Rotating shuttle torsion dynamic control system based on multi-sensor fusion
Through the multi-sensor fusion of the rotary hook torque dynamic control system, the multi-angle problem of the rotary hook torque control is solved, the dynamic control of the synchronous state of the rotary hook and the sewing needle is realized, and the operating stability of the sewing machine is improved.
Patent Information
- Application Number
- CN202510919795.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-04
- Publication Date
- 2025-10-03
AI Technical Summary
In the prior art, the control of the rotary hook is mostly static control based on experience, which cannot reflect the operating status of the rotary hook from multiple angles, resulting in the inability to accurately control the rotary hook torque, affecting the operating stability of the sewing machine.
A rotary hook torque dynamic control system based on multi-sensor fusion is adopted, including data acquisition, position analysis, feature acquisition, synchronization analysis and dynamic control modules. Through multi-sensor data acquisition and analysis, dynamic control of the synchronization state of the rotary hook and sewing needle is achieved.
The precise control of the torque of the rotary hook is achieved, the running stability of the sewing machine is improved, and problems such as stitch skipping and thread breakage are reduced.
Smart Images
Figure CN120738852A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of rotary hook torque control, and in particular is a rotary hook torque dynamic control system based on multi-sensor fusion. Background Art
[0002] The rotary hook is one of the core components of a sewing machine (especially an industrial sewing machine). Its main function is to work with the needle to form a strong "lockstitch" (also known as a "lockstitch"). The movement coordination between the rotary hook, needle, and thread take-up lever must be extremely precise, with time differences measured in milliseconds. Any slight deviation or wear can cause problems such as skipped stitches and thread breakage. In the prior art, the control of the rotary hook is mostly static control based on experience. For example, when a sewing machine has a problem, the traditional method is to control the sewing machine by simply adjusting the position of the rotary hook or the needle. At the same time, the existing technology relies on a relatively simple sensor and cannot reflect the state of the rotary hook from multiple angles to achieve torque control of the rotary hook. For example, it is impossible to accurately analyze the position and synchronization status of the needle and rotary hook based on time and position during the operation of the sewing machine, and thus cannot accurately control the rotary hook. To this end, the present invention proposes a rotary hook torque dynamic control system based on multi-sensor fusion. Summary of the Invention
[0003] The purpose of the present invention is to propose a dynamic control system for rotary hook torque based on multi-sensor fusion to solve the problem in the above background technology that it is impossible to control the rotary hook torque based on the operating status of multiple angles.
[0004] The purpose of the present invention can be achieved through the following technical solutions: The rotary hook torque dynamic control system based on multi-sensor fusion includes a data acquisition module, a position analysis module, a feature acquisition module, a synchronization analysis module and a dynamic control module. The data acquisition module is used to collect the real-time height of the sewing needle and the real-time rotation angle of the rotary hook thread hook tip at different time nodes and send them to the position analysis module and the feature acquisition module; the position analysis module is used to analyze the real-time position of the sewing needle, analyze and obtain the preparatory thread hook position and preparatory thread hook distance at the bottom of the sewing needle, and send them to the feature acquisition module; The feature acquisition module is used to obtain the feature data of the rotary shuttle thread hook tip and send it to the synchronization analysis module; the synchronization analysis module is used to analyze the synchronization state between the sewing needle and the rotary shuttle thread hook tip, analyze and generate a thread hook deviation signal or a thread hook abnormality signal and send it to the dynamic control module; the dynamic control module is used to dynamically control the rotary shuttle or sewing needle according to different signals.
[0005] Furthermore, the tip of the rotary hook is recorded as the rotary hook thread hook tip, the end of the sewing needle away from the rotary hook is recorded as the sewing needle top end, and the end of the sewing needle close to the rotary hook is recorded as the sewing needle bottom end.
[0006] Furthermore, the analysis process of the location analysis module is as follows: Obtain the real-time height of the suture needle at different time nodes, traverse and compare the real-time height of the suture needle at different time nodes to obtain the maximum value and the minimum value of the real-time height; Obtain the length between the top and bottom of the needle and record it as the needle length; The maximum distance between the bottom end of the needle and the reference surface is obtained by subtracting the minimum value of the real-time height of the needle from the needle length; The longest distance between the bottom of the needle and the reference surface is recorded as the preparatory hooking distance of the hook hook tip; The position where the bottom end of the sewing needle is at the preparatory thread hooking distance of the hook thread hook tip is recorded as the preparatory thread hooking position.
