cycle. Fig. 9 As shown, since there is no fourth motion cycle after the third motion cycle, the second angle difference Δθ of the third motion cycle is 3b is 0. Exemplarily, the first angle difference of the third motion cycle can be determined by the following formula (13):

[0196] Δθ 3a =θ 32 -θ 31

[0197] In formula (13), Δθ 3a represents the first angle difference of the third motion cycle, θ 32 represents the second principal axis angle of the third motion cycle, θ 31 Represents the first principal axis angle of the third motion cycle.

[0198] Determine a first alternative angle according to the first angle difference and the first ratio value; determine a second alternative angle according to the first angle difference and the second ratio value; determine the first angle difference, and subtract the first alternative angle and the second alternative angle in sequence to obtain a difference, which is the third alternative angle.

[0199] Exemplarily, the above-mentioned alternative angles are all alternative angles of the third motion cycle, that is, the main axis angle change set of the third motion cycle. Each alternative angle in the main axis angle change set of the third motion cycle can be calculated by the following formula (14):

[0200]

[0201] In formula (14), Δθ u3 Denotes the first alternative angle of the third motion cycle, Δθ 3a represents the first angle difference of the third motion cycle, t1 represents the first ratio value, Δθ d3 represents the second alternative angle of the third motion cycle, t2 represents the second proportional value, Δθ e3 represents a third candidate angle of the third motion cycle, wherein the first ratio value and the second ratio value are both positive numbers less than 1.

[0202] It should be noted that the fourth alternative angle Δθ of the third motion cycle is t3 =Δθ 3b =0.

[0203] It can be understood that the third motion cycle is not the first motion cycle. The steps of determining the first speed of the moving frame in the third motion cycle are similar to the steps of determining the first speed of the moving frame in the second motion cycle.

[0204] Exemplarily, the sum of the first angle difference and the second angle difference is determined as the third angle difference. Since the second angle difference of the third motion cycle is 0, the third angle difference of the moving frame in the third motion cycle is the first angle difference of the third motion cycle. That is, formula (15):

[0205] Δθ3=Δθ 3a

[0206] In formula (15), Δθ3 represents the third angle difference of the moving frame in the third movement cycle.

[0207] Exemplarily, the uniform speed of the moving frame in the uniform speed process of the third motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the third motion cycle, the preset speed ratio value, the third angle difference and the third speed.

[0208] For example, the uniform speed of the moving frame in the uniform speed process of the third motion cycle can be calculated by the following formula (16):

[0209]

[0210] In formula (16), v e3represents the uniform speed of the moving frame in the uniform speed process of the third motion cycle, S3 represents the movement distance of the moving frame in the third motion cycle, and v u3 Represents the third speed of the third motion cycle.

[0211] Exemplarily, the third speed is the speed of the moving frame at the end of the previous motion cycle of the third motion cycle. It can be understood that the value of the third speed is the first speed of the second motion cycle. That is, v u3 =v d2 .

[0212] Since the third motion cycle is the last motion cycle of this sewing task, the first speed of the third motion cycle is 0, that is, v d3 =0.

[0213] Combination Fig. 9 To explain, the speed of the moving frame at the start of the third motion cycle is the third speed, which is numerically equal to the first speed of the second motion cycle. When the spindle angle is within the first alternative angle, the speed of the moving frame is uniformly accelerated from the third speed of the third motion cycle to the uniform speed of the third motion cycle. When the spindle angle is within the third alternative angle, the speed of the moving frame is maintained at the uniform speed of the third motion cycle. When the spindle angle is within the second alternative angle, the speed of the moving frame is uniformly decelerated from the uniform speed of the third motion cycle to 0. At the speed obtained by the above plan, the moving frame of the template machine is controlled to move in the third motion cycle.

[0214] Fig.10 is a schematic diagram of the moving frame speed for three exemplary motion cycles, as shown in Fig.10 As shown, the upper part indicates the change of the main shaft angle within three movement cycles, and the lower part indicates the change trend of the moving speed of the moving frame within the corresponding main shaft angle change range.

[0215] Combination Fig.10 It can be seen that based on the method provided in the embodiment of the present application, the moving speed of the moving frame of the template machine is controlled. When there is an interval between the spindle angles of adjacent motion cycles, it is ensured that there is a speed plan at the interval of the spindle angle, and the speed does not suddenly change to 0. That is, within the fourth alternative angle within the motion cycle, it is ensured that the movement speed of the moving frame is the first speed within the motion cycle. In addition, for the speed at the starting moment of the next motion cycle of the adjacent motion cycle, it is controlled to be the speed at the end moment of the previous motion cycle, which can further ensure that the speed change of the moving frame of the adjacent motion cycles is smooth and coherent.

