Sewing machine with automatic threading positioning mechanism

Abstract

The application discloses a sewing machine with an automatic threading positioning mechanism and belongs to the technical field of sewing machines, comprising a machine shell, a needle bar mechanism, a threading mechanism, a first driving device, a multi-modal perception fusion system, an anti-interference controller and a collaborative control execution mechanism; the multi-modal perception fusion system comprises a position sensing module, a tension sensing module and a visual positioning module, which are respectively used for collecting position and motion speed information of the threading assembly, wire tension numerical values and obstacle distribution and wire paths in the threading area; the anti-interference controller receives three-way sensing information and performs comprehensive interference risk assessment; the collaborative control execution mechanism comprises a motion control execution unit and a tension buffer execution unit, which are used for executing collaborative control instructions output by the anti-interference controller. The application realizes comprehensive and accurate assessment and active prevention of interference risks based on multi-source information fusion, significantly reduces the wire breakage rate in the threading process and improves the threading success rate.

Description

Technical Field

[0001] This invention belongs to the field of sewing machine technology, and in particular to a sewing machine with an automatic threading and positioning mechanism. Background Technology

[0002] As a core processing equipment in the textile and apparel industry, the level of automation of sewing machines directly affects production efficiency and processing quality. In the field of automatic threading technology, existing technologies mainly employ a protection strategy combining single-point monitoring and passive response, and have not yet formed a proactive anti-interference mechanism based on multi-dimensional information fusion.

[0003] A search revealed a sewing machine patent with publication number CN112144190A. This patent primarily relates to a needle bar rotation structure, which uses a receiving cavity in the machine head to position the upper end of the needle bar for thread insertion. It also adjusts the circumferential angle of the needle bar during sewing to prevent thread tangling. However, the core of this technical solution lies in addressing thread tangling and sewing trajectory matching issues, rather than a dedicated automatic threading and positioning mechanism. It only provides the spatial conditions for threading within the receiving cavity but lacks an automated guidance and precise positioning mechanism for the threading process, failing to achieve automatic planning and real-time adjustment of the threading path. Furthermore, the threading action in this solution still requires manual intervention, failing to meet the demands of efficient automated production.

[0004] A search revealed a sewing machine patent with publication number CN1906343B. This patent uses a retaining component downstream of the thread take-up lever to prevent the thread from slipping out of the needle eye when the machine is not in operation. Its technical solution primarily focuses on maintaining the thread's position after threading, rather than automating the threading process. The retaining component's function is to secure the thread when the sewing machine stops, preventing accidental loosening, but this is fundamentally different from the active guidance and precise control functions of an automatic threading and positioning mechanism. This technical solution cannot achieve real-time monitoring, path planning, and automatic adjustment during the threading process.

[0005] Both of the existing technical solutions cited in the above search have shortcomings, such as: (1) neither involves automated guidance and precise positioning of the threading process, and lacks the ability to intelligently plan and adjust the threading path in real time; (2) neither can achieve multi-dimensional information fusion and active anti-interference during the threading process; (3) neither has the ability to recognize and actively intervene in the intrinsic relationship between the threading trajectory and tension changes. Therefore, existing sewing machine technology is difficult to meet the needs of automated threading positioning. This invention provides a sewing machine with an automatic threading positioning mechanism, aiming to solve the above technical problems and improve threading efficiency and automation. Summary of the Invention

[0006] The purpose of this invention is to provide a sewing machine with an automatic threading and positioning mechanism to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a sewing machine with an automatic threading and positioning mechanism, comprising a machine housing, a needle bar mechanism mounted on the machine housing, a threading mechanism disposed on one side of the needle bar mechanism, and a first driving device for driving the threading mechanism to move. The threading mechanism includes a threading component and a threading guide structure. The sewing machine is further provided with a multimodal perception fusion system, an anti-interference controller, and a collaborative control execution mechanism. The multimodal perception fusion system includes a position sensing module, a tension sensing module, and a visual positioning module. The position sensing module is disposed on the motion guide rail of the threading mechanism and is used to collect the position information and movement speed information of the threading component in real time. The tension... A sensing module is installed at the wire channel entrance of the threading guide structure to continuously monitor the wire tension during threading. A visual positioning module is positioned above the threading work area to monitor the distribution of obstacles and the wire path in real time. An anti-interference controller is electrically connected to the position sensing module, tension sensing module, visual positioning module, and collaborative control actuator to receive information from the three sensors and perform a comprehensive interference risk assessment. The collaborative control actuator includes a motion control actuator and a tension buffer actuator. The anti-interference controller outputs collaborative control commands to the motion control actuator and tension buffer actuator based on the interference risk calculation results.

[0008] Preferably, the position sensing module includes a first position sensor and a second position sensor disposed on the threading guide rail; the first position sensor is disposed at the initial position of the threading assembly and is used to detect the reset state of the threading assembly; the second position sensor is disposed at intervals along the threading movement direction at multiple key nodes of the threading guide rail and is used to detect the position information of the threading assembly when it reaches each key node and the instantaneous speed when it passes through each key node; each position sensor is electrically connected to the first input interface of the anti-interference controller through a signal cable.

[0009] Preferably, the tension sensing module includes a tension sensor body and a signal amplification circuit; the tension sensor body is disposed at the entrance of the wire channel of the wire guiding structure, and its pressure sensing element is tangentially disposed to the wire's travel path; the signal amplification circuit is disposed on the signal transmission path between the tension sensor body and the anti-interference controller, and is used to amplify the weak electrical signal of the tension sensor body to a voltage range that the anti-interference controller can recognize; the output terminal of the tension sensor body is electrically connected to the second input interface of the anti-interference controller through the signal amplification circuit.

[0010] Preferably, the visual positioning module includes an industrial camera, an image acquisition card, and an image processing unit; the industrial camera is positioned above the threading work area, with its optical axis pointing vertically towards the needle plate plane; the image acquisition card is positioned between the industrial camera and the image processing unit, used to convert the analog image signals acquired by the industrial camera into digital image data; the image processing unit is located inside the anti-interference controller or connected to the anti-interference controller via a communication bus, used to preprocess the digital image data to identify the outlines of obstacles and the trajectory of the wire in the threading area; the output end of the image processing unit is electrically connected to the third input interface of the anti-interference controller.

[0011] Preferably, the anti-interference controller includes a data fusion unit, an interference risk assessment unit, a protection command generation unit, and a communication management unit; the data fusion unit receives sensing data from the position sensing module, tension sensing module, and visual positioning module, respectively, and performs time alignment and format standardization processing on the heterogeneous data; the interference risk assessment unit calculates the interference risk coefficient based on the fused multidimensional data; the protection command generation unit generates corresponding protection commands based on the comparison result of the interference risk coefficient and a preset threshold; the communication management unit is responsible for command transmission and status feedback with the collaborative control execution mechanism.