[0007] Furthermore, the acquisition process of the feature acquisition module includes the following contents: The time when the bottom end of the sewing needle is in the preparatory thread hooking position is recorded as the preparatory thread hooking time; When the sewing machine is working, the time when the bottom end of the sewing needle is in the preparatory thread hooking position is collected; At the same time, the rotation angle of the hook tip corresponding to the preparatory hooking moment is collected; The corresponding position when the rotation angle of the hook thread hook tip is equal to the initial angle is recorded as the initial position.
[0008] Furthermore, the acquisition process of the feature acquisition module also includes the following: When the sewing machine is working, the real-time height of the sewing needle is collected when the hook thread hook tip is in the initial position; The penetration distance of the bottom end of the sewing needle when the hook thread tip is in the initial position is obtained by subtracting the real-time height of the sewing needle from the sewing needle length; Get the preparatory hooking distance of the hook hook tip; The actual hooking distance when the hook tip is in the initial position is obtained by subtracting the penetration distance from the preparation hooking distance. The rotation angle of the hook thread hook tip corresponding to the preparatory hook thread hooking moment and the actual hook thread hooking distance when the hook thread hook tip is at the initial position are summarized as the characteristic data of the hook thread hook tip.
[0009] Furthermore, the analysis process of the synchronization analysis module includes the following: Compare the rotation angle of the hook tip corresponding to the preparatory thread hooking moment with the preparatory thread hooking angle range; If the rotation angle of the hook thread hook tip at any preparatory hooking moment does not fall within the preparatory hook thread hooking angle range, a hook thread deviation signal is generated and the corresponding rotation angle is recorded as the abnormal angle of the hook thread hook tip; If the rotation angles of the hook thread hook tip corresponding to all the preparatory thread hooking moments are within the preparatory thread hooking angle range, proceed to the next step.
[0010] Furthermore, the analysis process of the synchronization analysis module also includes the following: Compare the actual thread hooking distance when the hook tip is in the initial position with the standard thread hooking distance range; If the actual thread hooking distance when the hook hook tip is in the initial position is within the standard thread hooking distance range, no operation is performed; If the actual thread hooking distance when the hook thread hook tip is in the initial position does not fall within the standard thread hooking range, a thread hooking abnormality signal is generated.
[0011] Furthermore, the control process of the dynamic control module includes the following contents: If a thread hooking abnormality signal is received, the ascending speed of the sewing needle is adjusted until the actual thread hooking distance when the hook hook tip is in the initial position is within the standard thread hooking distance range; If the thread hooking deviation signal is received, the hook thread hook tip is controlled.
[0012] Furthermore, the control process of the hook thread hook tip includes the following: Obtain the abnormal angle of the hook thread tip; Compare the abnormal angle of the hook thread hook tip with the endpoint value of the prepared thread hook angle range; If the abnormal angle of the hook thread hook tip is greater than the right end point value of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference of the hook thread hook tip is obtained by subtracting the right end point value of the preparatory hook thread hook angle interval from the abnormal angle of the hook thread hook tip. If the abnormal angle of the hook thread hook tip is smaller than the left endpoint of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference of the hook thread hook tip is obtained by subtracting the abnormal angle of the hook thread hook tip from the left endpoint of the preparatory hook thread hook angle interval.
[0013] Furthermore, the control process of the hook thread hook tip also includes the following: Collect the motor power of the rotary hook motor and the initial speed of the rotary hook thread hook tip; Calculate the required speed of the hook thread hook tip after adjustment; The required torque of the rotary hook is obtained by dividing the motor power of the rotary hook motor by the required speed of the rotary hook thread hook tip.
[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The present invention realizes that the real-time height of the sewing needle and the real-time rotation angle of the hook thread hook tip at different time nodes are collected by the data acquisition module, thereby obtaining the preliminary operation status of the hook thread hook tip and the sewing needle, and then using the position analysis module to analyze the real-time position of the sewing needle to obtain the preparatory thread hook position and the corresponding preparatory thread hook distance of the sewing needle bottom end. The present invention realizes preliminary analysis of the sewing needle from the perspective of position; 2. The present invention also acquires the characteristic data of the rotary shuttle thread hook tip through a feature acquisition module, wherein the characteristic data of the rotary shuttle thread hook tip are the rotation angle of the rotary shuttle thread hook tip corresponding to the preparatory thread hooking moment and the actual thread hooking distance when the rotary shuttle thread hook tip is in the initial position. Furthermore, the synchronization analysis module is used to analyze the synchronization state between the sewing needle and the rotary shuttle thread hook tip from the time and position perspectives to analyze whether the synchronization state between the sewing needle and the rotary shuttle thread hook tip meets the requirements. Finally, the dynamic control module is used to perform corresponding control adjustments on the rotary shuttle or the sewing needle. The present invention realizes the control of the rotary shuttle torque based on the operating state of multiple angles. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.
