Method for controlling needle nozzle of embroidery machine, needle nozzle control equipment and embroidery machine

Abstract

The embodiment of the invention provides a control method of a needle nozzle of an embroidery machine, needle nozzle control equipment and the embroidery machine. The method comprises the following steps: in response to a working instruction, determining a first working position and a second working position of a needle nozzle according to working parameters of the embroidery machine in a current time period; wherein the first working position is above the second working position; and controlling a needle nozzle connected with a stepping motor on the embroidery machine to reach the first working position through the stepping motor of the embroidery machine, and controlling the needle nozzle to move between the first working position and the second working position. The method is used for achieving the effects of improving the needle nozzle flexibility of the embroidery machine and improving the embroidery quality of the embroidery machine.

Description

Technical Field

[0001] The present application relates to the technical field of embroidery machines, and in particular to a method for controlling a needle mouth of an embroidery machine, a needle mouth control device, and an embroidery machine. Background Art

[0002] An embroidery machine is a machine that uses a main shaft to drive the embroidery needle to embroider on fabric while the embroidery frame moves. During the embroidery process, when the embroidery frame moves the fabric to the designated embroidery position, the needle mouth presses the fabric tightly, and then the embroidery needle embroiders on the compressed fabric.

[0003] In some technologies, the needle mouth is mechanically connected to the main shaft, so that the needle mouth follows the main shaft during the embroidery operation. In the above-mentioned technologies, the solution of mechanically connecting the needle mouth to the main shaft has poor flexibility of the needle mouth, which in turn results in low embroidery quality of the embroidery machine.

[0004] Therefore, there is an urgent need for a solution that can improve the needle mouth flexibility of an embroidery machine and the embroidery quality of the embroidery machine. Summary of the Invention

[0005] The embodiments of the present application provide a method for controlling the needle mouth of an embroidery machine, a needle mouth control device, and an embroidery machine, which are used to improve the flexibility of the needle mouth of the embroidery machine and the embroidery quality of the embroidery machine.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a needle mouth of an embroidery machine, comprising:

[0007] In response to the working instruction, according to the working parameters of the embroidery machine in the current period, a first working position and a second working position of the needle mouth are determined; wherein the first working position is above the second working position;

[0008] The stepping motor of the embroidery machine is used to control a needle nozzle connected to the stepping motor on the embroidery machine to reach a first working position, and to control the needle nozzle to move between the first working position and a second working position.

[0009] In one possible embodiment, the working parameter is used to indicate the identification of the embroidery needle and / or the color type of the embroidery thread; and determining the first working position and the second working position of the needle mouth according to the working parameter of the embroidery machine in the current time period includes:

[0010] When the working parameter indicates the identification of the embroidery needle, determining the first working position and the second working position of the needle mouth according to the identification of the embroidery needle corresponding to the needle mouth in the current time period;

[0011] When the working parameter indicates the color type of the embroidery thread, the first working position and the second working position of the needle mouth are determined according to the color type of the embroidery thread corresponding to the needle mouth in the current time period.

[0012] In a possible implementation, determining the first working position and the second working position of the needle mouth according to the working parameters of the embroidery machine in the current time period includes:

[0013] According to the working parameters of the embroidery machine in the current period, based on a first preset mapping relationship, a first working position and a second working position corresponding to the working parameters are determined; wherein the first preset mapping relationship indicates a mapping relationship among the working parameters, the first working position, and the second working position;

[0014] Alternatively, according to the working parameters of the embroidery machine in the current period, based on a second preset mapping relationship, a first working position corresponding to the working parameters is determined; wherein the second preset mapping relationship indicates a mapping relationship between the working parameters and the first working position; and the second working position is a preset position;

[0015] Alternatively, according to the working parameters of the embroidery machine in the current period, based on the third preset mapping relationship, the second working position corresponding to the working parameters is determined; wherein the third preset mapping relationship indicates the mapping relationship between the working parameters and the second working position; the first working position is the preset position.

[0016] In one possible implementation, the method further includes:

[0017] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is greater than or equal to a preset upper limit value, the needle nozzle is controlled by the stepper motor to move between the first adjustment position and the second working position; wherein the first adjustment position is above the first working position;

[0018] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is less than or equal to the preset lower limit value, the needle nozzle is controlled by the stepper motor to move between the second adjustment position and the second working position; wherein, the second adjustment position is below the first working position, and the second adjustment position is above the second working position.

[0019] In one possible embodiment, controlling the needle nozzle to move between the first working position and the second working position includes:

[0020] Obtaining a main shaft angle of the embroidery machine; and determining a desired position of the needle mouth according to the main shaft angle; wherein a mapping relationship exists between the main shaft angle and the desired position;

[0021] Obtaining the current actual operating parameters of the stepper motor, and determining the driving current of the stepper motor based on the current actual operating parameters and the desired position;

[0022] The stepper motor is driven by the driving current so that the stepper motor controls the needle nozzle to move between the first working position and the second working position.

[0023] In one possible implementation, the current actual operating parameters include: a current actual position, a current actual speed, and a current output current; and determining the driving current of the stepper motor based on the current actual operating parameters and the desired position includes:

[0024] Determine the expected speed of the stepper motor based on the expected position and the current actual position;

[0025] Determine the reference current of the stepper motor based on the expected speed and the current actual speed;

[0026] The driving current of the stepper motor is determined based on the reference current and the current output current.

[0027] In one possible implementation, the method further includes:

[0028] In response to a power-on command, the needle of the embroidery machine is controlled by a stepper motor to reach the origin position;

[0029] In response to the stop instruction, the needle mouth of the embroidery machine is controlled by the stepping motor to reach the first working position.

[0030] In a second aspect, an embodiment of the present application provides a control device for a needle nozzle of an embroidery machine, comprising:

[0031] a processing module, configured to determine, in response to a work instruction, a first working position and a second working position of the needle mouth according to working parameters of the embroidery machine in a current period; wherein the first working position is above the second working position;

[0032] The control module is used to control the needle mouth connected to the stepping motor of the embroidery machine to reach the first working position through the stepping motor of the embroidery machine, and control the needle mouth to move between the first working position and the second working position.

[0033] In one possible embodiment, the working parameter is used to indicate the identification of the embroidery needle and / or the color type of the embroidery thread; according to the working parameter of the embroidery machine in the current time period, the first working position and the second working position of the needle mouth are determined, and the processing module is used to:

[0034] When the working parameter indicates the identification of the embroidery needle, determining the first working position and the second working position of the needle mouth according to the identification of the embroidery needle corresponding to the needle mouth in the current time period;

[0035] When the working parameter indicates the color type of the embroidery thread, the first working position and the second working position of the needle mouth are determined according to the color type of the embroidery thread corresponding to the needle mouth in the current time period.

