Rope embroidery device control method and device, storage medium and program product

Abstract

The invention provides a rope embroidery device control method and device, a storage medium and a program product, and relates to the technical field of automatic control. A rope embroidering control unit in the rope embroidering device is respectively connected with a station switching device and a main controller in the embroidering equipment, the station switching device comprises a station switching motor which is in transmission connection with a plurality of M shafts, and each M shaft in the plurality of M shafts is provided with embroidering ropes with different specifications. And the main controller obtains a pattern file of a pattern to be embroidered containing a stitch list and a station switching sequence, generates a station switching instruction based on the stitch list and the station switching sequence, and sends the station switching instruction to the rope embroidery control unit. Correspondingly, the rope embroidery control unit receives a station switching instruction sent by the main controller, and controls a station switching motor corresponding to a target rope embroidery needle position to rotate according to the station switching instruction, so that a target M shaft in the M shafts is moved to the position below the target rope embroidery needle position, and rope embroidery is performed based on the target M shaft. By automatically replacing the embroidering ropes, multi-color rope embroidering is realized, and the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a rope embroidery device control method, device, storage medium and program product. Background Art

[0002] Rope embroidery, also known as strand rope embroidery, is a traditional and unique embroidery technique that uses special strand rope threads (woven or twisted from multiple strands of fine threads) to embroider on fabrics to form an embroidery method with rope decorative patterns. Rope embroidery has been used in embroidery machines for a long time, and has always been presented in monochrome rope embroidery. However, with the continuous development of fashion, clothing, home textiles and other designs, especially in the application of clothing pieces with rich color combinations such as Xiuhe clothing and saris, the style of monochrome rope embroidery is relatively single and not rich enough, which is difficult to meet the requirements of modern design for color and pattern complexity.

[0003] In the related art, embroidery ropes are constantly replaced manually to manually produce embroidery products containing embroidery ropes of various specifications. However, there is a problem of low production efficiency. Summary of the invention

[0004] The present application provides a rope embroidery device control method, device, storage medium and program product to achieve the effect of improving production efficiency.

[0005] In a first aspect, the present application provides a method for controlling a cord embroidery device, which is applied to a cord embroidery control unit in the cord embroidery device, wherein the cord embroidery control unit is respectively connected to a main controller in an embroidery device and a station switching device in the cord embroidery device, wherein the station switching device comprises a station switching motor connected to a plurality of M-axes, wherein each of the plurality of M-axes is configured with an embroidery cord of a different specification;

[0006] The control method of the cord embroidery device includes:

[0007] Receive the station switching instruction sent by the main controller, which carries the target cording needle position;

[0008] According to the station switching instruction, the station switching motor corresponding to the target cording needle position is controlled to rotate, so as to move the target M axis among the multiple M axes to the target cording needle position;

[0009] Based on the target M axis, cord embroidery is performed.

[0010] In a possible implementation, according to the station switching instruction, the station switching motor corresponding to the target cording needle position is controlled to rotate so as to move the target M axis among the multiple M axes to the target cording needle position, including:

[0011] According to the preset station displacement data and the station switching instruction, regulate the output of the station switching motor to drive the target M-axis to move below the target rope embroidery needle position, and the station displacement data represents the spacing distance between each M-axis.

[0012] In a possible implementation manner, the station switching motor is a closed-loop motor provided with a first encoder, and the rope embroidery device control method further includes:

[0013] Receive the number of first pulses reported by the first encoder;

[0014] Based on the number of first pulses and the station displacement data, determine whether the target M-axis has moved into place;

[0015] If the number of first pulses matches the station displacement data, determine that the target M-axis has moved into place and send a normal station switching signal to the main controller;

[0016] If the number of first pulses does not match the station displacement data, determine that the target M-axis has not moved into place and send a station switching abnormal signal to the main controller to prompt relevant personnel to conduct troubleshooting.

[0017] In a possible implementation manner, the rope embroidery device control method further includes at least one of the following:

[0018] Respond to the detection of the first interaction operation on the control panel of the rope embroidery control unit, obtain the first change information of the preset station displacement data by the first interaction operation; update and store the station displacement data according to the first change information;

[0019] After each power-on startup of the rope embroidery control unit, control the station switching motor to perform origin calibration to move the preset M-axis below the rope embroidery needle position corresponding to the station switching motor, and the multiple M-axes include the preset M-axis;

[0020] When receiving the station switching instruction sent by the main controller, control the rope feeding and taking-up motor in the rope feeding and taking-up device to stop running; when it is determined that the target M-axis has moved into place, control the rope feeding and taking-up motor to run.

[0021] In a possible implementation manner, the rope embroidery device further includes a loop forming device and a rope feeding and taking-up device. The loop forming device includes at least one M-axis motor and multiple M-axes, and the rope feeding and taking-up device includes a rope feeding and taking-up motor; correspondingly,

[0022] Based on the target M-axis, perform rope embroidery, including:

[0023] Receive the loop forming instruction sent by the main controller, and the loop forming instruction includes the rotation angle of the M-axis motor corresponding to each needle below the target M-axis;

[0024] Based on the rotation angle, control the M-axis motor corresponding to the target M-axis to run to drive the target M-axis to perform a loop forming action;

[0025] During the rope embroidery process, the position information of the swing rod connected to the rope receiving and sending motor is obtained; according to the position information, the rope receiving and sending motor is controlled to perform rope receiving or rope sending action.

[0026] In a possible implementation, the M-axis motor is a closed-loop motor provided with a second encoder, and the cord embroidery device control method further includes:

[0027] receiving the second pulse number reported by the second encoder;

[0028] Based on the number of second pulses and the rotation angle, determine whether the looping action of the target M axis is completed;

[0029] After the looping action of the target M axis is completed, a target M axis embroidery end signal is sent to the main controller, and the rope cutting device is controlled to perform the rope cutting action.

[0030] In a possible implementation, the rope embroidery device control method further includes: controlling the M-axis motor to perform origin calibration according to the zero position signal of the second encoder.

[0031] In a possible implementation, the station switching motor is connected to the multiple M axes via a transmission mechanism, and the transmission mechanism includes any one of a screw, a gear, a rack, and a cam.

[0032] In a second aspect, the present application provides a method for controlling a cord embroidery device, which is applied to a main controller in an embroidery device. The method for controlling the cord embroidery device includes:

[0033] Get the pattern file of the pattern to be embroidered. The pattern file contains the stitch list and the station switching sequence. The stitch list contains the function code, which is used to indicate the timing of station switching.

[0034] Based on the stitch list and the station switching sequence, a station switching instruction is generated and sent to the cording control unit. The station switching instruction is used to indicate a target M axis among multiple M axes to be moved to a target cording needle position.

[0035] In a possible implementation, the cord embroidery device control method further includes at least one of the following:

[0036] When receiving a normal station switching signal sent by the cord embroidery control unit, a looping instruction is sent to the cord embroidery control unit;

[0037] When receiving the abnormal station switching signal sent by the cord embroidery control unit, the abnormal station switching prompt information is output through the control panel;

[0038] In response to detecting a second interactive operation acting on the control panel of the main controller, second change information of the workstation switching sequence caused by the second interactive operation is obtained; and the workstation switching sequence is updated according to the second change information.

[0039] In a third aspect, the present application provides a cord embroidery device control device, which is applied to a cord embroidery control unit in the cord embroidery device, wherein the cord embroidery control unit is respectively connected to a main controller in the embroidery device and a station switching device in the cord embroidery device, wherein the station switching device comprises a station switching motor connected to a plurality of M-axes, wherein each of the plurality of M-axes is configured with embroidery ropes of different specifications;

[0040] The control device of the cord embroidery device includes:

[0041] A receiving module is used to receive a station switching instruction sent by a main controller, wherein the station switching instruction carries a target cording needle position;

[0042] The control module is used to control the station switching motor corresponding to the target cording needle position to rotate according to the station switching instruction, so as to move the target M axis to the target cording needle position;

[0043] The cord embroidery module is used to perform cord embroidery based on the target M axis.

[0044] In a possible implementation, the control module is specifically used to: regulate the output of the station switching motor according to preset station displacement data and station switching instructions to drive the M axis to move to the target cording needle position, and the station displacement data represents the spacing distance of each M axis.