[0012] Preferably, the interference risk assessment unit has a built-in motion space model and an interference prediction algorithm; the motion space model establishes a three-dimensional motion space coordinate system for the threading assembly, in which the spatial position coordinates of obstacles such as the needle plate edge, presser foot position, and wire tube outlet are pre-calibrated; the interference prediction algorithm predicts the probability of the threading assembly interfering with each obstacle within a preset prediction time domain based on the real-time position coordinates, motion direction vector, instantaneous velocity value, and tension change rate of the threading assembly.

[0013] Preferably, the formula for calculating the interference risk coefficient by the interference risk assessment unit is:

[0014] in, Let D be the interference risk coefficient, V be the distance risk factor, T be the velocity risk factor, T be the tension risk factor, and P be the prediction risk factor. These are the weighting coefficients for each risk factor.

[0015] Preferably, the motion control execution unit of the collaborative control actuator includes a servo driver and a first electromagnetic clutch; the servo driver is electrically connected to the drive motor of the first drive device and is used to control the feed speed of the threading mechanism; the first electromagnetic clutch is disposed on the power transmission path between the drive motor and the threading mechanism and is used to immediately cut off the power transmission when an emergency stop command is received; both the servo driver and the first electromagnetic clutch are electrically connected to the first output interface of the anti-interference controller.

[0016] Preferably, the tension buffer execution unit of the coordinated control actuator includes a tension adjusting device and a tension releasing device; the tension adjusting device includes a tension wheel, a tension adjusting arm, and an adjusting spring disposed on the tension adjusting arm; the tension releasing device includes a second electromagnetic clutch and a damping switching mechanism; the tension wheel of the tension adjusting device is disposed within the wire channel for applying a basic tension to the wire; the tension releasing device is disposed on the wire path between the tension adjusting device and the wire threading guide structure; the second electromagnetic clutch of the tension releasing device is electrically connected to the second output interface of the anti-interference controller for disengaging the tension adjusting device from the wire upon receiving a tension release command; the damping switching mechanism is electrically connected to the third output interface of the anti-interference controller for increasing the damping of the wire passing through the tension releasing device upon receiving a damping increase command.

[0017] Preferably, it also includes a display operation unit, which is disposed on the operation panel of the sewing machine and includes a display screen and a touch operation area; the display screen is used to display the real-time status of the threading process, the monitoring values ​​of each sensor module, a visual chart of the interference risk coefficient, and the historical record of protective actions; the touch operation area is used by the operator to set the values ​​of each preset threshold, switch the threading mode, start or stop the threading action, and query the historical record.

[0018] Compared with the prior art, the technical effects and advantages of the present invention are as follows: This sewing machine with an automatic threading and positioning mechanism deeply integrates position sensing information, tension sensing information, and visual positioning information through a multi-modal perception fusion system. This constructs a comprehensive interference risk assessment model based on multi-source information fusion, overcoming the limitations of single-sensor judgment and achieving a comprehensive and accurate assessment of interference risk. By establishing a motion space model and interference prediction algorithm, it predicts future interference risks based on the real-time position, direction, and speed of the threading component, as well as the rate of tension change. This triggers protective actions before actual interference occurs, achieving a paradigm shift from passive response to proactive prevention. Through coordinated control and execution mechanisms that synchronously output motion control commands and tension buffering commands, it simultaneously reduces mechanical impact and thread tension, forming a multi-level tension buffering protection mechanism to prevent thread breakage caused by abnormal tension fluctuations. Furthermore, by setting multi-level risk thresholds, it achieves graded protection, making the protection strategy more refined and user-friendly.

[0019] The self-learning calibration module can automatically adjust the interference risk assessment parameters according to the standard threading process, improving the system's adaptability to different threading conditions and usage environments; the remote communication module enables the monitoring data of the threading process to be uploaded to the host computer or cloud server, facilitating digital management and remote operation and maintenance of the production process; the display operation unit provides an intuitive interface for human-computer interaction, allowing operators to understand the threading status in real time and flexibly set protection parameters.

[0020] The anti-interference controller uses an embedded industrial control chip as its core processing unit. This chip has high-speed computing power and multi-channel parallel processing capabilities, which can meet the requirements of real-time fusion of multimodal sensing data and rapid calculation of interference risk coefficients. The software system of the anti-interference controller adopts a real-time operating system, which ensures timely response and execution of protection commands.

[0021] The technical solution of this invention realizes full-process monitoring and protection of the threading process. From the start of the threading component to the completion of the threading action, the anti-interference controller continuously performs interference risk assessment and dynamically adjusts the protection strategy according to the assessment results, forming a closed-loop active anti-interference protection system. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a block diagram of the multimodal sensing fusion system of the present invention; Figure 3 This is a block diagram of the internal functional modules of the anti-interference controller of the present invention; Figure 4 This is a schematic diagram of the threading mechanism of the present invention; Figure 5 This is a structural block diagram of the collaborative control actuator of the present invention; Figure 6 This is a schematic diagram of the working state of the present invention; Figure 7 This is a flowchart of the multimodal sensing fusion system of the present invention; Figure 8 This is a flowchart of a sewing machine with an automatic threading and positioning mechanism according to the present invention.

[0024] The attached figures are labeled as follows: 1. Housing; 2. Needle bar mechanism; 3. Threading mechanism; 4. First driving device; 5. Threading assembly; 6. Threading guide structure; 7. Multimodal perception fusion system; 8. Anti-interference controller; 9. Cooperative control execution mechanism; 10. Position sensing module; 11. Tension sensing module; 12. Visual positioning module; 13. Motion control execution unit; 14. Tension buffer execution unit; 15. First position sensor; 16. Second position sensor; 17. Tension sensor body; 18. Signal amplification circuit; 19. Industrial camera; 20. Image acquisition card; 21. Image processing unit; 22. Data fusion unit; 23. Interference risk assessment unit; 24. Protection command generation unit; 25. Communication management unit; 26. Motion space model; 27. Interference prediction algorithm; 28. Servo driver; 29. ​​First electromagnetic clutch; 30. Tension sensor. 31. Force adjustment device; 32. Tension release device; 33. Tension wheel; 34. Tension adjustment arm; 35. Adjustment spring; 36. Second electromagnetic clutch; 37. Damping switching mechanism; 38. Tension sensor mounting base; 39. Audible and visual alarm device; 40. Data preprocessing unit; 41. First filtering module; 42. Second filtering module; 43. Clock synchronization module; 44. Self-learning calibration module; 45. Standard threading trajectory learning unit; 46. Threshold optimization unit; 47. Wire characteristic identification unit; 48. Remote communication module; 49. Display and operation unit; 50. Linear guide pair; 51. Ball screw pair; 52. Threading hook; 53. Conductor tube; 54. Anti-shake mechanism; 55. Fixed tube body; 56. Elastic bushing; 57. Tension feedback loop; 58. Backup power supply; 59. Complementary lighting device; 60. Main servo drive system; Detailed Implementation

[0025] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0026] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0027] This embodiment provides, for example Figures 1 to 8 The sewing machine shown has an automatic threading and positioning mechanism. Its overall system architecture includes a housing 1, a needle bar mechanism 2 mounted on the housing 1, a threading mechanism 3 located on one side of the needle bar mechanism 2, a first drive device 4 for driving the threading mechanism 3 to move, a multimodal perception fusion system 7, an anti-interference controller 8, and a cooperative control execution mechanism 9.

