Computerized embroidery machine based on visual positioning embroidery technology

Abstract

The invention discloses a computerized embroidery machine based on a visual positioning embroidery technology, and belongs to the technical field of embroidery equipment. The embroidery machine comprises a feeding device, an embroidery machine main body and a discharging device, wherein the embroidery machine main body comprises a rack, an embroidery frame and an embroidery mechanism; a visual sensor is arranged above the tabouret on the rack; the embroidery mechanism comprises a fixed machine head assembly, a fixed shuttle box body assembly, an adjustable machine head assembly and an adjustable shuttle box body assembly; the adjustable machine head assembly comprises a machine head, a machine head left-right fine adjustment mechanism and a machine head front-back fine adjustment mechanism. The adjustable shuttle box body assembly comprises a shuttle box body, a shuttle box body left-right fine adjustment mechanism and a shuttle box body front-back fine adjustment mechanism; the feeding device and the discharging device each comprise a material frame, a material collecting and discharging roller, a gravity tensioning pipe, a guide roller and a tensioning and feeding roller, and a cloth pressing mechanism is arranged on each tensioning and feeding roller. The cloth pressing mechanism is matched with the tensioning feeding roller to press cloth, and the tensioning feeding roller slides along the material frame to set the feeding stroke so as to complete quantitative feeding. The embroidery precision of the whole pattern can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of embroidery equipment technology, and in particular to a computerized embroidery machine based on visual positioning embroidery technology. Background Technology

[0002] Currently, to improve the working efficiency of computerized embroidery machines, some machines employ visual positioning embroidery technology. For example, Chinese patent document CN110629423A discloses an automatic fabric-supporting visual positioning embroidery device, including a frame, an embroidery frame on the frame's table, an embroidery component on the frame's main beam, a fabric clamping component on the embroidery frame, a first fabric rolling mechanism and a second fabric rolling mechanism on opposite sides of the frame perpendicular to the main beam, and at least one image acquisition device on the main beam or embroidery component. The image acquisition device photographs the fabric entering the embroidery frame, and after image processing, determines the fabric's position and the location on which embroidery should be done, providing the starting point for the embroidery mechanism, eliminating the need for needle alignment, achieving continuous embroidery, and improving embroidery efficiency.

[0003] However, the aforementioned embroidery equipment still suffers from low overall precision in pattern embroidery. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art and provide a computer embroidery machine based on visual positioning embroidery technology, which can effectively improve the embroidery accuracy of the overall pattern.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A computerized embroidery machine based on visual positioning embroidery technology includes a feeding device, an embroidery machine body, and a feeding device. The embroidery machine body includes a frame, an embroidery frame, and an embroidery mechanism. A visual sensor is provided on the frame above the embroidery frame. The embroidery mechanism includes a fixed head assembly, a fixed shuttle box assembly, an adjustable head assembly, and an adjustable shuttle box assembly. The adjustable head assembly includes a head, a left-right fine-tuning mechanism, and a front-back fine-tuning mechanism. The adjustable shuttle box assembly includes a shuttle box, a left-right fine-tuning mechanism, and a front-back fine-tuning mechanism.

[0007] Both the feeding device and the unloading device include a material rack, and the following are mounted on the material rack:

[0008] The feed roller releases the fabric to be embroidered or rolls up the fabric that has already been embroidered.

[0009] The gravity tension tube is slidably connected to the material rack and is connected to a counterweight to provide tension.

[0010] The guide roller and the take-up and unload rollers are both located on the same side of the gravity tension tube;

[0011] The tensioning feed roller is slidably connected to the material rack, and a cloth pressing mechanism is provided on it. The cloth pressing mechanism works with the tensioning feed roller to press the cloth. The tensioning feed roller slides along the material rack to set the feeding stroke, so as to complete the quantitative feeding.

[0012] Preferably, the left-right fine-tuning mechanism of the machine head and the left-right fine-tuning mechanism of the shuttle box adopt the same driving method, and the front-back fine-tuning mechanism of the machine head and the front-back fine-tuning mechanism of the shuttle box adopt the same driving method.

[0013] Preferably, a material rack front-to-back adjustment mechanism is provided between the material rack and the machine frame.

[0014] Preferably, a tensioning feeding drive mechanism is provided between the material rack and the tensioning feeding roller. The tensioning feeding drive mechanism includes a tensioning feeding linear guide rail, a tensioning feeding drive motor, a tensioning feeding drive synchronous belt, and tensioning feeding drive synchronous pulleys. The two tensioning feeding synchronous pulleys are respectively located at both ends of the tensioning feeding linear guide rail. The tensioning feeding drive synchronous belt drives the tensioning feeding roller to move along the tensioning feeding linear guide rail.

[0015] Preferably, the pressing mechanism includes a pressing beam, pressing cylinders, and pressing blocks. The pressing beam is mounted above the tensioning feed roller via a beam support. Multiple pressing cylinders are mounted on the pressing beam, and each pressing cylinder has a pressing block at its output end.

[0016] Preferably, the end of the tensioning feed roller is equipped with a fabric conveying motor.

[0017] Preferably, the material rack is provided with support wheel sets at both the front and rear ends. The support wheel sets include drive wheels and driven wheels arranged at intervals. The drive wheels are connected to a material feeding and receiving drive motor. The material feeding and receiving rollers are mounted on the support wheel sets. At least one set of support wheel sets is provided with a pressing swing rod and a pressing bearing above it.

[0018] Preferably, the embroidery frame includes four baffles and a pneumatic fabric clamping device. The pneumatic fabric clamping device includes a fabric clamping cylinder, a drive beam, and fabric clamping components. Each baffle has an upwardly protruding fabric clamping structure along its length. The fabric clamping component has a downwardly facing fabric clamping groove that matches the fabric clamping structure. Each baffle has a fabric clamping cylinder at both ends along its length. A drive beam is provided between two fabric clamping cylinders. The drive beam is located above the fabric clamping structure, and multiple fabric clamping components are provided at the lower end of the drive beam.