[0045] In a possible embodiment, the workstation switching motor is a closed-loop motor provided with a first encoder, and the control module is also used to: receive the first pulse number reported by the first encoder; determine whether the target M-axis has moved into place based on the first pulse number and the workstation displacement data; if the first pulse number and the workstation displacement data match, it is determined that the target M-axis has moved into place, and a normal workstation switching signal is sent to the main controller; if the first pulse number and the workstation displacement data do not match, it is determined that the target M-axis has not moved into place, and an abnormal workstation switching signal is sent to the main controller to prompt relevant personnel to check.

[0046] In a possible implementation manner, the control module is further configured to implement at least one of the following:

[0047] In response to detecting a first interactive operation on a control panel of the cord embroidery control unit, first change information of preset workstation displacement data caused by the first interactive operation is obtained; data of the workstation displacement data is updated according to the first change information, and stored;

[0048] After the cord embroidery control unit is powered on each time, the station switching motor is controlled to perform origin calibration to move the preset M axis to below the cord embroidery needle position corresponding to the station switching motor, and the multiple M axes include the preset M axis;

[0049] When receiving the station switching instruction sent by the main controller, the rope receiving and sending motor in the rope receiving and sending device is controlled to stop running; when it is determined that the target M axis moves into place, the rope receiving and sending motor is controlled to run.

[0050] In a possible embodiment, the rope embroidery device also includes a looping device and a rope collecting and feeding device, the looping device includes at least one M-axis motor and multiple M-axes, and the rope collecting and feeding device includes a rope collecting and feeding motor; accordingly, the rope embroidery module is specifically used to: receive a looping instruction sent by a main controller, the looping instruction includes the rotation angle of the M-axis motor corresponding to each needle under the target M-axis; based on the rotation angle, control the operation of the M-axis motor corresponding to the target M-axis to drive the target M-axis to perform a looping action; in the rope embroidery process, obtain the position information of the rocker connected to the rope collecting and feeding motor; according to the position information, control the rope collecting and feeding motor to perform rope collecting or feeding action.

[0051] In a possible implementation, the target M-axis motor is a closed-loop motor provided with a second encoder, and the control module is also used to: receive the second pulse number reported by the second encoder; determine whether the looping action of the target M-axis is completed based on the second pulse number and the rotation angle; after the looping action of the target M-axis is completed, send a target M-axis embroidery end signal to the main controller, and control the rope cutting device to perform the rope cutting action.

[0052] In a possible implementation manner, the control module is further used to control the M-axis motor to perform origin calibration according to the zero position signal of the second encoder.

[0053] In a possible implementation, the station switching motor is connected to the multiple M axes via a transmission mechanism, and the transmission mechanism includes any one of a screw, a gear, a rack, and a cam.

[0054] In a fourth aspect, the present application provides a cord embroidery device control device, which is applied to a main controller in an embroidery device, and the cord embroidery device control device includes:

[0055] The acquisition module is used to acquire the pattern file of the pattern to be embroidered. The pattern file contains a stitch list and a station switching sequence. The stitch list contains a function code, which is used to indicate the timing of station switching.

[0056] The processing module is used to generate a station switching instruction based on the stitch list and the station switching sequence, and send it to the cord embroidery control unit. The station switching instruction is used to indicate the target M axis to be moved to the target cord embroidery needle position among multiple M axes.

[0057] In a possible implementation manner, the processing module is further configured to:

[0058] When receiving a normal station switching signal sent by the cord embroidery control unit, a looping instruction is sent to the cord embroidery control unit;

[0059] When receiving the abnormal station switching signal sent by the cord embroidery control unit, the abnormal station switching prompt information is output through the control panel;

[0060] In response to detecting a second interactive operation acting on the control panel of the main controller, second change information of the workstation switching sequence caused by the second interactive operation is obtained; and the workstation switching sequence is updated according to the second change information.

[0061] In a fifth aspect, the present application provides an embroidery device, including: a host computer, a main controller and a rope embroidery device, the rope embroidery device includes a rope embroidery control unit, a station switching device, a looping device, a rope receiving and sending device and a rope cutting device, the looping device includes a plurality of M axes, each of the plurality of M axes is configured with embroidery ropes of different specifications, and the station switching device includes a station switching motor connected to the plurality of M axes in a transmission manner;

[0062] The main controller is connected to the rope embroidery control unit and the upper computer respectively, and the rope embroidery control unit is connected to the station switching device, the looping device, the rope receiving and sending device and the rope cutting device respectively;

[0063] The host computer is used to analyze the design files of the patterns to be embroidered and generate the pattern files of the patterns to be embroidered;

[0064] A main controller, used for executing the cord embroidery device control method according to any one of the second aspects based on the pattern file;

[0065] A cord embroidery control unit, used to execute the cord embroidery device control method as described in any one of the first aspects.

[0066] In a sixth aspect, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed, they are used to implement the rope embroidery device control method of any one of the first aspect and / or the second aspect above.

[0067] In a seventh aspect, the present application provides a computer program product, including a computer program, which, when executed, implements the rope embroidery device control method of any one of the first aspect and / or the second aspect above.

[0068] The control method, device, storage medium and program product of the cord embroidery device provided by the present application are used to modify the cord embroidery device from the structural point of view. By adding a station switching device in the cord embroidery device, the station switching device includes a station switching motor connected to a plurality of M axes, and each of the plurality of M axes is configured with embroidery ropes of different specifications. Based on this structure, when the cord embroidery control unit in the cord embroidery device receives a station switching instruction carrying a target cord embroidery needle position sent by the main controller of the embroidery device, the cord embroidery control unit controls the station switching motor corresponding to the target cord embroidery needle position to rotate according to the station switching instruction, so as to move the target M axis among the plurality of M axes to the target cord embroidery needle position, and perform cord embroidery based on the target M axis. The present application controls the rotation of the station switching motor to mechanically drive the movement of the M axis, so as to move the target M axis among the plurality of M axes to the target cord embroidery needle position, realize the automatic replacement of different embroidery ropes under the same needle position, and further perform cord embroidery based on the target M axis, realize multi-color cord embroidery, improve the diversity of embroidery products, and improve the production efficiency of multi-color cord embroidery products, and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0070] Figure 1 A schematic diagram of a scenario of a rope embroidery device control method provided in an embodiment of the present application;

[0071] Figure 2 Schematic diagram of the process of the rope embroidery device control method provided in the embodiment of the present application Figure 1 ;

[0072] Figure 3 A schematic diagram of the working principle of a multi-specification cord embroidery device provided in an embodiment of the present application;

[0073] Figure 4 Schematic diagram of the process of the rope embroidery device control method provided in the embodiment of the present application Figure 2 ;

[0074] Figure 5 Schematic diagram of the process of the rope embroidery device control method provided in the embodiment of the present application Figure 3 ;

[0075] Figure 6 A schematic diagram of the structure of the cord embroidery device control device provided in the embodiment of the present application Figure 1 ;

[0076] Figure 7 A schematic diagram of the structure of the cord embroidery device control device provided in the embodiment of the present application Figure 2 ;

[0077] Figure 8A schematic diagram of the structure of the embroidery equipment provided in an embodiment of the present application.

[0078] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0079] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0080] First, the terms involved in this application are explained:

[0081] Rope embroidery: an embroidery method that uses needle and thread to fix the embroidery rope to the cloth surface to form an embroidery method with rope decorative patterns. Multi-color simple rope embroidery is a form of rope embroidery, which can be simply understood as using needle and thread to fix embroidery ropes of multiple colors and different specifications on the cloth to form a decorative pattern. When two ropes are involved, it is called two-color rope embroidery, and when three ropes are involved, it is called three-color rope embroidery.

[0082] In the related art, the control of the cord embroidery device on the embroidery equipment is mostly based on the single-color cord embroidery device, and the embroidery products are single and not rich enough. In the control of the cord embroidery device, it is impossible to realize the embroidery of embroidery cords of various specifications. In order to realize multi-color cord embroidery, if the embroidery cord is constantly replaced manually, although two or more cord embroidery products can be realized manually, the production efficiency is low and the labor cost is high.