[0216] In the above embodiment, the method provided by the present application is further explained by taking three motion cycles in an exemplary sewing task as an example. Based on the alternative angles in the spindle angle change set in each divided motion cycle, and the angle difference in each motion cycle, the uniform speed in the motion cycle is determined, and based on the uniform speed and the preset speed ratio, the first speed in the motion cycle is determined; the speed at the starting moment in the motion cycle is the speed at the end moment of the previous motion cycle. Thus, the moving speed of the moving frame in each motion cycle can be determined, and based on the moving speed of the moving frame in each motion cycle, the processor sends a control instruction to the controller so that the moving frame moves according to the planned moving speed in the motion cycle. It can ensure that the moving frame moves at a smooth and coherent speed during the sewing task. Avoid the phenomenon of sudden changes in the speed of the moving frame, thereby reducing the vibration phenomenon of the moving frame, and then improving the sewing effect of the template machine.

[0217] In combination with the above embodiments, it can be known that the scheme in the above embodiments is performed in a continuous motion working mode of the moving frame. Therefore, it is necessary to first determine the working mode of the moving frame. Based on any of the above embodiments, this embodiment specifically explains how to determine the working mode of the moving frame.

[0218] In one example, before obtaining the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycle, the method further includes:

[0219] If it is determined that the rotation speed of the spindle is greater than or equal to the preset rotation speed, the step of obtaining the first spindle angle and the second spindle angle of the spindle of the template machine in the previous motion cycle in the adjacent motion cycle is performed.

[0220] For example, the spindle can obtain the speed information in a variety of ways, for example, by obtaining the speed information of the spindle through a speed sensor disposed on the spindle, or by calculating the speed information of the spindle by reading the speed model of a servo motor connected to the spindle.

[0221] After obtaining the spindle speed information, determine the relationship between the spindle speed and the preset speed. If it is determined that the spindle speed is greater than or equal to the preset speed, it indicates that the current working mode of the moving frame should be a continuous action working mode. It can be understood that the spindle speed is fast at this time, which is equivalent to the fast sewing frequency of the knitting needle on the material. Therefore, the moving frame needs to perform continuous action to form a continuous line on the material. That is, if it is determined that the spindle speed is greater than or equal to the preset speed, the method provided in any of the aforementioned embodiments and / or any combination of the aforementioned embodiments of the present application is executed.

[0222] Correspondingly, if it is determined that the spindle speed is less than the preset speed, it indicates that the current working mode of the moving frame is a non-continuous action working mode, which can also be called an intermittent action working mode. In the intermittent action working mode, the speed of the moving frame at the start and end of each motion cycle is 0.

[0223] Fig.11 is a schematic diagram of an exemplary intermittent action working mode, such as Fig.11 As shown, in the intermittent motion working mode, when the spindle angle is at the first spindle angle and the second spindle angle, the speed of the moving frame is 0, that is, the speed at the start and end of each motion cycle is 0. When the spindle angle is within the third alternative angle, the moving speed of the moving frame is the calculated uniform speed.

[0224] Specifically, in a motion cycle of the intermittent motion working mode, the first main axis angle and the second main axis angle of the motion cycle are obtained, and the first angle difference, the first alternative angle, the second alternative angle, and the third alternative angle are determined based on the first main axis angle and the second main axis angle of the motion cycle.

[0225] Exemplarily, the first angle difference in the intermittent motion working mode can be calculated according to the following formula (17):

[0226] Δθ 4a =θ 42 -θ 41

[0227] In formula (17), Δθ 4a Indicates the first angle difference in intermittent working mode, θ 42 Indicates the second spindle angle of this motion cycle in intermittent working mode, θ 41 Indicates the first principal axis angle of this motion cycle in intermittent working mode.

[0228] Exemplarily, the first candidate angle, the second candidate angle, and the third candidate angle in the intermittent motion working mode can be calculated according to the following formula (18):

[0229]

[0230] In formula (18), Δθ u4 Indicates the first alternative angle in intermittent action working mode, Δθ d4 Indicates the second alternative angle in intermittent motion working mode, Δθ e4 represents the third alternative angle in the intermittent motion working mode, t1 represents the first proportional value, and t2 represents the second proportional value.