[0036] In a possible implementation, the first working position and the second working position of the needle mouth are determined according to the working parameters of the embroidery machine in the current time period, and the processing module is used to:

[0037] According to the working parameters of the embroidery machine in the current period, based on a first preset mapping relationship, a first working position and a second working position corresponding to the working parameters are determined; wherein the first preset mapping relationship indicates a mapping relationship among the working parameters, the first working position, and the second working position;

[0038] Alternatively, according to the working parameters of the embroidery machine in the current period, based on a second preset mapping relationship, a first working position corresponding to the working parameters is determined; wherein the second preset mapping relationship indicates a mapping relationship between the working parameters and the first working position; and the second working position is a preset position;

[0039] Alternatively, according to the working parameters of the embroidery machine in the current period, based on the third preset mapping relationship, the second working position corresponding to the working parameters is determined; wherein the third preset mapping relationship indicates the mapping relationship between the working parameters and the second working position; the first working position is the preset position.

[0040] In a possible implementation manner, the control module is further configured to:

[0041] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is greater than or equal to a preset upper limit value, the needle nozzle is controlled by the stepper motor to move between the first adjustment position and the second working position; wherein the first adjustment position is above the first working position;

[0042] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is less than or equal to the preset lower limit value, the needle nozzle is controlled by the stepper motor to move between the second adjustment position and the second working position; wherein, the second adjustment position is below the first working position, and the second adjustment position is above the second working position.

[0043] In one possible embodiment, the needle nozzle is controlled to move between the first working position and the second working position, and the control module is used to:

[0044] Obtaining a main shaft angle of the embroidery machine; and determining a desired position of the needle mouth according to the main shaft angle; wherein a mapping relationship exists between the main shaft angle and the desired position;

[0045] Obtaining the current actual operating parameters of the stepper motor, and determining the driving current of the stepper motor based on the current actual operating parameters and the desired position;

[0046] The stepper motor is driven by the driving current so that the stepper motor controls the needle nozzle to move between the first working position and the second working position.

[0047] In one possible implementation, the current actual operating parameters include: a current actual position, a current actual speed, and a current output current; and the drive current of the stepper motor is determined based on the current actual operating parameters and the desired position. The control module is configured to:

[0048] Determine the expected speed of the stepper motor based on the expected position and the current actual position;

[0049] Determine the reference current of the stepper motor based on the expected speed and the current actual speed;

[0050] The driving current of the stepper motor is determined based on the reference current and the current output current.

[0051] In a possible implementation manner, the control module is further configured to:

[0052] In response to a power-on command, the needle of the embroidery machine is controlled by a stepper motor to reach the origin position;

[0053] In response to the stop instruction, the needle mouth of the embroidery machine is controlled by the stepping motor to reach the first working position.

[0054] In a third aspect, an embodiment of the present application provides a needle nozzle control device, comprising: a memory, a processor;

[0055] Memory stores computer-executable instructions;

[0056] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0057] In a fourth aspect, an embodiment of the present application provides an embroidery machine, which is provided with: a needle nozzle control device as provided in the third aspect above; the needle nozzle control device is connected to a stepper motor in the embroidery machine, and the stepper motor is connected to the needle nozzle in the embroidery machine;

[0058] Among them, the needle mouth control device is connected to the main control system in the embroidery machine.

[0059] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0060] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the first aspect and / or various possible implementation methods of the first aspect.

[0061] The embodiments of the present application provide a method for controlling the needle mouth of an embroidery machine, a needle mouth control device, and an embroidery machine, which respond to a working instruction sent by a main control and determine a first working position and a second working position of the needle mouth according to current working parameters of the embroidery machine; by providing a stepper motor in the embroidery machine and connecting the stepper motor to the needle mouth, the stepper motor is used to control the needle mouth to move between the determined first working position and the second working position, thereby realizing independent control of the needle mouth, improving the flexibility of the needle mouth control, and improving the embroidery quality of the embroidery machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 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.

[0063] Figure 1 Schematic diagram of the process of controlling the needle mouth of the embroidery machine provided in this application Figure 1 ;

[0064] Figure 2 Schematic diagram of the first and second working positions of an exemplary needle nozzle Figure 1 ;

[0065] Figure 3 Schematic diagram of the first and second working positions of an exemplary needle nozzle Figure 2 ;

[0066] Figure 4 Schematic diagram of the first and second working positions of an exemplary needle nozzle Figure 3 ;

[0067] Figure 5 Schematic diagram of exemplary adaptive adjustment of the working position of the needle nozzle Figure 1 ;

[0068] Figure 6 Schematic diagram of exemplary adaptive adjustment of the working position of the needle nozzle Figure 2 ;

[0069] Figure 7 Schematic diagram of the process of controlling the needle mouth of the embroidery machine provided in this application Figure 2 ;

[0070] Figure 8 Schematic diagram of the relationship between the spindle angle and the desired position of the needle nozzle;

[0071] Figure 9 is a schematic diagram of an exemplary origin position and a working position;

[0072] Figure 10 Schematic diagram of the movement process of an exemplary needle nozzle;

[0073] Figure 11 A schematic diagram of the structure of the needle nozzle control device of the embroidery machine provided in this application;

[0074] Figure 12 This is a schematic diagram of the structure of the needle nozzle control device provided in this application.

[0075] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0076] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0077] First, let’s explain the terms involved in this application:

[0078] Embroidery machine: refers to a mechanical device used to automatically or semi-automatically embroider patterns on fabrics. Among them, the embroidery machine may refer to a towel embroidery machine. On the one hand, the towel embroidery machine drives the embroidery needle up and down through the main shaft, inserting and passing through the fabric to complete the embroidery action; on the other hand, it drives the fabric to move through the embroidery frame. The embroidery machine can realize chain embroidery on the fabric. Chain embroidery can also be called towel embroidery. Among them, chain embroidery can also include: open chain embroidery and combined chain embroidery. Open chain embroidery refers to: a single thread loop is used as a unit, and the thread loops are independent of each other to form embroidery stitches. Combined chain embroidery refers to: a single thread loop is used as a unit, and the thread loops are intertwined and tightly connected to form an embroidery track in the form of a chain.