[0083] In response to the above technical problems, the present application proposes a cord embroidery device control method, device, storage medium and program product, and structurally transforms the cord embroidery device by adding a station switching device in the cord embroidery device, the station switching device includes a station switching motor connected to a plurality of M-axes, each of the plurality of M-axes is configured with embroidery ropes of different specifications. Based on this structure, the cord embroidery control unit controls the rotation of the station switching motor corresponding to the target cord embroidery needle position according to the station switching instruction, so as to move the target M-axes among the plurality of M-axes to the target cord embroidery needle position, thereby realizing automatic change of embroidery rope specifications under the same cord embroidery needle position, and further realizing multi-color cord embroidery, thereby improving the diversity of embroidery products, improving the production efficiency of multi-color cord embroidery products and reducing labor costs.

[0084] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0085] Figure 1 A schematic diagram of a scene of a rope embroidery device control method provided in an embodiment of the present application. Figure 1 As shown, the scene includes a terminal device 1 and an embroidery device 2, wherein the embroidery device 2 includes a host computer 21, a main controller 22 and a cord embroidery device 23, and the cord embroidery device 23 includes a cord embroidery control unit 231, a station switching device 232, a looping device 233, a cord receiving and feeding device 234 and a cord cutting device 235. The terminal device 1 is installed with plate making software, and the relevant personnel use the plate making software to design embroidery patterns. After the design is completed, the design file is imported (for example, through a USB flash drive) into the host computer 21. After the host computer 21 performs pattern needle analysis on the design file, the processed pattern file is sent to the main controller 22. The main controller 22 performs analysis based on the pattern file, generates a control instruction with an execution order for the cord embroidery device, and sends it to the cord embroidery control unit 231 in the cord embroidery device 23. The cord embroidery control unit 231 controls the station switching device 232, the looping device 233, the cord receiving and feeding device 234 and the cord cutting device 235 according to the control instruction, and finally completes the multi-color cord embroidery.

[0086] It should be noted that the terminal device 1 can be a notebook, a desktop computer, a workbench, a handheld computer, etc. The main controller 22 is, for example, a PLC, a DCS or an embedded controller, etc. The main controller 22 interacts with the rope embroidery control unit 231 through a bus, and the bus protocol can be, for example, CAN, Modbus, Ethernet / IP, etc. The rope embroidery control unit 231 is electrically connected to the station switching device 232, the looping device 233 and the rope cutting device 234 respectively.

[0087] Combine the following Figure 1 For application scenarios, refer to Figure 2 The rope embroidery device control method provided by the present application is described as follows. Figure 1 It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principle of the present application, and the implementation methods of the present application are not affected by Figure 1 Limitations of the application scenario shown.

[0088] Figure 2 Schematic diagram of the process of the rope embroidery device control method provided in the embodiment of the present application Figure 1 , Figure 3Schematic diagram of the working principle of the multi - specification rope embroidery device provided by the embodiment of the present application.

[0089] It should be noted that the rope embroidery device control method provided in this embodiment is applied to the rope embroidery control unit in the rope embroidery device. The rope embroidery control unit is respectively connected to the main controller in the embroidery device and the station switching device in the rope embroidery device. The station switching device includes a station switching motor drivingly connected to a plurality of M - axes, and each of the plurality of M - axes is configured with different - specification embroidery ropes.

[0090] Unless otherwise specified, the M - axis mentioned in this application refers to the loop - forming wheel, and the M - axis motor refers to the loop - forming wheel motor.

[0091] As Figure 2 shown, the rope embroidery device control method includes the following steps:

[0092] S201. Receive the station switching instruction sent by the main controller, where the target rope embroidery needle position is carried in the station switching instruction.

[0093] Exemplarily, the main controller communicates with the rope embroidery control unit through the CAN protocol to interact with instructions and operating states related to rope embroidery. For example, a central processing unit (CPU) is provided in the rope embroidery control unit, and CAN communication is performed with the main controller through the CPU.

[0094] The station switching can be understood as moving the M - axes configured with different - specification embroidery ropes to the same needle position respectively in a certain order.

[0095] As Figure 3 shown, the embroidery machine head includes multiple needle positions. Usually, the rope embroidery needle positions are the first needle position and / or the last needle position of the embroidery machine head, and the other needle positions are non - rope embroidery needle positions. In practical applications, for example, the rope embroidery needle positions under one head are the first needle position and / or the last needle position, and each rope embroidery needle position can correspond to a set of station switching devices. The station switching device includes a station switching motor drivingly connected to a plurality of M - axes. It should be noted that Figure 3 only as an example, in this figure, the station switching motor is connected to 3 M - axes through a transmission mechanism.

[0096] When rope embroidery needs to be performed, the main controller issues a station switching instruction for the target rope embroidery needle position (the first needle position or the last needle position). Thus, the rope embroidery control unit controls the operation of the station switching device corresponding to the target rope embroidery needle position according to the station switching instruction.

[0097] It should be further noted that the prerequisite for performing the station switching operation is that the head is currently located under the rope embroidery needle position, that is, the station switching can only be performed under the rope embroidery needle position. Therefore, before receiving the station switching instruction sent by the main controller, the main controller or manual control moves the head to the rope embroidery needle position first.

[0098] S202, according to the station switching instruction, controlling the station switching motor corresponding to the target cording needle position to rotate, so as to move the target M axis among the multiple M axes to below the target cording needle position.

[0099] Still refer to Figure 3 , each M axis represents a different mechanical axis, each axis corresponds to a workstation, the rotation of the workstation switching motor drives the movement of the M axis through the transmission mechanism, realizes the mechanical switching of the 1#, 2# and 3# M axes (workstations), and moves any of the 1#, 2# and 3# M axes to the target cording needle position. Furthermore, the workstation switching instruction can also carry the target M axis, motor rotation angle, speed, etc. For example, if the target M axis is the 1# M axis, the 1# M axis can be moved to the target cording needle position by controlling the workstation switching motor to rotate a certain angle.

[0100] In addition, when switching between multiple M axes, the movement of the M axis can be translation, rotation, translation combined with rotation, or other complex movements, etc., and this application does not impose any restrictions on this.

[0101] It should be noted that the workstation switching motor in the embodiment of the present application can be an open-loop motor or a closed-loop motor. In other words, the control of the workstation switching motor is not limited to open-loop control or closed-loop control, and the embodiment of the present application does not impose any restrictions on this.

[0102] S203, performing rope embroidery based on the target M axis.

[0103] Move the target M axis to the target cord embroidery needle position, that is, replace the embroidery cord of the target specification to the target cord embroidery needle position, and then, with the up and down movement of the needle head of the target cord embroidery needle position and the rotation of the target M axis, fix the embroidery cord on the canvas and perform cord embroidery.

[0104] In the embodiment of the present application, the cord embroidery device is structurally modified by adding a station switching device to the cord embroidery device. The station switching device includes a station switching motor connected to a plurality of M axes, and each of the plurality of M axes is configured with embroidery ropes of different specifications. Based on this structure, when a station switching instruction sent by the main controller is received, the station switching motor corresponding to the target cord embroidery needle position is controlled to rotate, and the M axis is mechanically driven to move, so that the target M axis among the plurality of M axes is moved to the target cord embroidery needle position, and the automatic replacement of different embroidery ropes under the same needle position is realized. Further, based on the target M axis, cord embroidery is performed to realize multi-color cord embroidery, which improves the diversity of embroidery products, improves the production efficiency of multi-color cord embroidery products, and reduces labor costs.

[0105] In some embodiments, according to the workstation switching instruction, the workstation switching motor corresponding to the target cording needle position is controlled to rotate to move the target M axis among multiple M axes to the target cording needle position. Specifically, it may include: according to preset workstation displacement data and the workstation switching instruction, the output of the workstation switching motor is adjusted to drive the target M axis to move to the target cording needle position, and the workstation displacement data represents the spacing distance between each M axis.

[0106] The workstation displacement data may be the number of motor rotations, the motor rotation angle, the number of encoder pulses (when an encoder is provided in the motor, there is a certain mapping relationship between the motor rotation angle and the encoder pulse number), or other variables that may characterize the motor rotation distance.

