Quick change making method and system for D shaft and H shaft of chain embroidery machine

Abstract

The invention provides a quick change making method and system for a D shaft and an H shaft of a chain type embroidery machine in the technical field of chain type embroidery machines, and the method comprises the following steps: S1, after the chain type embroidery machine is started, executing initial change making operation on the D shaft through a D shaft proximity switch, and recording and storing the absolute position of the D shaft; performing initial change operation on the H shaft through an H shaft proximity switch, and recording and storing the absolute position of the H shaft; s2, triggering process change making operation based on the embroidery instruction in the embroidery operation process; s3, the chain embroidery machine reads the absolute position of the axis D and the absolute position of the axis H so as to directly change the axis D and the axis H; s4, through a D-axis proximity switch and an H-axis proximity switch, checking the zero positions of the D axis and the H axis respectively; and S5, when the chain embroidery machine is shut down and restarted, executing initial change operation, and performing mechanical displacement verification. The method has the advantage that the change making efficiency and reliability of the D shaft and the H shaft of the chain embroidery machine are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of chain embroidery machines, in particular to a method and system for quickly finding zeros on a D-axis and an H-axis of a chain embroidery machine. Background Art

[0002] A chain stitch machine is a device used for embroidery that uses chain stitches instead of traditional lock stitches. The chain stitch is characterized by an interlocking structure formed by a single thread, that is, only one sewing thread is used, and the thread loops are connected in sequence through the cooperation of the hook needle and the feed mechanism to form a continuous chain structure, which brings higher efficiency and flexibility.

[0003] The D-axis (D i rect i on Axis) of the chain embroidery machine is used to control the direction of the hook. The servo motor of the D-axis is driven by gears to keep the hook direction consistent with the stitch direction during embroidery. The H-axis (Hoop Ax is) is used to form a thread loop during embroidery to facilitate hooking and is also used to change the color of the suture. The origin position of the H-axis has a direct impact on the direction of the threading hole on the loop shuttle. During the embroidery process of the chain embroidery machine, for example, when embroidering a towel, it is necessary to change the color of the suture, and these operations require zeroing (resetting) the D-axis and the H-axis, that is, multiple zeroing operations are required during the embroidery of a product.

[0004] For the zeroing of the D-axis and H-axis of the chain embroidery machine, traditionally, the zeroing is only performed through the proximity switch, that is, the proximity switch is used to sense the position of the D-axis and the H-axis; since the sensing range of the proximity switch has a certain width, in order to improve the zeroing accuracy, the D / H axis needs to be moved to the edge of the sensing range, and the specific zeroing steps are: 1. The servo motor controls the D / H axis to move quickly into the sensing range; 2. After the proximity switch senses the D / H axis, the servo motor is controlled to reversely drive the D / H axis to leave the sensing range; 3. The servo motor controls the D / H axis to move slowly to the sensing range until the proximity switch senses the D / H axis, so as to reset the D / H axis to the edge of the sensing range, that is, the zeroing operation is completed. Since the traditional zeroing method requires three steps to complete a zeroing operation, and multiple zeroing operations are required during the embroidery process of a product, the efficiency of zeroing is low, and the zeroing result is not traditionally verified, and there are mechanical displacements, failures, etc., which affect the reliability of zeroing and thus affect the quality of embroidery.

[0005] Therefore, how to provide a method and system for quickly finding the home position of the D-axis and H-axis of a chain embroidery machine to improve the efficiency and reliability of finding the home position of the D-axis and H-axis of the chain embroidery machine has become a technical problem that needs to be solved urgently. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a method and system for quickly finding the home position of the D-axis and H-axis of a chain embroidery machine, so as to improve the efficiency and reliability of finding the home position of the D-axis and H-axis of the chain embroidery machine.

[0007] In a first aspect, the present invention provides a method for quickly finding the D-axis and H-axis of a chain embroidery machine, comprising the following steps:

[0008] Step S1, after the chain embroidery machine is started, the D axis is initially homing through the D axis proximity switch, and the absolute position of the D axis is recorded and stored; the H axis is initially homing through the H axis proximity switch, and the absolute position of the H axis is recorded and stored;

[0009] Step S2, the chain embroidery machine performs embroidery work based on the input embroidery instruction, and during the embroidery work, triggers a process resetting operation based on the embroidery instruction;

[0010] Step S3, when the homing operation of the process is triggered, the chain embroidery machine reads the stored absolute position of the D axis and the absolute position of the H axis to directly perform homing on the D axis and the H axis;

[0011] Step S4, checking the zero positions of the D-axis and the H-axis respectively through the D-axis proximity switch and the H-axis proximity switch;

[0012] Step S5: When the chain embroidery machine is stopped and restarted, an initial zeroing operation is performed and a mechanical position check is performed.

[0013] Furthermore, the step S1 is specifically as follows:

[0014] After the chain embroidery machine is started, the D-axis proximity switch is used to perform an initial homing operation on the D zero-position sensing block installed on the D-axis, the position encoder is used to record the absolute position of the D-axis, and the absolute position of the D-axis is stored in the memory; synchronously, the H-axis proximity switch is used to perform an initial homing operation on the H zero-position sensing block installed on the H-axis, the position encoder is used to record the absolute position of the H-axis, and the absolute position of the H-axis is stored in the memory;

[0015] During the initial homing operation of the D-axis, the D-axis servo motor first drives the D-zero position sensing block to move at a preset first speed to a first sensing interval of the D-axis proximity switch. After the D-axis proximity switch senses the D-zero position sensing block, the D-axis servo motor then drives the D-zero position sensing block in a reverse direction away from the first sensing interval until the D-axis proximity switch cannot sense the D-zero position sensing block. Then, the D-axis servo motor drives the D-zero position sensing block to move at a preset second speed toward a direction close to the first sensing interval until the D-axis proximity switch senses the D-zero position sensing block.

