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

Abstract

Embodiments of the present application provide a template machine control method and device based on the speed of a moving frame, and equipment. The method comprises: during the operation of the moving frame of the template machine, obtaining a first main shaft angle and a second main shaft angle of a main shaft of the template machine in a previous motion cycle of adjacent motion cycles, and obtaining a third main shaft angle of the main shaft of the template machine in a subsequent motion cycle of the adjacent motion cycles; determining a first speed of the moving frame in the previous motion cycle according to the first main shaft angle, the second main shaft angle and the third main shaft angle; determining the first speed as a second speed of the moving frame in the subsequent motion cycle; and controlling the motion of the moving frame in the subsequent motion cycle according to the second speed. The method is used to avoid the vibration of the moving frame, thereby improving the sewing effect of the template machine.

Description

TECHNICAL FIELD

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

[0002] The template machine is used for sewing clothes, textiles or other materials. By controlling the moving frame of the template machine to move, the sewing process is completed through 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 movement, which causes the moving frame of the template machine to vibrate, resulting in poor sewing effect.

[0004] Therefore, there is an urgent need for a solution that can avoid the vibration of the moving frame of the template machine to improve the sewing effect of the template machine. SUMMARY

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

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

[0007] During the operation of the moving frame of the template machine, the first main shaft angle and the second main shaft angle of the main shaft of the template machine in the previous movement period in the adjacent movement period are obtained, and the third main shaft angle of the main shaft of the template machine in the next movement period in the adjacent movement period is obtained; wherein the first main shaft angle is a preset main shaft angle of the main shaft at the starting time of the previous movement period, and the second main shaft angle is a preset main shaft angle of the main shaft at the end time of the previous movement period; the third main shaft angle is a preset main shaft angle of the main shaft at the starting time of the next movement period;

[0008] According to the first main shaft angle, the second main shaft angle and the third main shaft angle, the first speed of the moving frame in the previous movement period is determined; wherein the first speed is the speed of the moving frame at the end time of the previous movement period;

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

[0010] In a possible implementation, according to the first main shaft angle, the second main shaft angle and the third main shaft angle, the first speed of the moving frame in the previous movement period is determined, comprising:

[0011] If it is determined that the third principal axis angle is greater than the second principal axis angle, a difference between the second principal axis angle and the first principal axis angle is determined as a first angle difference, and a difference between the third principal axis angle and the second principal axis angle is determined as a second angle difference.

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

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

[0014] According to the first angle difference and the second angle difference, a principal axis angle change set of the moving frame is determined; wherein the principal axis angle change set indicates a principal axis angle change of the moving frame in the previous motion cycle and a principal axis angle change of the moving frame between the previous motion cycle and the next motion cycle.

[0015] According to the principal axis angle change set of the moving frame and a motion distance of the moving frame in the previous motion cycle, the first speed is determined; wherein the motion distance of the previous motion cycle is a preset moving distance of the moving frame in the previous motion cycle.

[0016] In a possible implementation, the principal axis angle change 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 alternative angle represents a difference between a maximum principal axis angle in the speed-up process of the moving frame in the previous motion cycle and the first principal axis angle.

[0018] The second alternative angle represents a difference between the maximum principal axis angle in the speed-up process of the moving frame in the previous motion cycle and a minimum principal axis angle in the speed-down process.

[0019] The third alternative angle represents a difference among 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, according to the first angle difference and the second angle difference, the principal axis angle change set of the moving frame is determined, including:

[0022] According to the first angle difference and a first proportion value, the first alternative angle is determined; wherein the first alternative angle represents a difference between a maximum principal axis angle in the speed-up process of the moving frame in the previous motion cycle and the first principal axis angle; and the first proportion value is a positive number less than 1.

[0023] determine a second candidate angle according to the first angle difference and a second proportion value; wherein the second candidate angle represents a difference between a maximum principal axis angle in a deceleration process of the motion frame in the previous motion period and a minimum principal axis angle in the deceleration process; and the second proportion value is a positive number less than 1;

[0024] determine a first angle difference, and sequentially subtract the first candidate angle and the second candidate angle to obtain a difference value, which is a third candidate angle;

[0025] determine a second angle difference, which is a fourth candidate angle.

[0026] In a possible implementation, the first speed is determined according to the set of principal axis angle changes of the motion frame and the action distance of the motion frame in the previous motion period, including:

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

[0028] determine a constant speed speed of the motion frame in a constant speed process of the previous motion period according to the set of principal axis angle changes of the motion frame, the action distance of the motion frame in the previous motion period, the preset speed proportion value and the third angle difference;

[0029] determine a product of the constant speed speed of the motion frame in the constant speed process of the previous motion period and the preset speed proportion value of the motion frame in the previous motion period as the first speed.

[0030] In a possible implementation, the constant speed speed of the motion frame in the constant speed process of the previous motion period is determined according to the set of principal axis angle changes of the motion frame, the action distance of the motion frame in the previous motion period, the preset speed proportion value and the third angle difference, including:

[0031] when the previous motion period is the first motion period, determine the constant speed speed of the motion frame in the constant speed process of the previous motion period according to the set of principal axis angle changes of the motion frame, the action distance of the motion frame in the previous motion period, the preset speed proportion value and the third angle difference;

[0032] when the previous motion period is not the first motion period, determine the constant speed speed of the motion frame in the constant speed process of the previous motion period according to the set of principal axis angle changes of the motion frame, the action distance of the motion frame in the previous motion period, the preset speed proportion value, the third angle difference and a third speed; wherein the third speed is a speed of the motion frame at an end time of a preceding motion period located before the previous motion period.

[0033] In a possible implementation, before the first principal axis angle and the second principal axis angle of the principal axis of the template machine in the previous motion period in the adjacent motion period are obtained, the method further includes:

[0034] If it is determined that the rotation speed of the main shaft is greater than or equal to the preset rotation speed, the step of acquiring the first main shaft angle and the second main shaft angle of the main shaft of the template machine in a previous motion period in adjacent motion periods is performed.

[0035] In a second aspect, the embodiments of the present application provide a template machine control device based on dynamic frame speed, comprising:

[0036] The acquisition module is configured to acquire the first main shaft angle and the second main shaft angle of the main shaft of the template machine in a previous motion period in adjacent motion periods, and acquire the third main shaft angle of the main shaft of the template machine in a subsequent motion period in the adjacent motion periods during the operation of the dynamic frame of the template machine, wherein the first main shaft angle is a preset main shaft angle of the main shaft at a starting moment of the previous motion period, the second main shaft angle is a preset main shaft angle of the main shaft at an ending moment of the previous motion period, and the third main shaft angle is a preset main shaft angle of the main shaft at a starting moment of the subsequent motion period.

[0037] The processing module is configured to determine the first speed of the dynamic frame in the previous motion period according to the first main shaft angle, the second main shaft angle, and the third main shaft angle, wherein the first speed is the speed of the dynamic frame at the ending moment of the previous motion period.