[0107] In addition, the station displacement data can be pre-stored in the memory of the rope embroidery control unit, such as EEPROM. When the output (such as current, power, torque, speed, etc.) of the station switching motor is controlled according to the station switching instruction, the station displacement data can be read from the memory (such as EEPROM).

[0108] Based on the principle that the rotation of the station switching motor can drive the M axis to move, the station switching motor is controlled to rotate according to the station displacement data, so that the target M axis can be moved to the target cording needle position. For example, taking a station switching motor connected to three M axes as an example, assuming that the 1#M axis is the origin position, if the station displacement data is: {100 circles, 150 circles}, it means that the station switching motor needs to rotate 100 circles to move the 2#M axis to the 1#M axis position (target cording needle position). When it rotates 100 circles, the 2#M axis moves to the target cording needle position. When the station switching motor rotates another 150 circles, the 3#M axis can be moved to the 2#M axis position (target cording needle position).

[0109] Furthermore, considering that during the actual workstation switching operation, the workstation switching motor may be controlled according to the preset workstation displacement data, but the target M-axis cannot be accurately moved to the target cording needle position, or, due to wear and mechanical deviations that may have occurred in the previous operation of the mechanical system, the target M-axis cannot be accurately moved to the target cording needle position, the workstation displacement data can be adjusted manually.

[0110] Therefore, in some embodiments, the rope embroidery device control method also includes: in response to detecting a first interactive operation acting on the control panel of the rope embroidery control unit, obtaining first change information of the preset workstation displacement data caused by the first interactive operation; updating the workstation displacement data according to the first change information, and storing it.

[0111] For example, buttons are arranged on the control panel of the rope embroidery control unit, and the user can modify the workstation displacement data by button operation. For example, the working mode of the rope embroidery device is switched (user mode or electric adjustment mode) by buttons, and the current mode can be adjusted to the electric adjustment mode. In the electric adjustment mode, the preset value of the workstation displacement data is modified according to the actual accuracy requirements; after exiting the electric adjustment mode, the modified workstation displacement data can be automatically or manually stored in the EEPROM, which is convenient for subsequent workstation switching.

[0112] In the embodiment of the present application, based on the preset station displacement data, the data can be fine-tuned through the control panel to compensate for the deviation and reduce the mechanical deviation, so that the M axis can be more accurately located under the needle of the cord embroidery needle position, thereby improving the accuracy and reliability of the cord embroidery device control system; by flexibly adjusting the station displacement data, the system is more flexible and adaptable to various operation requirements. In addition, the modified station displacement data is stored, for example, in an EEPROM, to ensure that the station displacement data modified by the user is not lost after the cord embroidery control unit or the embroidery device is restarted, thereby improving the repeatability and efficiency of the system.

[0113] In order to improve the control accuracy of the cord embroidery device, in some embodiments, the cord embroidery device control method also includes: after the cord embroidery control unit is powered on each time, controlling the work station switching motor to perform origin calibration to move the preset M axis to below the cord embroidery needle position corresponding to the work station switching motor, and multiple M axes include the preset M axis.

[0114] For example, in order to reduce the accumulation of M-axis position deviation, after the cord embroidery control unit is powered on, the station switching motor is first controlled to find the origin, that is, a certain M-axis is moved below the cord embroidery needle position corresponding to the station switching motor. If the cord embroidery device includes two sets of station switching devices, each of which corresponds to a cord embroidery needle position, then after the cord embroidery control unit is powered on, the two sets of station switching devices can be controlled simultaneously or in a certain order, and the station switching motor in each set of station switching devices moves a preset M-axis to the corresponding cord embroidery needle position.

[0115] For example, the preset M axis can be any one of a plurality of M axes, assuming that the preset M axis is the 1#M axis. After the cord embroidery control unit is powered on, the 1#M axis is moved to the cord embroidery needle position. During the movement, it can be determined by an external detection element that it has moved into position, wherein the external detection element is not limited to an optocoupler switch and a Hall element. Taking the optocoupler switch as an example, the cord embroidery control unit controls the station switching motor to find the position of the optocoupler switch, and the position of the optocoupler switch is the 1#M axis position. When the optocoupler switch is found, it indicates that the 1#M axis has been moved to the cord embroidery needle position, and the station switching motor stops rotating at this time.

[0116] In the embodiment of the present application, the station switching motor and related mechanical systems are reset to a known reference position through origin calibration, ensuring that subsequent operations start from a known and precise position, thereby improving the accuracy and reliability of the automation process.

[0117] In actual application, during the embroidery process, the rope-receiving and sending motor in the rope-receiving and sending device is running. If at this time, the rope embroidery control unit receives a station switching instruction sent by the main controller, in order to avoid the embroidery rope moving during the station switching of the M axis, causing misoperation or mechanical damage. Optionally, the rope embroidery device control method may also include: when receiving the station switching instruction sent by the main controller, controlling the rope-receiving and sending motor in the rope-receiving and sending device to stop running; when determining that the target M axis has moved into place, controlling the rope-receiving and sending motor to run.

[0118] The embodiment of the present application can avoid errors in the process of switching workstations by precisely controlling the stopping and starting of the receiving and sending rope motor, thereby improving the precision and quality of embroidery, reducing wear and damage to equipment and materials, and protecting equipment safety. In addition, the automated control process reduces manual intervention and improves production efficiency and equipment utilization.

[0119] In some embodiments, the station switching motor is a closed-loop motor provided with a first encoder, and the rope embroidery device control method further includes:

[0120] Step 1.1, receiving the first pulse number reported by the first encoder.

[0121] For example, the first encoder may be electrically connected to the cord embroidery control unit, and the cord embroidery control unit obtains the first pulse number from the first encoder.

[0122] The first encoder of the station switching motor is a sensor used in conjunction with the station switching motor. It can convert the angular displacement of the station switching motor (shaft) into a periodic electrical signal, and further into a counting pulse. The number of pulses can represent the magnitude of the angular displacement. When the station switching motor rotates one circle, that is, 360 degrees, the first encoder can send a fixed number of pulses (the first number of pulses). Therefore, the rotation angle of the station switching motor can be converted according to the first number of pulses.

[0123] Step 1.2: Based on the first pulse number and the workstation displacement data, determine whether the target M axis has moved into position.

[0124] For example, the station switching instruction indicates switching from axis 1#M to axis 2#M, and the corresponding station displacement data read from the memory is 100 degrees, that is, by judging the matching of the first pulse number of the first encoder and 100 degrees during the switching from axis 1#M to axis 2#M. It should be noted that if the station displacement data is not expressed in pulse numbers, relevant conversion is required to convert the station displacement into pulse numbers.

[0125] If the number of the first pulses matches the station displacement data, it is determined that the target M-axis has moved into place, and step 1.3 is executed; if the number of the first pulses does not match the station displacement data, it is determined that the target M-axis has not moved into place, and step 1.4 is executed.

[0126] Step 1.3: Send a normal signal of station switching to the main controller.

[0127] Step 1.4: Send an abnormal signal of station switching to the main controller to prompt relevant personnel to conduct troubleshooting.

[0128] Exemplarily, the abnormal signal can also be reported to the main controller in the form of an alarm, which is convenient for relevant personnel to conduct anomaly troubleshooting according to the alarm content.

[0129] In the embodiment of the present application, by setting the station switching motor as a closed-loop motor, the station switching process of the M-axis is a closed-loop control, effectively improving the accuracy and efficiency of station switching, thereby improving the accuracy and efficiency of rope embroidery and the stability of the quality of embroidered products.

[0130] Further, in some embodiments, the rope embroidery device further includes a loop forming device and a rope feeding and receiving device. The loop forming device includes at least one M-axis motor and multiple M-axes, and the rope feeding and receiving device includes a rope feeding and receiving motor; correspondingly, based on the target M-axis, performing rope embroidery includes:

[0131] Step 2.1: Receive a loop forming instruction sent by the main controller, where the loop forming instruction includes the rotation angle of the M-axis motor corresponding to each needle under the target M-axis.