[0028] In this embodiment, the housing 1 is integrally molded from high-strength aluminum alloy, and its interior is equipped with mounting brackets and wiring channels for installing various functional modules. The front of the housing 1 has an operation panel area, where the display operation unit 48 is installed. Operators can set parameters and control actions via the touch control area. The top of the housing 1 has a mounting position for the needle bar mechanism 2, which can reciprocate vertically to complete the sewing action. The threading mechanism 3 is located on one side of the needle bar mechanism 2, and its direction of movement is parallel to the needle bar direction.

[0029] In this embodiment, the threading mechanism 3 employs a combination structure of linear guide pair 49 and ball screw pair 50 to achieve precise linear reciprocating motion. The linear guide pair 49 is mounted on the mounting bracket of the housing 1 and includes a guide rail and a slider. The guide rail is made of high-precision steel rail that has undergone quenching treatment. The slider has a built-in ball retainer and a circulating ball bearing. The slider is fixedly connected to the mounting base of the threading assembly 5. The ball screw pair 50 is fixedly connected to the output shaft of the drive motor of the first drive device 4 via a coupling, and the screw nut is fixedly connected to the mounting base of the threading assembly 5. The drive motor is a servo motor, and the rotational motion of its output shaft is converted into the linear reciprocating motion of the threading assembly 5 through the ball screw pair 50. The lead of the ball screw pair 50 is set to 10 mm, and the screw diameter is set to 12 mm, which meets the motion accuracy requirements of the threading assembly 5.

[0030] In this embodiment, the threading assembly 5 includes two core components: a threading hook 51 and a guide tube 52. The threading hook 51 is located at the end of the threading assembly 5 and is precision-machined from high-hardness stainless steel. The hook tip angle is set to 35 degrees, and the hook tip radius is set to 0.15 mm, ensuring reliable thread hooking. The guide tube 52 is located behind the threading hook 51. Its body is made of thin-walled stainless steel tubing with an adjustable inner diameter of 1.2 mm to 2.0 mm and a wall thickness of 0.3 mm. An anti-shake mechanism 53 is provided at the outlet end of the guide tube 52. This anti-shake mechanism 53 includes a fixed tube body 54 and an elastic bushing 55 disposed inside the fixed tube body 54. The front end of the fixed tube body 54 is threadedly connected to the outlet end of the guide tube 52. The inner diameter of the fixed tube body 54 is 0.2 mm larger than the inner diameter of the guide tube 52 to accommodate the elastic bushing 55. The flexible bushing 55 is made of silicone material, with an inner diameter slightly larger than the wire diameter by 0.05 mm to 0.10 mm, and a length of 15 mm. When the wire passes through the flexible bushing 55, it generates radial clamping force, effectively suppressing lateral jitter generated during high-speed movement. The Shore hardness of the flexible bushing 55 is set to A45 to A55 degrees, ensuring sufficient damping without damaging the wire.

[0031] In this embodiment, the threading guide structure 6 is disposed on the movement path of the threading assembly 5 for guiding and tension adjustment of the thread. The threading guide structure 6 includes a guide tube 52, a tension adjustment device 30, and a tension release device 31. The tension adjustment device 30 is disposed at the inlet of the thread channel of the threading guide structure 6 and includes a tension wheel 32, a tension adjustment arm 33, an adjustment spring 34, and a tension sensor mounting base 37. The tension wheel 32 is made of polyurethane material, with a wheel diameter of 30 mm and a wheel width of 8 mm. The tension wheel 32 is mounted on the end of the tension adjustment arm 33 via a bearing. The middle part of the tension adjustment arm 33 is hinged to the mounting base via a pivot. One end of the adjustment spring 34 is fixed to the other end of the tension adjustment arm 33, and the other end is fixed to the adjustment spring mounting base. The clamping force of the tension wheel 32 on the thread can be adjusted by adjusting the compression of the spring 34. The tension sensor mounting base 37 is fixedly mounted on the base of the tension adjustment device 30, and has a mounting hole. The tension sensor body 17 of the tension sensing module 11 is embedded in the mounting hole, so that the pressure sensing element of the tension sensor body 17 is in tangential contact with the wire after passing through the tension wheel 32.

[0032] In this embodiment, the tension release device 31 is disposed on the wire path between the tension adjusting device 30 and the outlet of the threading guide structure 6, and includes a second electromagnetic clutch 35 and a damping switching mechanism 36. The second electromagnetic clutch 35 is disposed at the engagement point between the tension adjusting device 30 and the wire. When the anti-interference controller 8 issues a tension release command, the second electromagnetic clutch 35 actuates to disengage the tension adjusting device 30 from the wire, and the wire is in a free and relaxed state. The damping switching mechanism 36 is disposed on the wire outlet side of the second electromagnetic clutch 35, and has an adjustable damping channel inside. When the anti-interference controller 8 issues a damping increase command, the damping switching mechanism 36 adjusts the flow area of ​​the damping channel to increase the damping of the wire passing through the tension release device 31 to a preset value.

[0033] In this embodiment, the multimodal perception fusion system 7 includes three sensing units: a position sensing module 10, a tension sensing module 11, and a visual positioning module 12. The detailed structure of each sensing unit and its signal transmission connection with the anti-interference controller 8 are as follows: Figure 2 As shown.

[0034] In this embodiment, the position sensing module 10 is mounted on the motion guide rail of the threading mechanism 3 to collect the position and speed information of the threading assembly 5 in real time. The position sensing module 10 includes a first position sensor 15 and a second position sensor 16. The first position sensor 15 is a photoelectric proximity switch, positioned at the initial position of the threading assembly 5, used to detect the reset state of the threading assembly 5. When the threading assembly 5 returns to its initial position, the first position sensor 15 outputs a reset completion signal to the anti-interference controller 8. The second position sensor 16 is an incremental photoelectric encoder, spaced at multiple key nodes along the threading direction, used to detect the position information of the threading assembly 5 at each key node and its instantaneous speed when passing through each key node. The incremental photoelectric encoder has a resolution of 100 pulses per millimeter, corresponding to a position resolution better than 0.01 millimeters, which meets the requirements for precise positioning of the threading assembly 5. The encoder's signal output is electrically connected to the first input interface of the anti-interference controller 8 via a signal cable. The signal transmission uses a differential signal method to effectively suppress electromagnetic interference during transmission.