[0016] During the initial homing operation of the H-axis, the H-axis servo motor is first used to drive the H zero position sensing block to run at a preset first speed to the second sensing interval of the H-axis proximity switch. After the H-axis proximity switch senses the H zero position sensing block, the H-axis servo motor is used to reversely drive the H zero position sensing block to move in a direction away from the second sensing interval until the H-axis proximity switch can no longer sense the H zero position sensing block. Subsequently, the H-axis servo motor is used to drive the H zero position sensing block to move in a direction close to the second sensing interval at a preset second speed until the H-axis proximity switch senses the H zero position sensing block.

[0017] Furthermore, the step S2 is specifically as follows:

[0018] The chain embroidery machine obtains an input embroidery instruction that carries at least a pattern number, an embroidery track, an embroidery direction, a stitch color, and a color-changing position, and performs an embroidery operation based on the embroidery instruction; during the embroidery operation, a process resetting operation is triggered based on the color-changing position carried by the embroidery instruction.

[0019] Furthermore, the step S3 is specifically as follows:

[0020] When the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D-axis and the absolute position of the H-axis from the memory in real time, calculates the shortest homing path of the D-axis based on the current position of the D-axis and the absolute position of the D-axis, the D-axis servo motor performs a process homing operation on the D-axis based on the shortest homing path of the D-axis, and performs timeout monitoring on the process homing operation of the D-axis based on a preset first time length; synchronously calculates the shortest homing path of the H-axis based on the current position of the H-axis and the absolute position of the H-axis, the H-axis servo motor performs a process homing operation on the H-axis based on the shortest homing path of the H-axis, and performs timeout monitoring on the process homing operation of the H-axis based on a preset second time length.

[0021] Furthermore, the step S4 is specifically as follows:

[0022] After the D axis completes the process homing operation, the chain embroidery machine determines whether the D zero position sensing block is sensed through the D axis proximity switch. If so, the first indicator light is controlled to light green, and if not, the first indicator light is controlled to light red to check and indicate the homing position of the D axis;

[0023] The chain embroidery machine determines whether the H zero position sensing block is sensed by the H axis proximity switch. If so, the second indicator light is controlled to light green. If not, the second indicator light is controlled to light red to check and indicate the zero position of the H axis.

[0024] The step S5 is specifically as follows:

[0025] When the chain embroidery machine receives a stop command, the absolute position of the D axis and the absolute position of the H axis stored in the memory are stored in the EMMC as historical data;

[0026] When the chain embroidery machine is restarted, the initial homing operation is performed first and the absolute position of the D axis and the absolute position of the H axis are recorded, and then the absolute position of the D axis and the absolute position of the H axis are compared with the historical data to perform mechanical positioning verification.

[0027] In a second aspect, the present invention provides a D-axis and H-axis quick homing system for a chain embroidery machine, comprising the following modules:

[0028] The initial homing module is used to perform the initial homing operation on the D axis through the D axis proximity switch after the chain embroidery machine is started, and record and store the absolute position of the D axis; perform the initial homing operation on the H axis through the H axis proximity switch, and record and store the absolute position of the H axis;

[0029] An embroidery operation module, used for the chain embroidery machine to perform embroidery operations based on input embroidery instructions, and during the embroidery operation, triggering a process resetting operation based on the embroidery instructions;

[0030] A process homing module, used for when the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D axis and the absolute position of the H axis to directly hom the D axis and the H axis;

[0031] The homing position verification module is used to verify the homing positions of the D-axis and the H-axis respectively through the D-axis proximity switch and the H-axis proximity switch;

[0032] The mechanical position verification module is used to perform the initial zeroing operation and mechanical position verification when the chain embroidery machine is stopped and restarted.

[0033] Furthermore, the initial change module is specifically used for:

[0034] After the chain embroidery machine is started, the D-axis proximity switch is used to perform an initial homing operation on the D zero-position sensing block installed on the D-axis, the position encoder is used to record the absolute position of the D-axis, and the absolute position of the D-axis is stored in the memory; synchronously, the H-axis proximity switch is used to perform an initial homing operation on the H zero-position sensing block installed on the H-axis, the position encoder is used to record the absolute position of the H-axis, and the absolute position of the H-axis is stored in the memory;

[0035] During the initial homing operation of the D-axis, the D-axis servo motor first drives the D-zero position sensing block to move at a preset first speed to a first sensing interval of the D-axis proximity switch. After the D-axis proximity switch senses the D-zero position sensing block, the D-axis servo motor then drives the D-zero position sensing block in a reverse direction away from the first sensing interval until the D-axis proximity switch cannot sense the D-zero position sensing block. Then, the D-axis servo motor drives the D-zero position sensing block to move at a preset second speed toward a direction close to the first sensing interval until the D-axis proximity switch senses the D-zero position sensing block.