[0132] The output shaft of the M-axis motor is connected to a loop forming wheel (which can also be understood as the M-axis), driving the loop forming wheel to rotate to complete the loop forming action. Among them, the loop forming instruction may include information such as the rotation direction, rotation angle, rotation speed, and whether to rotate of the target M-axis motor. The rope embroidery control unit controls the M-axis motor to rotate according to the loop forming instruction to drive the loop forming wheel to rotate and complete the loop forming action.

[0133] Step 2.2: Based on the rotation angle, control the M-axis motor corresponding to the target M-axis to operate to drive the target M-axis to perform a loop forming action.

[0134] Generally, the rotation angle carried in the loop forming instruction is an absolute angle, that is, the absolute angle that the target M-axis motor needs to rotate when the main controller issues and executes each needle action. For example, the absolute angle corresponding to the i-th needle is x degrees, the absolute angle corresponding to the i + 1-th needle is y degrees, and the absolute angle corresponding to the i + 2-th needle is z degrees. However, the target M-axis motor rotates according to the relative angle during actual rotation.

[0135] Exemplarily, the rope embroidery control unit can calculate the angle that the target M-axis motor needs to rotate under each needle through a preset algorithm. That is, at the i + 1-th needle, the M-axis motor rotates b, where is the relative angle (yx) that the target M-axis motor needs to rotate at the i+1th stitch, and b is the swing amplitude.

[0136] In addition, the looping device includes at least one M-axis motor and multiple M-axes. Structurally, the configuration of the M-axis motor and the M-axes can include the following two implementation methods.

[0137] In one implementation, one M-axis motor independently controls one M-axis. This method has a simple structure, high control flexibility, high control accuracy, and the advantage of fault isolation, but the hardware cost is relatively high.

[0138] In another implementation, one M-axis motor controls n M-axes, where n is an integer greater than 1. In this way, reducing the number of motors can reduce the overall cost of the system, but it is necessary to adjust the transmission structure or other control elements to achieve one M-axis motor controlling multiple M-axes, and multiple M-axes cannot rotate at the same time. Compared with the structure in which one M-axis motor independently controls one M-axis, the mechanical transmission structure of one M-axis motor controlling n M-axes is more complex and less flexible. When the M-axis motor fails, multiple M-axes cannot rotate normally, and the failure has a greater impact.

[0139] It should be noted that in actual applications, one of the implementation methods can be selected based on actual needs, cost and other factors, and the embodiments of the present application do not limit this.

[0140] Step 2.3: During the rope embroidery process, the position information of the swing rod connected to the rope receiving and sending motor is obtained; according to the position information, the rope receiving and sending motor is controlled to perform rope receiving or rope sending action.

[0141] For example, during the process of cord embroidery, the M axis will drag the embroidery cord to wind or release on the M axis, driving the swing rod to move forward and backward. On the other side of the swing rod transmission shaft, an axially magnetized magnet is installed. When the swing rod moves forward and backward, the magnet moves forward and backward synchronously. A Hall sensor plate is also installed on the cord embroidery device to sense the position of the magnet. That is, the position information of the swing rod is determined by the Hall sensor plate, and the cord embroidery control unit obtains the position information of the swing rod from the Hall sensor plate.

[0142] When the magnet moves to the rope feeding Hall position, it indicates that the pendulum is in the rope feeding position, and it is judged that the M axis needs embroidery rope. At this time, the rope feeding and receiving motor is controlled to rotate counterclockwise to feed the rope; after feeding the rope, due to the increase of embroidery rope, it will return to the balance position under the action of the pendulum reset spring. On the contrary, when there is embroidery rope on the M axis, when the reverse operation is carried out, the embroidery rope between the pendulum and the M axis is in a relaxed state, and the pendulum and the magnet move to the other side. When the magnet moves to the rope collecting Hall position, it indicates that the pendulum is in the rope collecting position. At this time, the rope feeding and receiving motor is controlled to rotate clockwise to collect the rope. After collecting the rope, due to the reduction of rope, the pendulum returns to the balance position.

[0143] Optionally, the output frequency of the rope-feeding and receiving motor can also be controlled, thereby controlling the rotation rate of the rope-feeding and receiving wheel, and ultimately controlling the rate of rope feeding or rope receiving.

[0144] To prevent the embroidery rope from being wound around the M-axis too much, optionally, when the cumulative rotation angle of the M-axis motor is greater than 360 degrees, the M-axis motor is controlled to reverse 360 ​​degrees to release the embroidery rope wound around the outside of the M-axis in time.

[0145] Further, in order to ensure the control accuracy of the looping process, in some embodiments, the M-axis motor is a closed-loop motor provided with a second encoder, and the rope embroidery device control method further includes:

[0146] Step 3.1, receiving the second pulse number reported by the second encoder.

[0147] For example, the second encoder may be electrically connected to the cord embroidery control unit, and the cord embroidery control unit obtains the second pulse number from the second encoder.

[0148] The principle of the second encoder sending out pulses can be found in step 1.1 and will not be repeated here.

[0149] Step 3.2: Based on the number of second pulses and the rotation angle, determine whether the looping action of the target M axis is completed.

[0150] For each stitch in the embroidery process, it is determined whether the looping action is completed. For example, from the beginning of the i-th stitch to the end of the i-th stitch, the number of second pulses reported by the second encoder in the process is recorded, and the second pulse number is converted and compared with the issued rotation angle. If they are consistent, it is determined that the i-th stitch looping action is in place. And so on, the i+1, i+2, ..., are judged until all stitches are executed.

[0151] Optionally, when it is detected that the looping action of a certain needle is not in place, a looping abnormality signal can be reported to the main controller; or, when the number of abnormal looping needles exceeds a preset threshold, a looping abnormality signal can be reported to the main controller to timely adjust the looping process.

[0152] Step 3.3: After the looping action of the target M axis is completed, a target M axis embroidery end signal is sent to the main controller, and the rope cutting device is controlled to perform the rope cutting action.

[0153] When the target M axis has performed the looping action in all the needle numbers, the rope embroidery control unit sends the target M axis embroidery end signal to the main controller, and controls the rope cutting motor in the rope cutting device to drive the rope cutter to perform automatic rope cutting action, and keep the rope end in the rope clamp of the current M axis station.

[0154] In the embodiment of the present application, the M-axis motor is set as a closed-loop motor, so that the looping control process is a closed-loop control, which effectively improves the accuracy and efficiency of looping, thereby improving the accuracy and efficiency of rope embroidery and the stability of embroidery quality.

[0155] To further improve the accuracy of the looping action, the origin position of the M-axis motor is first determined when the M-axis motor starts working. Optionally, the cord embroidery device control method further includes: controlling the M-axis motor to perform origin calibration according to the zero position signal of the second encoder.

[0156] The second encoder will generate a zero position signal, also called a Z signal, as the M-axis motor rotates. The M-axis motor will only feedback a zero position signal at one position when it rotates one circle. Therefore, the position corresponding to the zero position signal can be defined as the origin of the M-axis motor.

[0157] The timing for the M-axis motor to perform origin calibration includes after the cord embroidery control unit is powered on for the first time and before the embroidery device is stopped and started. Specifically, after the cord embroidery control unit is powered on for the first time, the M-axis motor is controlled to rotate, and when the Z signal of the encoder is detected, the position at this time is determined to be the origin position of the M-axis motor. Subsequently, before each stop-start of the embroidery device (including after switching workstations), before performing the looping action, the M-axis motor is controlled to return to the origin position corresponding to the Z signal recorded when it was first powered on.

[0158] In the embodiment of the present application, the M-axis motor can be calibrated according to the zero point signal of the second encoder to ensure that the origin position of the M-axis motor is fixed. In addition, after the origin of the M motor is calibrated, it can be ensured that the starting position of the M-axis is located at a preset position. In this preset position, the threading hole on the M-axis is located directly in front of the cord embroidery device, so that it is convenient for the operator of the embroidery device to fix the cord in the threading hole, thereby improving the efficiency of cord embroidery.

[0159] In some embodiments, the station switching motor is connected to the multiple M axes through a transmission mechanism, and the transmission mechanism includes any one of a screw, a gear, a rack and a cam.