[0231] Furthermore, the uniform speed of the moving frame in the motion cycle in the intermittent motion working mode is determined based on the first angle difference, the first alternative angle, the second alternative angle, the third alternative angle, and the preset distance of the moving frame in the motion cycle.

[0232] Exemplarily, the uniform speed of the motion cycle of the dispatching frame in the intermittent motion working mode can be determined by the following formula (19):

[0233]

[0234] In formula (19), v e4 It indicates the uniform speed of the moving frame in the intermittent motion working mode during the motion cycle, and S4 indicates the preset distance of the moving frame in the intermittent motion working mode during the motion cycle.

[0235] It can be understood that when the moving frame is in the intermittent motion working mode, the uniform speed is calculated for each motion cycle, and the speed at the start and end of each motion cycle is 0. Based on the speed in each motion cycle, the moving frame can be controlled to move at the planned speed in the motion cycle.

[0236] In the above embodiment, the working mode of the moving frame is determined by judging the rotation speed of the main shaft, so that the moving frame of the template machine can have different working modes. When the rotation speed of the main shaft is greater than or equal to the preset rotation speed, the moving frame is in a continuous action working mode. At this time, it is necessary to further plan the speed of the moving frame to ensure that the moving speed of the moving frame is smooth and continuous, thereby avoiding vibration of the moving frame in the continuous action working mode.

[0237] It should be noted that the first ratio value, the second ratio value, and the preset speed ratio value mentioned in the embodiment of the present application correspond to each motion cycle. In different motion cycles, the first ratio value, the second ratio value, and the preset speed ratio value may be the same or different.

[0238] The template machine control method based on the moving frame speed provided in the embodiment of the present application obtains the first spindle angle and the second spindle angle of the previous motion cycle of the adjacent motion cycle, determines the first angle difference, obtains the third spindle angle of the next motion cycle of the adjacent motion cycle, and then determines the second angle difference based on the second spindle angle. The moving frame speed within the first angle difference and the second angle difference is planned respectively, and it is ensured that the speed at the end of the previous motion cycle is the speed at the start of the next motion cycle. Based on the planned speed, the moving frame of the template machine is controlled to move. It can ensure that there is speed planning at the spindle angle interval within the adjacent motion cycles, and there will be no sudden change of speed to 0, and the speed at the start of the next motion cycle is controlled to be equal to the speed at the end of the previous motion cycle, which can further ensure the smoothness and continuity of the speed at the junction of the adjacent motion cycles. Therefore, based on the smooth and continuous speed, the vibration phenomenon of the moving frame of the template machine is reduced, thereby improving the sewing effect of the template machine.

[0239] Fig.12 The schematic diagram of the structure of the template machine control device based on the moving frame speed provided in this application is as follows: Fig.12 As shown, the template machine control device 120 based on the moving frame speed provided in this embodiment includes:

[0240] The acquisition module 1201 is used to acquire the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycles, and acquire the third spindle angle of the template machine in the next motion cycle in the adjacent motion cycles during the operation of the moving frame of the template machine; wherein the first spindle angle is a preset spindle angle of the spindle at the starting moment of the previous motion cycle, the second spindle angle is a preset spindle angle of the spindle at the ending moment of the previous motion cycle; and the third spindle angle is a preset spindle angle of the spindle at the starting moment of the next motion cycle;

[0241] The processing module 1202 is used to determine a first speed of the moving frame in a previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle; wherein the first speed is the speed of the moving frame at the end time of the previous motion cycle;

[0242] The processing module 1202 is further used to determine the first speed, which is the second speed of the moving frame in the next motion cycle; wherein the second speed is the speed of the moving frame at the starting moment of the next motion cycle; and according to the second speed, control the movement of the moving frame in the next motion cycle.

[0243] In a possible implementation, the first speed of the moving frame in the previous motion cycle is determined according to the first spindle angle, the second spindle angle, and the third spindle angle, and the processing module 1202 is used to:

[0244] If it is determined that the third main axis angle is greater than the second main axis angle, then the difference between the second main axis angle and the first main axis angle is determined as the first angle difference; and the difference between the third main axis angle and the second main axis angle is determined as the second angle difference;

[0245] A first speed of the moving frame in a previous motion cycle is determined according to the first angle difference and the second angle difference.