[0079] Needle mouth: refers to the device used to press the fabric during the embroidery machine operation. When the needle mouth presses the fabric, the embroidery needle extends from the needle mouth and executes the execution of piercing and exiting the fabric to complete the embroidery operation.

[0080] When the embroidery machine is performing embroidery operations, the fabric is moved by the embroidery frame, and when it reaches the designated embroidery position, the needle mouth presses the fabric and the main shaft rotates, thereby driving the embroidery needle to extend from the needle mouth through the main shaft to perform embroidery operations.

[0081] In some embodiments, the needle nozzle is connected to the main shaft via a mechanical structure. For example, the needle nozzle is connected to the main shaft via a cam. As the main shaft rotates, the cam rotates. As the cam rotates, it periodically drives the needle nozzle to move, thereby achieving a coordinated movement of the needle nozzle following the main shaft.

[0082] In the above embodiment, the needle nozzle is mechanically connected to the main shaft via a cam. Rotation of the main shaft drives the cam, which in turn drives the needle nozzle to perform a fixed periodic motion. Furthermore, because the cam's eccentricity is fixed during the mechanical connection, the needle nozzle's vertical travel is fixed.

[0083] In light of the above scenario, it can be seen that in the above embodiment, the mechanical connection between the needle nozzle and the main shaft via a cam results in poor control flexibility of the needle nozzle. Since the needle nozzle's vertical movement has a fixed stroke and cycle, it has the following drawbacks: it cannot be adjusted to the thickness of the fabric, potentially causing indentations or damage to the fabric during embroidery; the correspondence between the main shaft angle and the needle nozzle position cannot be adjusted; and the cycle at which the needle nozzle presses against the fabric cannot be adjusted. These technical issues can lead to reduced embroidery quality on the embroidery machine.

[0084] The control method of the needle mouth of an embroidery machine provided in the present application responds to a working instruction sent by a main control and determines a first working position and a second working position of the needle mouth according to the current working parameters of the embroidery machine; by setting a stepper motor in the embroidery machine and connecting the stepper motor to the needle mouth, the needle mouth is controlled by the stepper motor to move between the determined first working position and the second working position, thereby realizing independent control of the needle mouth, improving the flexibility of the needle mouth control, and improving the embroidery quality of the embroidery machine.

[0085] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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.

[0086] Figure 1 Schematic diagram of the process of controlling the needle mouth of the embroidery machine provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0087] Step 101. In response to a work instruction, determine a first working position and a second working position of the needle mouth according to the working parameters of the embroidery machine in the current time period.

[0088] The first working position is above the second working position.

[0089] Exemplarily, in response to the work instruction, the embroidery machine starts to perform the embroidery operation. Wherein, the work instruction is sent by the main control system of the embroidery machine and is used to instruct the embroidery machine to start the embroidery operation.

[0090] In actual applications, when an embroidery machine receives a work instruction, it will have corresponding working parameters in the current time period. The working parameters can indicate the current working status of the embroidery machine. For example, the working parameters can indicate which embroidery needle to use for the embroidery work in the current time period; or the working parameters can indicate which color of embroidery thread to use for the embroidery work in the current time period.

[0091] Based on the operating parameters of the current time period, the needle nozzle determines a first working position and a second working position. The first working position is above the second working position. During the actual embroidery operation, the needle nozzle reciprocates between the first and second working positions. When the needle nozzle is in the first working position, it moves toward the second working position. When the needle nozzle reaches the second working position, the fabric is pressed.

[0092] Step 102. Control the needle nozzle connected to the stepping motor of the embroidery machine to reach the first working position through the stepping motor of the embroidery machine, and control the needle nozzle to move between the first working position and the second working position.

[0093] For example, an embroidery machine is provided with a stepper motor connected to the needle mouth. Based on the determined first and second working positions of the needle mouth, the stepper motor controls the needle mouth to reach the first position. After reaching the first working position, the needle mouth moves toward the second working position until it reaches the second working position, and then returns to the first working position. Thus, the stepper motor controls the needle mouth to reciprocate between the first and second working positions.

[0094] Taking a practical example, in response to a work instruction, the embroidery machine's embroidery frame moves the fabric to the designated embroidery position, and a stepper motor controls the needle nozzle to the first working position. After reaching the first working position, the needle nozzle continues to drop and move to the second working position, pressing the fabric. After the needle nozzle moves to the second working position, the embroidery machine's main shaft drives the embroidery needle to perform the embroidery operation.

[0095] After the embroidery needle completes its embroidery operation, it lifts off the fabric. After the embroidery needle lifts off the fabric, the stepper motor controls the needle mouth to return from the second working position to the first working position, completing a reciprocating motion between the first and second working positions. It can be understood that while the embroidery needle is embroidering on the fabric, the needle mouth remains in the second working position, which can compress the fabric and improve the embroidery quality of the embroidery machine.

[0096] It should be noted that, in the above process, the order in which the embroidery needle and the needle mouth descend can be changed. In one possible embodiment, the embroidery needle begins to descend while the needle mouth moves from the first working position to the second working position. In another possible embodiment, the embroidery needle begins to descend after the needle mouth reaches the second working position from the first working position. In another possible embodiment, the embroidery needle begins to descend after the needle mouth begins to move from the first working position to the second working position.

[0097] The present invention provides a method for controlling the needle of an embroidery machine. The method determines the first and second working positions of the needle using the machine's current operating parameters. Furthermore, the method controls the needle to reach the first working position and moves between the first and second working positions using a stepper motor in the machine. This allows for independent control of the needle and allows for different operating positions to be set for different operating parameters. This method improves the flexibility of needle control and thereby enhances the embroidery quality of the machine.

[0098] Specifically, based on the above embodiment, the working parameters of the embroidery machine can indicate different meanings. In one example, the working parameters are used to indicate the identification of the embroidery needle and / or the color of the embroidery thread.

[0099] For example, the operating parameters can be used to indicate the identification of an embroidery needle. An embroidery machine may have multiple embroidery needles, each with its own identification, set at the corresponding needle position. The operating parameters can be used to indicate the identification of the embroidery needle. Based on the operating parameters, it can be determined which embroidery needle corresponds to the needle mouth in the current time period.

[0100] For example, the working parameter can be used to indicate the color of the embroidery thread. In an embroidery machine, there may be multiple colors of embroidery thread. The working parameter can be used to indicate the color of the embroidery thread. Based on the working parameter, it can be determined which color of embroidery thread corresponds to the needle mouth in the current time period.