[0019] Preferably, at least one baffle along the fabric conveying direction is provided with a horizontal bar on the side near the embroidery frame, and a pneumatic fabric clamping device is provided on the horizontal bar on this side. Multiple fabric tensioning cylinders are provided between the horizontal bar and the baffle on this side.

[0020] Preferably, the frame is provided with a fixed wire frame and an adjustable wire frame, and a left-right adjustment mechanism is provided between the adjustable wire frame and the frame.

[0021] The advantages of this invention are:

[0022] 1. The structure adopts a combination of fixed and adjustable head components. If the positional relationship between the patterns embroidered by the two heads deviates, the position of one of the patterns can be dynamically and finely adjusted through the adjustable head component, thereby ensuring the accuracy of the positional relationship between the two patterns and guaranteeing the accuracy of the positional relationship between a set of patterns completed in each embroidery work.

[0023] 2. The fabric is pressed by a pressing mechanism and a tensioning feed roller, and the feeding stroke is set by moving the tensioning feed roller to achieve quantitative feeding. The feeding amount is determined by the moving distance of the pressed point on the fabric, and is not affected by the tension of the fabric during the conveying process or the outer diameter of the fabric roll on the take-up and undo roller. Therefore, the feeding amount is more accurate, so as to ensure the accuracy of the positional relationship between multiple sets of patterns completed in a series of embroidery works.

[0024] 3. Only two clamping cylinders are needed to drive a row of clamping devices to perform the clamping action and complete the clamping of one side of the fabric. Compared with the existing technology that uses multiple clamping devices to clamp one side of the fabric, the cost is lower. At the same time, the lower end of the drive beam can easily accommodate more clamping devices. Compared with the existing technology where there is a large gap between adjacent clamping devices, the clamping range of the fabric is effectively increased, thereby improving the clamping stability. Attached Figure Description

[0025] Figure 1 A schematic diagram of the structure of a computer embroidery machine based on visual positioning embroidery technology provided in the embodiments of this specification;

[0026] Figure 2 This is a schematic diagram of the embroidery mechanism provided in the embodiments of this specification;

[0027] Figure 3 A front view of the embroidery mechanism provided in the embodiments of this specification;

[0028] Figure 4 This is a schematic diagram of the left and right fine-tuning mechanism of the machine head provided in the embodiments of this specification;

[0029] Figure 5 This is an exploded structural diagram of the front and rear fine-tuning mechanism of the machine head provided in the embodiments of this specification;

[0030] Figure 6 This is a schematic diagram of the adjustable shuttle box assembly provided in the embodiments of this specification;

[0031] Figure 7 This is a schematic diagram of the wireframe structure provided in the embodiments of this specification;

[0032] Figure 8 This is a schematic diagram of the loading and unloading device provided in the embodiments of this specification;

[0033] Figure 9 This is a schematic diagram showing the usage state of the loading and unloading device provided in the embodiments of this specification;

[0034] Figure 10 This is a structural schematic diagram of the loading and unloading device provided in the embodiments of this specification from another perspective;

[0035] Figure 11 This is an exploded structural diagram of the tensioning feed drive mechanism provided in the embodiments of this specification;

[0036] Figure 12 for Figure 8 Enlarged structural diagram at point A;

[0037] Figure 13 This is a schematic diagram of the embroidery frame provided in the embodiments of this specification;

[0038] Figure 14 This is a schematic diagram of the pneumatic fabric clamping device provided in the embodiments of this specification;

[0039] Figure 15 This is a front view of the pneumatic fabric clamping device provided in the embodiments of this specification;

[0040] Figure 16 This is a schematic diagram of one type of fabric clamping structure and fabric clamping component provided in the embodiments of this specification;

[0041] Figure 17 This is a schematic diagram of another form of fabric clamping structure and fabric clamping component provided in the embodiments of this specification;

[0042] In the diagram: 100 - Embroidery machine body; 101 - Machine frame; 102 - Embroidery frame; 103 - Vision sensor; 104 - Light source; 105 - Fixed thread frame; 106 - Adjustable thread frame; 201 - Feeding device; 202 - Unloading device;

[0043] 11-Fixed head assembly; 12-Fixed shuttle box assembly; 13-Adjustable head assembly; 131-First head mounting plate; 132-Second head mounting plate; 133-Head assembly; 1341-Left and right linear guide rails of the head assembly; 1342-Left and right drive racks of the head assembly; 1343-Left and right drive gears of the head assembly; 1344-Left and right drive motors of the head assembly; 1351-Front and rear drive screws of the head assembly; 1352-Front and rear drive nuts of the head assembly; 1353-Guide rod; 1354-Front and rear drive motors of the head assembly; 1355-Synchronous pulley; 1356-Synchronous belt; 135 7-Dust cover; 1358-Synchronous belt tensioner; 14-Adjustable shuttle box assembly; 141-First shuttle box mounting plate; 142-Second shuttle box mounting plate; 143-Shuttle box; 1441-Left and right linear guide rails of the shuttle box; 1442-Left and right drive racks of the shuttle box; 1443-Left and right drive gears of the shuttle box; 1444-Left and right drive motors of the shuttle box; 1451-Front and rear linear guide rails of the shuttle box; 1452-Front and rear drive screws of the shuttle box; 1453-Front and rear drive nuts of the shuttle box; 1454-Front and rear drive motors of the shuttle box; 1455-Mounting base;