[0038] The processing module is further configured to determine the first speed as a second speed of the dynamic frame in the subsequent motion period, wherein the second speed is the speed of the dynamic frame at the starting moment of the subsequent motion period, and control the motion of the dynamic frame in the subsequent motion period according to the second speed.

[0039] In a possible implementation, the processing module is configured to determine the first speed of the dynamic frame in the previous motion period according to the first main shaft angle, the second main shaft angle, and the third main shaft angle, and the processing module is configured to:

[0040] If it is determined that the third main shaft angle is greater than the second main shaft angle, the difference between the second main shaft angle and the first main shaft angle is determined as a first angle difference, and the difference between the third main shaft angle and the second main shaft angle is determined as a second angle difference.

[0041] The first speed of the dynamic frame in the previous motion period is determined according to the first angle difference and the second angle difference.

[0042] In a possible implementation, the processing module is configured to determine the first speed of the dynamic frame in the previous motion period according to the first angle difference and the second angle difference, and the processing module is configured to:

[0043] The processing module is configured to determine a main shaft angle change set of the dynamic frame according to the first angle difference and the second angle difference, wherein the main shaft angle change set indicates the main shaft angle change of the dynamic frame in the previous motion period and the main shaft angle change of the dynamic frame between the previous motion period and the subsequent motion period.

[0044] determine the first speed according to the set of spindle angle changes of the moving frame and the action distance of the moving frame in the previous motion cycle; wherein the action distance of the previous motion cycle is a preset moving distance of the moving frame in the previous motion cycle.

[0045] In a possible implementation, the set of spindle angle changes includes one or more of the following: a first alternative angle, a second alternative angle, a third alternative angle, a fourth alternative angle.

[0046] The first alternative angle represents a difference between a maximum spindle angle in a speed-up process of the moving frame in the previous motion cycle and the first spindle angle.

[0047] The second alternative angle represents a difference between a maximum spindle angle in the previous motion cycle and a minimum spindle angle in a speed-down process of the moving frame in the previous motion cycle.

[0048] The third alternative angle represents a 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, the set of spindle angle changes of the moving frame is determined according to the first angle difference and the second angle difference, and the processing module is configured to:

[0051] determine the first alternative angle according to the first angle difference and a first proportion value; wherein the first alternative angle represents a difference between a maximum spindle angle in a speed-up process of the moving frame in the previous motion cycle and the first spindle angle; and the first proportion value is a positive number less than 1.

[0052] determine the second alternative angle according to the first angle difference and a second proportion value; wherein the second alternative angle represents a difference between a maximum spindle angle in the previous motion cycle and a minimum spindle angle in a speed-down process of the moving frame in the previous motion cycle; and the second proportion value is a positive number less than 1.

[0053] determine the first angle difference, and sequentially subtract the first alternative angle and the second alternative angle to obtain a difference value, which is the third alternative angle.

[0054] determine the second angle difference, which is the fourth alternative angle.

[0055] In a possible implementation, the first speed is determined according to the set of spindle angle changes of the moving frame and the action distance of the moving frame in the previous motion cycle, and the processing module is configured to:

[0056] determine a third angle difference as a sum of the first angle difference and the second angle difference.

[0057] The constant speed of the movable frame in the constant speed process of the previous motion period is determined according to the set of changes in the main shaft angle of the movable frame, the action distance of the movable frame in the previous motion period, the preset speed ratio value, and the third angle difference value.

[0058] The product of the constant speed of the movable frame in the constant speed process of the previous motion period and the preset speed ratio value of the movable frame in the previous motion period is the first speed.

[0059] In a possible implementation, the constant speed of the movable frame in the constant speed process of the previous motion period is determined according to the set of changes in the main shaft angle of the movable frame, the action distance of the movable frame in the previous motion period, the preset speed ratio value, and the third angle difference value, and the processing module is configured to:

[0060] When the previous motion period is the first motion period, the constant speed of the movable frame in the constant speed process of the previous motion period is determined according to the set of changes in the main shaft angle of the movable frame, the action distance of the movable frame in the previous motion period, the preset speed ratio value, and the third angle difference value.

[0061] When the previous motion period is not the first motion period, the constant speed of the movable frame in the constant speed process of the previous motion period is determined according to the set of changes in the main shaft angle of the movable frame, the action distance of the movable frame in the previous motion period, the preset speed ratio value, the third angle difference value, and the third speed, where the third speed is the speed of the movable frame at the end of the previous motion period.

[0062] In a possible implementation, before the first main shaft angle and the second main shaft angle of the main shaft of the template machine in the previous motion period in the adjacent motion periods are acquired, the acquisition module is further configured to:

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

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

[0065] The memory stores computer execution instructions;

[0066] The processor executes the computer execution instructions stored in the memory, so that the processor executes the 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, and the computer readable storage medium stores computer execution instructions. When the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the first aspect and / or various possible implementations of the first aspect.

[0068] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0069] The template machine control method, apparatus, and equipment based on moving frame speed provided in this application determine the speed of the moving frame at the end of the previous motion cycle and the speed of the moving frame at the beginning of the next motion cycle by acquiring the first and second main axis angles of the previous motion cycle and the third main axis angle of the next motion cycle within adjacent motion cycles. This makes the moving frame speed smoother and more consistent between adjacent motion cycles, avoids sudden speed changes between adjacent motion cycles, reduces vibration during moving frame movement, and improves the sewing effect of the template machine. Attached Figure Description

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

[0071] Figure 1 This is a schematic diagram illustrating the sudden change in the velocity of the moving frame;

[0072] Figure 2 A flowchart illustrating the template machine control method based on moving frame speed provided in this application. Figure 1 ;

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

[0074] Figure 4 A flowchart illustrating the template machine control method based on moving frame speed provided in this application. Figure 2 ;

[0075] Figure 5 A flowchart illustrating the template machine control method based on moving frame speed provided in this application. Figure 3 ;

[0076] Figure 6 This is a schematic diagram illustrating an exemplary set of principal axis angle variations;

[0077] Figure 7 This is a schematic diagram of the first motion cycle as an example;

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

[0079] Figure 9 This is a schematic diagram of an exemplary third motion cycle;

[0080] Figure 10 Fig. 2 is a schematic diagram of an exemplary three-motion cycle;

[0081] Figure 11 Fig. 3 is a schematic diagram of an exemplary intermittent-motion work mode;

[0082] Figure 12 Fig. 4 is a schematic diagram of a structure of a template machine control device based on motion frame speed provided in the present application;

[0083] Figure 13 Fig. 5 is a schematic diagram of a structure of a template machine device provided in the present application.

[0084] The specific embodiments of the present application have been shown and described in the above-described drawings, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept 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] The exemplary embodiments will be described in detail herein with reference to the accompanying drawings. In the following description, the same numbers refer to the same elements throughout the drawings, unless otherwise represented. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application, as detailed in the appended claims.