[0101] For example, the operating parameters can be used to indicate the identification of the embroidery needle and the color of the embroidery thread. In actual embroidery machine applications, a single embroidery needle may correspond to a single color of embroidery thread. However, it is also possible for a single embroidery needle to correspond to multiple colors of embroidery thread. Based on the operating parameters, it can be determined which embroidery needle is associated with the needle mouth in the current time period, and the specific color of embroidery thread used by the embroidery needle.

[0102] In one example, in the aforementioned step 101, the method may specifically include:

[0103] When the working parameter indicates the identification of the embroidery needle, determining the first working position and the second working position of the needle mouth according to the identification of the embroidery needle corresponding to the needle mouth in the current time period;

[0104] When the working parameter indicates the color type of the embroidery thread, the first working position and the second working position of the needle mouth are determined according to the color type of the embroidery thread corresponding to the needle mouth in the current time period.

[0105] For example, when the working parameters can indicate the identification of an embroidery needle, the identification of the embroidery needle corresponding to the needle mouth in the current time period can be determined based on the working parameters; and based on the identification of the embroidery needle corresponding to the needle mouth in the current time period, the first working position and the second working position of the needle mouth can be determined. This allows the needle mouth to be subsequently controlled by a stepper motor to move between the determined first working position and the second working position.

[0106] There is a preset mapping relationship between the identification of the embroidery needle and the working position of the needle mouth.

[0107] For example, the embroidery thread markings include needle No. 1, needle No. 2, and needle No. 3; the first working position corresponding to needle No. 1 is at point A, and the second working position is at point B; the first working position corresponding to needle No. 2 is at point C, and the second working position is at point D; the first working position corresponding to needle No. 3 is at point A, and the second working position is at point D.

[0108] For example, when the working parameters can indicate the color of the embroidery thread, the color of the embroidery thread corresponding to the needle mouth in the current time period can be determined based on the working parameters; and the first working position and the second working position of the needle mouth can be determined based on the color of the embroidery thread corresponding to the needle mouth in the current time period. Subsequently, the needle mouth can be controlled by the stepper motor to move between the determined first working position and the second working position.

[0109] There is a preset mapping relationship between the color of the embroidery thread and the working position of the needle mouth.

[0110] For example, the colors of embroidery thread include red, yellow and blue; the first working position corresponding to red is point A, and the second working position is point B; the first working position corresponding to yellow is point C, and the second working position is point D; the first working position corresponding to blue is point A, and the second working position is point D.

[0111] It should be noted that when determining the working position of the needle tip based on the identification of the embroidery needle and / or determining the working position of the needle tip based on the color of the embroidery thread, it can be determined by a preset mapping relationship or by other calculation methods.

[0112] In the above example, the different meanings of the working parameters can be used to provide multiple ways to determine the working position of the needle tip. For example, the working position of the needle tip can be determined based on the needle marking or the color of the embroidery thread. The relationship between the working position of the needle tip and the working parameters can be preset, increasing the flexibility of needle tip control. This allows the embroidery machine to flexibly control the needle tip height when embroidering with different needles and different colors of embroidery thread.

[0113] As can be seen from the foregoing embodiments, when determining the working position of the needle mouth based on the working parameters of the embroidery machine, a first working position and a second working position can be determined. In a specific implementation, the working parameters may be mapped to the first working position, the second working position, or both.

[0114] In one example, in the aforementioned step 101, the method may specifically include:

[0115] According to the working parameters of the embroidery machine in the current time period, based on the first preset mapping relationship, a first working position and a second working position corresponding to the working parameters are determined.

[0116] The first preset mapping relationship indicates a mapping relationship among the working parameter, the first working position and the second working position.

[0117] Exemplarily, the first preset mapping relationship indicates a first working position and a second working position corresponding to different working parameters. Figure 2 Schematic diagram of the first and second working positions of an exemplary needle nozzle Figure 1 The first working position and the second working position corresponding to the working parameters of the embroidery machine in the current period are as follows: Figure 2 [a] shown in FIG; If the working parameters of the embroidery machine in the current period change, the first working position and the second working position of the needle mouth can be re-determined according to the first preset mapping relationship, such as Figure 2 As shown in [b].

[0118] With reference to the above examples, it can be understood that the embroidery machine can have different first working positions and second working positions depending on the type of embroidery needle; or the embroidery machine can have different first working positions and second working positions depending on the color of the embroidery thread.

[0119] In one example, in the aforementioned step 101, the method may specifically include:

[0120] According to the working parameters of the embroidery machine in the current time period, based on the second preset mapping relationship, a first working position corresponding to the working parameters is determined.

[0121] The second preset mapping relationship indicates a mapping relationship between the working parameter and the first working position; the second working position is a preset position.

[0122] For example, the second preset mapping relationship indicates the first working position corresponding to different working parameters. It should be noted that the second working position can be a pre-set working position and is not adjusted according to the working parameters. Figure 3 Schematic diagram of the first and second working positions of an exemplary needle nozzle Figure 2 The first working position corresponding to the working parameters of the embroidery machine in the current period and the pre-set second working position are as follows: Figure 3 [a] shown in FIG; If the working parameters of the embroidery machine in the current period change, the first working position of the needle mouth can be re-determined according to the second preset mapping relationship, such as Figure 3 As shown in [b].

[0123] It can be understood from the above examples that the embroidery machine may have different first working positions depending on the type of embroidery needle; or the embroidery machine may have different first working positions depending on the color of the embroidery thread.

[0124] In one example, in the aforementioned step 101, the method may specifically include:

[0125] According to the working parameters of the embroidery machine in the current time period, based on the third preset mapping relationship, a second working position corresponding to the working parameters is determined.

[0126] The third preset mapping relationship indicates a mapping relationship between the working parameter and the second working position; the first working position is a preset position.

[0127] For example, the third preset mapping relationship indicates the second working position corresponding to different working parameters. It should be noted that the first working position can be a pre-set working position and is not adjusted according to the working parameters. Figure 4 Schematic diagram of the first and second working positions of an exemplary needle nozzle Figure 3 The second working position corresponding to the working parameters of the embroidery machine in the current period and the preset first working position are as follows: Figure 4 [a] shown in FIG; If the working parameters of the embroidery machine in the current period change, the second working position of the needle mouth can be re-determined according to the third preset mapping relationship, such as Figure 4 As shown in [b].

[0128] It can be understood from the above examples that the embroidery machine can have different second working positions depending on the type of embroidery needle; or the embroidery machine can have different second working positions depending on the color of the embroidery thread.