[0036] During the initial homing operation of the H-axis, the H-axis servo motor is first used to drive the H zero position sensing block to run at a preset first speed to the second sensing interval of the H-axis proximity switch. After the H-axis proximity switch senses the H zero position sensing block, the H-axis servo motor is used to reversely drive the H zero position sensing block to move in a direction away from the second sensing interval until the H-axis proximity switch can no longer sense the H zero position sensing block. Subsequently, the H-axis servo motor is used to drive the H zero position sensing block to move in a direction close to the second sensing interval at a preset second speed until the H-axis proximity switch senses the H zero position sensing block.

[0037] Furthermore, the embroidery operation module is specifically used for:

[0038] The chain embroidery machine obtains an input embroidery instruction that carries at least a pattern number, an embroidery track, an embroidery direction, a stitch color, and a color-changing position, and performs an embroidery operation based on the embroidery instruction; during the embroidery operation, a process resetting operation is triggered based on the color-changing position carried by the embroidery instruction.

[0039] Furthermore, the process change module is specifically used for:

[0040] When the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D-axis and the absolute position of the H-axis from the memory in real time, calculates the shortest homing path of the D-axis based on the current position of the D-axis and the absolute position of the D-axis, the D-axis servo motor performs a process homing operation on the D-axis based on the shortest homing path of the D-axis, and performs timeout monitoring on the process homing operation of the D-axis based on a preset first time length; synchronously calculates the shortest homing path of the H-axis based on the current position of the H-axis and the absolute position of the H-axis, the H-axis servo motor performs a process homing operation on the H-axis based on the shortest homing path of the H-axis, and performs timeout monitoring on the process homing operation of the H-axis based on a preset second time length.

[0041] Furthermore, the zero position checking module is specifically used for:

[0042] After the D axis completes the process homing operation, the chain embroidery machine determines whether the D zero position sensing block is sensed through the D axis proximity switch. If so, the first indicator light is controlled to light green, and if not, the first indicator light is controlled to light red to check and indicate the homing position of the D axis;

[0043] The chain embroidery machine determines whether the H zero position sensing block is sensed by the H axis proximity switch. If so, the second indicator light is controlled to light green. If not, the second indicator light is controlled to light red to check and indicate the zero position of the H axis.

[0044] The mechanical running position verification module is specifically used for:

[0045] When the chain embroidery machine receives a stop command, the absolute position of the D axis and the absolute position of the H axis stored in the memory are stored in the EMMC as historical data;

[0046] When the chain embroidery machine is restarted, the initial homing operation is performed first and the absolute position of the D axis and the absolute position of the H axis are recorded, and then the absolute position of the D axis and the absolute position of the H axis are compared with the historical data to perform mechanical positioning verification.

[0047] The advantages of the present invention are:

[0048] 1. After the chain embroidery machine is started, the D axis is initially zeroed through the D axis proximity switch, and the absolute position of the D axis is recorded and stored; the H axis is initially zeroed through the H axis proximity switch, and the absolute position of the H axis is recorded and stored; then the chain embroidery machine performs embroidery operations based on the input embroidery instructions, and during the embroidery operation, the process zeroing operation is triggered based on the embroidery instructions, and the stored absolute position of the D axis and the absolute position of the H axis are read to directly zero the D axis and the H axis, and then the D axis is respectively zeroed through the D axis proximity switch and the H axis proximity switch. and the zero position of the H axis are checked; when the chain embroidery machine is stopped and restarted, the initial zeroing operation is performed, and the mechanical running position check is performed; that is, the absolute position of the D axis and the absolute position of the H axis are recorded through the initial zeroing operation, and then in the subsequent process zeroing operation, the zeroing is directly based on the absolute position of the D axis and the absolute position of the H axis, in one step, and the zeroing position is checked when the process zeroing operation is completed. When the chain embroidery machine is stopped and restarted, the mechanical running position check is also performed, which ultimately greatly improves the zeroing efficiency and reliability of the D and H axes of the chain embroidery machine.

[0049] 2. By synchronously performing homing operations on the D-axis and H-axis, instead of the traditional sequential homing operation, the homing time is effectively shortened; the process homing operation is performed by the absolute position recorded by the position encoder, which is done in one step without the traditional three steps; the absolute position is stored in the memory to facilitate fast reading during the process homing operation; the shortest homing path is calculated by the current position and the absolute position, and the process homing operation is performed based on the shortest homing path, that is, homing is performed based on the principle of proximity, which effectively shortens the stroke of the servo motor. Four measures have been taken before and after, which greatly improves the homing efficiency of the D-axis and H-axis of the chain embroidery machine.

[0050] 3. Through timeout monitoring during the homing operation, the running status of the chain embroidery machine and whether there is any fault can be effectively judged; the homing position can be checked by the D-axis proximity switch and the H-axis proximity switch to check the homing status and avoid the hook being outside the sensing range; the absolute position of the D-axis and the absolute position of the H-axis recorded when the chain embroidery machine is restarted can be compared with historical data, that is, the homing positions of different times can be compared to quickly determine whether there is any mechanical displacement. The three measures taken before and after greatly improve the reliability of the D-axis and H-axis homing of the chain embroidery machine.