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

[0087] Template machine: refers to a sewing device that can be used to sew clothes, textiles or other materials. The template machine includes a sewing device with a machine head, a motion frame and a table. The machine head is provided with a needle, and a servo motor is connected to the needle through a main shaft to control the needle to realize up-and-down reciprocating motion to complete sewing. Specifically, a transmission mechanism and a speed reduction mechanism are provided between the servo motor and the main shaft, wherein the transmission mechanism can be a belt transmission mechanism, and the speed reduction mechanism can be a two-stage speed reduction belt speed reduction mechanism. Based on the up-and-down reciprocating motion of the needle, in combination with the motion frame translating on the table, a predetermined sewing pattern can be formed on the material to be sewn.

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

[0089] With the development of sewing equipment technology, various sewing devices besides sewing machines have emerged, such as template sewing machines. Template sewing machines require the movement of a moving frame to sew the material. This movement can be divided into continuous and discontinuous frame movement. When the template sewing machine's frame moves continuously, its speed varies. Sudden changes in speed cause vibration, leading to poor sewing quality.

[0090] Figure 1 This is a schematic diagram of a sudden change in the velocity of a moving frame, as shown below. Figure 1 As shown, Figure 1 The horizontal axis represents the principal axis angle, and the vertical axis represents the velocity of the moving frame. Figure 1 The indicated information is the moving frame's speed at different spindle rotation angles. Figure 1 In this pattern, stitch 1 corresponds to a discontinuous moving frame movement mode, while stitches 2 through 9 correspond to a continuous moving frame movement mode. Among stitches 2 through 9, except for the connection between stitches 5 and 6 where no speed change occurs, speed changes occur between adjacent stitches. This speed change in the moving frame, i.e., its uneven movement between adjacent stitches, causes vibration. If the moving frame of the template machine moves unevenly between adjacent stitches, resulting in vibration, it can lead to poor sewing quality. Poor sewing quality can include uneven stitch spacing and unsightly stitching. More severe speed changes in the moving frame can even cause mechanical malfunctions in the template machine.

[0091] Therefore, it is urgent to solve the vibration problem of the moving frame of the template machine. In some embodiments, the template machine is debugged before formal application. This debugging includes speed planning for the moving frame and smoothing out speed abrupt changes using filtering. This reduces the vibration of the moving frame based on the smoothed movement speed. However, in the above embodiments, the filtering method for solving speed abrupt changes involves a large debugging workload, low efficiency, and poor effectiveness in addressing speed abrupt changes. The actual effect on solving the vibration problem of the moving frame is poor.

[0092] The template machine control method based on moving frame speed provided in this application determines the speed of the moving frame at the end of the previous motion cycle by acquiring the first and second main axis angles of the previous motion cycle and the third main axis angle of the subsequent motion cycle within adjacent motion cycles. This speed at the end of the previous motion cycle is then used as the speed at the start of the subsequent motion cycle. This results in smoother and more consistent moving frame speeds between adjacent motion cycles, avoiding sudden speed changes. Based on this smooth and consistent moving frame speed, vibration during moving frame movement is reduced, thereby improving the sewing effect of the template machine.

[0093] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described again in some examples. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0094] Figure 2 Flowchart of the template machine control method based on the speed of the moving frame provided by the present application Figure 1 As shown in the method comprises: Figure 2

[0095] Step 201. In the process of the moving frame of the template machine, the first spindle angle and the second spindle angle of the main shaft of the template machine in the previous motion period in the adjacent motion period are obtained, and the third spindle angle of the main shaft of the template machine in the next motion period in the adjacent motion period is obtained.

[0096] Wherein, the first spindle angle is the preset spindle angle of the main shaft at the starting time of the previous motion period, and the second spindle angle is the preset spindle angle of the main shaft at the end time of the previous motion period; the third spindle angle is the preset spindle angle of the main shaft at the starting time of the next motion period.

[0097] Wherein, the motion period can be understood as that the main shaft drives the needle to sew one needle as a motion period. That is, in a motion period, the needle completes the sewing of one needle. Correspondingly, in the motion period, the moving frame needs to move during the sewing process of the needle, so that the needle and the fabric produce relative displacement, thereby completing the sewing. Therefore, in each motion period, the moving frame has a moving speed.

[0098] Exemplary, Figure 3 The schematic diagram of the exemplary adjacent motion period spindle angle is shown in the figure Figure 3 As shown, in the adjacent motion period, it can be divided into a previous motion period and a next motion period. The preset spindle angle at the starting time of the previous motion period is the first spindle angle, which can also be called the starting angle of the moving frame of the current needle; the preset spindle angle at the end time of the previous motion period is the second spindle angle, which can also be called the end angle of the moving frame of the current needle; the preset spindle angle at the starting time of the next motion period is the third spindle angle, which can also be called the starting angle of the moving frame of the next needle.

[0099] ​In the working process of the template machine, the main shaft rotates to drive the 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 in the running process of the moving frame of the template machine as an example, the processor acquires the main shaft of the template machine, the first main shaft angle and the second main shaft angle of the main shaft of the template machine in the previous motion cycle, and further acquires the third main shaft angle of the main shaft of the template machine in the next motion cycle.

[0100] Specifically, the memory of the template machine stores a preset sewing task. In the preset sewing task, the moving frame angle information of each needle is included, i.e., the preset main shaft angle at the start time and the end time of each motion cycle. The main controller calls the preset sewing task and sends the first main shaft angle, the second main shaft angle and the third main shaft angle to the processor, so that the processor acquires the above three main shaft angles.

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

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

[0103] For example, after acquiring the first main shaft angle, the second main shaft angle and the third main shaft angle, the processor can determine the speed of the moving frame at the end time of the previous motion cycle, i.e., the end speed of the moving frame at the current needle, according to the first main shaft angle, the second main shaft angle and the third main shaft angle according to the preset rules and algorithms.

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

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

[0108] For example, the second speed of the moving frame in the next movement cycle is set as the value of the first speed. That is, the speed of the moving frame at the end time of the previous movement cycle is determined as the speed of the moving frame at the start time of the next movement cycle, i.e., the start speed of the next needle.

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

[0110] Optionally, since the template machine allows the moving frame to move in the x-axis direction and in the y-axis direction. Therefore, the above-mentioned speed determination process of the moving frame in the adjacent movement cycle and the control process of 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 respectively or simultaneously.

[0111] The template machine control method based on the speed of the moving frame provided in the present application obtains the start angle of the moving frame of the current needle, the end angle of the moving frame of the current needle, and the start angle of the moving frame of the next needle, determines the end speed of the moving frame of the current needle, and determines the end speed of the moving frame of the current needle as the start speed of the moving frame of the next needle. Thus, the movement speed of the moving frame between the adjacent two needles is smoother, and the speed mutation of the moving frame is avoided. Based on the smooth and continuous speed of the moving frame, the vibration phenomenon during the movement of the moving frame is reduced, and thus the sewing effect of the template machine is improved.