[0246] In a possible implementation, the first speed of the moving frame in the previous motion cycle is determined according to the first angle difference and the second angle difference, and the processing module 1202 is used to:

[0247] Determine a spindle angle change set of the moving frame according to the first angle difference and the second angle difference; wherein the spindle angle change set indicates the spindle angle change of the moving frame in a previous motion cycle and the spindle angle change of the moving frame between the previous motion cycle and the next motion cycle;

[0248] The first speed is determined according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle; wherein the movement distance of the previous movement cycle is a preset movement distance of the moving frame in the previous movement cycle.

[0249] In a possible implementation manner, the main axis angle variation set includes one or more of the following: a first alternative angle, a second alternative angle, a third alternative angle, and a fourth alternative angle;

[0250] The first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle;

[0251] The second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process;

[0252] The third alternative angle represents the difference between the first angle difference, the first alternative angle and the second alternative angle;

[0253] The fourth alternative angle is the second angle difference.

[0254] In a possible implementation, the main axis angle change set of the moving frame is determined according to the first angle difference and the second angle difference, and the processing module 1202 is used to:

[0255] Determine a first candidate angle according to the first angle difference and the first ratio value; wherein the first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle; and the first ratio value is a positive number less than 1;

[0256] Determine a second candidate angle according to the first angle difference and the second ratio value; wherein the second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process; and the second ratio value is a positive number less than 1;

[0257] Determine the first angle difference, and subtract the first candidate angle and the second candidate angle in sequence to obtain a difference value as the third candidate angle;

[0258] A second angle difference is determined as a fourth candidate angle.

[0259] In a possible implementation, the first speed is determined according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle, and the processing module 1202 is used to:

[0260] Determine the sum of the first angle difference and the second angle difference as the third angle difference;

[0261] Determine the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value;

[0262] The product of the uniform speed of the moving frame in the uniform speed process of the previous motion cycle and the preset speed ratio value of the moving frame in the previous motion cycle is determined as the first speed.

[0263] In a possible implementation, the processing module 1202 is used to determine the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value:

[0264] When the previous motion cycle is the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value;

[0265] When the previous motion cycle is not the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, the third angle difference and the third speed; wherein the third speed is the speed of the moving frame at the end moment of the previous motion cycle of the previous motion cycle.

[0266] In a possible implementation manner, before obtaining the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycle, the obtaining module 1201 is further used to:

[0267] If it is determined that the rotation speed of the spindle is greater than or equal to the preset rotation speed, the step of obtaining the first spindle angle and the second spindle angle of the spindle of the template machine in the previous motion cycle in the adjacent motion cycle is performed.

[0268] The template machine control device based on the moving frame speed provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0269] Fig.13 This is a schematic diagram of the structure of the template machine equipment provided in this application. Fig.13 As shown, the template machine device 130 provided in this embodiment includes: at least one processor 1301 and a memory 1302. Optionally, the template machine device 130 also includes a communication component 1303. The processor 1301, the memory 1302 and the communication component 1303 are connected via a bus 1304.

[0270] In a specific implementation process, at least one processor 1301 executes the computer-executable instructions stored in the memory 1302, so that at least one processor 1301 executes the above method.

[0271] The specific implementation process of the processor 1301 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0272] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0273] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0274] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0275] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0276] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0277] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0278] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0279] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0280] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0281] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0282] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0283] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0284] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A template machine control method based on moving frame speed, characterized in that: include: During the operation of the moving frame of the template machine, the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in adjacent motion cycles are obtained, and the third spindle angle of the template machine in the next motion cycle in the adjacent motion cycle is obtained; wherein the first spindle angle is a preset spindle angle of the spindle at the starting moment of the previous motion cycle, the second spindle angle is a preset spindle angle of the spindle at the ending moment of the previous motion cycle; the third spindle angle is a preset spindle angle of the spindle at the starting moment of the next motion cycle; Determine a first speed of the moving frame in the previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle; wherein the first speed is the speed of the moving frame at the end time of the previous motion cycle; Determine the first speed as the second speed of the moving frame in the subsequent motion cycle; wherein the second speed is the speed of the moving frame at the starting moment of the subsequent motion cycle; and control the movement of the moving frame in the subsequent motion cycle according to the second speed.

2. The method according to claim 1, characterized in that Determining a first speed of the moving frame in the previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle includes: If it is determined that the third spindle angle is greater than the second spindle angle, then determining the difference between the second spindle angle and the first spindle angle as a first angle difference; and determining the difference between the third spindle angle and the second spindle angle as a second angle difference; A first speed of the moving frame in the previous motion cycle is determined according to the first angle difference and the second angle difference.