[0035] In this embodiment, the tension sensing module 11 is located at the entrance of the wire channel of the threading guide structure 6 to continuously monitor the tension value of the wire during threading. The tension sensing module 11 includes a tension sensor body 17 and a signal amplification circuit 18. The tension sensor body 17 is a strain gauge tension sensor, with its pressure-sensing element tangentially positioned to the wire's path. When the wire exerts pressure on the pressure-sensing element, the strain gauge deforms, causing a change in resistance. The range of the tension sensor body 17 is set to 0 to 50 Newtons, with a measurement accuracy better than 0.1 Newtons, enabling sensitive detection of minute changes in wire tension. The signal amplification circuit 18 is located on the signal transmission path between the tension sensor body 17 and the anti-interference controller 8. It uses a low-noise instrumentation amplifier chip to amplify the weak electrical signal from the tension sensor body 17 to a voltage range recognizable by the anti-interference controller 8. The amplification factor of the signal amplification circuit 18 is adjustable from 100 to 500 times and is calibrated according to the actual tension measurement range. The output terminal of the tension sensor body 17 is electrically connected to the second input interface of the anti-interference controller 8 through the signal amplification circuit 18.

[0036] In this embodiment, the visual positioning module 12 is positioned above the threading work area to monitor the distribution of obstacles and the wire path within the threading area in real time. The visual positioning module 12 includes an industrial camera 19, an image acquisition card 20, and an image processing unit 21. The industrial camera 19 is a high-resolution industrial CCD camera, positioned above the threading work area, with its optical axis pointing vertically to the needle plate plane, and its viewing angle covering the entire threading work area. The industrial camera 19 has a resolution of 1280×1024 pixels and a frame rate of 60 frames per second, which meets the requirements for real-time monitoring. The image acquisition card 20 is positioned between the industrial camera 19 and the image processing unit 21, using a high-speed image acquisition card to convert the analog image signals acquired by the industrial camera 19 into digital image data. The image processing unit 21 uses an embedded image processing chip, located inside the anti-interference controller 8 or connected to the anti-interference controller 8 via a high-speed communication bus, to preprocess the digital image data to identify the outlines of obstacles and the wire trajectory within the threading area. Image processing unit 21 uses edge detection and template matching algorithms to identify obstacles within the threading area. The edge detection algorithm extracts the contour features of obstacles in the image, while the template matching algorithm compares the extracted contour features with pre-stored obstacle templates to confirm the type and location of the obstacles. Image processing unit 21 converts the identified obstacle location information into three-dimensional spatial coordinates and transmits it to anti-interference controller 8. Visual positioning module 12 is also equipped with a supplementary lighting device 58, which is positioned around industrial camera 19 and includes multiple high-brightness LED light sources. The supplementary lighting device 58 automatically adjusts the light intensity according to the brightness of the threading area to ensure that industrial camera 19 can acquire clear image data under various lighting conditions.

[0037] In this embodiment, the anti-interference controller 8 is the core processing unit of the entire system, and its internal functional module structure is as follows: Figure 3 As shown, the anti-interference controller 8 includes a data fusion unit 22, an interference risk assessment unit 23, a protection command generation unit 24, and a communication management unit 25. The anti-interference controller 8 uses an embedded industrial control chip as its core processing unit. This chip has high-speed computing power and multi-channel parallel processing capabilities, with a main frequency set to 800 MHz. It is equipped with a multi-channel high-speed ADC and a communication interface, enabling it to meet the requirements of real-time fusion of multimodal sensor data and rapid calculation of interference risk coefficients. The software system of the anti-interference controller 8 adopts a real-time operating system to ensure timely response and execution of protection commands. The task scheduling cycle of the real-time operating system is set to 1 millisecond.

[0038] In this embodiment, the data fusion unit 22 receives sensing data from the position sensing module 10, the tension sensing module 11, and the visual positioning module 12, respectively, and performs time alignment and format standardization processing on the heterogeneous data. The data fusion unit 22 internally includes a data preprocessing unit 39, which comprises a first filtering module 40, a second filtering module 41, and a clock synchronization module 42. The first filtering module 40 is located between the position sensing module 10 and the anti-interference controller 8, and uses a Kalman filter algorithm to filter the displacement and velocity data collected by the position sensing module 10, effectively reducing measurement noise. The second filtering module 41 is located between the tension sensing module 11 and the anti-interference controller 8, and uses a Kalman filter algorithm to filter the tension data collected by the tension sensing module 11, reducing measurement noise and errors caused by timing asynchrony. The clock synchronization module 42 provides a unified time reference for each sensing module and the anti-interference controller 8, ensuring that the data collected by each sensing module has the same timestamp, with a time synchronization accuracy better than 0.5 milliseconds.

[0039] In this embodiment, the interference risk assessment unit 23 calculates the interference risk coefficient based on the fused multidimensional data. The interference risk assessment unit 23 incorporates a motion space model 26 and an interference prediction algorithm 27. The motion space model 26 establishes a three-dimensional motion space coordinate system for the threading assembly 5, using a three-dimensional rectangular coordinate system model. Its X-axis is parallel to the needle bar direction, its Y-axis is parallel to the presser foot direction, and its Z-axis is perpendicular to the needle plate plane and pointing upwards. The spatial coordinates of obstacles such as the needle plate edge, presser foot position, and wire tube 52 outlet are pre-calibrated in this coordinate system, with the center of the needle hole as the origin. The position coordinates of the threading assembly 5 are updated in real time using linear displacement values ​​collected by the position sensing module 10.

[0040] In this embodiment, the interference prediction algorithm 27 adopts a risk assessment model based on time-domain prediction, and its prediction time domain is twice the movement time required from the current position of the threading component 5 to the next critical node. The risk assessment model comprehensively considers the following parameters: the current distance between the threading component 5 and the nearest obstacle, the angle between the current movement velocity vector of the threading component 5 and the obstacle position vector, the current rate of change of the wire tension, and the historical trend curve characteristics of the rate of change of the wire tension.

[0041] The expression for calculating the interference risk coefficient in Interference Risk Assessment Unit 23 is as follows:

[0042] in, Let D be the interference risk coefficient, V be the distance risk factor, T be the velocity risk factor, T be the tension risk factor, and P be the prediction risk factor. These are the weighting coefficients corresponding to each risk factor. The weighting coefficients for each risk factor are determined based on the specific structural parameters of the threading mechanism 3 and the physical characteristics of the wire.

[0043] The formula for calculating the distance risk factor D is:

[0044] Where d is the actual distance between the threading assembly 5 and the nearest obstacle, and d_max is the pre-calibrated maximum safe distance.

[0045] Speed ​​risk factor The calculation formula is:

[0046] in, The current speed of the threading assembly 5 The angle between the velocity vector and the obstacle position vector is... This is the maximum permissible speed of the threading mechanism 3.

[0047] The formula for calculating the tension risk factor T is:

[0048] in, F_max represents the current rate of change of wire tension, and F_max represents the maximum permissible rate of change of wire tension.