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

[0113] Figure 4 The flowchart of the template machine control method based on the speed of the moving frame provided in the present application Figure 2 As shown in the figure, the embodiment is based on the embodiment Figure 4 The embodiment is based on the embodiment Figure 2 The embodiment is based on the embodiment

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

[0115] For example, in combination with Figure 3 The first angle difference and the second angle difference are explained. As shown in Figure 3 When the third principal axis angle is greater than the second principal axis angle, the first angle difference is determined as a difference between the second principal axis angle and the first principal axis angle, and the second angle difference is determined as a difference between the third principal axis angle and the second principal axis angle. For example, 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 represents the first angle difference of the moving block in the previous motion cycle, θ 12 represents the second principal axis angle of the moving block in the previous motion cycle, and θ 11 represents the first principal axis angle of the moving block in the previous motion cycle.

[0118] For example, 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 block in the previous motion cycle, and θ 21 represents the third principal axis angle of the moving block in the next motion cycle.

[0121] Optionally, when the third principal axis angle is less than or equal to the second principal axis angle, the determination of the first angle difference remains unchanged, but the second angle difference is 0.

[0122] Step 402. According to the first angle difference and the second angle difference, a first speed of the moving block in the previous motion cycle is determined.

[0123] For example, the first angle difference value is an angle difference value of the moving frame in a previous motion period, and the second angle difference value is an angle difference value of the moving frame between the previous motion period and a next motion period. According to the first angle difference value and the second angle difference value, a total angle difference value of the moving frame can be determined. The total angle difference value of the moving frame can be divided into a plurality of stages, and each stage corresponds to an angle difference value. For example, a spindle angle difference value of the moving frame between a current needle and a next needle can be divided into a speed-up stage, a constant-speed stage, and a speed-down stage. Alternatively, the spindle angle difference value of the moving frame between the current needle and the next needle can be recorded as a tail stage. Each stage has a corresponding angle difference value.

[0124] In the above example, not only the first spindle angle and the second spindle angle of the previous motion period are considered, but also the third spindle angle of the next motion period. Whether there is a gap between the spindle angles of two adjacent motion periods is considered, that is, the second angle difference value is considered. The first speed for subsequent calculation is laid, and the speed planning of the moving frame in the second angle difference value is considered. The speed mutation at the gap caused by the gap between the adjacent previous and next motion periods is prevented. Thus, the vibration of the moving frame is reduced, and the sewing effect of the template machine is improved.

[0125] In an example, according to the different stages of the moving frame in the current needle and the tail stage of the moving frame between the current needle and the next needle, an end speed of the moving frame in the current needle, that is, the first speed of the moving frame in the previous motion period, is determined.

[0126] Figure 5 A flowchart of a template machine control method based on the speed of the moving frame provided in the present application Figure 3 . Specifically, the first speed can be determined by the method flow as shown in Figure 5 . The method specifically includes:

[0127] Step 501. According to the first angle difference value and the second angle difference value, a spindle angle change set of the moving frame is determined.

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

[0129] As known from the foregoing example, the total angle difference value of the moving frame can be divided into a plurality of stages, and the spindle angle difference value of the moving frame between the current needle and the next needle can be recorded as a tail stage. The angle difference value range of each stage can constitute the spindle angle change set.

[0130] For example, the spindle angle change 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 FIG. 1 is a schematic diagram of an exemplary set of spindle angle changes. FIG. 1 is described in conjunction with Figure 6 Each of the alternative angles in the set of spindle angle changes is explained.

[0132] The first alternative angle represents a difference between a maximum spindle angle during a speed-up process in a previous motion cycle and a first spindle angle. For example, the first alternative angle represents a difference between a spindle angle at a starting time in the previous motion cycle and a maximum spindle angle during a speed-up process of the moving block.

[0133] The second alternative angle represents a difference between a maximum spindle angle during a speed-down process in the previous motion cycle and a minimum spindle angle during the speed-down process. For example, the second alternative angle represents a difference between a maximum spindle angle and a minimum spindle angle during a speed-down process of the moving block in the previous motion cycle.

[0134] The third alternative angle represents a difference between the first angle difference, the first alternative angle, and the second alternative angle. For example, the third alternative angle represents a difference between the first angle difference, the first alternative angle, and the second alternative angle in the previous motion cycle.

[0135] The fourth alternative angle is the second angle difference. For example, the fourth alternative angle has the same value as the second angle difference. It can be understood that when the third spindle angle is greater than the second spindle angle, the fourth alternative angle has the same value as the second angle difference; when the third spindle angle is less than or equal to the second spindle angle, the fourth alternative angle has the same value as 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 spindle angle change of the moving block in the previous motion cycle; and the fourth alternative angle indicates the spindle angle change of the moving block 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 alternative angles in different stages, which lays a foundation for subsequent calculation of the constant speed and the first speed in the previous motion cycle based on the alternative angles.

[0138] Step 502. Determine the first speed according to the set of spindle angle changes of the moving block and the action distance of the moving block in the previous motion cycle.

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

[0140] For example, the action distance of the moving frame in the previous motion cycle can be a preset action distance. Specifically, the preset sewing task is stored in the memory of the template machine, and the preset sewing task includes the preset action distance of each needle in addition to the angle information of the moving frame of each needle. According to the motion cycle in which the moving frame is located, the action distance of the moving frame in the previous motion cycle in the adjacent motion cycle is determined.

[0141] For example, according to one or more alternative angles in the set of spindle angle changes and the action distance, the first speed of the moving frame in the previous motion cycle is determined.

[0142] Specifically, the constant speed of the moving frame in the third alternative angle can be determined according to one or more alternative angles in the set of spindle angle changes and the action distance. Then, the first speed of the moving frame at the end time of the motion cycle and / or the starting speed of the moving frame at the start time of the motion cycle are determined according to the constant speed.

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

[0144] In the above embodiment, the spindle angle change of the moving frame in the previous motion cycle is further divided according to the change of the speed of the moving frame, which is divided into the acceleration stage, the constant speed stage, and the deceleration stage, and the speed planning is performed for each stage. The speed change of the moving frame in the previous motion cycle is smooth and coherent. Moreover, the speed planning of the moving frame in the second angle difference is considered to prevent the speed from suddenly changing at the interval between the adjacent previous and subsequent motion cycles due to the interval of the spindle angle. Thus, the vibration of the moving frame is reduced, and the sewing effect of the template machine is improved.

[0145] Based on the foregoing embodiment, the present embodiment further explains how to determine the first speed.

[0146] For example, a total of three needles are included in a sewing task, and the moving frame moves continuously. It can be understood that the sewing task includes a total of three motion cycles, which are referred to as the first motion cycle, the second motion cycle, and the third motion cycle. Correspondingly, the first needle is sewn in the first motion cycle, the second needle is sewn in the second motion cycle, and the third needle is sewn in the third motion cycle.

[0147] In one example, the first and second principal axis angles of the moving frame in the first motion cycle, and the third principal axis angle in the second motion cycle are first obtained. In adjacent motion cycles, the preceding motion cycle is the first motion cycle, and the following motion cycle is the second motion cycle.