[0051] 4. By storing the absolute positions of the D-axis and the H-axis measured by the position encoder in the memory, the absolute positions of the D-axis and the H-axis can be read from the memory later to perform the process homing operation. There is no need to install a battery for the position encoder. The position encoder can be powered by the chain embroidery machine, which effectively reduces the hardware cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0053] Figure 1 The invention discloses a flow chart of a method for quickly finding zeros between the D-axis and the H-axis of a chain embroidery machine.

[0054] Figure 2 The invention discloses a structural schematic diagram of a D-axis and H-axis quick zero-finding system of a chain embroidery machine. DETAILED DESCRIPTION

[0055] The technical solution in the embodiment of the present application has the following general idea: by synchronously performing the homing operation on the D-axis and the H-axis, the traditional sequential homing operation is replaced, and the homing time is effectively shortened; the process homing operation is performed in one step by the absolute position recorded by the position encoder, without the need for three steps as traditionally; by storing the absolute position in the memory, it is convenient to read quickly during the process homing operation; the shortest homing path is calculated by the current position and the absolute position, and then the process homing operation is performed based on the shortest homing path, that is, the homing is performed based on the principle of proximity, which effectively shortens the stroke of the servo motor; by performing timeout monitoring during the process homing operation, the operating status of the chain embroidery machine and whether there is a fault can be effectively judged; the homing position is checked by the D-axis proximity switch and the H-axis proximity switch, and the homing state can be checked to avoid the hook being outside the sensing range; the absolute position of the D-axis and the absolute position of the H-axis recorded when the chain embroidery machine is restarted are compared with historical data, that is, the homing positions of different times are compared, and it can be quickly judged whether there is mechanical displacement, thereby improving the homing efficiency and reliability of the D-axis and H-axis of the chain embroidery machine.

[0056] Please refer to Figure 1 to Figure 2As shown, a preferred embodiment of a method for quickly finding zeros on the D-axis and H-axis of a chain embroidery machine of the present invention comprises the following steps:

[0057] Step S1, after the chain embroidery machine is started, the D axis is initially homing through the D axis proximity switch, and the absolute position of the D axis is recorded and stored; the H axis is initially homing through the H axis proximity switch, and the absolute position of the H axis is recorded and stored;

[0058] Step S2, the chain embroidery machine performs embroidery work based on the input embroidery instruction, and during the embroidery work, triggers a process resetting operation based on the embroidery instruction;

[0059] Step S3, when the homing operation of the process is triggered, the chain embroidery machine reads the stored absolute position of the D axis and the absolute position of the H axis to directly perform homing on the D axis and the H axis;

[0060] Step S4, checking the zero positions of the D-axis and the H-axis respectively through the D-axis proximity switch and the H-axis proximity switch;

[0061] Step S5: When the chain embroidery machine is stopped and restarted, an initial zeroing operation is performed and a mechanical position check is performed.

[0062] The step S1 is specifically as follows:

[0063] After the chain embroidery machine is started, the D-axis proximity switch is used to perform an initial homing operation on the D zero-position sensing block installed on the D-axis, the position encoder is used to record the absolute position of the D-axis, and the absolute position of the D-axis is stored in the memory; synchronously, the H-axis proximity switch is used to perform an initial homing operation on the H zero-position sensing block installed on the H-axis, the position encoder is used to record the absolute position of the H-axis, and the absolute position of the H-axis is stored in the memory;

[0064] By performing the homing operation on the D-axis and H-axis simultaneously, instead of the traditional sequential homing operation, the homing time is effectively shortened; by storing the absolute position in the memory, it is convenient for quick reading during the process homing operation;

[0065] During the initial homing operation of the D-axis, the D-axis servo motor first drives the D-zero position sensing block to move at a preset first speed to a first sensing interval of the D-axis proximity switch. After the D-axis proximity switch senses the D-zero position sensing block, the D-axis servo motor then drives the D-zero position sensing block in a reverse direction away from the first sensing interval until the D-axis proximity switch cannot sense the D-zero position sensing block. Then, the D-axis servo motor drives the D-zero position sensing block to move at a preset second speed toward a direction close to the first sensing interval until the D-axis proximity switch senses the D-zero position sensing block.

[0066] During the initial homing operation of the H-axis, the H-axis servo motor is first used to drive the H zero position sensing block to run at a preset first speed to the second sensing interval of the H-axis proximity switch. After the H-axis proximity switch senses the H zero position sensing block, the H-axis servo motor is used to reversely drive the H zero position sensing block to move in a direction away from the second sensing interval until the H-axis proximity switch can no longer sense the H zero position sensing block. Subsequently, the H-axis servo motor is used to drive the H zero position sensing block to move in a direction close to the second sensing interval at a preset second speed until the H-axis proximity switch senses the H zero position sensing block.

[0067] The step S2 is specifically as follows:

[0068] The controller of the chain embroidery machine obtains an input embroidery instruction that carries at least a pattern number, an embroidery trajectory, an embroidery direction, a stitch color, and a color-changing position, and performs an embroidery operation based on the embroidery instruction; during the embroidery operation, a process resetting operation is triggered based on the color-changing position carried by the embroidery instruction.