[0016] Figure 1 is a block diagram of the overall system of the present invention; Figure 2 Schematic diagram of the rotary hook and sewing needle in the present invention; Figure 3 Schematic diagram of the preparatory thread hooking distance of the hook thread hook tip in the present invention; Figure 4 Schematic diagram of the initial position and rotation angle in the present invention; Figure 5 Flow chart of the method in the present invention. DETAILED DESCRIPTION
[0017] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0018] Example 1: Please refer to Figure 1-Figure 4 As shown, the technical solution provided by the present invention is: a rotary hook torque dynamic control system based on multi-sensor fusion, including a data acquisition module, a position analysis module, a feature acquisition module, a synchronization analysis module and a dynamic control module; See also Figure 2 As shown, in this embodiment, a sewing machine includes a sewing needle, a rotary hook, and a sewing machine work surface. The rotary hook includes a thread hook tip. It should be explained that the sewing needle repeatedly moves up and down during operation, and the rotary hook repeatedly rotates during operation. In the specific implementation process, the data acquisition module is used to collect the real-time height of the suture needle and the real-time rotation angle of the hook thread tip at different time nodes, and send the real-time height of the suture needle and the real-time rotation angle of the hook thread tip at different time nodes to the position analysis module and the feature acquisition module; In this example, see Figure 2 As shown, the tip of the rotary shuttle is recorded as the rotary shuttle thread hook tip, the end of the sewing needle away from the rotary shuttle is recorded as the top of the sewing needle, the end of the sewing needle close to the rotary shuttle is recorded as the bottom of the sewing needle, and the position when the rotary shuttle thread hook tip and the sewing needle are on the same vertical line and the rotary shuttle thread hook tip is close to the sewing needle is recorded as the 0° reference position. At this time, the rotary shuttle thread hook tip is in the position closest to the sewing needle. The angle increases when the rotary shuttle thread hook tip rotates counterclockwise for one circle, and one rotation is 360°. The real-time height of the sewing needle is the distance between the top of the sewing needle and the reference surface. The sewing machine work table is used as the reference surface. The height above the reference surface is greater than zero. It should be explained that the top of the sewing needle will not move below the sewing machine work table when the sewing needle is working.
[0019] In this embodiment, the position analysis module is used to analyze the real-time position of the suture needle. The analysis process is as follows: See also Figure 3 As shown, the real-time height of the suture needle at different time nodes is obtained, and the real-time height of the suture needle at different time nodes is traversed and compared to obtain the maximum value and the minimum value of the real-time height; It should be noted that during operation, the suture needle will pass through the reference surface. Therefore, the minimum real-time height of the suture needle must be the value when the bottom end of the suture needle is below the reference surface. Obtain the length between the top end and the bottom end of the suture needle and record it as the suture needle length; specifically, the suture needle length can be obtained by collecting it through a data collection module; The maximum distance between the bottom end of the needle and the reference surface is obtained by subtracting the minimum value of the real-time height of the needle from the needle length; The longest distance between the bottom of the needle and the reference surface is recorded as the preparatory hooking distance of the hook hook tip; The position where the bottom end of the sewing needle is at the preparatory thread hooking distance of the hook hook tip is recorded as the preparatory thread hooking position; In the specific implementation process, when the real-time height of the sewing needle is the minimum, the distance between the top of the sewing needle and the reference surface is the smallest, and the distance between the bottom of the sewing needle and the reference surface is the longest. At this time, the needle and thread in the needle hole at the bottom of the sewing needle are still in a tight state, and the tip of the rotary hook is difficult to accurately hook the thread. Therefore, the longest distance between the bottom of the sewing needle and the reference surface is recorded as the preparatory hook distance of the tip of the rotary hook; The position analysis module sends the preparatory hooking position and preparatory hooking distance of the bottom end of the suture needle to the feature acquisition module.