[0148] Figure 7 This is a schematic diagram of an exemplary first motion cycle. Figure 7 As shown, the third principal axis angle is greater than the second principal axis angle. Therefore, the first angle difference Δθ of the first motion cycle can be determined according to formulas (1) and (2) in the aforementioned embodiments. 1a The difference between the second angle Δθ 1b .

[0149] Based on the first angle difference and the first ratio, a first alternative angle is determined; based on the first angle difference and the second ratio, a second alternative angle is determined; the difference obtained by subtracting the first alternative angle and the second alternative angle from the first angle difference is determined as a third alternative angle; the second angle difference is determined as a fourth alternative angle.

[0150] For example, the above candidate angles are all candidate angles for the first motion cycle, that is, the set of principal axis angle changes for the first motion cycle. Each candidate angle in the set of principal axis angle changes for the first motion cycle can be calculated using the following formula (3):

[0151]

[0152] In formula (3), Δθ u1 Δθ represents the first alternative angle during the first motion cycle. 1a Δθ represents the first angular difference during the first motion cycle, t1 represents the first proportional value, and Δθ represents the first proportional value. d1 t2 represents the second alternative angle during the first motion cycle, t2 represents the second proportional value, and Δθ represents the second alternative angle during the first motion cycle. e1 Δθ represents the third alternative angle during the first motion cycle. t1 Δθ represents the fourth alternative angle during the first motion cycle. 1b This represents the second angular difference during the first motion cycle. Both the first and second proportional values ​​are positive numbers less than 1. Optionally, the first and second proportional values ​​can be the same or different; and they can also be expressed as percentages. For example, the first proportional value is 25%, and the second proportional value is 30%. It should be noted that the above examples of the first and second proportional values ​​are for illustrative purposes only; in practical applications, any positive number less than 1 can be chosen as the first and second proportional values.

[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 motion process of the previous motion cycle is determined according to the main shaft angle change set of the moving frame, the action distance of the moving frame in the previous motion cycle, the preset speed ratio value and the third angle difference.

[0154] For example, the sum of the first angle difference and the second angle difference is determined as the third angle difference. For example, 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 motion cycle.

[0157] For example, the action distance of the moving frame in the previous motion cycle is the preset action distance of the moving frame in the first motion cycle.

[0158] Further, the speed of the moving frame at the starting time of the first motion cycle is 0, and the uniform speed of the moving frame in the uniform motion process of the first motion 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 motion process of the first motion cycle, S1 represents the action distance of the moving frame in the first motion cycle, and v2 represents the preset speed ratio value. Wherein, 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 motion 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] For example, 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 represents 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 value of the speed of the moving frame at the starting time of the second motion cycle is the same as the value of the first speed of the first motion cycle.

[0166] In combinationFigure 7 To explain, the velocity of the moving frame at the beginning of the first motion cycle is 0. When the spindle angle is within the first alternative angle, the velocity of the moving frame accelerates uniformly from 0 to the uniform velocity of the first motion cycle. When the spindle angle is within the third alternative angle, the velocity of the moving frame remains at the uniform velocity of the first motion cycle. When the spindle angle is within the second alternative angle, the velocity of the moving frame decelerates uniformly from the uniform velocity of the first motion cycle to the first velocity of the first motion cycle. When the spindle angle is within the fourth alternative angle, the velocity of the moving frame remains at the first velocity of the first motion cycle. Furthermore, the velocity of the moving frame at the beginning of the second motion cycle is the same as the first velocity of the first motion cycle. Using the velocity obtained above, the moving frame of the template machine is controlled to move in the first motion cycle, and then the moving frame of the template machine is controlled to enter the second motion cycle at the first velocity of the first motion cycle.

[0167] After entering the second motion cycle, the first and second principal axis angles of the moving frame in the second motion cycle, and the third principal axis angle in the third motion cycle are first obtained. In adjacent motion cycles, the preceding motion cycle is the second motion cycle, and the following motion cycle is the third motion cycle.

[0168] Figure 8 This is a schematic diagram illustrating an exemplary second motion cycle. Figure 8 As shown, since the third principal axis angle is greater than the second principal axis angle, the first angular difference Δθ in the second motion cycle can be determined. 2a The difference between the second angle Δθ 2b Among them, the first angular difference Δθ of the second motion cycle is determined. 2a The difference between the second angle Δθ 2b The first angular difference Δθ that determines the first motion cycle 1a The difference between the second angle Δθ 1b Similarly. For example, the first angular 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 θ represents the first angular difference during the second motion cycle. 22 θ represents the second principal axis angle of the second motion cycle. 21 This indicates the first principal axis angle of the second motion cycle.

[0171] For example, 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 a second angle difference value of the second motion period, θ 31 represents a third principal axis angle of the third motion period.

[0174] According to the first angle difference value and the first proportion value, a first alternative angle is determined; according to the first angle difference value and the second proportion value, a second alternative angle is determined; a difference value obtained by sequentially subtracting the first alternative angle and the second alternative angle from the first angle difference value is determined as a third alternative angle; and the second angle difference value is determined as a fourth alternative angle.

[0175] Exemplarily, the above-mentioned alternative angles are all alternative angles of the second motion period, i.e., a principal axis angle variation set of the second motion period. Each alternative angle in the principal axis angle variation set of the second motion period can be calculated by the following formula (9):

[0176]

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

[0178] It can be understood that the second motion period is a non-first motion period. When the previous motion period is a non-first motion period, according to the principal axis angle variation set of the moving frame, the action distance of the moving frame in the previous motion period, the preset speed proportion value, the third angle difference value and the third speed, the uniform speed of the moving frame in the uniform motion process of the previous motion period is determined.

[0179] Wherein, the third speed is the speed of the moving frame at the end of the previous motion period in the previous motion period.

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

[0181] Δθ2=Δθ 2a +Δθ2b

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

[0183] For example, the constant speed of the moving frame in the constant speed process of the second motion period is determined according to the main shaft angle change set of the moving frame, the action distance of the moving frame in the second motion period, the preset speed ratio value, the third angle difference value and the third speed.

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

[0185]

[0186] In formula (11), v e2 represents the constant speed of the moving frame in the constant speed process of the second motion period, S2 represents the action distance of the moving frame in the second motion period, and v u2 represents the third speed of the second motion period.

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

[0188] The product of the constant speed of the moving frame in the constant speed process of the previous motion period and the preset speed ratio value of the moving frame in the previous motion period is the first speed.

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

[0190] v d2 = v e2 × v2

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

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

[0193] In combination with Figure 8The explanation is that the speed of the moving frame at the start of the second motion cycle is the third speed, which is equal in value to the first speed of the first motion cycle. When the main shaft angle is within the first alternative angle, the speed of the moving frame uniformly accelerates from the third speed of the second motion cycle to the uniform speed of the second motion cycle. When the main shaft 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 main shaft angle is within the second alternative angle, the speed of the moving frame uniformly decelerates from the uniform speed of the second motion cycle to the first speed of the second motion cycle. When the main shaft angle is within the fourth alternative angle, the speed of the moving frame remains at the first speed of the second motion cycle. The speed of the moving frame at the start of the third motion cycle is the same in value as the first speed of the second motion cycle. The moving frame of the template machine is controlled to move in the second motion cycle according to the above-mentioned speed planning, and the moving frame of the template machine enters the third motion cycle at the first speed of the second motion cycle.