[0160] During the embroidery process of the embroidery equipment, in some embodiments, the rope embroidery device control method further includes: receiving a rope embroidery pause instruction sent by the main controller; and controlling the looping motor, the rope feeding and receiving motor and the rope cutting motor to stop running according to the rope embroidery pause instruction.

[0161] For example, during the process of cord embroidery, if there is an emergency, the user can issue a cord embroidery pause command through the control panel on the main controller, and the main controller sends the cord embroidery pause command to the cord embroidery control unit to control the looping device, cord cutting device and cord receiving and feeding device to stop working. Among them, the emergency includes but is not limited to embroidery machine equipment, embroidery pattern changes, etc.

[0162] When the cord embroidery control unit receives the cord embroidery pause instruction, it stops sending the embroidery instructions to the control motors until it receives the start instruction, and then continues sending the embroidery instructions to the control motors, thereby improving the flexibility of embroidery control.

[0163] The above embodiment is an introduction to the application of the rope embroidery control method to the rope embroidery control unit in the rope embroidery device. Figure 4 The application of the rope embroidery control method to the main controller in the embroidery equipment is described.

[0164] Figure 4 Schematic diagram of the process of the rope embroidery device control method provided in the embodiment of the present application Figure 2 .like Figure 4 As shown, the rope embroidery device control method includes:

[0165] S401, obtaining a pattern file of a pattern to be embroidered, wherein the pattern file includes a stitch list and a station switching sequence, and the stitch list includes a function code, and the function code is used to indicate the timing of station switching.

[0166] For example, the main controller obtains the pattern file of the pattern to be embroidered from the host computer. The host computer receives the pattern file (design file) of the pattern to be embroidered from an external device, such as a user's PC or other terminal device. The host computer is preset with a pattern analysis-related algorithm, which can parse and pre-process the pattern file to obtain the pattern file and then send it to the main controller.

[0167] The pattern file contains the stitch list and the station switching sequence. The stitch list includes the function code for marking the position where the embroidery of each specification of embroidery rope ends. The function code can also be understood as a color change code. For example, the pattern to be embroidered contains 3 different colors of embroidery ropes. Assuming that the embroidery order of the pattern is: green -> yellow -> red, different colors correspond to different M axes, the station switching sequence includes the corresponding relationship between color and M axis. For example, the station switching sequence is 1 -> 2 -> 3, which means that the 1#M axis is used for embroidery first, then the 2#M axis is switched to embroidery, and finally the 3#M axis is switched to embroidery.

[0168] S402, based on the stitch list and the station switching sequence, generating a station switching instruction and sending it to the cord embroidery control unit, the station switching instruction is used to indicate a target M axis among multiple M axes to be moved to a target cord embroidery needle position.

[0169] In the stitch list, the position where each color embroidery ends will be marked with a function code. For example, the color change is marked at the position where the yellow color ends. The main controller performs real-time indexing of the number of stitches and stitches according to the stitch list. When it runs to the function code, it controls the rope embroidery device to stop running and change the color. The target M axis to be switched is determined according to the station switching sequence. Moreover, when one color embroidery is finished, it is determined whether the station needs to be switched according to the station switching sequence.

[0170] Furthermore, in some embodiments, the rope embroidery device control method further includes at least one of the following possible implementations:

[0171] A possible implementation manner is to send a looping instruction to the cord embroidery control unit when a normal station switching signal sent by the cord embroidery control unit is received.

[0172] In a possible implementation, when a workstation switching abnormality signal sent by the cord embroidery control unit is received, a workstation switching abnormality prompt message is output through the control panel. The abnormality prompt message is used to prompt relevant personnel to check the switching abnormality.

[0173] In a possible implementation, when receiving the target M-axis embroidery completion signal sent by the cord embroidery control unit, it is determined whether the embroidery pattern to be embroidered is completed; if the embroidery pattern to be embroidered is completed, the machine is stopped; if the embroidery pattern to be embroidered is not completed, step S401 is continued.

[0174] When the embroidery is performed in sequence according to the switching sequence of the workstations, it is determined that the embroidery pattern to be embroidered is completed.

[0175] In a possible implementation, in response to detecting a second interactive operation acting on the control panel of the main controller, second change information of the workstation switching sequence caused by the second interactive operation is obtained; and the workstation switching sequence is updated according to the second change information.

[0176] In actual applications, the station switching sequence may be adjusted according to the actual situation or design and production requirements, for example, the station switching sequence may be adjusted to 1—>3—>2, or 1—>3—>2, or 2—>3—>1, etc. The user changes the station switching sequence on the control panel of the main controller, and the change is automatically saved. Set the station switching sequence, select the embroidery range, and start the embroidery equipment.

[0177] The embodiments of the present application make the system more flexible, enhance the adaptability of the system, and improve production efficiency by dynamically and flexibly adjusting the workstation switching sequence.

[0178] Next, the control method of the cord embroidery device is further described by a specific embodiment. Figure 5 Schematic diagram of the process of the rope embroidery device control method provided in the embodiment of the present application Figure 3 .

[0179] like Figure 5 As shown, the process of the rope embroidery device control method includes:

[0180] 1. After the embroidery equipment is powered on, the cording control unit reads the preset station displacement data from the memory.

[0181] That is, each time the cord embroidery control unit is powered on, it will first read the station displacement data from the memory, such as EEPROM. The station displacement data can be the number of motor rotations, the motor rotation angle, the number of encoder pulses (when the encoder is set in the motor, the motor rotation angle and the encoder pulse number have a certain mapping relationship), or other variables that can represent the motor rotation distance.

[0182] 2. Control the station switching motor to find the origin.

[0183] For example, the preset M axis can be any one of a plurality of M axes, assuming that the preset M axis is the 1#M axis. After the cord embroidery control unit is powered on, the 1#M axis is moved to the cord embroidery needle position. During the movement, it can be determined by an external detection element that it has moved into position, wherein the external detection element is not limited to an optocoupler switch and a Hall element. Taking the optocoupler switch as an example, the cord embroidery control unit controls the station switching motor to find the position of the optocoupler switch, and the position of the optocoupler switch is the 1#M axis position. When the optocoupler switch is found, it indicates that the 1#M axis has been moved to the cord embroidery needle position, and the station switching motor stops rotating at this time.

[0184] 3. The initialization of the rope embroidery control unit is completed and the M-axis motor finds the origin.

[0185] The timing for the M-axis motor to perform origin calibration includes after the cord embroidery control unit is powered on for the first time and before the embroidery device is stopped and started. Specifically, when the cord embroidery control unit is powered on for the first time, the M-axis motor is controlled to rotate after initialization is completed. When the Z signal of the encoder of the M-axis motor is detected, the position at this time is determined to be the origin position of the M-axis motor. Subsequently, before each stop-start of the embroidery device (including after switching workstations) and before executing the looping action, the M-axis motor is controlled to return to the origin position corresponding to the Z signal recorded when it was first powered on.

[0186] 4. Perform color change according to the preset station switching sequence.

[0187] Among them, the color changing action is also regarded as a station switching action, that is, the target M axis is moved to the target cording needle position.

[0188] The main controller obtains the pattern file of the pattern to be embroidered from the host computer. The pattern file contains a stitch list and a station switching sequence. Based on the stitch list and the station switching sequence, the main controller generates a station switching instruction and sends it to the cord embroidery control unit.

[0189] Correspondingly, when the cording control unit receives the station switching instruction sent by the main controller, it adjusts the output of the station switching motor according to the station displacement data and the station switching instruction read in step 1 to drive the target M axis to move to the target cording needle position.

[0190] In addition, when receiving the station switching instruction sent by the main controller, the cord embroidery control unit controls the cord receiving and feeding motor in the cord receiving and feeding device to stop running.

[0191] 5. Change color in place.

[0192] Closed-loop control is performed during the station switching process. According to the first pulse number of the first encoder of the station switching motor and the read station displacement data, it is determined whether the target M axis has moved into place (i.e., the color change is in place). When it is determined that the target M axis has moved into place, a normal station switching signal is sent to the main controller; when it is determined that the target M axis has not moved into place, a station switching abnormal signal is sent to the main controller to prompt relevant personnel to check.