[0129] In summary, combined with the application scenario, during the embroidery process of the embroidery machine, different embroidery needles have different embroidery techniques and require different working positions of the needle mouth; different embroidery thread colors may also require corresponding different working positions of the needle mouth.

[0130] In the above example, by presetting the mapping relationship between the operating parameters and the working position of the needle mouth, the first and / or second working positions of the needle mouth can be determined based on the operating parameters of the embroidery machine during the current time period. The working height of the needle mouth can be flexibly adjusted to suit different embroidery needles or thread colors, thereby increasing the control flexibility of the embroidery machine's needle mouth and thus improving the quality of the embroidery machine's embroidery work.

[0131] As can be seen from the above examples, the first working position and the second working position of the needle mouth can be adjusted based on the working parameters; further, during the embroidery process, the embroidery needle of the embroidery machine can also adaptively adjust the working position of the needle mouth.

[0132] In one example, the method further includes:

[0133] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is greater than or equal to the preset upper limit value, the needle nozzle is controlled by the stepper motor to move between the first adjustment position and the second working position.

[0134] The first adjustment position is above the first working position.

[0135] Figure 5 Schematic diagram of exemplary adaptive adjustment of the working position of the needle nozzle Figure 1 ,like Figure 5 As shown in [a], according to the current working parameters of the embroidery machine, the first working position and the second working position can be determined; and the needle mouth is controlled by a stepper motor to move between the first working position and the second working position.

[0136] When controlling the needle nozzle to move between the first and second working positions, the first working position determined based on the operating parameters may be too low. If the first working position is too low, the stepper motor will produce a higher output current during the movement of the needle nozzle between the first and second working positions.

[0137] If it is detected that the output current of the driving motor is greater than or equal to the preset upper limit value, the first working position is replaced by the first adjustment position, such as Figure 5 As shown in [b], the first adjustment position is located above the first working position. The needle nozzle is then controlled by a stepper motor to move between the first adjustment position and the second working position.

[0138] In one example, the method further includes:

[0139] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is less than or equal to the preset lower limit value, the needle nozzle is controlled by the stepper motor to move between the second adjustment position and the second working position.

[0140] The second adjustment position is below the first working position, and the second adjustment position is above the second working position.

[0141] Figure 6 Schematic diagram of exemplary adaptive adjustment of the working position of the needle nozzle Figure 2 ,like Figure 6 As shown in [a], according to the current working parameters of the embroidery machine, the first working position and the second working position can be determined; and the needle mouth is controlled by a stepper motor to move between the first working position and the second working position.

[0142] When controlling the needle nozzle to move between the first and second working positions, the first working position determined based on the working parameters may be too high. If the first working position is too high, the stepper motor will produce a lower output current during the needle nozzle's movement between the first and second working positions.

[0143] If it is detected that the output current of the driving motor is less than or equal to the preset lower limit value, the first working position is replaced by the second adjustment position, such as Figure 6 As shown in [b], the second adjustment position is located below the first working position, and the second adjustment position is located above the second working position. The needle nozzle is then controlled by a stepper motor to move between the second adjustment position and the second working position.

[0144] In the above example, when the stepper motor controls the needle nozzle's movement between the first and second working positions, the first working position is adjusted in real time based on the stepper motor's output current. When the output current is high, indicating that the first working position may be low, the first working position is replaced with the first adjustment position, which is higher relative to the first working position. When the output current is low, indicating that the first working position may be high, the first working position is replaced with the second adjustment position, which is lower relative to the first working position. This enables adaptive adjustment of the needle nozzle's working position, further improving the flexibility of needle nozzle control and preventing poor embroidery quality caused by an inappropriate working position determined by working parameters.

[0145] On the basis of the above-mentioned embodiment, the stepping motor controls the movement of the needle nozzle between the first working position and the second working position, which can be achieved through closed-loop control.

[0146] In one example, Figure 7 Schematic diagram of the process of controlling the needle mouth of the embroidery machine provided in this application Figure 2 .like Figure 7 As shown, controlling the needle nozzle to move between the first working position and the second working position may specifically include:

[0147] Step 701: Obtain the main shaft angle of the embroidery machine and determine the desired position of the needle mouth according to the main shaft angle, wherein there is a mapping relationship between the main shaft angle and the desired position.

[0148] For example, the main shaft of an embroidery machine is connected to an embroidery needle. As the main shaft rotates, it drives the embroidery needle to perform the embroidery operation. The needle mouth, on the other hand, needs to follow the movement of the embroidery needle during the embroidery operation. For example, the needle mouth and the embroidery needle have a certain timing relationship, and they can also have a certain position tracking relationship.

[0149] By acquiring the spindle angle of the spindle and according to the mapping relationship between the preset spindle angle and the expected position of the needle nozzle, the expected position of the needle nozzle corresponding to different spindle angles is determined.

[0150] For example, Figure 8 Schematic diagram of the relationship between the spindle angle and the desired position of the needle nozzle. Figure 8 As shown, when the spindle angle is in the range of 0° to 70°, the desired position of the needle nozzle is the first working position; when the spindle angle is in the range of 70° to 150°, the needle nozzle moves from the first working position to the second working position. Specifically, when the spindle angle is in the range of 70° to 150°, the desired position of the needle nozzle and the spindle angle can be obtained by linear interpolation; when the spindle angle is in the range of 150° to 300°, the desired position of the needle nozzle is the second working position; when the spindle angle is in the range of 300° to 150°, the desired position of the needle nozzle is the second working position. When the spindle angle is within the range of 300° to 15°, the needle mouth moves from the second working position to the first working position. Specifically, when the spindle angle is within the range of 300° to 15°, the desired position of the needle mouth and each spindle angle can be obtained by linear interpolation. It should be noted that since the spindle rotation angle is 0° to 360° as a circle, in actual application, the embroidery operation continues and the spindle rotates continuously. When the spindle angle rotates within the range of 300° to 15°, it will first pass through the spindle origin of 360° (0°) and then rotate to 15°.

[0151] It should be noted that Figure 8 This is merely an example of a mapping relationship between the spindle angle and the desired needle nozzle position, and does not limit the spindle angle range in actual applications.

[0152] Step 702: Obtain the current actual operating parameters of the stepper motor, and determine the driving current of the stepper motor according to the current actual operating parameters and the desired position.