[0194] After entering the third motion cycle, the first main shaft angle and the second main shaft angle of the moving frame in the third motion cycle are obtained. Since the third motion cycle is the last motion cycle of the current sewing task, the third main shaft angle of the next motion cycle does not need to be obtained. The third motion cycle is taken as the previous motion cycle of the adjacent motion cycle.

[0195] Figure 9 A schematic diagram of an exemplary third motion cycle is shown. As shown in Figure 9 Since there is no fourth motion cycle after the third motion cycle. At this time, the second angle difference Δθ 3b of the third motion cycle 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 main shaft angle of the third motion cycle, and θ 31 represents the first main shaft angle of the third motion cycle.

[0198] According to the first angle difference and the first proportion value, the first alternative angle is determined; according to the first angle difference and the second proportion value, the second alternative angle is determined; the difference obtained by sequentially subtracting the first alternative angle, the second alternative angle from the first angle difference is the third alternative angle.

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

[0200]

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

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

[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 and determining the first speed of the moving frame in the second motion cycle are similar.

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

[0205] Δθ3=Δθ 3a

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

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

[0208] Exemplarily, 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 e3S3 represents the uniform velocity of the moving frame in the third motion cycle, S3 represents the action distance of the moving frame in the third motion cycle, v u3 S3 represents the third velocity of the third motion cycle.

[0211] For example, the third velocity is the velocity of the moving frame at the end of the previous motion cycle in the third motion cycle. It can be understood that the third velocity is equal to the first velocity of the second motion cycle. That is, v u3 = v d2 .

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

[0213] Combined with Figure 9 , the velocity of the moving frame at the start time of the third motion cycle is equal to the third velocity, which is equal to the first velocity of the second motion cycle in value. When the spindle angle is within the first alternative angle, the velocity of the moving frame uniformly accelerates from the third velocity of the third motion cycle to the uniform velocity of the third motion cycle. When the spindle angle is within the third alternative angle, the velocity of the moving frame remains at the uniform velocity of the third motion cycle. When the spindle angle is within the second alternative angle, the velocity of the moving frame uniformly decelerates from the uniform velocity of the third motion cycle to 0. The above-mentioned velocity obtained by planning controls the moving frame of the template machine to move in the third motion cycle.

[0214] Figure 10 For example, the velocity of the moving frame in three motion cycles is shown in the upper half of FIG. 3, and the change trend of the moving speed of the moving frame in the corresponding spindle angle range is shown in the lower half of FIG. 3. Figure 10

[0215] Combined with Figure 10 , it can be known that the method provided in the embodiments of the present application controls the moving speed of the moving frame of the template machine. In the case that there is an interval between the spindle angles of adjacent motion cycles, it is ensured that there is a velocity planning at the interval of the spindle angles, and the velocity does not suddenly become 0. That is, in the fourth alternative angle within the motion cycle, it is ensured that the moving speed of the moving frame is the first velocity in the motion cycle. Moreover, for the velocity at the start time of the latter motion cycle of adjacent motion cycles, it is controlled to be the velocity at the end time of the former motion cycle, which can further ensure that the change of the moving speed of the moving frame between adjacent motion cycles is smooth and coherent.

[0216] ​In the above embodiment, the method provided by the application is further explained by taking three motion cycles in an exemplary sewing task as an example. Based on each alternative angle in the set of spindle angle changes in each 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 time in the motion cycle is the speed at the end time of the previous motion cycle. In this way, 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 to make the moving frame move at the planned moving speed in the motion cycle. It can be ensured that the moving frame moves at a smooth and coherent speed during the sewing task. The sudden change of the speed of the moving frame is avoided, thereby reducing the vibration phenomenon of the moving frame, and further improving the sewing effect of the template machine.

[0217] In combination with the foregoing embodiments, it can be known that the scheme in the above embodiment is carried out in the working mode of continuous action of the moving frame. Therefore, the working mode of the moving frame needs to be determined first. On the basis of any of the foregoing embodiments, the present embodiment specifically explains how to determine the working mode of the moving frame.

[0218] In an example, before 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, the method further comprises:

[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 rotation speed information of the spindle can be obtained in various ways, such as by a rotation speed sensor arranged on the spindle, or by reading the rotation speed model of the servo motor connected to the spindle to calculate the rotation speed information of the spindle.

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

[0222] Correspondingly, if it is determined that the rotation speed of the main shaft is less than the preset rotation speed, it indicates that the working mode of the current moving frame is the non-continuous action working mode, which can also be called the intermittent action working mode. In the intermittent action working mode of the moving frame, the speed at the starting moment and the ending moment of each movement cycle is 0.

[0223] Figure 11 For a schematic diagram of an exemplary intermittent action working mode, as shown in Figure 11 , in the intermittent action working mode of the moving frame, the speed of the moving frame is 0 when the main shaft angle is at the first main shaft angle and the second main shaft angle, that is, the speed at the starting moment and the ending moment of each movement cycle is 0. When the main shaft angle is within the third alternative angle, the moving speed of the moving frame is the calculated uniform speed.

[0224] Specifically, in one movement cycle of the intermittent action working mode, the first main shaft angle and the second main shaft angle of the movement cycle are obtained. And based on the first main shaft angle and the second main shaft angle of the movement cycle, the first angle difference value, the first alternative angle, the second alternative angle, and the third alternative angle are determined.

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

[0226] Δθ 4a = θ 42 - θ 41

[0227] In formula (17), Δθ 4a represents the first angle difference value in the intermittent working mode, θ 42 represents the second main shaft angle of the movement cycle in the intermittent working mode, and θ 41 represents the first main shaft angle of the movement cycle in the intermittent working mode.

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

[0229]

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

[0231] Further, according to the first angle difference value, the first alternative angle, the second alternative angle, the third alternative angle, and the preset distance of the moving frame in the motion cycle, the constant speed of the moving frame in the motion cycle in the intermittent action working mode is determined.

[0232] For example, the constant speed of the moving frame in the motion cycle in the intermittent action working mode can be determined by the following formula (19):

[0233]

[0234] In formula (19), v e4 represents the constant speed of the moving frame in the motion cycle in the intermittent action working mode, and S4 represents the preset distance of the moving frame in the motion cycle in the intermittent action working mode.

[0235] It can be understood that when the moving frame is in the intermittent action working mode, the constant speed of each motion cycle is calculated respectively, and the speed at the start time and the end time 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 rotating speed of the main shaft, so that the moving frame of the template machine has different working modes. When the rotating speed of the main shaft is greater than or equal to the preset rotating speed, the moving frame is in the continuous action working mode, at this time, the moving frame needs to be further speed planned, so as to ensure that the moving speed of the moving frame is smooth and coherent, and further to avoid the vibration phenomenon of the moving frame in the continuous action working mode.