[0193] When the cord embroidery control unit determines that the target M axis has moved into position, it controls the cord sending and receiving motors to operate.

[0194] 6. Rope embroidery.

[0195] When receiving the normal station switching signal sent by the cord embroidery control unit, the main controller sends a looping instruction to the cord embroidery control unit.

[0196] Correspondingly, when the cord embroidery control unit receives the loop instruction sent by the main controller, it controls the operation of the M-axis motor corresponding to the target M-axis based on the rotation angle of the target M-axis motor under each needle carried in the loop instruction, so as to drive the target M-axis to perform the loop action. In addition, the loop control process is a closed-loop control, and timely determines whether the loop action of the target M-axis is completed according to the number of second pulses reported by the second encoder of the loop motor. When it is detected that the loop action of a certain needle is not in place, a loop abnormality signal can be reported to the main controller, or when the number of abnormal loop needles exceeds a preset threshold, a loop abnormality signal can be reported to the main controller to timely adjust the loop process.

[0197] During the process of cord embroidery, the cord embroidery control unit obtains the position information of the swing rod connected to the cord receiving and sending motor; according to the position information, the cord receiving and sending motor is controlled to perform cord receiving or sending action.

[0198] 7. Cut the rope.

[0199] When the target M axis has performed the looping action in all the needle numbers, the rope embroidery control unit sends the target M axis embroidery end signal to the main controller, and controls the rope cutting motor in the rope cutting device to drive the rope cutter to perform automatic rope cutting action, and keep the rope end in the rope clamp of the current M axis station.

[0200] 8. The trick ends.

[0201] When receiving the target M-axis embroidery completion signal sent by the cord embroidery control unit, the main controller determines whether the embroidery pattern to be embroidered is completed; if the embroidery pattern to be embroidered is completed, the machine is stopped; if the embroidery pattern to be embroidered is not completed, step 4 is continued.

[0202] When the embroidery is performed in sequence according to the switching sequence of the workstations, it is determined that the embroidery pattern to be embroidered is completed.

[0203] 9. The embroidery is finished.

[0204] Figure 6 A schematic diagram of the structure of the cord embroidery device control device provided in the embodiment of the present application Figure 1 .

[0205] like Figure 6 As shown, the rope embroidery device control device provided in this embodiment is applied to the rope embroidery control unit in the rope embroidery device, and the rope embroidery control unit is respectively connected to the main controller in the embroidery equipment and the station switching device in the rope embroidery device, and the station switching device includes a station switching motor connected to a plurality of M axes, and each of the plurality of M axes is configured with embroidery ropes of different specifications. The rope embroidery device control device 60 includes a receiving module 61, a control module 62 and a rope embroidery embroidery module 63. Among them:

[0206] The receiving module 61 is used to receive the station switching instruction sent by the main controller, and the station switching instruction carries the target cording needle position;

[0207] The control module 62 is used to control the station switching motor corresponding to the target cording needle position to rotate according to the station switching instruction, so as to move the target M axis to the target cording needle position;

[0208] The cord embroidery module 63 is used to perform cord embroidery based on the target M axis.

[0209] In a possible implementation, the control module 62 is specifically used to: regulate the output of the station switching motor according to preset station displacement data and station switching instructions to drive the M axis to move to the target cording needle position, and the station displacement data represents the spacing distance of each M axis.

[0210] In a possible embodiment, the workstation switching motor is a closed-loop motor provided with a first encoder, and the control module 62 is also used to: receive the first pulse number reported by the first encoder; determine whether the target M axis has moved into place based on the first pulse number and the workstation displacement data; if the first pulse number and the workstation displacement data match, it is determined that the target M axis has moved into place, and a normal workstation switching signal is sent to the main controller; if the first pulse number and the workstation displacement data do not match, it is determined that the target M axis has not moved into place, and an abnormal workstation switching signal is sent to the main controller to prompt relevant personnel to check.

[0211] In a possible implementation, the control module 62 is further configured to implement at least one of the following:

[0212] In response to detecting a first interactive operation on a control panel of the cord embroidery control unit, first change information of preset workstation displacement data caused by the first interactive operation is obtained; data of the workstation displacement data is updated according to the first change information, and stored;

[0213] After the cord embroidery control unit is powered on each time, the station switching motor is controlled to perform origin calibration to move the preset M axis to below the cord embroidery needle position corresponding to the station switching motor, and the multiple M axes include the preset M axis;

[0214] When receiving the station switching instruction sent by the main controller, the rope receiving and sending motor in the rope receiving and sending device is controlled to stop running; when it is determined that the target M axis moves into place, the rope receiving and sending motor is controlled to run.

[0215] In a possible embodiment, the rope embroidery device also includes a looping device and a rope collecting and feeding device, the looping device includes at least one M-axis motor and multiple M-axes, and the rope collecting and feeding device includes a rope collecting and feeding motor; accordingly, the rope embroidery module 63 is specifically used to: receive the looping instruction sent by the main controller, the looping instruction includes the rotation angle of the M-axis motor corresponding to each needle under the target M-axis; based on the rotation angle, control the operation of the M-axis motor corresponding to the target M-axis to drive the target M-axis to perform a looping action; in the rope embroidery process, obtain the position information of the rocker connected to the rope collecting and feeding motor; according to the position information, control the rope collecting and feeding motor to perform rope collecting or feeding action.

[0216] In a possible embodiment, the target M-axis motor is a closed-loop motor provided with a second encoder, and the control module 62 is also used to: receive the second pulse number reported by the second encoder; determine whether the looping action of the target M-axis is completed based on the second pulse number and the rotation angle; after the looping action of the target M-axis is completed, send a target M-axis embroidery end signal to the main controller, and control the rope cutting device to perform the rope cutting action.

[0217] In a possible implementation manner, the control module 62 is further configured to control the M-axis motor to perform origin calibration according to the zero position signal of the second encoder.

[0218] In a possible implementation, the station switching motor is connected to the multiple M axes via a transmission mechanism, and the transmission mechanism includes any one of a screw, a gear, a rack, and a cam.

[0219] Figure 7 A schematic diagram of the structure of the cord embroidery device control device provided in the embodiment of the present application Figure 2 .

[0220] like Figure 7 As shown, the cord embroidery device control device provided in the embodiment of the present application is applied to the main controller in the embroidery equipment, and the cord embroidery device control device 70 includes an acquisition module 71 and a processing module 72. Among them:

[0221] The acquisition module 70 is used to acquire a pattern file of a pattern to be embroidered, wherein the pattern file includes a stitch list and a station switching sequence, and the stitch list includes a function code, and the function code is used to indicate the timing of station switching;

[0222] The processing module 71 is used to generate a station switching instruction based on the stitch list and the station switching sequence, and send it to the cord embroidery control unit. The station switching instruction is used to indicate the target M axis to be moved to the target cord embroidery needle position among multiple M axes.

[0223] In a possible implementation manner, the processing module 71 is further used for at least one of the following:

[0224] When receiving a normal station switching signal sent by the cord embroidery control unit, a looping instruction is sent to the cord embroidery control unit;

[0225] When receiving the abnormal station switching signal sent by the cord embroidery control unit, the abnormal station switching prompt information is output through the control panel;

[0226] In response to detecting a second interactive operation acting on the control panel of the main controller, second change information of the workstation switching sequence caused by the second interactive operation is obtained; and the workstation switching sequence is updated according to the second change information.

[0227] The rope embroidery device control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0228] Figure 8 A schematic diagram of the structure of the embroidery equipment provided in an embodiment of the present application.

[0229] like Figure 8As shown, the embroidery device 80 provided in the embodiment of the present application includes: a host computer 81, a main controller 82 and a rope embroidery device 83, the rope embroidery device 83 includes a rope embroidery control unit 831, a station switching device 832, a looping device 833, a rope receiving and sending device 834 and a rope cutting device 835, the looping device 833 includes a plurality of M axes, each of the plurality of M axes is configured with embroidery ropes of different specifications, and the station switching device 832 includes a station switching motor connected to the plurality of M axes in a transmission manner;

[0230] The main controller 82 is connected to the rope embroidery control unit 831 and the host computer 81 respectively, and the rope embroidery control unit 831 is connected to the station switching device 832, the looping device 833, the rope receiving and sending device 834 and the rope cutting device 835 respectively;

[0231] The upper computer 81 is used to analyze the design file of the pattern to be embroidered and generate the pattern file of the pattern to be embroidered;

[0232] A main controller 82, used for executing the rope embroidery device control method applied to the main controller as described in the above embodiment based on the pattern file;

[0233] The rope embroidery control unit 831 is used to execute the rope embroidery device control method applied to the rope embroidery control unit as described in the above embodiment.