[0153] For example, the drive of a stepper motor relies on a driving current, and during the control process of the driving motor, vector control can be used. In this vector control method, control is performed based on three closed loops: a position loop, a speed loop, and a current loop. Based on the control of the position loop, speed loop, and current loop, the driving current of the stepper motor can be obtained. Furthermore, based on the driving current of the stepper motor, the stepper motor can be controlled to accurately control the needle nozzle to the desired position.

[0154] Specifically, in one example, the current actual operating parameters include: current actual position, current actual speed, and current output current.

[0155] The current actual position refers to the current actual position of the rotor of the stepper motor; the current actual speed refers to the current actual speed of the rotor of the stepper motor; and the current output current refers to the current output current of the stepper motor.

[0156] Furthermore, when determining the driving current of the stepper motor according to the current actual operating parameters and the desired position of the stepper motor, the following steps may be included:

[0157] Step 7021. Determine the desired speed of the stepper motor based on the desired position and the current actual position.

[0158] For example, the desired position of the needle nozzle determined by the spindle angle and the current actual position of the stepper motor rotor are used to obtain the desired speed of the stepper motor through a Proportional-Integral-Differential Controller (PID controller).

[0159] The expected position of the rotor of the stepper motor can be determined by the expected position of the needle nozzle; and the current actual position of the stepper motor can be obtained by a photoelectric encoder installed on the stepper motor.

[0160] Step 7022: Determine the reference current of the stepper motor according to the expected speed and the current actual speed.

[0161] Exemplarily, the reference current of the stepper motor is obtained by a PID controller according to the desired rotation speed of the stepper motor and the current actual rotation speed of the stepper motor.

[0162] The current actual speed of the stepper motor can be obtained by a photoelectric encoder installed on the stepper motor; the current actual speed of the stepper motor can also be obtained by performing differential calculation on the current actual position of the stepper motor.

[0163] Step 7023: Determine the driving current of the stepper motor based on the reference current and the current output current.

[0164] Exemplarily, the driving current of the stepper motor is obtained by a PID controller according to the reference current and the current output current of the stepper motor.

[0165] Specifically, in step 7022, the q-axis reference current of the stepper motor can be obtained through the PID controller according to the expected speed and the current actual speed.

[0166] The current output current of the stepper motor can be transformed into the current output current of the d-axis and the current output current of the q-axis by performing coordinate transformation. The coordinate transformation includes Clarke transformation and Park transformation.

[0167] Through current loop control, the stepper motor's q-axis reference current, d-axis reference current, q-axis current output current, and d-axis current output current are input into a PID controller to obtain the stepper motor's drive current. It should be noted that since the d-axis current is parallel to the direction of the rotor magnetic field, the q-axis current is perpendicular to the direction of the rotor magnetic field. Therefore, the d-axis current is used to control the speed of the stepper motor, and the q-axis current is used to control the torque of the stepper motor. Therefore, the d-axis reference current is usually set to 0, so that the current component parallel to the stepper motor's rotor magnetic field is 0. This converts the current vector driving the stepper motor into a current component perpendicular to the stepper motor's rotor direction, generating effective torque and maximizing the stepper motor's operating efficiency.

[0168] In the above example, the three-closed-loop current vector control can accurately determine the driving current used to drive the stepper motor; taking into account the actual operating parameters of the stepper motor in real time, adjustments can be made in real time, thereby improving the accuracy and real-time performance of the stepper motor control.

[0169] Step 703: Drive the stepper motor by driving current so that the stepper motor controls the needle nozzle to move between the first working position and the second working position.

[0170] For example, the drive current can be converted into a pulse width modulation (PWM) signal. This PWM signal is then input into a stepper motor, causing the stepper motor to rotate by a preset step angle based on the pulses in the PWM signal. This allows the stepper motor's rotor to reach a desired position and rotate at a desired speed based on the pulse frequency in the PWM signal. This allows the needle nozzle to be controlled to move between a first operating position and a second operating position.

[0171] In the above example, the desired position of the needle nozzle corresponding to the spindle angle is determined based on the spindle angle. Based on the desired position of the needle nozzle, a closed-loop vector control method is used to control the rotation of the stepper motor rotor, driving the needle nozzle to the desired position. Furthermore, as the spindle angle changes, the desired position of the needle nozzle corresponding to different spindle angles can be determined based on a preset mapping relationship, and the drive current is controlled in real time to cause the stepper motor to control the needle nozzle to move between a first working position and a second working position. On the one hand, the mapping relationship between the spindle angle and the desired position of the needle nozzle can be flexibly changed, allowing the timing of the movement of the embroidery needle and the needle nozzle to change, and also allowing the embroidery needle and the needle nozzle to follow each other's movement positions, thereby improving the flexibility of needle nozzle control and adapting it to the situation of the embroidery operation, thereby improving the quality of the embroidery operation. On the other hand, the closed-loop vector control method is used to control the stepper motor, improving the control accuracy and real-time performance of the stepper motor.

[0172] In actual applications, the embroidery machine will be powered on before starting to work and will be stopped after finishing work. Based on these non-working instructions, the needle mouth can be controlled specifically by the stepper motor.

[0173] In one example, the method further includes: in response to a power-on instruction, controlling the needle mouth of the embroidery machine to reach an origin position by a stepper motor.

[0174] For example, when the embroidery machine is turned on, it undergoes a power-on operation. After the embroidery machine is powered on, the main control system generates a power-on command. In response to the power-on command, the stepper motor controls the needle of the embroidery machine to reach an origin position. The origin position is a pre-set position. Optionally, the origin position can be set above the first working position.

[0175] Figure 9 is a schematic diagram of an exemplary origin position and working position. Figure 9 As shown, in response to a power-on command, the stepper motor controls the needle of the embroidery machine to reach the origin position. Upon receiving a work command, steps 101 to 102 are executed to determine the first and second working positions of the needle, control the needle from the origin position to the first working position, and control the needle between the first and second working positions.

[0176] In one example, the method further includes: in response to a stop instruction, controlling the needle mouth of the embroidery machine to reach a first working position by a stepper motor.

[0177] For example, when the embroidery machine completes the embroidery operation, or needs to stop midway during the embroidery operation, the main control system generates a stop instruction. In response to the stop instruction, the needle mouth of the embroidery machine is controlled by the stepping motor to reach the first working position.

[0178] It is understood that before responding to the stop command, the needle nozzle moves between the first working position and the second working position. Optionally, in response to the stop command, the needle nozzle is directly controlled to return to the first working position; or in response to the stop command, if the needle nozzle is in the process of moving from the first working position to the second working position, the needle nozzle is controlled to return to the first working position after reaching the second working position.