[0049] The formula for calculating the predictive risk factor P is:

[0050] Where t_pred is the motion time in the prediction time domain, a is the acceleration of the threading component 5, and v is the current motion speed.

[0051] The change in wire tension can be described by the following dynamic formula:

[0052] in, For the wire tension that varies over time, For the initial tension, is the elastic stiffness coefficient of the wire. For the displacement of the wire, The damping coefficient is... The deformation rate of the wire.

[0053] The motion control of the threading assembly 5 can be achieved using the following control law: v_desired=v_base

[0054] in, desired is the desired speed of motion. base is the basic motion speed. R is the speed adjustment coefficient, and R is the interference risk coefficient.

[0055] In this embodiment, the protection command generation unit 24 generates corresponding protection commands based on the comparison result between the interference risk coefficient and the preset threshold. The first preset threshold is set to a value range of 0.60 to 0.75, the second preset threshold is set to a value range of 0.80 to 0.90, and the third preset threshold is set to a value range of 0.92 to 1.00. The specific values ​​of each preset threshold are determined according to the specific structural parameters of the threading mechanism 3 and the physical characteristics of the wire. The communication management unit 25 is responsible for command transmission and status feedback with the cooperative control execution mechanism 9, and uses a high-speed communication bus to realize real-time transmission of commands.

[0056] In this embodiment, the collaborative control actuator 9 includes a motion control actuator 13 and a tension buffer actuator 14. Their detailed composition and command transmission connection with the anti-interference controller 8 are as follows: Figure 5 As shown.

[0057] In this embodiment, the motion control execution unit 13 includes a servo driver 28 and a first electromagnetic clutch 29. The servo driver 28 is electrically connected to the drive motor of the first drive device 4, and uses a vector control algorithm to control the speed and torque of the drive motor, thereby achieving precise control of the feed speed of the threading mechanism 3. The first electromagnetic clutch 29 is located on the power transmission path between the drive motor and the threading mechanism 3, and uses the electromagnetic power-off braking principle to immediately cut off power transmission when an emergency stop command is received. Both the servo driver 28 and the first electromagnetic clutch 29 are electrically connected to the first output interface of the anti-interference controller 8.

[0058] In this embodiment, the tension buffer execution unit 14 includes a tension adjusting device 30 and a tension releasing device 31. The tension adjusting device 30 includes a tension wheel 32, a tension adjusting arm 33, and an adjusting spring 34 disposed on the tension adjusting arm 33. The tension releasing device 31 includes a second electromagnetic clutch 35 and a damping switching mechanism 36. The tension wheel 32 of the tension adjusting device 30 is disposed within the wire channel and is used to apply a basic tension to the wire. The tension releasing device 31 is disposed on the wire path between the tension adjusting device 30 and the wire guiding structure 6. The second electromagnetic clutch 35 of the tension releasing device 31 is electrically connected to the second output interface of the anti-interference controller 8 and is used to disengage the tension adjusting device 30 from the wire when a tension release command is received. The damping switching mechanism 36 is electrically connected to the third output interface of the anti-interference controller 8 and is used to increase the damping of the wire passing through the tension releasing device 31 when a damping increase command is received. The tension buffer execution unit 14 is also equipped with a tension feedback loop 56, which feeds back the tension data collected in real time by the tension sensing module 11 to the anti-interference controller 8, forming a closed-loop control. The anti-interference controller 8 dynamically adjusts the action parameters of the tension buffer execution unit 14 according to the tension feedback data, thereby achieving precise tension control.

[0059] In this embodiment, the collaborative control actuator 9 adopts a redundant design, and the motion control actuator 13 is equipped with two sets of servo drive systems, including a main servo drive system 59 and a backup servo drive system 60. During normal operation, the main servo drive system 59 is in operation, while the backup servo drive system 60 is in hot standby mode. When the main servo drive system 59 fails, the anti-interference controller 8 automatically switches to the backup servo drive system 60, achieving uninterrupted protection.

[0060] In this embodiment, when the interference risk coefficient is between a first preset threshold and a second preset threshold, the protection command generation unit 24 generates a warning command and a speed reduction command. The warning command issues a prompt signal through the audible and visual alarm device 38, which includes a high-brightness LED indicator and a buzzer. The LED indicator emits a yellow flashing signal, and the buzzer emits an intermittent alarm sound. The speed reduction command is transmitted to the servo driver 28, causing the feed speed of the threading mechanism 3 to decrease to a preset speed reduction value, which is set to 30% to 50% of the normal feed speed.

[0061] In this embodiment, when the interference risk coefficient reaches or exceeds the second preset threshold but is lower than the third preset threshold, the protection command generation unit 24 generates a pause command and a damping increase command. The pause command is simultaneously transmitted to the servo driver 28 and the first electromagnetic clutch 29, causing the feed motion of the threading mechanism 3 to stop immediately. The damping increase command is transmitted to the damping switching mechanism 36 of the tension buffer execution unit 14, increasing the damping of the wire passing through the tension release device 31 to a preset damping increase value, which is set to 200% to 300% of the initial damping value.

[0062] In this embodiment, when the interference risk coefficient reaches or exceeds the third preset threshold, the protection command generation unit 24 generates an emergency stop command, a tension release command, and an alarm command. The emergency stop command is transmitted to the first electromagnetic clutch 29, which disengages within 5 milliseconds, immediately cutting off the power transmission between the drive motor and the threading mechanism 3. The tension release command is transmitted to the second electromagnetic clutch 35 of the tension release device 31, causing the tension adjusting device 30 to disengage from the wire, leaving the wire in a free and relaxed state. The alarm command is transmitted to the audible and visual alarm device 38, triggering an audible and visual alarm. The LED indicator flashes red, and the buzzer emits a continuous alarm sound, awaiting manual intervention.

[0063] In this embodiment, the coordinated control actuator 9 follows the following timing logic when performing protective actions: At the first time node, the anti-interference controller 8 sends motion control commands to the servo driver 28 and the first electromagnetic clutch 29 to pause or stop the feeding motion of the threading mechanism 3; at the second time node, the anti-interference controller 8 sends a tension adjustment command to the tension buffer actuator 14 to initiate damping increase or tension release actions. The time interval between the first and second time nodes does not exceed 10 milliseconds.

[0064] This embodiment also includes a self-learning calibration module 43, located inside the anti-interference controller 8, for automatic calibration after the threading mechanism 3 is first installed or the wire type is changed. The self-learning calibration module 43 includes a standard threading trajectory learning unit 44, a threshold optimization unit 45, and a wire characteristic identification unit 46. The standard threading trajectory learning unit 44 records the complete motion trajectory of the threading component 5 during the standard threading process, the position data of each key node, and the tension change curve, serving as a reference benchmark for subsequent interference risk assessment. The threshold optimization unit 45 automatically adjusts the weight coefficients of each risk factor and the values ​​of each preset threshold based on the distribution characteristics of each parameter during the standard threading process. The wire characteristic identification unit 46 automatically identifies the physical characteristic parameters of the wire, such as the elastic modulus, wire diameter, and surface friction coefficient, based on the tension change data collected at the initial stage of threading, and adjusts the calculation parameters of the tension risk factor in the interference risk assessment unit 23 according to the identified wire characteristic parameters to adapt to the threading protection requirements of different wire specifications.