[0069] The step S3 is specifically as follows:

[0070] When the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D-axis and the absolute position of the H-axis from the memory in real time, calculates the shortest homing path of the D-axis based on the current position of the D-axis and the absolute position of the D-axis, the D-axis servo motor performs a process homing operation on the D-axis based on the shortest homing path of the D-axis, and performs timeout monitoring on the process homing operation of the D-axis based on a preset first time length; synchronously calculates the shortest homing path of the H-axis based on the current position of the H-axis and the absolute position of the H-axis, the H-axis servo motor performs a process homing operation on the H-axis based on the shortest homing path of the H-axis, and performs timeout monitoring on the process homing operation of the H-axis based on a preset second time length.

[0071] The process homing operation is performed in one step through the absolute position recorded by the position encoder, without the need for three steps as traditionally done; the shortest homing path is calculated through the current position and the absolute position, and the process homing operation is performed based on the shortest homing path, that is, homing is performed based on the principle of proximity, which effectively shortens the stroke of the servo motor. For example, if the servo motor needs to rotate 30° clockwise or 330° counterclockwise to return to the origin, then 30° clockwise is selected; by performing timeout monitoring during the process homing operation, the operating status of the chain embroidery machine and whether there is a fault can be effectively determined;

[0072] The step S4 is specifically as follows:

[0073] After the D axis completes the process homing operation, the chain embroidery machine determines whether the D zero position sensing block is sensed through the D axis proximity switch. If so, the first indicator light is controlled to light green, and if not, the first indicator light is controlled to light red to check and indicate the homing position of the D axis;

[0074] The chain embroidery machine determines whether the H zero position sensing block is sensed by the H axis proximity switch. If so, the second indicator light is controlled to light green. If not, the second indicator light is controlled to light red to check and indicate the zero position of the H axis.

[0075] The zero position check can be performed through the D-axis proximity switch and the H-axis proximity switch to check the zero position and prevent the hook from being outside the sensing range.

[0076] The step S5 is specifically as follows:

[0077] When the chain embroidery machine receives a stop command, the absolute position of the D axis and the absolute position of the H axis stored in the memory are stored in the EMMC as historical data;

[0078] When the chain embroidery machine is restarted, the initial zeroing operation is performed first and the absolute positions of the D axis and the H axis are recorded, and then the absolute positions of the D axis and the H axis are compared with the historical data to perform mechanical position verification. During the operation of the chain embroidery machine, the operation log is recorded in real time and stored in the EMMC.

[0079] By comparing the absolute positions of the D-axis and the H-axis recorded when the chain embroidery machine is restarted with historical data, that is, by comparing the zero positions at different times, it is possible to quickly determine whether there is mechanical displacement.

[0080] A preferred embodiment of a D-axis and H-axis quick zero-finding system for a chain embroidery machine of the present invention comprises the following modules:

[0081] The initial homing module is used to perform the initial homing operation on the D axis through the D axis proximity switch after the chain embroidery machine is started, and record and store the absolute position of the D axis; perform the initial homing operation on the H axis through the H axis proximity switch, and record and store the absolute position of the H axis;

[0082] An embroidery operation module, used for the chain embroidery machine to perform embroidery operations based on input embroidery instructions, and during the embroidery operation, triggering a process resetting operation based on the embroidery instructions;

[0083] A process homing module, used for when the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D axis and the absolute position of the H axis to directly hom the D axis and the H axis;

[0084] The homing position checking module is used to check the homing positions of the D-axis and the H-axis respectively through the D-axis proximity switch and the H-axis proximity switch;

[0085] The mechanical position verification module is used to perform the initial zeroing operation and mechanical position verification when the chain embroidery machine is stopped and restarted.

[0086] The initial change module is specifically used for:

[0087] After the chain embroidery machine is started, the D-axis proximity switch is used to perform an initial homing operation on the D zero-position sensing block installed on the D-axis, the position encoder is used to record the absolute position of the D-axis, and the absolute position of the D-axis is stored in the memory; synchronously, the H-axis proximity switch is used to perform an initial homing operation on the H zero-position sensing block installed on the H-axis, the position encoder is used to record the absolute position of the H-axis, and the absolute position of the H-axis is stored in the memory;

[0088] By performing the homing operation on the D-axis and H-axis simultaneously, instead of the traditional sequential homing operation, the homing time is effectively shortened; by storing the absolute position in the memory, it is convenient for quick reading during the process homing operation;

[0089] During the initial homing operation of the D-axis, the D-axis servo motor first drives the D-zero position sensing block to move at a preset first speed to a first sensing interval of the D-axis proximity switch. After the D-axis proximity switch senses the D-zero position sensing block, the D-axis servo motor then drives the D-zero position sensing block in a reverse direction away from the first sensing interval until the D-axis proximity switch cannot sense the D-zero position sensing block. Then, the D-axis servo motor drives the D-zero position sensing block to move at a preset second speed toward a direction close to the first sensing interval until the D-axis proximity switch senses the D-zero position sensing block.

[0090] During the initial homing operation of the H-axis, the H-axis servo motor is first used to drive the H zero position sensing block to run at a preset first speed to the second sensing interval of the H-axis proximity switch. After the H-axis proximity switch senses the H zero position sensing block, the H-axis servo motor is used to reversely drive the H zero position sensing block to move in a direction away from the second sensing interval until the H-axis proximity switch can no longer sense the H zero position sensing block. Subsequently, the H-axis servo motor is used to drive the H zero position sensing block to move in a direction close to the second sensing interval at a preset second speed until the H-axis proximity switch senses the H zero position sensing block.