[0179] Figure 10 Schematic diagram of the movement process of an exemplary needle nozzle. Figure 10 As shown, in response to a power-on command, the stepper motor controls the needle nozzle to reach the origin position. In response to a work command, the stepper motor controls the needle nozzle to reach the first work position and move between the first work position and the second work position. When the needle nozzle passes through point A during its movement from the first work position to the second work position, in response to a stop command, the needle nozzle is controlled to return to the first work position after reaching the second work position.

[0180] It can be understood that if the needle nozzle responds to a stop instruction during the movement from the second working position to the first working position, the needle nozzle can be directly controlled to return to the first working position.

[0181] In the above example, different commands are used to control the needle to different positions, thus fully implementing the embroidery process of the embroidery machine, ensuring the integrity of the embroidery operation and improving the quality of the embroidery operation.

[0182] The embodiment of the present application provides a method for controlling the needle mouth of an embroidery machine, which provides a stepper motor in the embroidery machine, connects the needle mouth to the stepper motor, responds to a working instruction, and determines the first working position and the second working position of the needle mouth corresponding to the current working parameters according to the working parameters of the embroidery machine, and controls the needle mouth to reach the first working position and move between the first working position and the second working position through the stepper motor, thereby realizing independent control of the needle mouth and improving the flexibility of the needle mouth control. It can flexibly control the working position of the needle mouth based on different embroidery processes, thereby improving the embroidery quality of the embroidery machine.

[0183] Figure 11 The schematic diagram of the structure of the control device of the needle mouth of the embroidery machine provided in this application is as follows: Figure 11As shown, the needle mouth control device 110 of the embroidery machine provided in this embodiment includes:

[0184] The processing module 1101 is configured to determine, in response to a working instruction, a first working position and a second working position of the needle mouth according to working parameters of the embroidery machine in a current period; wherein the first working position is above the second working position;

[0185] The control module 1102 is used to control the needle nozzle connected to the stepping motor of the embroidery machine to reach the first working position through the stepping motor of the embroidery machine, and control the needle nozzle to move between the first working position and the second working position.

[0186] In one possible embodiment, the working parameter is used to indicate the identification of the embroidery needle and / or the color type of the embroidery thread; based on the working parameter of the embroidery machine in the current time period, the first working position and the second working position of the needle mouth are determined, and the processing module 1101 is used to:

[0187] When the working parameter indicates the identification of the embroidery needle, determining the first working position and the second working position of the needle mouth according to the identification of the embroidery needle corresponding to the needle mouth in the current time period;

[0188] When the working parameter indicates the color type of the embroidery thread, the first working position and the second working position of the needle mouth are determined according to the color type of the embroidery thread corresponding to the needle mouth in the current time period.

[0189] In a possible implementation, the first working position and the second working position of the needle mouth are determined according to the working parameters of the embroidery machine in the current time period, and the processing module 1101 is used to:

[0190] According to the working parameters of the embroidery machine in the current period, based on a first preset mapping relationship, a first working position and a second working position corresponding to the working parameters are determined; wherein the first preset mapping relationship indicates a mapping relationship among the working parameters, the first working position, and the second working position;

[0191] Alternatively, according to the working parameters of the embroidery machine in the current period, based on a second preset mapping relationship, a first working position corresponding to the working parameters is determined; wherein the second preset mapping relationship indicates a mapping relationship between the working parameters and the first working position; and the second working position is a preset position;

[0192] Alternatively, according to the working parameters of the embroidery machine in the current period, based on the third preset mapping relationship, the second working position corresponding to the working parameters is determined; wherein the third preset mapping relationship indicates the mapping relationship between the working parameters and the second working position; the first working position is the preset position.

[0193] In a possible implementation, the control module 1102 is further configured to:

[0194] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is greater than or equal to a preset upper limit value, the needle nozzle is controlled by the stepper motor to move between the first adjustment position and the second working position; wherein the first adjustment position is above the first working position;

[0195] When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is less than or equal to the preset lower limit value, the needle nozzle is controlled by the stepper motor to move between the second adjustment position and the second working position; wherein, the second adjustment position is below the first working position, and the second adjustment position is above the second working position.

[0196] In one possible implementation, to control the needle nozzle to move between the first working position and the second working position, the control module 1102 is configured to:

[0197] Obtaining a main shaft angle of the embroidery machine; and determining a desired position of the needle mouth according to the main shaft angle; wherein a mapping relationship exists between the main shaft angle and the desired position;

[0198] Obtaining the current actual operating parameters of the stepper motor, and determining the driving current of the stepper motor based on the current actual operating parameters and the desired position;

[0199] The stepper motor is driven by the driving current so that the stepper motor controls the needle nozzle to move between the first working position and the second working position.

[0200] In one possible implementation, the current actual operating parameters include: the current actual position, the current actual speed, and the current output current; based on the current actual operating parameters and the desired position, the drive current of the stepper motor is determined, and the control module 1102 is configured to:

[0201] Determine the expected speed of the stepper motor based on the expected position and the current actual position;

[0202] Determine the reference current of the stepper motor based on the expected speed and the current actual speed;

[0203] The driving current of the stepper motor is determined based on the reference current and the current output current.

[0204] In a possible implementation, the control module 1102 is further configured to:

[0205] In response to a power-on command, the needle of the embroidery machine is controlled by a stepper motor to reach the origin position;

[0206] In response to the stop instruction, the needle mouth of the embroidery machine is controlled by the stepping motor to reach the first working position.

[0207] The control device for the needle mouth of the embroidery machine provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0208] Figure 12 This is a schematic diagram of the structure of the needle nozzle control device provided in this application. Figure 12 As shown, the nozzle control device 120 provided in this embodiment includes: at least one processor 1201 and a memory 1202. Optionally, the nozzle control device 120 further includes a communication component 1203. The processor 1201, the memory 1202 and the communication component 1203 are connected via a bus 1204.

[0209] During the specific implementation process, at least one processor 1201 executes the computer-executable instructions stored in the memory 1202, so that the at least one processor 1201 performs the above method.

[0210] The specific implementation process of the processor 1201 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0211] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0212] Among them, the processor can integrate DSP and bipolar stepper motor driver chip.

[0213] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage.

[0214] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0215] In a possible implementation, the needle nozzle control device further includes a DC power supply for powering.

[0216] The present application also provides an embroidery machine, in which the needle nozzle control device provided in the above embodiment is provided.

[0217] The needle mouth control device is connected to the stepper motor in the embroidery machine, and the stepper motor is connected to the needle mouth in the embroidery machine.