[0065] In this embodiment, a remote communication module 47 is also included, which is located inside the anti-interference controller 8 or connected to the anti-interference controller 8 via a communication interface. This module uploads real-time monitoring data, interference risk assessment results, and protection action records during the threading process to a host computer or cloud server. The remote communication module 47 supports both wired Ethernet and wireless WiFi communication. The wired Ethernet uses a transmission rate of 100 Mbps, and the wireless WiFi uses the 802.11n protocol. The host computer or cloud server is equipped with a data analysis platform. This platform analyzes and processes the received threading process data, generating a threading quality report and equipment maintenance recommendations. The threading quality report includes statistical indicators such as threading success rate, average threading time, number of tension anomaly events, and number of protection action triggers. The equipment maintenance recommendations predict potential wear parts of the threading mechanism 3 and the next maintenance time based on historical data trends of tension anomaly events and protection actions.

[0066] This embodiment also includes a display operation unit 48, located on the sewing machine's control panel, comprising a display screen and a touch operation area. The display screen is a 7-inch TFT LCD screen with a resolution of 800×480 pixels, used to display the real-time status of the threading process, monitoring values ​​from each sensor module, a visual chart of the interference risk coefficient, and historical records of protective actions. The touch operation area is a capacitive touchscreen supporting multi-touch operation, used by the operator to set preset threshold values, switch threading modes, start or stop threading actions, and query historical records. The display operation unit 48 supports custom parameter settings; the operator can input custom values ​​for preset thresholds through the touch operation area. The system automatically verifies the validity of the input values ​​and updates the threshold parameters stored in the anti-interference controller 8. The validity verification includes value range verification and logical consistency verification.

[0067] In this embodiment, a backup power supply 57 is also provided. The backup power supply 57 is located inside the sewing machine housing 1 and is electrically connected to the anti-interference controller 8 and the collaborative control actuator 9. The backup power supply 57 uses a lithium battery pack with a capacity of 2000 mAh and an output voltage of 24V DC. When the external power supply is interrupted, the backup power supply 57 automatically switches to the working state, providing continuous power to the anti-interference controller 8 and the collaborative control actuator 9, ensuring that the ongoing threading action can be safely stopped and preventing damage to the mechanism due to sudden power failure. The switching time of the backup power supply 57 is less than 1 millisecond, enabling seamless switching.

[0068] Working principle: Step 1: System initialization. The anti-interference controller 8 performs a power-on self-test, and each sensor module enters the working state. The display operation unit 48 displays a ready prompt. Step two: The operator initiates the threading action through the display operation unit 48, and the threading component 5 begins to move along the predetermined trajectory; Step 3: The position sensing module 10 collects the position and speed data of the threading component 5 in real time, the tension sensing module 11 collects the tension data of the wire in real time, and the visual positioning module 12 collects the obstacle distribution data of the threading area in real time. After processing by the data preprocessing unit 39, the data is transmitted to the anti-interference controller 8. Step 4: The anti-interference controller 8 calculates the interference risk coefficient based on the motion space model 26 and the interference prediction algorithm 27; Step 5: The anti-interference controller 8 compares the calculated interference risk coefficient with each preset threshold and generates corresponding protection instructions based on the comparison results. Step six: The collaborative control actuator 9 receives the protection command and executes the corresponding protection action; Step seven: After the threading action is completed, the system enters standby mode, waiting for the next threading command. In step three, when any sensor module experiences data abnormality or communication failure, the anti-interference controller 8 immediately triggers the fault protection action, suspends the movement of the threading mechanism 3, issues a fault alarm signal, and records the fault information in the historical record.

[0069] Example 1 This embodiment uses a fully automatic single-needle sewing machine employing the technical solution of this invention as the test object. The thread used is 60-gauge polyester sewing thread with a diameter of 0.7 mm and an elastic modulus of 5000 MPa. The threading mechanism 3 adopts a combination structure of linear guide pair 49 and ball screw pair 50, with a lead of 10 mm and a screw diameter of 12 mm. The position sensing module 10 uses an incremental photoelectric encoder with a resolution set to 100 pulses per millimeter. The tension sensing module 11 uses a strain gauge tension sensor with a range of 0 to 50 Newtons and a measurement accuracy of 0.1 Newtons. The visual positioning module 12 uses a 1280×1024 pixel industrial CCD camera with a frame rate of 60 frames per second. The preset thresholds of the anti-interference controller 8 are set as follows: first threshold 0.70, second threshold 0.85, and third threshold 0.95.

[0070] In standard threading mode, the feed speed of threading mechanism 3 is set to 80 mm per second. Threading assembly 5 starts from its initial position and moves towards the needle hole along a predetermined trajectory. During threading, position sensing module 10 collects real-time position and velocity data of threading assembly 5 at a sampling frequency of 500 Hz. Tension sensing module 11 collects real-time tension data of the thread at a sampling frequency of 500 Hz. Visual positioning module 12 collects real-time image data of the threading area at a sampling frequency of 60 frames per second. All sensor data are filtered and time-synchronized by data preprocessing unit 39 before being transmitted to anti-interference controller 8.

[0071] The anti-interference controller 8 calculates the interference risk coefficient in real time based on the motion space model 26 and the interference prediction algorithm 27. During normal threading, the minimum distance between the threading assembly 5 and the obstacle is maintained above 15 mm, the movement speed is stable, the tension fluctuation range is controlled within ±5 Newtons, and the interference risk coefficient is always below 0.60, maintaining normal threading operation. When the threading assembly 5 moves close to the needle hole area, due to the narrowing of the motion space, the position sensing module 10 detects that the distance between the threading assembly 5 and the edge of the needle plate has decreased to 8 mm, while the tension sensing module 11 detects that the tension has slightly increased to 18 Newtons, and the visual positioning module 12 confirms the obstacle distribution. The anti-interference controller 8 calculates that the interference risk coefficient has increased to 0.72, reaching between the first and second preset thresholds. The anti-interference controller 8 generates a warning command and a deceleration command, the audible and visual alarm device 38 emits a yellow flashing warning signal, and the servo driver 28, upon receiving the deceleration command, reduces the feed speed to 32 mm per second, allowing the threading mechanism 3 to decelerate smoothly and continue operating. Finally, the threading assembly 5 successfully reached the needle hole, hooked the thread, and completed the threading action, achieving a 100% success rate. No thread breakage or mechanical damage occurred during the entire threading process.