[0091] The embroidery operation module is specifically used for:

[0092] The controller of the chain embroidery machine obtains an input embroidery instruction that carries at least a pattern number, an embroidery trajectory, an embroidery direction, a stitch color, and a color-changing position, and performs an embroidery operation based on the embroidery instruction; during the embroidery operation, a process resetting operation is triggered based on the color-changing position carried by the embroidery instruction.

[0093] The process change module is specifically used for:

[0094] When the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D-axis and the absolute position of the H-axis from the memory in real time, calculates the shortest homing path of the D-axis based on the current position of the D-axis and the absolute position of the D-axis, the D-axis servo motor performs a process homing operation on the D-axis based on the shortest homing path of the D-axis, and performs timeout monitoring on the process homing operation of the D-axis based on a preset first time length; synchronously calculates the shortest homing path of the H-axis based on the current position of the H-axis and the absolute position of the H-axis, the H-axis servo motor performs a process homing operation on the H-axis based on the shortest homing path of the H-axis, and performs timeout monitoring on the process homing operation of the H-axis based on a preset second time length.

[0095] The process homing operation is performed in one step through the absolute position recorded by the position encoder, without the need for three steps as traditionally done; the shortest homing path is calculated through the current position and the absolute position, and the process homing operation is performed based on the shortest homing path, that is, homing is performed based on the principle of proximity, which effectively shortens the stroke of the servo motor. For example, if the servo motor needs to rotate 30° clockwise or 330° counterclockwise to return to the origin, then 30° clockwise is selected; by performing timeout monitoring during the process homing operation, the operating status of the chain embroidery machine and whether there is a fault can be effectively determined;

[0096] The zero position checking module is specifically used for:

[0097] After the D axis completes the process homing operation, the chain embroidery machine determines whether the D zero position sensing block is sensed through the D axis proximity switch. If so, the first indicator light is controlled to light green, and if not, the first indicator light is controlled to light red to check and indicate the homing position of the D axis;

[0098] The chain embroidery machine determines whether the H zero position sensing block is sensed by the H axis proximity switch. If so, the second indicator light is controlled to light green. If not, the second indicator light is controlled to light red to check and indicate the zero position of the H axis.

[0099] The zero position check can be performed through the D-axis proximity switch and the H-axis proximity switch to check the zero position and prevent the hook from being outside the sensing range.

[0100] The mechanical running position verification module is specifically used for:

[0101] When the chain embroidery machine receives a stop command, the absolute position of the D axis and the absolute position of the H axis stored in the memory are stored in the EMMC as historical data;

[0102] When the chain embroidery machine is restarted, the initial zeroing operation is performed first and the absolute positions of the D axis and the H axis are recorded, and then the absolute positions of the D axis and the H axis are compared with the historical data to perform mechanical position verification. During the operation of the chain embroidery machine, the operation log is recorded in real time and stored in the EMMC.

[0103] By comparing the absolute positions of the D-axis and the H-axis recorded when the chain embroidery machine is restarted with historical data, that is, by comparing the zero positions at different times, it is possible to quickly determine whether there is mechanical displacement.

[0104] In summary, the advantages of the present invention are:

[0105] 1. After the chain embroidery machine is started, the D axis is initially zeroed through the D axis proximity switch, and the absolute position of the D axis is recorded and stored; the H axis is initially zeroed through the H axis proximity switch, and the absolute position of the H axis is recorded and stored; then the chain embroidery machine performs embroidery operations based on the input embroidery instructions, and during the embroidery operation, the process zeroing operation is triggered based on the embroidery instructions, and the stored absolute position of the D axis and the absolute position of the H axis are read to directly zero the D axis and the H axis, and then the D axis is respectively zeroed through the D axis proximity switch and the H axis proximity switch. and the zero position of the H axis are checked; when the chain embroidery machine is stopped and restarted, the initial zeroing operation is performed, and the mechanical running position check is performed; that is, the absolute position of the D axis and the absolute position of the H axis are recorded through the initial zeroing operation, and then in the subsequent process zeroing operation, the zeroing is directly based on the absolute position of the D axis and the absolute position of the H axis, in one step, and the zeroing position is checked when the process zeroing operation is completed. When the chain embroidery machine is stopped and restarted, the mechanical running position check is also performed, which ultimately greatly improves the zeroing efficiency and reliability of the D and H axes of the chain embroidery machine.

[0106] 2. By synchronously performing homing operations on the D-axis and H-axis, instead of the traditional sequential homing operation, the homing time is effectively shortened; the process homing operation is performed by the absolute position recorded by the position encoder, which is done in one step without the traditional three steps; the absolute position is stored in the memory to facilitate fast reading during the process homing operation; the shortest homing path is calculated by the current position and the absolute position, and the process homing operation is performed based on the shortest homing path, that is, homing is performed based on the principle of proximity, which effectively shortens the stroke of the servo motor. Four measures have been taken before and after, which greatly improves the homing efficiency of the D-axis and H-axis of the chain embroidery machine.

[0107] 3. Through timeout monitoring during the homing operation, the running status of the chain embroidery machine and whether there is any fault can be effectively judged; the homing position can be checked by the D-axis proximity switch and the H-axis proximity switch to check the homing status and avoid the hook being outside the sensing range; the absolute position of the D-axis and the absolute position of the H-axis recorded when the chain embroidery machine is restarted can be compared with historical data, that is, the homing positions of different times can be compared to quickly determine whether there is any mechanical displacement. The three measures taken before and after greatly improve the reliability of the D-axis and H-axis homing of the chain embroidery machine.