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

[0238] The template machine control method based on the dynamic frame speed provided in the embodiments of the present application acquires a first main shaft angle and a second main shaft angle of a previous motion period of adjacent motion periods, determines a first angle difference value, acquires a third main shaft angle of a next motion period of the adjacent motion periods, and determines a second angle difference value based on the second main shaft angle. The dynamic frame speed in the first angle difference value and the second angle difference value is planned respectively, and the speed at the end moment of the previous motion period is ensured to be the speed at the start moment of the next motion period. The dynamic frame of the template machine is controlled to move based on the planned speed. The speed planning at the interval of the main shaft angles in the adjacent motion periods can be ensured, and the speed does not suddenly become 0, and the speed at the start moment of the next motion period is controlled to be equal to the speed at the end moment of the previous motion period, so that the smooth and coherent speed at the connection of the adjacent motion periods can be further ensured. Thus, based on the smooth and coherent speed, the dynamic frame vibration of the template machine is reduced, and the sewing effect of the template machine is improved.

[0239] Figure 12 The structure diagram of the template machine control device based on the dynamic frame speed provided in the present application is shown in FIG. 1, and the template machine control device 120 provided in the embodiments of the present application includes: Figure 12

[0240] The acquisition module 1201 is configured to acquire a first main shaft angle and a second main shaft angle of a previous motion period of adjacent motion periods of the main shaft of the template machine, and acquire a third main shaft angle of a next motion period of the adjacent motion periods of the main shaft of the template machine in the process that the dynamic frame of the template machine runs. The first main shaft angle is a preset main shaft angle of the main shaft at the start moment of the previous motion period, the second main shaft angle is a preset main shaft angle of the main shaft at the end moment of the previous motion period, and the third main shaft angle is a preset main shaft angle of the main shaft at the start moment of the next motion period.

[0241] The processing module 1202 is configured to determine a first speed of the dynamic frame in the previous motion period according to the first main shaft angle, the second main shaft angle, and the third main shaft angle. The first speed is the speed of the dynamic frame at the end moment of the previous motion period.

[0242] The processing module 1202 is further configured to determine the first speed as a second speed of the dynamic frame in the next motion period. The second speed is the speed of the dynamic frame at the start moment of the next motion period, and control the motion of the dynamic frame in the next motion period according to the second speed.

[0243] In a possible implementation, the processing module 1202 is configured to determine the first speed of the dynamic frame in the previous motion period according to the first main shaft angle, the second main shaft angle, and the third main shaft angle.

[0244] ​If it is determined that the third principal axis angle is greater than the second principal axis angle, a first angle difference value is determined as a difference between the second principal axis angle and the first principal axis angle, and a second angle difference value is determined as a difference between the third principal axis angle and the second principal axis angle.

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

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

[0247] According to the first angle difference value and the second angle difference value, a principal axis angle change set of the moving frame is determined; the principal axis angle change set indicates a principal axis angle change of the moving frame in the previous motion cycle and a principal axis angle change of the moving frame between the previous motion cycle and the next motion cycle.

[0248] According to the principal axis angle change set of the moving frame and a motion distance of the moving frame in the previous motion cycle, the first speed is determined; the motion distance of the previous motion cycle is a preset moving distance of the moving frame in the previous motion cycle.

[0249] In a possible implementation, the principal axis angle change 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 alternative angle represents a difference between a maximum principal axis angle in the speed-up process of the moving frame in the previous motion cycle and the first principal axis angle.

[0251] The second alternative angle represents a difference between the maximum principal axis angle in the speed-up process of the moving frame in the previous motion cycle and a minimum principal axis angle in the speed-down process.

[0252] The third alternative angle represents a difference among the first angle difference value, the first alternative angle, and the second alternative angle.

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

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

[0255] According to the first angle difference value and a first proportion value, the first alternative angle is determined; the first alternative angle represents a difference between a maximum principal axis angle in the speed-up process of the moving frame in the previous motion cycle and the first principal axis angle; and the first proportion value is a positive number less than 1.

[0256] determine a second candidate angle according to the first angle difference and a second proportion value; wherein the second candidate angle represents a difference between a maximum principal axis angle in the deceleration process of the previous movement period and a minimum principal axis angle in the deceleration process of the dynamic frame; and the second proportion value is a positive number less than 1;

[0257] determine a first angle difference, and sequentially subtract the first candidate angle and the second candidate angle to obtain a difference value, which is a third candidate angle;

[0258] determine a second angle difference, which is a fourth candidate angle.

[0259] In a possible implementation, the processing module 1202 is configured to determine the first speed according to the set of principal axis angle changes of the dynamic frame and the action distance of the dynamic frame in the previous movement period.

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

[0261] determine a constant speed speed of the dynamic frame in the constant speed process of the previous movement period according to the set of principal axis angle changes of the dynamic frame, the action distance of the dynamic frame in the previous movement period, the preset speed proportion value, and the third angle difference.

[0262] determine a product of the constant speed speed of the dynamic frame in the constant speed process of the previous movement period and the preset speed proportion value of the dynamic frame in the previous movement period as the first speed.

[0263] In a possible implementation, the processing module 1202 is configured to determine the constant speed speed of the dynamic frame in the constant speed process of the previous movement period according to the set of principal axis angle changes of the dynamic frame, the action distance of the dynamic frame in the previous movement period, the preset speed proportion value, and the third angle difference.

[0264] when the previous movement period is the first movement period, determine the constant speed speed of the dynamic frame in the constant speed process of the previous movement period according to the set of principal axis angle changes of the dynamic frame, the action distance of the dynamic frame in the previous movement period, the preset speed proportion value, and the third angle difference.

[0265] when the previous movement period is not the first movement period, determine the constant speed speed of the dynamic frame in the constant speed process of the previous movement period according to the set of principal axis angle changes of the dynamic frame, the action distance of the dynamic frame in the previous movement period, the preset speed proportion value, the third angle difference, and a third speed; wherein the third speed is a speed of the dynamic frame at an end time of a preceding movement period located before the previous movement period.

[0266] In a possible implementation, before the obtaining module 1201 obtains the first principal axis angle and the second principal axis angle of the principal axis of the template machine in the previous movement period in the adjacent movement period, the obtaining module 1201 is further configured to:

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

[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 will not be described in detail here.

[0269] Figure 13 A structural schematic diagram of the template machine equipment provided in this application. (See attached diagram.) Figure 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 further includes a communication component 1303. The processor 1301, memory 1302, and communication component 1303 are connected via a bus 1304.

[0270] In a specific implementation, at least one processor 1301 executes computer execution instructions stored in memory 1302, causing at least one processor 1301 to perform the above-described method.

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

[0272] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0273] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

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

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

[0276] The present application also provides a computer readable storage medium, which stores computer execution instructions, and when a processor executes the computer execution instructions, the method described above is implemented.