[0044] 21-Material rack; 22-Receiving and unloading rollers; 221-Driving wheel; 222-Driven wheel; 223-Receiving and unloading drive motor; 224-Pressing swing arm; 225-Pressing bearing; 23-Gravity tension tube; 231-Guide groove; 232-Counterweight roller; 233-Hanging rope; 234-Counterweight; 24-Guide roller; 25-Tensioning feeding roller; 251-Tensioning feeding linear guide; 2511-Slide rail; 2512-Trolley; 2513-Baffle; 2514-Rail rod; 2515-Pressure strip; 2 516 Roller; 2517 Spring; 2518 Push Block; 2519 Dustproof Part; 252 Tensioning Feed Drive Motor; 253 Tensioning Feed Drive Synchronous Belt Pulley; 254 Bearing Bracket; 255 Fabric Conveying Motor; 26 Fabric Pressing Mechanism; 261 Fabric Pressing Beam; 262 Fabric Pressing Cylinder; 263 Fabric Pressing Block; 264 Beam Bracket; 271 Front and Rear Linear Guide Rails of Material Holder; 272 Front and Rear Drive Racks of Material Holder; 273 Front and Rear Drive Gears of Material Holder; 274 Front and Rear Drive Motors of Material Holder;

[0045] 31-Baffle; 32-Cloth clamping cylinder; 33-Drive beam; 331-T-type mounting groove; 34-Cloth clamping component; 341-Cloth clamping groove; 342-T-type mounting block; 35-Cloth clamping structure; 351-Cloth clamping surface; 36-Limiting component; 371-T-type slider nut; 372-Bolt; 38-Cloth tensioning cylinder; 3100-Front guard; 3200-Rear guard; 3300-Left guard; 3400-Right guard; 3500-Horizontal guard. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0047] As mentioned in the background technology, the embroidery equipment, on the one hand, uses two heads to embroider simultaneously to improve efficiency, but the positional relationship between the two heads is fixed. Once the position of the pattern embroidered by one head deviates, the positional relationship between the patterns embroidered by the two heads will also deviate. That is, the accuracy of the positional relationship between a set of patterns completed in each embroidery work is difficult to guarantee.

[0048] On the other hand, it achieves automatic fabric feeding through the cooperation of two fabric-rolling mechanisms. After the fabric in the embroidery frame is finished embroidered, one fabric-rolling mechanism rolls up while the other unrolls, feeding the next section of fabric to be embroidered into the frame, while the finished fabric is gradually rolled up. Thus, on the one hand, the amount of fabric fed each time is often controlled by controlling the rotation angle of the motor shaft, i.e., controlling the rotation angle of the fabric tube used for rolling. However, during the rolling process, the overall outer diameter of the fabric roll continuously increases. Therefore, even if the rotation angle of the fabric tube is consistent each time, the length of fabric rolled up each time also increases. This leads to a sequential increase in the distance between the embroidered patterns on the fabric, affecting the overall embroidery accuracy. On the other hand, during the rolling and unrolling process, the tension of the fabric may fluctuate due to factors such as friction and vibration. Increased tension leads to a decrease in the amount of fabric fed, and decreased tension leads to an increase in the amount of fabric fed, thus affecting the accuracy of the feeding amount and consequently the positional relationship accuracy between multiple sets of patterns completed in consecutive embroidery operations.

[0049] Therefore, such as Figure 1 As shown, this embodiment provides a computerized embroidery machine based on visual positioning embroidery technology, including a feeding device 201, an embroidery machine body 100, and a feeding device 202. The feeding device 201 and the feeding device 202 are symmetrically arranged on the left and right sides of the embroidery machine body 100. At the same time, the feeding device 201 and the feeding device 202 have the same structure. Therefore, the functions of the two can be interchanged as needed. That is, the feeding device 201 can be used as the feeding end, and the feeding device 202 can be used as the feeding end.

[0050] The embroidery machine body 100 includes a frame 101, an embroidery frame 102, and an embroidery mechanism. Conventionally, the embroidery frame 102 is connected to the frame by an X-axis drive mechanism and a Y-axis drive mechanism. This means that the embroidery work is completed by moving the embroidery frame as the machine head moves. The X-axis drive mechanism and the Y-axis drive mechanism can use a conventional linear drive structure, which will not be elaborated upon here.

[0051] This embodiment uses visual positioning embroidery technology to achieve precise positioning of the embroidery position on the fabric. A visual sensor 103 is provided on the frame 101 above the embroidery frame 102 to acquire the image of the fabric inside the embroidery frame. At the same time, light sources 104 are provided on the left and right sides of the frame 101 above the embroidery frame 102 to ensure the recognition accuracy of the visual sensor.

[0052] like Figure 2 and 3 As shown, the embroidery mechanism includes a fixed head assembly 11, a fixed shuttle box assembly 12, an adjustable head assembly 13, and an adjustable shuttle box assembly 14. The fixed head assembly 11 and the adjustable head assembly 13 are arranged adjacent to each other on the frame 101. The fixed shuttle box assembly 12 is located below the fixed head assembly 11, and the adjustable shuttle box assembly 14 is located below the adjustable head assembly 13.

[0053] like Figure 4 and 5 As shown, the adjustable head assembly 13 includes a first head mounting plate 131, a second head mounting plate 132, a head 133, a left-right fine-tuning mechanism, and a front-back fine-tuning mechanism. The head 133 is mounted on the second head mounting plate 132. The left-right fine-tuning mechanism and the front-back fine-tuning mechanism are respectively located between the frame and the first head mounting plate 131, and between the first head mounting plate 131 and the second head mounting plate 132. Thus, the first head mounting plate 131 can move left and right under the drive of the left-right fine-tuning mechanism, and the second head mounting plate 132 can move forward and backward under the drive of the front-back fine-tuning mechanism; or the first head mounting plate 131 can move forward and backward under the drive of the front-back fine-tuning mechanism, and the second head mounting plate 132 can move left and right under the drive of the left-right fine-tuning mechanism, thereby achieving fine-tuning of the left-right and front-back position of the head 133.