[0108] 4. By storing the absolute positions of the D-axis and the H-axis measured by the position encoder in the memory, the absolute positions of the D-axis and the H-axis can be read from the memory later to perform the process homing operation. There is no need to install a battery for the position encoder. The position encoder can be powered by the chain embroidery machine, which effectively reduces the hardware cost.

[0109] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for quickly finding the zero position of the D-axis and H-axis of a chain embroidery machine, characterized in that: The steps include: Step S1, after the chain embroidery machine is started, the D axis is initially homing through the D axis proximity switch, and the absolute position of the D axis is recorded and stored; the H axis is initially homing through the H axis proximity switch, and the absolute position of the H axis is recorded and stored; Step S2, the chain embroidery machine performs embroidery work based on the input embroidery instruction, and during the embroidery work, triggers a process resetting operation based on the embroidery instruction; Step S3, when the homing operation of the process is triggered, the chain embroidery machine reads the stored absolute position of the D axis and the absolute position of the H axis to directly perform homing on the D axis and the H axis; Step S4, checking the zero positions of the D-axis and the H-axis respectively through the D-axis proximity switch and the H-axis proximity switch; Step S5: When the chain embroidery machine is stopped and restarted, an initial zeroing operation is performed and a mechanical position check is performed.

2. A method for quickly finding the zero position of the D-axis and H-axis of a chain embroidery machine as claimed in claim 1, characterized in that: The step S1 is specifically as follows: After the chain embroidery machine is started, the D-axis proximity switch is used to perform an initial homing operation on the D zero-position sensing block installed on the D-axis, the position encoder is used to record the absolute position of the D-axis, and the absolute position of the D-axis is stored in the memory; synchronously, the H-axis proximity switch is used to perform an initial homing operation on the H zero-position sensing block installed on the H-axis, the position encoder is used to record the absolute position of the H-axis, and the absolute position of the H-axis is stored in the memory; During the initial homing operation of the D-axis, the D-axis servo motor first drives the D-zero position sensing block to move at a preset first speed to a first sensing interval of the D-axis proximity switch. After the D-axis proximity switch senses the D-zero position sensing block, the D-axis servo motor then drives the D-zero position sensing block in a reverse direction away from the first sensing interval until the D-axis proximity switch cannot sense the D-zero position sensing block. Then, the D-axis servo motor drives the D-zero position sensing block to move at a preset second speed toward a direction close to the first sensing interval until the D-axis proximity switch senses the D-zero position sensing block. During the initial homing operation of the H-axis, the H-axis servo motor is first used to drive the H zero position sensing block to run at a preset first speed to the second sensing interval of the H-axis proximity switch. After the H-axis proximity switch senses the H zero position sensing block, the H-axis servo motor is used to reversely drive the H zero position sensing block to move in a direction away from the second sensing interval until the H-axis proximity switch can no longer sense the H zero position sensing block. Subsequently, the H-axis servo motor is used to drive the H zero position sensing block to move in a direction close to the second sensing interval at a preset second speed until the H-axis proximity switch senses the H zero position sensing block.

3. A method for quickly finding the zero position of the D-axis and H-axis of a chain embroidery machine as claimed in claim 1, characterized in that: The step S2 is specifically as follows: The chain embroidery machine obtains an input embroidery instruction that carries at least a pattern number, an embroidery track, an embroidery direction, a stitch color, and a color-changing position, and performs an embroidery operation based on the embroidery instruction; during the embroidery operation, a process resetting operation is triggered based on the color-changing position carried by the embroidery instruction.

4. A method for quickly finding the zero position of the D-axis and H-axis of a chain embroidery machine as claimed in claim 1, characterized in that: The step S3 is specifically as follows: When the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D-axis and the absolute position of the H-axis from the memory in real time, calculates the shortest homing path of the D-axis based on the current position of the D-axis and the absolute position of the D-axis, the D-axis servo motor performs a process homing operation on the D-axis based on the shortest homing path of the D-axis, and performs timeout monitoring on the process homing operation of the D-axis based on a preset first time length; synchronously calculates the shortest homing path of the H-axis based on the current position of the H-axis and the absolute position of the H-axis, the H-axis servo motor performs a process homing operation on the H-axis based on the shortest homing path of the H-axis, and performs timeout monitoring on the process homing operation of the H-axis based on a preset second time length.

5. A method for quickly finding the home position of the D-axis and H-axis of a chain embroidery machine as claimed in claim 1, characterized in that: The step S4 is specifically as follows: After the D axis completes the process homing operation, the chain embroidery machine determines whether the D zero position sensing block is sensed through the D axis proximity switch. If so, the first indicator light is controlled to light green, and if not, the first indicator light is controlled to light red to check and indicate the homing position of the D axis; The chain embroidery machine determines whether the H zero position sensing block is sensed by the H axis proximity switch. If so, the second indicator light is controlled to light green. If not, the second indicator light is controlled to light red to check and indicate the zero position of the H axis. The step S5 is specifically as follows: When the chain embroidery machine receives a stop command, the absolute position of the D axis and the absolute position of the H axis stored in the memory are stored in the EMMC as historical data; When the chain embroidery machine is restarted, the initial homing operation is performed first and the absolute position of the D axis and the absolute position of the H axis are recorded, and then the absolute position of the D axis and the absolute position of the H axis are compared with the historical data to perform mechanical positioning verification.