[0218] Among them, the needle mouth control device is connected to the main control system in the embroidery machine.

[0219] For example, a stepper motor is provided in the embroidery machine, and the stepper motor can be a two-phase stepper motor. The needle nozzle control device is connected to the main control system and is used to receive instructions issued by the main control system, including the working instructions, power-on instructions and stop instructions in the above embodiments.

[0220] The needle mouth control device is also connected to the stepper motor of the embroidery machine, and the stepper motor is connected to the needle mouth in the embroidery machine. The needle mouth control device is used to control the stepper motor to drive the needle mouth to move.

[0221] In a possible embodiment, the embroidery machine may further include: a main shaft driving device, an embroidery frame driving device, a rotary shaft driving device, a rotary shuttle rotary shaft driving device, and an embroidery needle height driving device.

[0222] The main control system is connected to the needle mouth control device as well as the main shaft drive device, the embroidery frame drive device, the hook rotating shaft drive device, the rotary shuttle rotating shaft drive device and the embroidery needle height drive device.

[0223] Among them, the main shaft driving device is used to drive the main shaft to move, so that the main shaft drives the embroidery needle to move up and down, and penetrate into and out of the fabric to complete the embroidery operation; the embroidery frame driving device is used to drive the embroidery frame to move, so that the fabric clamped on the embroidery frame moves according to a preset trajectory; the crochet hook rotating shaft driving device is used to drive the crochet hook rotating shaft to move, so that the crochet hook is driven to rotate a preset angle to achieve chain stitches; the shuttle rotating shaft driving device is used to drive the shuttle to rotate a preset angle to form a thread loop; the embroidery needle height driving device is used to adjust the height of the embroidery needle.

[0224] The embroidery machine provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effects are similar, so this embodiment will not be described in detail here.

[0225] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0226] 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.

[0227] The readable storage medium may be implemented by any type of volatile or non-volatile memory 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0228] 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0229] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0230] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0231] 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.

[0232] If a function is implemented as 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 portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0233] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0234] Finally, it should be noted that those skilled in the art will readily identify 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 that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A method for controlling the needle mouth of an embroidery machine, characterized in that: include: In response to a work instruction, determining a first working position and a second working position of the needle mouth according to the working parameters of the embroidery machine in a current period; wherein the first working position is above the second working position; The stepping motor of the embroidery machine is used to control a needle nozzle connected to the stepping motor on the embroidery machine to reach the first working position, and to control the needle nozzle to move between the first working position and the second working position.

2. The method according to claim 1, characterized in that The working parameters are used to indicate the identification of the embroidery needle and / or the color of the embroidery thread; Determining the first working position and the second working position of the needle mouth according to the working parameters of the embroidery machine in the current time period includes: When the working parameter indicates an identification of an embroidery needle, determining a first working position and a second working position of the needle mouth according to the identification of the embroidery needle corresponding to the needle mouth in the current time period; When the working parameter indicates the color type of the embroidery thread, the first working position and the second working position of the needle mouth are determined according to the color type of the embroidery thread corresponding to the needle mouth in the current time period.

3. The method according to claim 1, characterized in that Determining the first working position and the second working position of the needle mouth according to the working parameters of the embroidery machine in the current time period includes: According to the working parameters of the embroidery machine in the current time period, based on a first preset mapping relationship, a first working position and a second working position corresponding to the working parameters are determined; wherein the first preset mapping relationship indicates a mapping relationship among the working parameters, the first working position, and the second working position; Alternatively, according to the working parameters of the embroidery machine in the current time period, based on a second preset mapping relationship, a first working position corresponding to the working parameters is determined; wherein the second preset mapping relationship indicates a mapping relationship between the working parameters and the first working position; the second working position is a preset position; Alternatively, according to the working parameters of the embroidery machine in the current time period, based on a third preset mapping relationship, a second working position corresponding to the working parameters is determined; wherein the third preset mapping relationship indicates a mapping relationship between the working parameters and the second working position; the first working position is a preset position.

4. The method according to claim 1, wherein The method further comprises: When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is greater than or equal to a preset upper limit value, the needle nozzle is controlled by the stepper motor to move between a first adjustment position and the second working position; wherein the first adjustment position is above the first working position; When controlling the needle nozzle to move between the first working position and the second working position, if it is detected that the output current of the stepper motor is less than or equal to a preset lower limit value, the needle nozzle is controlled by the stepper motor to move between the second adjustment position and the second working position; wherein, the second adjustment position is below the first working position, and the second adjustment position is above the second working position.

5. The method according to claim 1, characterized in that Controlling the needle nozzle to move between the first working position and the second working position includes: Obtaining a main shaft angle of the main shaft of the embroidery machine; and determining a desired position of the needle mouth according to the main shaft angle; wherein a mapping relationship exists between the main shaft angle and the desired position; Acquiring current actual operating parameters of the stepper motor, and determining a driving current of the stepper motor according to the current actual operating parameters and the desired position; The stepper motor is driven by the driving current so that the stepper motor controls the needle nozzle to move between the first working position and the second working position.

6. The method according to claim 5, characterized in that The current actual operating parameters include: a current actual position, a current actual speed, and a current output current; and determining the driving current of the stepper motor according to the current actual operating parameters and the desired position includes: Determining a desired rotation speed of the stepping motor according to the desired position and the current actual position; Determining a reference current of the stepper motor according to the desired speed and the current actual speed; The driving current of the stepping motor is determined according to the reference current and the current output current.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In response to a power-on instruction, the needle mouth of the embroidery machine is controlled by the stepping motor to reach an origin position; In response to the stop instruction, the needle mouth of the embroidery machine is controlled by the stepping motor to reach the first working position.

8. A needle nozzle control device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

9. An embroidery machine, characterized in that: The embroidery machine is provided with: the needle mouth control device according to claim 8; the needle mouth control device is connected to the stepping motor in the embroidery machine, and the stepping motor is connected to the needle mouth in the embroidery machine; Wherein, the needle nozzle control device is connected to the main control system in the embroidery machine.

10. A control device for the needle mouth of an embroidery machine, characterized in that: include: a processing module, configured to determine, in response to a work instruction, a first working position and a second working position of the needle mouth according to working parameters of the embroidery machine in a current time period; wherein the first working position is above the second working position; The control module is used to control the needle nozzle connected to the stepping motor of the embroidery machine to reach the first working position through the stepping motor of the embroidery machine, and control the needle nozzle to move between the first working position and the second working position.

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