3. The method according to claim 2, characterized in that Determining a first speed of the moving frame in the previous motion cycle according to the first angle difference and the second angle difference includes: Determine a spindle angle change set of the moving frame according to the first angle difference and the second angle difference; wherein the spindle angle change set indicates a spindle angle change of the moving frame in a previous motion cycle, and a spindle angle change of the moving frame between a previous motion cycle and a next motion cycle; The first speed is determined according to a set of main axis angle changes of the moving frame and a movement distance of the moving frame in a previous movement cycle; wherein the movement distance of the previous movement cycle is a preset movement distance of the moving frame in the previous movement cycle.

4. The method according to claim 3, characterized in that The main axis angle variation set includes one or more of the following: a first alternative angle, a second alternative angle, a third alternative angle, and a fourth alternative angle; The first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase of the moving frame in the previous motion cycle; The second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process; The third alternative angle represents the difference between the first angle difference, the first alternative angle and the second alternative angle; The fourth alternative angle is the second angle difference.

5. The method according to claim 3, characterized in that: Determining a principal axis angle change set of the moving frame according to the first angle difference and the second angle difference includes: Determine a first candidate angle according to the first angle difference and the first ratio value; wherein the first candidate angle represents the difference between the maximum spindle angle and the first spindle angle during the speed increase process of the moving frame in the previous motion cycle; and the first ratio value is a positive number less than 1; Determine a second candidate angle according to the first angle difference and the second ratio value; wherein the second candidate angle represents the difference between the maximum spindle angle of the moving frame during the deceleration process of the previous motion cycle and the minimum spindle angle during the deceleration process; the second ratio value is a positive number less than 1; Determine the first angle difference, and subtract the first candidate angle and the second candidate angle in sequence to obtain a difference as a third candidate angle; The second angle difference is determined as a fourth candidate angle.

6. The method according to claim 3, characterized in that: Determining the first speed according to the main axis angle change set of the moving frame and the movement distance of the moving frame in the previous movement cycle includes: Determine the sum of the first angle difference and the second angle difference as a third angle difference; Determine the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value; The product of the uniform speed of the moving frame in the uniform speed process of the previous motion cycle and the preset speed ratio value of the moving frame in the previous motion cycle is determined as the first speed.

7. The method according to claim 6, characterized in that The step of determining the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, and the third angle difference value comprises: When the previous motion cycle is the first motion cycle, determining the uniform speed of the moving frame in the uniform speed process of the previous motion cycle according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference value; When the previous motion cycle is not the first motion cycle, the uniform speed of the moving frame in the uniform speed process of the previous motion cycle is determined according to the main axis angle change set of the moving frame, the motion distance of the moving frame in the previous motion cycle, the preset speed ratio value, the third angle difference and the third speed; wherein the third speed is the speed of the moving frame at the end moment of the previous motion cycle of the previous motion cycle.

8. The method according to any one of claims 1 to 7, characterized in that Before obtaining the first spindle angle and the second spindle angle of the template machine in the previous motion cycle in the adjacent motion cycle, the method further includes: If it is determined that the rotation speed of the spindle is greater than or equal to the preset rotation speed, the step of obtaining the first spindle angle and the second spindle angle of the spindle of the template machine in the previous motion cycle in the adjacent motion cycle is performed.

9. A template machine control device based on moving frame speed, characterized in that: include: An acquisition module is used to acquire, during the operation of the moving frame of the template machine, a first spindle angle and a second spindle angle of the template machine's spindle in a previous motion cycle in adjacent motion cycles, and to acquire a third spindle angle of the template machine's spindle in a subsequent motion cycle in adjacent motion cycles; wherein the first spindle angle is a preset spindle angle of the spindle at the starting moment of the previous motion cycle, the second spindle angle is a preset spindle angle of the spindle at the ending moment of the previous motion cycle; and the third spindle angle is a preset spindle angle of the spindle at the starting moment of the subsequent motion cycle; a processing module, configured to determine a first speed of the moving frame in the previous motion cycle according to the first spindle angle, the second spindle angle, and the third spindle angle; wherein the first speed is the speed of the moving frame at the end time of the previous motion cycle; The processing module is also used to determine the first speed as the second speed of the moving frame in the subsequent motion cycle; wherein the second speed is the speed of the moving frame at the starting moment of the subsequent motion cycle; and according to the second speed, control the movement of the moving frame in the subsequent motion cycle.

10. A template machine device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 8.

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