[0054] Correspondingly, the adjustable shuttle box assembly includes a first shuttle box mounting plate 141, a second shuttle box mounting plate 142, a shuttle box 143, a shuttle box left-right fine-tuning mechanism, and a shuttle box front-back fine-tuning mechanism. The shuttle box 143 is mounted on the second shuttle box mounting plate 143. The shuttle box left-right fine-tuning mechanism and the shuttle box front-back fine-tuning mechanism are respectively located between the frame and the first shuttle box mounting plate 141, and between the first shuttle box mounting plate 141 and the second shuttle box mounting plate 142. Thus, the first shuttle box mounting plate 141 can move left and right under the drive of the shuttle box left and right fine adjustment mechanism, and the second left shuttle box mounting plate 142 can move forward and backward under the drive of the shuttle box front and rear fine adjustment mechanism. Alternatively, the first shuttle box mounting plate 141 can move forward and backward under the drive of the shuttle box front and rear fine adjustment mechanism, and the second shuttle box mounting plate 142 can move left and right under the drive of the shuttle box left and right fine adjustment mechanism, thereby realizing the fine adjustment of the front, rear, left and right positions of the shuttle box 143 to adapt to the position adjustment of the machine head.

[0055] Therefore, during the simultaneous embroidery process of two heads, the pattern on the fabric can be acquired in real time through a visual sensor and compared with the set pattern in real time. When the position of the pattern embroidered by the fixed head component deviates, the adjustable head component can fine-tune its own position in all directions to ensure the accuracy of the positional relationship between the two patterns. Of course, if the pattern embroidered by the adjustable head component deviates, it can be adjusted in real time through its own fine-tuning function. It should be noted that the embroidery work of each pattern is generally carried out from the inside out, so the position of each pattern can be fine-tuned by adjusting the subsequent needle placement.

[0056] like Figure 4 As shown, taking the left-right fine-tuning mechanism of the machine head located between the frame and the first machine head mounting plate 131 as an example, the left-right fine-tuning mechanism of the machine head includes left-right linear guide rails 1341, left-right drive racks 1342, left-right drive gears 1343, and left-right drive motors 1344. The left-right linear guide rails 1341 and the left-right drive racks 1342 are mounted on the frame, and the left-right drive motors 1344 are mounted on the first machine head mounting plate 131. The left-right drive gears 1343 are located at the output end of the left-right drive motors 1344 and cooperate with the left-right drive racks 1342. Thus, the left-right drive motors 1344 drive the gears to rotate, and the gears, through their cooperation with the racks, drive the first machine head mounting plate 131 to move along the left-right linear guide rails 1341.

[0057] like Figure 5 As shown, taking the example of a fine-tuning mechanism for the front and rear of the machine head located between the first machine head mounting plate 131 and the second machine head mounting plate 132, the fine-tuning mechanism includes a front and rear drive screw 1351, a front and rear drive nut 1352, a guide rod 1353, and a front and rear drive motor 1354. The front and rear drive nut 1352 is located on the second machine head mounting plate 132. The front and rear drive screw 1351 is located between the first machine head mounting plate 131 and the front and rear drive nut 1352. The front and rear drive motor 1354 is located on the first machine head mounting plate 131 and is connected to the front and rear drive screw 1351. The guide rod 1353 is located between the first machine head mounting plate 131 and the second machine head mounting plate 132. Thus, the front and rear drive motor 1354 drives the screw to rotate, and the screw, through its interaction with the nut, moves the nut and the second machine head mounting plate 132 along the screw.

[0058] To ensure the stability of the driving force, the machine head has three front and rear drive screws 1351, which are arranged in a triangle and are synchronously driven by a synchronous pulley 1355 and a synchronous belt 1356. A synchronous belt tensioning pulley 1358 is also provided on the first machine head mounting plate 131. To ensure the guiding stability of the second machine head mounting plate 132 during its forward and backward movement, two guide rods 1353 are provided. In addition, a dust cover 1357 is provided between the first and second machine head mounting plates 131 to prevent dust and impurities from entering and affecting the normal operation of the machine head's forward and backward fine-tuning mechanism.

[0059] To ensure the synchronicity and consistency of the position adjustment of the adjustable head assembly 13 and the adjustable shuttle box assembly 14, the left and right fine adjustment mechanism of the head assembly and the left and right fine adjustment mechanism of the shuttle box adopt the same driving method, that is, both adopt the driving method of gear and rack; the front and rear fine adjustment mechanism of the head assembly and the front and rear fine adjustment mechanism of the shuttle box adopt the same driving method, that is, both adopt the driving method of screw and nut.

[0060] like Figure 6 As shown, the shuttle box left and right fine-tuning mechanism includes left and right linear guide rails 1441, left and right drive racks 1442, left and right drive gears 1443, and left and right drive motors 1444. The left and right linear guide rails 1441 and the left and right drive racks 1442 are mounted on the frame. The left and right drive motors 1444 are mounted on the first shuttle box mounting plate 141. The left and right drive gears 1443 are located at the output end of the left and right drive motors 1444 and mesh with the left and right drive racks 1442. Thus, the left and right drive motors 1444 drive the gears to rotate, and the gears, through their meshing with the racks, move the first shuttle box mounting plate 141 along the left and right linear guide rails 1441.