6. A fast zero-finding system for the D-axis and H-axis of a chain embroidery machine, characterized in that: Includes the following modules: The initial homing module is used to perform the initial homing operation on the D axis through the D axis proximity switch after the chain embroidery machine is started, and record and store the absolute position of the D axis; perform the initial homing operation on the H axis through the H axis proximity switch, and record and store the absolute position of the H axis; An embroidery operation module, used for the chain embroidery machine to perform embroidery operations based on input embroidery instructions, and during the embroidery operation, triggering a process resetting operation based on the embroidery instructions; A process homing module, used for when the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D axis and the absolute position of the H axis to directly hom the D axis and the H axis; The homing position checking module is used to check the homing positions of the D-axis and the H-axis respectively through the D-axis proximity switch and the H-axis proximity switch; The mechanical position verification module is used to perform the initial zeroing operation and mechanical position verification when the chain embroidery machine is stopped and restarted.

7. A D-axis and H-axis quick homing system for a chain embroidery machine as claimed in claim 6, characterized in that: The initial change module is specifically used for: After the chain embroidery machine is started, the D-axis proximity switch is used to perform an initial homing operation on the D zero-position sensing block installed on the D-axis, the position encoder is used to record the absolute position of the D-axis, and the absolute position of the D-axis is stored in the memory; synchronously, the H-axis proximity switch is used to perform an initial homing operation on the H zero-position sensing block installed on the H-axis, the position encoder is used to record the absolute position of the H-axis, and the absolute position of the H-axis is stored in the memory; During the initial homing operation of the D-axis, the D-axis servo motor first drives the D-zero position sensing block to move at a preset first speed to a first sensing interval of the D-axis proximity switch. After the D-axis proximity switch senses the D-zero position sensing block, the D-axis servo motor then drives the D-zero position sensing block in a reverse direction away from the first sensing interval until the D-axis proximity switch cannot sense the D-zero position sensing block. Then, the D-axis servo motor drives the D-zero position sensing block to move at a preset second speed toward a direction close to the first sensing interval until the D-axis proximity switch senses the D-zero position sensing block. During the initial homing operation of the H-axis, the H-axis servo motor is first used to drive the H zero position sensing block to run at a preset first speed to the second sensing interval of the H-axis proximity switch. After the H-axis proximity switch senses the H zero position sensing block, the H-axis servo motor is used to reversely drive the H zero position sensing block to move in a direction away from the second sensing interval until the H-axis proximity switch can no longer sense the H zero position sensing block. Subsequently, the H-axis servo motor is used to drive the H zero position sensing block to move in a direction close to the second sensing interval at a preset second speed until the H-axis proximity switch senses the H zero position sensing block.

8. A D-axis and H-axis quick homing system for a chain embroidery machine as claimed in claim 6, characterized in that: The embroidery operation module is specifically used for: The chain embroidery machine obtains an input embroidery instruction that carries at least a pattern number, an embroidery track, an embroidery direction, a stitch color, and a color-changing position, and performs an embroidery operation based on the embroidery instruction; during the embroidery operation, a process resetting operation is triggered based on the color-changing position carried by the embroidery instruction.

9. A D-axis and H-axis quick homing system for a chain embroidery machine as claimed in claim 6, characterized in that: The process change module is specifically used for: When the process homing operation is triggered, the chain embroidery machine reads the stored absolute position of the D-axis and the absolute position of the H-axis from the memory in real time, calculates the shortest homing path of the D-axis based on the current position of the D-axis and the absolute position of the D-axis, the D-axis servo motor performs a process homing operation on the D-axis based on the shortest homing path of the D-axis, and performs timeout monitoring on the process homing operation of the D-axis based on a preset first time length; synchronously calculates the shortest homing path of the H-axis based on the current position of the H-axis and the absolute position of the H-axis, the H-axis servo motor performs a process homing operation on the H-axis based on the shortest homing path of the H-axis, and performs timeout monitoring on the process homing operation of the H-axis based on a preset second time length.

10. A D-axis and H-axis quick homing system for a chain embroidery machine as claimed in claim 6, characterized in that: The zero position checking module is specifically used for: After the D axis completes the process homing operation, the chain embroidery machine determines whether the D zero position sensing block is sensed through the D axis proximity switch. If so, the first indicator light is controlled to light green, and if not, the first indicator light is controlled to light red to check and indicate the homing position of the D axis; The chain embroidery machine determines whether the H zero position sensing block is sensed by the H axis proximity switch. If so, the second indicator light is controlled to light green. If not, the second indicator light is controlled to light red to check and indicate the zero position of the H axis. The mechanical running position verification module is specifically used for: When the chain embroidery machine receives a stop command, the absolute position of the D axis and the absolute position of the H axis stored in the memory are stored in the EMMC as historical data; When the chain embroidery machine is restarted, the initial homing operation is performed first and the absolute position of the D axis and the absolute position of the H axis are recorded, and then the absolute position of the D axis and the absolute position of the H axis are compared with the historical data to perform mechanical positioning verification.

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