[0072] Example 2 This embodiment uses a fully automatic single-needle sewing machine employing the technical solution of this invention as the test object. The thread used is 80-gauge nylon sewing thread with a diameter of 0.5 mm and an elastic modulus of 2000 MPa. The parameters of the threading mechanism 3 are the same as in Embodiment 1. The preset thresholds of the anti-interference controller 8 are set as follows: first threshold 0.65, second threshold 0.88, and third threshold 0.96.

[0073] In standard threading mode, the feed speed of threading mechanism 3 is set to 100 mm per second. Due to the low elastic modulus of nylon thread, it is more susceptible to tension variations. During threading, when threading assembly 5 rapidly traverses a curved path, tension sensing module 11 detects a sudden increase in tension to 25 Newtons, while position sensing module 10 detects an increase in the angle between the velocity vector of threading assembly 5 and the position vector of the obstacle. Visual positioning module 12 monitors a slight vibration in the thread path in real time. Anti-interference controller 8 comprehensively analyzes the sensor information and calculates that the interference risk coefficient rises to 0.87, reaching the second preset threshold but below the third preset threshold. Anti-interference controller 8 generates a pause command and a damping increase command. Upon receiving the pause command, servo drive 28 immediately stops its feed motion, and the first electromagnetic clutch 29 synchronously disconnects power transmission. Upon receiving the damping increase command, damping switching mechanism 36 increases the damping to 250% of the initial damping value, thus buffering tension fluctuations. Tension feedback loop 56 feeds tension data back to anti-interference controller 8. Once the tension gradually returns to the normal range, the interference risk coefficient drops below 0.65. Anti-interference controller 8 generates a recovery command, and threading mechanism 3 continues to complete the remaining threading actions. During this threading process, the interference risk coefficient reached the second threshold, triggering a secondary protection action, effectively avoiding the risk of wire breakage due to abnormal tension. The threading was ultimately completed successfully, with a success rate of 100%.

[0074] Comparative Example 1 This comparative example uses the same test equipment and test conditions as Example 1, but does not include the multimodal sensing fusion system 7 and anti-interference controller 8 of the present invention. It only uses a traditional single photoelectric sensor for position detection, and the threading mechanism 3 runs at a constant speed and does not have active anti-interference protection function.

[0075] 100 threading tests were conducted under the same testing conditions. During the tests, due to the lack of multi-dimensional sensor information fusion, the system could not accurately determine the current interference risk state when the threading assembly 5 moved close to the needle hole area. Since the feed speed remained constant, when the threading assembly 5 suddenly encountered a narrowing of the movement space, the wire tension increased sharply, and the inertia of the threading assembly 5 prevented it from stopping in time. In the 100 tests, there were 8 wire breakage events, 5 skipped needle events, and 2 minor collision events. The threading success rate was only 85%, and the average threading time was 4.2 seconds. Compared with Example 1, the threading success rate decreased by 15 percentage points, and the wire breakage rate increased significantly.

[0076] Comparative Example 2 This comparative example uses the same test equipment and test conditions as Example 2, but only the position sensing module 10 and tension sensing module 11 are configured, and the visual positioning module 12 is not configured. The anti-interference controller 8 performs interference risk assessment based on dual sensing information.

[0077] 100 threading tests were conducted under the same test conditions. Due to the lack of obstacle distribution information from the visual positioning module 12, the anti-interference controller 8 could not accurately determine the obstacle distribution within the threading area. When the threading assembly 5 moved into an area with complex obstacle distribution, relying solely on position and tension information was insufficient to comprehensively assess the interference risk. In the 100 tests, there were 4 wire breakage events and 6 skipped needle events. The threading success rate was only 90%, with an average threading time of 4.8 seconds. Compared to Example 2, the threading success rate decreased by 10 percentage points, and the triggering timing of the protective action was not precise enough.

[0078] Table 1. Comparison of threading performance under different test conditions Test Project Example 1 Example 2 Comparative Example 1 Comparative Example 2 Threading success rate 100% 100% 85% 90% Number of wire breaks 0 times 0 times 8 times 4 times Number of skipped needles 0 times 0 times 5 times 6 times Number of collisions between mechanisms 0 times 0 times 2 times 0 times Average threading time 4.0 seconds 4.5 seconds 4.2 seconds 4.8 seconds Number of times protection actions are triggered 0 times 1 time 0 times 0 times Number of Level 1 Protection Actions 0 times 0 times - - Number of secondary protection actions 0 times 1 time - - Number of Level 3 Protection Actions 0 times 0 times - - Table 2 Key Technical Parameters of Multimodal Sensing System Parameter name Position sensing module 10 Tension sensing module 11 Visual positioning module 12 Sensor type Incremental photoelectric encoder Strain gauge tension sensor Industrial CCD Camera resolution 0.01 mm 0.1 Newtons 1280×1024 pixels range 0-200 mm 0-50 Newtons - sampling frequency 500 Hz 500 Hz 60 frames per second Response time ≤1 millisecond ≤2 milliseconds ≤16.7 milliseconds Signal transmission method Differential signaling Analog voltage signal Digital image signals Data preprocessing methods Kalman filtering Kalman filtering Edge detection + template matching Through the comparison of data from the above embodiments and comparative examples, it is clear that the technical solution of the present invention, by setting up a multimodal sensing fusion system 7, deeply integrates position sensing information, tension sensing information, and visual positioning information, constructing a comprehensive interference risk assessment model based on multi-source information fusion. This overcomes the limitations of single-sensor or dual-sensor judgment and achieves a comprehensive and accurate assessment of interference risk. In Embodiment 1, since the interference risk coefficient always remains below the first threshold, the system can successfully complete the threading action without triggering protection actions, achieving a 100% threading success rate. In Embodiment 2, when the interference risk coefficient rises to the second preset threshold, the system accurately triggers a secondary protection action, effectively buffering tension fluctuations by pausing feed and increasing damping, thus preventing wire breakage. In contrast, Comparative Example 1, lacking an active anti-interference protection mechanism, frequently experiences wire breakage and skipped needle events under complex working conditions; while Comparative Example 2, although possessing certain protection functions, still suffers from a certain failure rate due to the lack of visual positioning information and inaccurate timing of protection triggering.

[0079] In this embodiment, the protection is applicable not only to single-needle threading mechanisms but also to multi-needle threading mechanisms and special embroidery machines. For multi-needle threading mechanisms, each threading needle position is equipped with an independent position sensing module 10 and tension sensing module 11. The visual positioning module 12 uses a panoramic vision system to cover all threading needle positions. The anti-interference controller 8 processes the sensing data of each needle position uniformly and outputs protection commands separately. The threading guide structure 6 adopts a modular design, which facilitates the replacement of different specifications of guide tubes 52 and tension adjustment devices 30 according to different threading process requirements. The exit angle of the guide tube 52 and the clamping force of the tension wheel 32 can be adjusted according to actual needs to adapt to the requirements of different threads and different threading paths.