[0277] The readable storage medium described above can be realized by any type of volatile or non-volatile storage device or their combination, 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 storage, 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 the processor, so that the processor can read information from the readable storage medium, and can write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0279] The division of units is only a logical functional division, and in actual implementation, there can be another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0280] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0281] In addition, each functional unit in various embodiments of the application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0282] If the function is realized in the form of a software function 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 solutions of the application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiment methods of the application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

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

[0284] Finally, it should be noted that those skilled in the art, after considering the specification and practicing the application disclosed herein, will easily think of other embodiments of the application. The application is intended to cover any variations, uses, or adaptations of the application that follow the general principles of the application and include common knowledge or conventional techniques in the art that are not disclosed by the application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the application is only limited by the appended claims.

Claims

1. A template machine control method based on carriage speed, characterized by, The method comprises: During the operation of the movable frame of the template machine, the first spindle angle and the second spindle angle of the spindle of the template machine in a previous movement period in adjacent movement periods are obtained, and the third spindle angle of the spindle of the template machine in a subsequent movement period in adjacent movement periods is obtained; wherein the first spindle angle is a preset spindle angle of the spindle at the start time of the previous movement period, and the second spindle angle is a preset spindle angle of the spindle at the end time of the previous movement period; the third spindle angle is a preset spindle angle of the spindle at the start time of the subsequent movement period; According to the first spindle angle, the second spindle angle and the third spindle angle, the first speed of the movable frame in the previous movement period is determined; wherein the first speed is the speed of the movable frame at the end time of the previous movement period; The first speed is determined as the second speed of the movable frame in the subsequent movement period; wherein the second speed is the speed of the movable frame at the start time of the subsequent movement period; and the movement of the movable frame in the subsequent movement period is controlled according to the second speed.

2. The method of claim 1, wherein, According to the first spindle angle, the second spindle angle and the third spindle angle, the first speed of the movable frame in the previous movement period is determined, comprising: If it is determined that the third spindle angle is greater than the second spindle angle, the difference between the second spindle angle and the first spindle angle is determined as a first angle difference; and the difference between the third spindle angle and the second spindle angle is determined as a second angle difference; According to the first angle difference and the second angle difference, the first speed of the movable frame in the previous movement period is determined.

3. The method of claim 2, wherein, According to the first angle difference and the second angle difference, the first speed of the movable frame in the previous movement period is determined, comprising: According to the first angle difference and the second angle difference, a spindle angle change set of the movable frame is determined; wherein the spindle angle change set indicates the change of the spindle angle of the movable frame in the previous movement period, and the change of the spindle angle of the movable frame between the previous movement period and the subsequent movement period; According to the spindle angle change set of the movable frame and the action distance of the movable frame in the previous movement period, the first speed is determined; wherein the action distance of the previous movement period is a preset moving distance of the movable frame in the previous movement period.

4. The method of claim 3, wherein, The spindle angle change set comprises 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 alternative angle represents the difference between the maximum spindle angle in the acceleration process of the movable frame in the previous movement period and the first spindle angle; The second alternative angle represents the difference between the maximum spindle angle in the acceleration process of the movable frame in the previous movement period and the minimum spindle angle in 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 of claim 3, wherein, According to the first angle difference value and the second angle difference value, a main shaft angle change set of the moving frame is determined, including: According to the first angle difference value and a first proportion value, a first alternative angle is determined; wherein the first alternative angle represents a difference value between a maximum main shaft angle in a speed-up process of a previous movement period and a first main shaft angle; the first proportion value is a positive number less than 1; According to the first angle difference value and a second proportion value, a second alternative angle is determined; wherein the second alternative angle represents a difference value between a maximum main shaft angle in a speed-down process of a previous movement period and a minimum main shaft angle in the speed-down process; the second proportion value is a positive number less than 1; A difference value obtained by sequentially subtracting the first alternative angle and the second alternative angle from the first angle difference value is determined as a third alternative angle; The second angle difference value is determined as a fourth alternative angle.

6. The method of claim 3, wherein, According to the main shaft angle change set of the moving frame and a movement distance of the moving frame in the previous movement period, the first speed is determined, including: A sum of the first angle difference value and the second angle difference value is determined as a third angle difference value; According to the main shaft angle change set of the moving frame, the movement distance of the moving frame in the previous movement period, a preset speed proportion value and the third angle difference value, a constant speed speed of the moving frame in a constant speed process of the previous movement period is determined; A product of the constant speed speed of the moving frame in the constant speed process of the previous movement period and the preset speed proportion value of the moving frame in the previous movement period is determined as the first speed.

7. The method of claim 6, wherein, According to the main shaft angle change set of the moving frame, the movement distance of the moving frame in the previous movement period, a preset speed proportion value and the third angle difference value, the constant speed speed of the moving frame in the constant speed process of the previous movement period is determined, including: When the previous movement period is a first movement period, according to the main shaft angle change set of the moving frame, the movement distance of the moving frame in the previous movement period, a preset speed proportion value and the third angle difference value, the constant speed speed of the moving frame in the constant speed process of the previous movement period is determined; When the previous movement period is a non-first movement period, according to the main shaft angle change set of the moving frame, the movement distance of the moving frame in the previous movement period, a preset speed proportion value, the third angle difference value and a third speed, the constant speed speed of the moving frame in the constant speed process of the previous movement period is determined; wherein the third speed is a speed of the moving frame at an end time of a previous movement period located before the previous movement period.

8. The method according to any one of claims 1-7, characterized in that, Before acquiring the first main shaft angle and the second main shaft angle of the main shaft of the template machine in the previous movement period in adjacent movement periods, further comprising: If it is determined that the rotating speed of the main shaft is greater than or equal to a preset rotating speed, the step of acquiring the first main shaft angle and the second main shaft angle of the main shaft of the template machine in the previous movement period in adjacent movement periods is performed.

9. A template machine control device based on carriage speed, characterized by, including: The acquisition module is configured to acquire a first spindle angle and a second spindle angle of a main shaft of a template machine in a previous motion period in adjacent motion periods during operation of a movable frame of the template machine, and acquire a third spindle angle of the main shaft of the template machine in a subsequent motion period in the adjacent motion periods; the first spindle angle is a preset spindle angle of the main shaft at a starting moment of the previous motion period, and the second spindle angle is a preset spindle angle of the main shaft at an ending moment of the previous motion period; and the third spindle angle is a preset spindle angle of the main shaft at a starting moment of the subsequent motion period. The processing module is configured to determine a first speed of the movable frame in the previous motion period according to the first spindle angle, the second spindle angle, and the third spindle angle; the first speed is a speed of the movable frame at the ending moment of the previous motion period. The processing module is further configured to determine the first speed as a second speed of the movable frame in the subsequent motion period; the second speed is a speed of the movable frame at the starting moment of the subsequent motion period; and control motion of the movable frame in the subsequent motion period according to the second speed.

10. A formwork machine apparatus, characterized by, The method comprises: a memory and a processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, so that the processor executes the method according to any one of claims 1-8.

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