[0020] Specifically, the feature acquisition module is used to acquire feature data of the hook thread hook tip, and the acquisition process is as follows: The time when the bottom end of the sewing needle is in the preparatory thread hooking position is recorded as the preparatory thread hooking time; When the sewing machine is working, the time when the bottom end of the sewing needle is in the preparatory thread hooking position is collected; Also, see Figure 4 As shown, the rotation angle of the hook tip corresponding to the preparation hooking moment is collected; The corresponding position when the rotation angle of the hook thread hook tip is equal to the initial angle is recorded as the initial position; When the sewing machine is working, the real-time height of the sewing needle is collected when the hook thread hook tip is in the initial position; The penetration distance of the bottom end of the sewing needle when the hook thread tip is in the initial position is obtained by subtracting the real-time height of the sewing needle from the sewing needle length; It should be explained that the penetration distance is the distance between the bottom end of the sewing needle and the reference surface. When the hook thread hook tip is in the initial position, the sewing needle is in the state of penetrating the reference surface. Get the preparatory hooking distance of the hook hook tip; The actual hooking distance when the hook tip is in the initial position is obtained by subtracting the penetration distance from the preparation hooking distance. In the specific implementation process, the initial angle is the angle when the hook tip and the needle are on the same vertical line and the hook tip is close to the needle, that is, the angle when the rotation angle of the hook tip is an integer multiple of 360 degrees. When the hook tip is in the actual hook position, the needle has started to rise from the preparatory hook position, and the needle and thread in the needle hole at the bottom of the needle form a thread loop. At this time, the hook tip should pass through the corresponding thread loop. The rotation angle of the hook thread hook tip corresponding to the preparatory hook thread hooking moment and the actual hook thread hooking distance when the hook thread hook tip is at the initial position are summarized as the characteristic data of the hook thread hook tip; The feature acquisition module sends the feature data of the hook thread hook tip to the synchronous analysis module.
[0021] The synchronization analysis module is used to analyze the synchronization state between the sewing needle and the hook thread hook tip. The analysis process is as follows: Compare the rotation angle of the hook tip corresponding to the preparatory thread hooking moment with the preparatory thread hooking angle range; If the rotation angle of the hook thread hook tip corresponding to any preparatory hook thread hooking moment does not fall within the preparatory hook thread hooking angle range, a hook thread hooking deviation signal is generated and the rotation angle is recorded as the abnormal angle of the hook thread hook tip; If the rotation angles of the hook tip corresponding to all the preparatory thread hooking moments are within the preparatory thread hooking angle range, proceed to the next step; Compare the actual thread hooking distance when the hook tip is in the initial position with the standard thread hooking distance range; If the actual thread hooking distance when the hook hook tip is in the initial position is within the standard thread hooking distance range, no operation is performed; If the actual thread hooking distance when the hook tip is in the initial position does not fall within the standard thread hooking range, a thread hooking abnormality signal is generated; In a specific implementation process, the preparatory line drawing angle interval and the standard line drawing distance can be obtained through experimental measurement. In this embodiment, the preparatory line drawing angle interval can be [225°, 270°], and the standard line drawing distance interval can be [3mm, 5mm]. The synchronous analysis module sends the line-drawing deviation signal or the line-drawing abnormality signal to the dynamic control module.