[0061] The shuttle box front and rear fine-tuning mechanism includes a shuttle box front and rear linear guide rail 1451, a shuttle box front and rear drive screw 1452, a shuttle box front and rear drive nut 1453, and a shuttle box front and rear drive motor 1454. The shuttle box front and rear linear guide rail 1451 is located between the first shuttle box mounting plate 141 and the second shuttle box mounting plate 142. The shuttle box front and rear drive motor 1454 is mounted on the first mounting plate 141. The shuttle box front and rear drive nut 1453 is mounted on the second mounting plate 142 via a mounting base 1455. The shuttle box front and rear drive screw 1452 is located at the output end of the shuttle box front and rear drive motor 1454 and cooperates with the shuttle box front and rear drive nut 1453. Thus, the shuttle box front and rear drive motor 1454 drives the screw to rotate, and the screw, through its cooperation with the nut, drives the nut and the second shuttle box mounting plate 142 to move along the screw.

[0062] In addition, such as Figure 7As shown, to coordinate the operation of the two embroidery heads, a fixed thread holder 105 and an adjustable thread holder 106 are provided on the frame 101 behind the embroidery mechanism to provide embroidery thread for each of the two embroidery heads. The adjustable thread holder 106 is connected to the frame 101 by a left-right adjustment mechanism to accommodate fine-tuning of the adjustable embroidery head assembly. This left-right adjustment mechanism can employ a conventional linear drive structure. Fine-tuning of the adjustable embroidery head assembly 13 in the front-back direction will not cause bending of the embroidery thread; it will only change the length of the embroidery thread between the embroidery head and the thread holder. Therefore, the thread holder does not need to move back and forth.

[0063] like Figure 8-10 As shown, both the feeding device and the unloading device include a material rack 21, and a material rack mounted on the material rack:

[0064] The feed roller 22 is located at the lower part of the material rack 21. As a feeding device, it is used to release the fabric to be embroidered; as a discharging device, it is used to roll up the embroidered fabric.

[0065] The gravity tension tube 23 is located above the feed roller 22 on the side away from the main body of the embroidery machine. It is slidably connected to the guide groove 231 on the material rack 21. Bearings are provided at both ends of the gravity tension tube 23 for limiting the movement. The bearings cooperate with the guide strip below the guide groove to achieve rolling. The guide groove 231 is set in the horizontal direction. A counterweight roller 232 is provided on the inner side of the material rack 21 at the end of the guide groove 231 that is far from the main body of the embroidery machine. The gravity tension tube 231 is connected to a hanging rope 233. The other end of the hanging rope 233 passes around the counterweight roller 232 and is connected downward to a counterweight 234. The tension force on the fabric is provided by the pull of the counterweight and the hanging rope on the gravity tension tube 23. The above-mentioned counterweight structure is provided at both ends of the gravity tension tube 23.

[0066] The guide roller 24 is positioned above the gravity tension tube 23 and close to the main body of the embroidery machine. Thus, no matter where the tension feed roller 25 moves, the fabric can always stably pass over the gravity tension tube 23 under the guidance of the guide roller 24, ensuring the stability of its gravity tensioning effect.

[0067] The tensioning feed roller 25 is located at the upper end of the material rack 21 and is slidably connected to the material rack 21 in the direction of approaching or away from the main body of the embroidery machine. A fabric pressing mechanism 26 is provided on it. The fabric passes over the tensioning feed roller 25, and the fabric pressing mechanism 26 can move downward to press the fabric onto the tensioning feed roller 25. The tensioning feed roller 25 drives the pressed fabric to slide along the material rack 21 to set the feeding stroke, thus completing the quantitative feeding.

[0068] As a feeding device, the fabric is released from the take-up and unload roller 22, passes through the gravity tension tube 23, the guide roller 24 and the tension feed roller 25 in sequence, and is then conveyed to one side of the embroidery machine body 100; while as an unloading device, the fabric fed from one side of the embroidery machine body 100 passes through the tension feed roller 25, the guide roller 24 and the gravity tension tube 23 in sequence and is then wound up by the take-up and unload roller 22.

[0069] The working principle of this feeding and unloading device is as follows: After the fabric in the embroidery frame is embroidered, the position of the fabric area where the embroidery is completed is fixed because the fabric is still clamped by the embroidery frame (the embroidery frame returns to its original position). The tensioning feed roller 25 on the feeding side is moved to the feeding start position, generally located at the farthest end from the main body of the embroidery machine. At the same time, the pressing mechanism 26 on this side releases the fabric, so that the fabric is only tensioned under the action of the counterweight. At this time, the fabric is in a relatively static state, so the tension of the fabric is relatively consistent when the counterweight is used to tension the fabric before each feeding. Of course, in order to keep the fabric in a taut state during the feeding process, the pressing mechanism 26 on the unloading side also needs to relax the fabric, and is also tensioned under the action of the counterweight. Then, the pressing mechanism 26 on the feeding side presses the fabric, and then the embroidery frame releases the fabric. The feeding stroke can then be set by moving the tensioning feed roller 25 towards the main body of the embroidery machine. At the same time, the take-up and unload roller 22 on the unloading side rewinds the fabric. In this process, the points on the fabric that are pressed can be considered as fixed points on the fabric. The fixed points move by the set feeding stroke, so the feeding amount generated by this feeding stroke has high precision. It is not affected by changes in fabric tension during the conveying process, nor by the outer diameter of the fabric roll on the take-up and untake-down rollers 22. As a result, the distance between the area of ​​the embroidered fabric that has been completed and conveyed from the embroidery frame to the lower side and the area of ​​the fabric to be embroidered that has just been fed into the embroidery frame from the upper side can be accurately controlled. That is, there is a more uniform and stable spacing between multiple sets of patterns that are embroidered continuously, resulting in higher embroidery precision.