[0080] In this embodiment, the protection strategy is flexibly configured through software definition. The values ​​of each preset threshold, the weight coefficients of each risk factor, and the response parameters of the protection action can all be set and modified through the display operation unit 48 or the remote communication module 47, adapting to the needs of different application scenarios without changing the hardware structure. This software-defined implementation greatly improves the system's flexibility and maintainability, allowing the same set of hardware to quickly adjust the protection strategy according to different production needs.

[0081] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sewing machine with an automatic threading and positioning mechanism, comprising, characterized in that: The housing (1) is provided with a needle bar mechanism (2); The threading mechanism (3) is located on one side of the needle bar mechanism (2). The threading mechanism (3) includes a threading assembly (5) and a threading guide structure (6). The first driving device (4) is used to drive the threading mechanism (3) to move; The multimodal perception fusion system (7) includes a position sensing module (10) set on the motion guide rail of the threading mechanism (3) and used to collect the position information and motion speed information of the threading component (5) in real time; a tension sensing module (11) set at the entrance of the threading guide structure (6) and used to continuously monitor the tension value of the thread during the threading process; and a visual positioning module (12) set above the threading work area and used to monitor the distribution of obstacles and the path of the thread in the threading area in real time. The anti-interference controller (8) is electrically connected to the position sensing module (10), the tension sensing module (11), and the visual positioning module (12), respectively. The collaborative control actuator (9) includes a motion control actuator (13) and a tension buffer actuator (14). The anti-interference controller (8) is used to receive three-way sensor information and perform comprehensive evaluation calculation of interference risk. The anti-interference controller (8) outputs cooperative control commands to the motion control execution unit (13) and the tension buffer execution unit (14) according to the interference risk calculation results.

2. A sewing machine with an automatic threading and positioning mechanism according to claim 1, characterized in that: The position sensing module (10) includes a first position sensor (15) disposed at the initial position of the threading assembly (5) and a second position sensor (16) disposed at multiple key nodes of the threading guide along the threading movement direction. The first position sensor (15) is used to detect the reset state of the threading assembly (5), and the second position sensor (16) is used to detect the position information of the threading assembly (5) when it reaches each key node and the instantaneous speed when it passes through each key node. Each position sensor is electrically connected to the first input interface of the anti-interference controller (8) through a signal cable.

3. A sewing machine with an automatic threading and positioning mechanism according to claim 2, characterized in that: The tension sensing module (11) includes a tension sensor body (17) disposed at the wire channel entrance of the threading guide structure (6) and a signal amplification circuit (18) disposed on the signal transmission path between the tension sensor body (17) and the anti-interference controller (8). The pressure-sensing element of the tension sensor body (17) is tangentially arranged to the travel path of the wire. The signal amplification circuit (18) is used to amplify the weak electrical signal of the tension sensor body (17) to a voltage range that can be recognized by the anti-interference controller (8). The output end of the tension sensor body (17) is electrically connected to the second input interface of the anti-interference controller (8) through the signal amplification circuit (18).

4. A sewing machine with an automatic threading and positioning mechanism according to claim 3, characterized in that: The visual positioning module (12) includes an industrial camera (19) set above the threading work area, an image acquisition card (20), and an image processing unit (21) set inside the anti-interference controller (8) or connected to the anti-interference controller (8) via a communication bus and used to preprocess digital image data to identify the outline of obstacles and the trajectory of wire in the threading area. The optical axis of the industrial camera (19) points vertically to the needle plate plane. The image acquisition card (20) is set between the industrial camera (19) and the image processing unit (21) to convert the analog image signal acquired by the industrial camera (19) into digital image data. The output end of the image processing unit (21) is electrically connected to the third input interface of the anti-interference controller (8).

5. A sewing machine with an automatic threading and positioning mechanism according to claim 4, characterized in that: The anti-interference controller (8) includes a data fusion unit (22) capable of receiving sensing data from the position sensing module (10), tension sensing module (11) and visual positioning module (12) respectively and performing time alignment and format standardization processing on the heterogeneous data; an interference risk assessment unit (23) capable of calculating the interference risk coefficient based on the fused multidimensional data; a protection command generation unit (24) capable of generating corresponding protection commands based on the comparison result of the interference risk coefficient and the preset threshold; and a communication management unit (25) responsible for command transmission and status feedback with the collaborative control execution mechanism (9).

6. A sewing machine with an automatic threading and positioning mechanism according to claim 5, characterized in that: The interference risk assessment unit (23) has a built-in motion space model (26) and an interference prediction algorithm (27). The motion space model (26) establishes a three-dimensional motion space coordinate system for the threading assembly (5), in which the spatial position coordinates of obstacles such as the edge of the needle plate, the presser foot position, and the outlet of the wire tube (52) are pre-calibrated. The interference prediction algorithm (27) predicts the probability of the threading assembly (5) interfering with each obstacle in the preset prediction time domain based on the real-time position coordinates, motion direction vector, instantaneous velocity value, and tension change rate of the threading assembly (5).

7. A sewing machine with an automatic threading and positioning mechanism according to claim 6, characterized in that: The formula for calculating the interference risk coefficient by the interference risk assessment unit (23) is as follows: in, Let D be the interference risk coefficient, V be the distance risk factor, T be the velocity risk factor, T be the tension risk factor, and P be the prediction risk factor. These are the weighting coefficients for each risk factor.

8. A sewing machine with an automatic threading and positioning mechanism according to claim 1, characterized in that: The motion control execution unit (13) includes a servo driver (28) electrically connected to the drive motor of the first drive device (4) and used to control the feed speed of the threading mechanism (3), and a first electromagnetic clutch (29) disposed on the power transmission path between the drive motor and the threading mechanism (3) and used to immediately cut off the power transmission when an emergency stop command is received. Both the servo driver (28) and the first electromagnetic clutch (29) are electrically connected to the first output interface of the anti-interference controller (8).

9. A sewing machine with an automatic threading and positioning mechanism according to claim 8, characterized in that: The tension buffering execution unit (14) includes a tension adjusting device (30) and a tension releasing device (31). The tension adjustment device (30) includes a tension wheel (32), a tension adjustment arm (33), and an adjustment spring (34) disposed on the tension adjustment arm (33). The tension release device (31) includes a second electromagnetic clutch (35) and a damping switching mechanism (36). The tension wheel (32) is disposed in the wire channel and is used to apply basic tension to the wire. The tension release device (31) is disposed on the wire path between the tension adjustment device (30) and the wire guiding structure (6). The second electromagnetic clutch (35) is electrically connected to the second output interface of the anti-interference controller (8) and is used to disengage the tension adjustment device (30) from the wire when a tension release command is received. The damping switching mechanism (36) is electrically connected to the third output interface of the anti-interference controller (8) and is used to increase the damping of the wire passing through the tension release device (31) when a damping increase command is received.

10. A sewing machine with an automatic threading and positioning mechanism according to claim 1, characterized in that: The sewing machine also includes a display operation unit (48) disposed on the sewing machine operation panel, the display operation unit (48) including a display screen and a touch operation area.

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