[0022] The dynamic control module is used to dynamically control the rotary hook or sewing needle according to different signals. The control process includes the following contents: If a thread hooking abnormality signal is received, the ascending speed of the sewing needle is adjusted until the actual thread hooking distance when the hook hook tip is in the initial position is within the standard thread hooking distance range; If the hooking deviation signal is received, the hooking tip is controlled. The control process is as follows: Obtain the abnormal angle of the hook thread tip; Compare the abnormal angle of the hook thread hook tip with the endpoint value of the prepared thread hook angle range; If the abnormal angle of the hook thread hook tip is greater than the right endpoint of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference JDC of the hook thread hook tip is obtained by subtracting the right endpoint of the preparatory hook thread hook angle interval from the abnormal angle of the hook thread hook tip. If the abnormal angle of the hook thread hook tip is smaller than the left endpoint of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference JDC of the hook thread hook tip is obtained by subtracting the abnormal angle of the hook thread hook tip from the left endpoint of the preparatory hook thread hook angle interval. Collect the motor power of the rotary hook motor and the initial speed ZS of the rotary hook thread hook tip; In this embodiment, the rotary hook is connected to the rotary hook motor, and the rotary hook is directly driven to rotate by the rotary hook motor. The initial speed of the rotary hook thread hook tip is a manually set constant value, and the unit of the initial speed of the rotary hook thread hook tip is r / min; The required rotation speed ZS1 of the hook thread hook tip after adjustment is calculated by the formula ZS1=ZS+(ZS×JDC) / 360; Divide the motor power of the rotary hook motor by the required speed of the rotary hook thread hook tip to obtain the required torque of the rotary hook; In the specific implementation process, if the abnormal angle of the hook thread hook tip is greater than the right endpoint value of the preparatory hook thread hook angle range, the dynamic control module gradually increases the torque value to the required torque; if the abnormal angle of the hook thread hook tip is less than the left endpoint value of the preparatory hook thread hook angle range, the dynamic control module gradually reduces the torque value to the required torque; For example, when a thread hooking deviation signal is received, the abnormal angle of the rotary hook thread hook tip is obtained as 180°, and the abnormal angle of the rotary hook thread hook tip 180° is compared with the endpoint value of the preliminary thread hooking angle range [225°, 270°]. If 180° is less than 225°, 225°-180°=45°, and 45° is used as the preliminary thread hooking angle difference JDC of the rotary hook thread hook tip. The initial rotation speed ZS of the rotary hook thread hook tip is 3000 r / min. The required rotation speed ZS1 of the rotary hook thread hook tip after adjustment is calculated to be 3375 r / min through the formula ZS1=3000+(3000×45) / 360=3375, and then the required torque of the rotary hook is obtained by dividing the motor power of the rotary hook motor by the required rotation speed of the rotary hook thread hook tip.
[0023] In this application, if a corresponding calculation formula appears, the above calculation formula is dimensionless and its numerical calculation is performed. The weight coefficient, proportional coefficient and other coefficients in the formula are set to a result value obtained by quantifying each parameter. Regarding the size of the weight coefficient and the proportional coefficient, as long as it does not affect the proportional relationship between the parameter and the result value, it is acceptable.
[0024] Example 2: Please refer to Figure 5 As shown, based on another concept of the same invention, a method for dynamic control of rotary hook torque based on multi-sensor fusion is proposed, which includes the following steps: Step S101, collecting the real-time height of the sewing needle and the real-time rotation angle of the hook thread hook tip at different time points; Step S102, analyzing the real-time position of the sewing needle to obtain the preliminary hooking position and preliminary hooking distance of the sewing needle bottom end; In this embodiment, step S102 includes the following sub-steps: Step S1021, obtaining the real-time height of the suture needle at different time nodes, traversing and comparing the real-time height of the suture needle at different time nodes to obtain the maximum value and the minimum value of the real-time height; Step S1022, then obtaining the length between the top end and the bottom end of the suture needle and recording it as the suture needle length; Step S1023, subtracting the minimum real-time height of the suture needle from the suture needle length to obtain the longest distance between the bottom end of the suture needle and the reference surface; Step S1024, recording the longest distance between the bottom end of the sewing needle and the reference surface as the preparatory thread hooking distance of the hook thread hook tip; Step S1025: The position where the bottom end of the sewing needle is at the preparatory thread hooking distance from the tip of the rotary hook is recorded as the preparatory thread hooking position.
[0025] Step S103, acquiring characteristic data of the hook thread hook tip; Furthermore, the acquisition process in step S103 includes the following sub-steps: Step S1031, recording the time when the bottom end of the sewing needle is in the preparatory thread-hooking position as the preparatory thread-hooking time; Step S1032: When the sewing machine is working, the preparatory thread-hooking moment corresponding to the bottom end of the sewing needle being in the preparatory thread-hooking position is collected, and at the same time, the rotation angle of the tip of the rotary hook corresponding to the preparatory thread-hooking moment is collected; Step S1033, recording the corresponding position when the rotation angle of the hook thread hook tip is equal to the initial angle as the initial position; Step S1034, when the sewing machine is working, collecting the real-time height of the sewing needle when the hook thread hook tip is in the initial position; Step S1035: subtract the real-time height of the sewing needle from the sewing needle length to obtain the penetration distance of the sewing needle bottom end when the hook thread hook tip is in the initial position; Step S1036, obtaining the preliminary thread-hooking distance of the hook's thread-hooking tip, and subtracting the penetration distance from the preliminary thread-hooking distance to obtain the actual thread-hooking distance when the hook's thread-hooking tip is in the initial position; Step S1037: The rotation angle of the hook thread hook tip corresponding to the preparatory thread hooking moment and the actual thread hooking distance when the hook thread hook tip is at the initial position are summarized as characteristic data of the hook thread hook tip.