[0070] In addition, after the above feeding is completed, the fabric needs to be tensioned before the embroidery frame clamps the fabric. At this time, the fabric pressing mechanism 26 on the feeding side is still in the state of pressing the fabric, maintaining its pressing state and position unchanged to ensure that the feeding amount remains stable before the embroidery frame clamps the fabric. At the same time, the fabric pressing mechanism 26 on the unloading side also presses the fabric, and then the tensioning feed roller 25 on the unloading side moves away from the embroidery machine body to tension the fabric. Then the fabric can be clamped by the embroidery frame, and the fabric inside the embroidery frame is now fixed. Since the embroidery frame needs to move back, forth, left, and right during the embroidery process, the fabric can be pressed and moved towards the embroidery machine body by the tensioning feed rollers 25 on both sides and the fabric pressing mechanism 26, so that the fabric between the embroidery frame and the feeding device is sufficiently relaxed to meet the movement needs of the embroidery frame.

[0071] To enable the movement of the tension feeding roller 25 on the material rack 21, two sets of tension feeding drive mechanisms are provided between the material rack 21 and the tension feeding roller 25. Each tension feeding drive mechanism includes a tension feeding linear guide rail 251, a tension feeding drive motor 252, a tension feeding drive synchronous belt, and tension feeding drive synchronous pulleys 253. The two tension feeding synchronous pulleys 253 are located at opposite ends of the tension feeding linear guide rail 251. The tension feeding drive synchronous belt drives the tension feeding roller 25 to move along the tension feeding linear guide rail 251. Both sets of tension feeding drive mechanisms are driven by the same motor, meaning the motor is connected to the two synchronous pulleys via the same shaft.

[0072] Specifically, such as Figure 11 As shown, the tensioning feed linear guide 251 includes a slide rail 2511 and a trolley 2512. A baffle 2513 is provided at each end of the slide rail 2511, and two track rods 2514 are positioned between the two baffles 2513. Pressure strips 2515 are also provided above the two track rods 2514 to ensure their straightness. The trolley 2512 is equipped with rollers 2516 that engage with the opposite sides of the two track rods 2514. The tensioning feed roller 25 is positioned between the two trolleys 2512 via a bearing bracket 254. A synchronous belt groove 25111 is provided inside the slide rail 2511, and the synchronous belt connects the trolley 2512 and the bearing bracket 254. Specifically, the lower half of the synchronous belt passes through the synchronous belt groove 25111, and the upper half passes over the slide rail 2511 and connects to the trolley 2512, reducing interference from external factors and ensuring the stability of its operation, thereby improving the accuracy of the feeding amount. In addition, push blocks 2518 are provided at both the front and rear ends of the trolley 2512 via springs 2517. The push blocks 2518 are provided with dustproof parts 2519 that abut against the track rods 2514. The dustproof parts 2519 can generally be made of felt to automatically remove dust from the track rods during the movement of the trolley, ensuring the smooth and stable movement of the trolley.

[0073] like Figure 12 As shown, the fabric pressing mechanism 26 includes a fabric pressing beam 261, a fabric pressing cylinder 262, and a fabric pressing block 263. The fabric pressing beam 261 is mounted on a bearing bracket 254 via a beam support 264. Multiple fabric pressing cylinders 262 are mounted on the fabric pressing beam 261. Each fabric pressing cylinder 262 has a fabric pressing block 263 at its output end. That is, the fabric pressing block presses and releases the fabric through the extension and retraction of the fabric pressing cylinder.

[0074] Because of the gravity tension tube 23 and guide roller 24, the resistance during fabric conveying is increased. Therefore, in order to ensure the smoothness of the fabric when passing through the tension feed roller 25, a fabric conveying motor 255 is provided at the end of the tension feed roller 25 to cooperate with the take-up and unload roller 22 to improve the smoothness of fabric conveying. For example, during the quantitative feeding of fabric, the tension feed roller 25 at the unloading end can rotate in conjunction with the take-up and unload roller 22 to improve the smoothness of fabric winding. On the one hand, it avoids the fabric from being wound too tightly on the take-up and unload roller, and on the other hand, it avoids the fabric from becoming excessively loose between the two tension feed rollers at the unloading and loading ends.

[0075] like Figure 11 As shown, in a preferred installation method for the take-up and feed roller 22, support wheel sets are provided at both the front and rear ends of the material rack 21. Each support wheel set includes a drive wheel 221 and a driven wheel 222 spaced apart. The drive wheel 221 is connected to a take-up and feed drive motor 223. The take-up and feed roller 22 sits on the support wheel sets. A pressing lever 224 and a pressing bearing 225 are provided above one set of support wheel sets. The pressing bearing 225 presses down on the take-up and feed roller 22, ensuring a tight fit between the take-up and feed roller 22 and the support wheel sets, thus ensuring stable power transmission. In this way, the take-up and feed drive motor 223 transmits power to the take-up and feed roller 22 through the drive wheel 221, enabling the rotation of the take-up and feed roller 22. Furthermore, the take-up and feed roller 22 is easy to disassemble and replace; simply lifting the pressing lever 224 allows the take-up and feed roller 22 to be removed.

[0076] To prevent fabric from shifting in the front-to-back direction during fabric conveying, thus avoiding fabric twisting, a front-to-back adjustment mechanism for the material rack is provided between the frame 101 and the material rack 21. This mechanism includes a front-to-back linear guide rail 271, a front-to-back drive rack 272, a front-to-back drive gear 273, and a front-to-back drive motor 274. The front-to-back linear guide rail 271 is located between the material rack 1 and the frame. To reduce the overall weight of the material rack, the front-to-back drive motor 274 is mounted on the frame. Correspondingly, the front-to-back drive rack 272 is mounted on the material rack 1, and the front-to-back drive gear 273 is located at the output end of the motor 274 and meshes with the rack 272. Thus, the motor drives the gear to rotate, and the gear, through its meshing with the rack, moves the entire material rack back and forth along the linear guide rail.