[0234] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0235] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0236] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0237] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0238] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0239] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0240] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0241] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0242] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0243] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling a cord embroidery device, characterized in that: A cord embroidery control unit applied to a cord embroidery device, the cord embroidery control unit is respectively connected to a main controller in an embroidery device and a station switching device in the cord embroidery device, the station switching device comprises a station switching motor connected to a plurality of M shafts, each of the plurality of M shafts being configured with embroidery ropes of different specifications; The rope embroidery device control method comprises: Receiving a workstation switching instruction sent by the main controller, wherein the workstation switching instruction carries a target cording needle position; According to the station switching instruction, the station switching motor corresponding to the target cording needle position is controlled to rotate so as to move the target M axis among the multiple M axes to below the target cording needle position; Based on the target M axis, cord embroidery is performed.

2. The rope embroidery device control method according to claim 1, characterized in that: According to the station switching instruction, controlling the station switching motor corresponding to the target cording needle position to rotate so as to move the target M axis among the multiple M axes to the target cording needle position includes: According to the preset station displacement data and the station switching instruction, the output of the station switching motor is regulated to drive the target M axis to move to the target cording needle position, and the station displacement data represents the spacing distance of each M axis.

3. The rope embroidery device control method according to claim 2, characterized in that: The station switching motor is a closed-loop motor provided with a first encoder, and the rope embroidery device control method further includes: Receiving a first pulse number reported by the first encoder; Based on the first pulse number and the workstation displacement data, determining whether the target M axis has moved into position; If the first pulse number matches the workstation displacement data, it is determined that the target M-axis has moved into position, and a workstation switching normal signal is sent to the main controller; If the first pulse number does not match the workstation displacement data, it is determined that the target M axis has not moved into place, and a workstation switching abnormality signal is sent to the main controller to prompt relevant personnel to check.

4. The rope embroidery device control method according to claim 3, characterized in that: The cord embroidery device control method further includes at least one of the following: In response to detecting a first interactive operation on the control panel of the cord embroidery control unit, obtaining first change information of preset workstation displacement data caused by the first interactive operation; updating the workstation displacement data according to the first change information and storing the data; After the cord embroidery control unit is powered on each time, the station switching motor is controlled to perform origin calibration to move a preset M axis to below the cord embroidery needle position corresponding to the station switching motor, wherein the multiple M axes include the preset M axis; When receiving the workstation switching instruction sent by the main controller, the rope receiving and sending motor in the rope receiving and sending device is controlled to stop running; when it is determined that the target M axis moves into place, the rope receiving and sending motor is controlled to run.

5. The cord embroidery device control method according to any one of claims 1 to 4, characterized in that: The cord embroidery device further comprises a looping device and a cord-receiving and delivering device, wherein the looping device comprises at least one M-axis motor and the plurality of M-axis, and the cord-receiving and delivering device comprises a cord-receiving and delivering motor; accordingly, The cord embroidery is performed based on the target M axis, including: Receive a looping instruction sent by the main controller, wherein the looping instruction includes an M-axis motor rotation angle corresponding to each needle under the target M-axis; Based on the rotation angle, controlling the M-axis motor corresponding to the target M-axis to operate so as to drive the target M-axis to perform a looping action; During the rope embroidery process, the position information of the swing rod connected to the rope receiving and sending motor is obtained; according to the position information, the rope receiving and sending motor is controlled to perform rope receiving or rope sending action.

6. The rope embroidery device control method according to claim 5, characterized in that: The M-axis motor is a closed-loop motor provided with a second encoder, and the cord embroidery device control method further includes: receiving a second pulse number reported by the second encoder; Based on the second pulse number and the rotation angle, determining whether the looping action of the target M-axis is completed; After the looping action of the target M axis is completed, a target M axis embroidery end signal is sent to the main controller, and the rope cutting device is controlled to perform the rope cutting action.

7. The control method of the cord embroidery device according to claim 6, characterized in that: Also includes: According to the zero position signal of the second encoder, the M-axis motor is controlled to perform origin calibration.

8. The method for controlling a cord embroidery device according to any one of claims 1 to 4, characterized in that: The station switching motor is connected to the multiple M axes through a transmission mechanism, and the transmission mechanism includes any one of a screw rod, a gear, a rack and a cam.

9. A method for controlling a cord embroidery device, characterized in that: The main controller used in the embroidery equipment, the rope embroidery device control method includes: Acquire a pattern file of a pattern to be embroidered, wherein the pattern file includes a stitch list and a station switching sequence, wherein the stitch list includes a function code, and the function code is used to indicate the timing of station switching; Based on the stitch list and the station switching sequence, a station switching instruction is generated and sent to the cord embroidery control unit, wherein the station switching instruction is used to indicate a target M axis among multiple M axes to be moved to a target cord embroidery needle position.

10. The rope embroidery device control method according to claim 9, characterized in that: Also includes at least one of the following: When receiving a normal station switching signal sent by the cord embroidery control unit, sending a looping instruction to the cord embroidery control unit; When receiving the abnormal station switching signal sent by the cord embroidery control unit, outputting abnormal station switching prompt information through the control panel; In response to detecting a second interactive operation acting on the control panel of the main controller, second change information of the workstation switching sequence caused by the second interactive operation is obtained; and the workstation switching sequence is updated according to the second change information.

11. A control device for a cord embroidery device, characterized in that: A cord embroidery control unit applied to a cord embroidery device, the cord embroidery control unit is respectively connected to a main controller in an embroidery device and a station switching device in the cord embroidery device, the station switching device comprises a station switching motor connected to a plurality of M shafts, each of the plurality of M shafts being configured with embroidery ropes of different specifications; The cord embroidery device control device comprises: A receiving module, used for receiving a station switching instruction sent by the main controller, wherein the station switching instruction carries a target cording needle position; A control module, used for controlling the station switching motor corresponding to the target cording needle position to rotate according to the station switching instruction, so as to move the target M axis to below the target cording needle position; The cord embroidery module is used to perform cord embroidery based on the target M axis.

12. A control device for a cord embroidery device, characterized in that: The main controller used in the embroidery equipment, the rope embroidery device control device comprises: An acquisition module is used to acquire a pattern file of a pattern to be embroidered, wherein the pattern file includes a stitch list and a station switching sequence, wherein the stitch list includes a function code, and the function code is used to indicate the timing of station switching; A processing module is used to generate a station switching instruction based on the stitch list and the station switching sequence, and send it to the cord embroidery control unit, wherein the station switching instruction is used to indicate a target M axis among multiple M axes to be moved to a target cord embroidery needle position.

13. An embroidery device, characterized in that: include: A host computer, a main controller and a rope embroidery device, wherein the rope embroidery device comprises a rope embroidery control unit, a station switching device, a looping device, a rope receiving and sending device and a rope cutting device, wherein the looping device comprises a plurality of M axes, each of the plurality of M axes is configured with embroidery ropes of different specifications, and the station switching device comprises a station switching motor drivingly connected to the plurality of M axes; The main controller is connected to the rope embroidery control unit and the host computer respectively, and the rope embroidery control unit is connected to the station switching device, the looping device, the rope receiving and sending device and the rope cutting device respectively; The host computer is used to analyze the design file of the pattern to be embroidered and generate the pattern file of the pattern to be embroidered; The main controller is used to execute the cord embroidery device control method according to claim 9 or 10 based on the pattern file; The cord embroidery control unit is used to execute the cord embroidery device control method according to any one of claims 1 to 8.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, they are used to implement the cord embroidery device control method according to any one of claims 1 to 10.

15. A computer program product, characterized in that include: A computer program, which, when executed, implements the cord embroidery device control method as described in any one of claims 1 to 10.

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