[0026] Step S104, analyzing the synchronization state between the sewing needle and the hook thread hook tip based on the characteristic data; In this embodiment, the analysis process in step S104 includes the following sub-steps: Step S1041, comparing the rotation angle of the hook thread hook tip corresponding to the preparatory thread hooking moment with the preparatory thread hooking angle range; Step S1042: If the rotation angle of the hook thread hook tip corresponding to any preparatory thread hooking moment does not fall within the preparatory thread hooking angle range, a thread hooking deviation signal is generated and the rotation angle is recorded as an abnormal angle of the hook thread hook tip; Step S1043: If the rotation angles of the hook tip corresponding to all the preparatory thread hooking moments are within the preparatory thread hooking angle range, proceed to the next step; Step S1044, comparing the actual thread hooking distance when the hook thread hooking tip is at the initial position with the standard thread hooking distance interval; Step S1045: If the actual thread hooking distance when the hook thread hooking tip is at the initial position is within the standard thread hooking distance range, no operation is performed; Step S1046: If the actual thread hooking distance when the hook thread hooking tip is at the initial position does not fall within the standard thread hooking range, a thread hooking abnormality signal is generated.
[0027] Step S105, performing corresponding dynamic control on the rotary hook or sewing needle in different synchronization states; In this embodiment, the analysis process in step S105 includes the following sub-steps: Step S1051: If a thread hooking abnormality signal is received, the ascending speed of the sewing needle is adjusted until the actual thread hooking distance when the hook hook tip is in the initial position falls within the standard thread hooking distance range; Step S1052: If a thread hooking deviation signal is received, the hook thread hook tip is controlled; In this embodiment, the control process in step S1052 includes the following sub-steps: Step S10521, obtaining the abnormal angle of the hook thread hook tip, and comparing the abnormal angle of the hook thread hook tip with the endpoint value of the preliminary hook thread hook angle interval; Step S10522: If the abnormal angle of the hook thread hook tip is greater than the right endpoint of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference is obtained by subtracting the right endpoint of the preparatory hook thread hook angle interval from the abnormal angle of the hook thread hook tip. Step S10523: If the abnormal angle of the hook thread hook tip is smaller than the left endpoint of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference value is obtained by subtracting the abnormal angle of the hook thread hook tip from the left endpoint of the preparatory hook thread hook angle interval. Step S10524, collecting the motor power of the rotary hook motor and the initial rotation speed of the rotary hook thread hook tip; Step S10525, calculating the required rotation speed of the hook thread hook tip after adjustment; Step S10526: Divide the motor power of the rotary hook motor by the required rotational speed of the rotary hook thread hook tip to obtain the required torque of the rotary hook.
[0028] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims
1. The rotary hook torque dynamic control system based on multi-sensor fusion is characterized by: It includes a data acquisition module, a position analysis module, a feature acquisition module, a synchronization analysis module and a dynamic control module. The data acquisition module is used to collect the real-time height of the sewing needle and the real-time rotation angle of the hook thread hook tip at different time nodes and send them to the position analysis module and the feature acquisition module; The position analysis module is used to analyze the real-time position of the sewing needle, obtain the pre-hooking position and pre-hooking distance of the sewing needle bottom end, and send them to the feature acquisition module; The feature acquisition module is used to acquire the feature data of the rotary hook thread hook tip and send it to the synchronization analysis module; the synchronization analysis module is used to analyze the synchronization state between the sewing needle and the rotary hook thread hook tip, analyze and generate a thread hook deviation signal or a thread hook abnormality signal and send it to the dynamic control module; The dynamic control module is used to dynamically control the rotary hook or the sewing needle according to different signals.
2. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 1 is characterized in that: The tip of the rotary hook is recorded as the rotary hook thread tip, the end of the sewing needle away from the rotary hook is recorded as the top end of the sewing needle, and the end of the sewing needle close to the rotary hook is recorded as the bottom end of the sewing needle.
3. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 2, characterized in that: The analysis process of the position analysis module is as follows: Obtain the real-time height of the suture needle at different time nodes, traverse and compare the real-time height of the suture needle at different time nodes to obtain the maximum value and the minimum value of the real-time height; Obtain the length between the top and bottom of the needle and record it as the needle length; The maximum distance between the bottom end of the needle and the reference surface is obtained by subtracting the minimum value of the real-time height of the needle from the needle length; The longest distance between the bottom of the needle and the reference surface is recorded as the preparatory hooking distance of the hook hook tip; The position where the bottom end of the sewing needle is at the preparatory thread hooking distance of the hook thread hook tip is recorded as the preparatory thread hooking position.
4. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 3, characterized in that: The acquisition process of the feature acquisition module includes the following: The time when the bottom end of the sewing needle is in the preparatory thread hooking position is recorded as the preparatory thread hooking time; When the sewing machine is working, the time when the bottom end of the sewing needle is in the preparatory thread hooking position is collected; At the same time, the rotation angle of the hook tip corresponding to the preparatory hooking moment is collected; The corresponding position when the rotation angle of the hook thread hook tip is equal to the initial angle is recorded as the initial position.
5. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 4 is characterized in that: The acquisition process of the feature acquisition module also includes the following: When the sewing machine is working, the real-time height of the sewing needle is collected when the hook thread hook tip is in the initial position; The penetration distance of the bottom end of the sewing needle when the hook thread tip is in the initial position is obtained by subtracting the real-time height of the sewing needle from the sewing needle length; Get the preparatory hooking distance of the hook hook tip; The actual hooking distance when the hook tip is in the initial position is obtained by subtracting the penetration distance from the preparation hooking distance. The rotation angle of the hook thread hook tip corresponding to the preparatory hook thread hooking moment and the actual hook thread hooking distance when the hook thread hook tip is at the initial position are summarized as the characteristic data of the hook thread hook tip.
6. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 5, characterized in that: The analysis process of the synchronization analysis module includes the following: Compare the rotation angle of the hook tip corresponding to the preparatory thread hooking moment with the preparatory thread hooking angle range; If the rotation angle of the hook thread hook tip at any preparatory hooking moment does not fall within the preparatory hook thread hooking angle range, a hook thread deviation signal is generated and the corresponding rotation angle is recorded as the abnormal angle of the hook thread hook tip; If the rotation angles of the hook thread hook tip corresponding to all the preparatory thread hooking moments are within the preparatory thread hooking angle range, proceed to the next step.
7. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 6, characterized in that: The analysis process of the synchronization analysis module also includes the following: Compare the actual thread hooking distance when the hook tip is in the initial position with the standard thread hooking distance range; If the actual thread hooking distance when the hook hook tip is in the initial position is within the standard thread hooking distance range, no operation is performed; If the actual thread hooking distance when the hook thread hook tip is in the initial position does not fall within the standard thread hooking range, a thread hooking abnormality signal is generated.
8. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 7, characterized in that: The control process of the dynamic control module includes the following contents: If a thread hooking abnormality signal is received, the ascending speed of the sewing needle is adjusted until the actual thread hooking distance when the hook hook tip is in the initial position is within the standard thread hooking distance range; If the thread hooking deviation signal is received, the hook thread hook tip is controlled.
9. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 8, characterized in that: The control process of the hook thread tip includes the following: Obtain the abnormal angle of the hook thread tip; Compare the abnormal angle of the hook thread hook tip with the endpoint value of the prepared thread hook angle range; If the abnormal angle of the hook thread hook tip is greater than the right end point value of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference of the hook thread hook tip is obtained by subtracting the right end point value of the preparatory hook thread hook angle interval from the abnormal angle of the hook thread hook tip. If the abnormal angle of the hook thread hook tip is smaller than the left endpoint of the preparatory hook thread hook angle interval, the preparatory hook thread hook angle difference of the hook thread hook tip is obtained by subtracting the abnormal angle of the hook thread hook tip from the left endpoint of the preparatory hook thread hook angle interval.
10. The rotary hook torque dynamic control system based on multi-sensor fusion according to claim 9, characterized in that: The control process of the hook thread tip also includes the following: Collect the motor power of the rotary hook motor and the initial speed of the rotary hook thread hook tip; Calculate the required speed of the hook thread hook tip after adjustment; The required torque of the rotary hook is obtained by dividing the motor power of the rotary hook motor by the required speed of the rotary hook thread hook tip.