[0077] like Figure 13As shown, the embroidery frame 102 includes four baffles and a pneumatic fabric clamping device. The four baffles are a front baffle 3100, a rear baffle 3200, a left baffle 3300, and a right baffle 3400, which together form the overall frame of the embroidery frame. In this embodiment, the fabric is conveyed in the left-right direction. Since the loading and unloading device can tension the fabric in the fabric conveying direction, but the fabric cannot be automatically tensioned in the front-back direction, this embodiment provides a horizontal baffle 3500 on the side of the rear baffle 3200 near the inside of the embroidery frame. Multiple fabric tensioning cylinders 38 are provided between the horizontal baffle 3500 and the rear baffle 3200. At the same time, a pneumatic fabric clamping device is provided on the front baffle 3100, the horizontal baffle 3500, the left baffle 3300, and the right baffle 3400 respectively. Before the fabric is clamped, the fabric tensioning cylinder 38 is in the extended state, meaning there is a gap between the crossbar 3500 and the rear bar 3200. After the fabric is clamped, the fabric tensioning cylinder 38 retracts, pulling the crossbar 3500 backward, thereby tensioning the fabric in the front-to-back direction. Of course, depending on actual needs, the crossbar 3500 can also be positioned at the front bar 3100.

[0078] like Figure 14 and 15 As shown, the pneumatic fabric clamping device is installed on one of the baffles 31 for illustration. The pneumatic fabric clamping device includes a fabric clamping cylinder 32, a drive beam 33, and fabric clamping components 34. The baffle 31 has an upwardly protruding fabric clamping structure 35 along its length. The fabric clamping components 34 have downwardly facing fabric clamping grooves 341 that cooperate with the fabric clamping structure. A fabric clamping cylinder 32 is provided at each end of the baffle 31 along its length. A drive beam 33 is provided between the two fabric clamping cylinders 32. The drive beam 33 is located above the fabric clamping structure 35. Multiple fabric clamping components 34 are provided at the lower end of the drive beam 33. The fabric clamping cylinder 32 can be set on an adjacent baffle or extended outside the baffle 31 through a pad, cylinder seat, or other structure, depending on the actual installation space requirements or the need for avoidance. The output end of the fabric clamping cylinder 32 can be upward or downward. The output end can be connected to the drive beam, or the cylinder body can be connected to the drive beam. The purpose is to drive the drive beam 33 to descend to perform the fabric clamping action and to lift it to perform the fabric loosening action.

[0079] The main working principle of this pneumatic fabric clamping device is as follows: Two clamping cylinders 32 drive the drive beam 33 to rise and fall, thereby driving multiple clamping components 34 at the lower end of the drive beam 33 to rise and fall. When descending, the clamping grooves 341 in the clamping components 34 engage with the protruding clamping structures 35, clamping the fabric between them. When rising, the clamping grooves 341 in the clamping components 34 disengage from the clamping structures 35, thus releasing the fabric between them, allowing the fabric to move or be removed. In this way, only two clamping cylinders 32 are needed to clamp an entire edge of the fabric. The drive beam 33 can generally be made of aluminum profile, resulting in lower processing costs. Therefore, this embodiment effectively reduces costs compared to existing technologies. Furthermore, since the length of the drive beam 32 covers the entire edge of the embroidered fabric, and a larger number of clamping components can be installed at the lower end of the drive beam 33, the clamping coverage of the fabric is increased, thereby improving clamping stability. Although we can set up multiple seamlessly connected fabric clamping parts 34 at the lower end of the drive beam 33 to achieve full clamping of the entire edge of the fabric, under the premise of high clamping stability, a certain gap is usually set between adjacent fabric clamping parts to reduce weight and control costs.

[0080] like Figure 16 As shown, in one specific implementation, the fabric clamping structure 35 can adopt the existing Ω-shaped fabric clamping head, and the fabric clamping component 34 can adopt the elastic fabric clamp. The fabric clamping head is provided with fabric clamping teeth. Therefore, the cooperation structure of the elastic fabric clamp and the fabric clamping head has a high clamping strength for the fabric and can be used for clamping the fabric in the direction where the fabric is easily subjected to external traction force. For example, when the fabric is conveyed in the left and right direction, it will be subjected to the traction force of the loading and unloading device in this direction. Therefore, the clamping of the left and right sides of the fabric requires a structure with high clamping strength.

[0081] To further improve the clamping stability of the structure for the fabric, a limiting member 36 is provided between the drive beam 33 and the elastic fabric clamp. The limiting member 36 extends downward and abuts against the side of the elastic fabric clamp near the embroidery frame. Specifically, the limiting member 36 is a right-angled profile, with one side connected between the elastic fabric clamp and the drive beam 33, and the other side abutting against the side of the elastic fabric clamp. This is to prevent the fabric from being pulled by the embroidery mechanism during the embroidery process and overcoming the clamping force of the elastic fabric clamp, thus preventing the fabric from shaking or even moving, thereby ensuring clamping stability.

[0082] The lower end of the drive beam 33 is provided with a T-shaped mounting groove 331 along its length. The elastic cloth clip is connected to the T-shaped mounting groove 331 by a T-shaped slider nut 371 and a bolt 372. This structure allows the elastic cloth clip to be arbitrarily adjusted in the mounting position on the drive beam 33 to improve applicability and meet different usage requirements.

[0083] like Figure 17As shown, in another specific embodiment, the fabric clamping structure 35 can be a fabric clamping strip, and the fabric clamping component 34 can be a fabric clamping block. The fabric clamping strip has at least one fabric clamping surface 351 that fits against the side wall of the fabric clamping groove 341 in the fabric clamping block to clamp the fabric. The fabric clamping strip has a simple structure and no clamping teeth, thus reducing processing costs. Simultaneously, the fabric clamping block is not elastic and will not need replacement due to weakened elasticity after prolonged use, thus reducing operating costs. Correspondingly, its clamping strength for the fabric is relatively weak, mainly suitable for clamping the fabric in directions where it is not subjected to external traction, such as when the fabric is conveyed in the left-right direction. In the front-back direction, the fabric is not subjected to traction from the loading and unloading device. Therefore, a structure with relatively weak clamping strength but lower cost can be used to clamp the front and back edges of the fabric. Of course, we can also use a structure of fabric clamping heads combined with elastic fabric clamps to clamp the four sides of the fabric.

[0084] Similarly, a T-shaped mounting groove 331 along its length can be provided at the lower end of the drive beam 33, while a T-shaped mounting block 342 is provided at the upper end of the fabric clamping block. Generally, the frictional resistance between the T-shaped mounting block 342 and the T-shaped mounting groove 331 can be increased through dimensional design, so that after the fabric clamping block is adjusted to its correct position on the drive beam 33, the frictional resistance between the two can automatically achieve positioning. Of course, bolt connections or other methods can also be used to achieve the installation and positioning of the fabric clamping block.

[0085] In addition, due to the traction force from the loading and unloading devices, a structure with higher clamping strength is generally required in the fabric conveying direction. Specifically, structures such as those used on the left (3300) and right (3400) sections can be employed. Figure 16 The structure shown, with its combination of a fabric clamp and an elastic fabric clip, ensures that the fabric is not subjected to external traction in the front-to-back direction. Therefore, it can be used on the front panel 3100 and the cross panel 3500. Figure 17 The structure shown is a combination of a fabric strip and a fabric block.

[0086] The above are merely preferred embodiments of the present invention, and are implementations based on the overall concept of the present invention. Furthermore, the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A computerized embroidery machine based on visual positioning embroidery technology, comprising a feeding device, an embroidery machine body, and a feeding device, wherein the embroidery machine body includes a frame, an embroidery frame, and an embroidery mechanism; characterized in that, The frame is equipped with a vision sensor above the embroidery frame. The embroidery mechanism includes a fixed head assembly, a fixed shuttle box assembly, an adjustable head assembly, and an adjustable shuttle box assembly. The adjustable head assembly includes a head, a left-right fine-tuning mechanism for the head, and a front-back fine-tuning mechanism for the head. The adjustable shuttle box assembly includes a shuttle box, a left-right fine-tuning mechanism for the shuttle box, and a front-back fine-tuning mechanism for the shuttle box. Both the feeding device and the unloading device include a material rack, and the following are mounted on the material rack: The feed roller releases the fabric to be embroidered or rolls up the fabric that has already been embroidered. The gravity tension tube is slidably connected to the material rack and is connected to a counterweight to provide tension. The guide roller and the take-up and unload rollers are both located on the same side of the gravity tension tube; The tensioning feed roller is slidably connected to the material rack, and a cloth pressing mechanism is provided on it. The cloth pressing mechanism works with the tensioning feed roller to press the cloth. The tensioning feed roller slides along the material rack to set the feeding stroke, so as to complete the quantitative feeding.

2. The computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The left and right fine-tuning mechanism of the machine head and the left and right fine-tuning mechanism of the shuttle box adopt the same driving method, and the front and rear fine-tuning mechanism of the machine head and the front and rear fine-tuning mechanism of the shuttle box adopt the same driving method.

3. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The material rack is provided with a front and rear adjustment mechanism between the material rack and the machine frame.

4. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, A tensioning feeding drive mechanism is provided between the material rack and the tensioning feeding roller. The tensioning feeding drive mechanism includes a tensioning feeding linear guide rail, a tensioning feeding drive motor, a tensioning feeding drive synchronous belt, and tensioning feeding drive synchronous pulleys. The two tensioning feeding synchronous pulleys are respectively located at both ends of the tensioning feeding linear guide rail. The tensioning feeding drive synchronous belt drives the tensioning feeding roller to move along the tensioning feeding linear guide rail.

5. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The fabric pressing mechanism includes a fabric pressing beam, fabric pressing cylinders, and fabric pressing blocks. The fabric pressing beam is mounted above the tensioning feed roller via a beam support. Multiple fabric pressing cylinders are mounted on the fabric pressing beam, and each fabric pressing cylinder has a fabric pressing block at its output end.

6. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The tensioning feed roller is equipped with a fabric conveying motor at its end.

7. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The material rack is equipped with support wheel sets at both the front and rear ends. Each support wheel set includes a drive wheel and a driven wheel that are spaced apart. The drive wheel is connected to a material feeding and receiving drive motor. The material feeding and receiving rollers are mounted on the support wheel sets. At least one set of support wheel sets is equipped with a pressing swing rod and a pressing bearing above it.

8. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The embroidery frame includes four baffles and a pneumatic fabric clamping device. The pneumatic fabric clamping device includes a fabric clamping cylinder, a drive beam, and fabric clamping components. Each baffle has an upwardly protruding fabric clamping structure along its length. The fabric clamping component has a downwardly facing fabric clamping groove that matches the fabric clamping structure. Each baffle has a fabric clamping cylinder at both ends along its length. A drive beam is located between two fabric clamping cylinders. The drive beam is located above the fabric clamping structure. Multiple fabric clamping components are located at the lower end of the drive beam.

9. A computerized embroidery machine based on visual positioning embroidery technology according to claim 8, characterized in that, At least one baffle along the fabric conveying direction has a horizontal bar on the side near the embroidery frame. A pneumatic fabric clamping device is located on the horizontal bar on this side. Multiple fabric tensioning cylinders are located between the horizontal bar and the baffle on this side.

10. A computerized embroidery machine based on visual positioning embroidery technology according to claim 1, characterized in that, The frame is equipped with a fixed wire frame and an adjustable wire frame, and a left-right adjustment mechanism is provided between the adjustable wire frame and the frame.

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