Bidirectionally-driven multi-head towel embroidery machine

Abstract

The utility model relates to a bidirectionally-driven multi-head towel embroidery machine, which comprises more than two towel thread clamping devices and more than two needle ring shuttle frames, and the more than two towel thread clamping devices are jointly connected with two first driving devices through a first pull rod; the two first driving devices jointly drive the two or more towel thread clamping devices to move in the axial direction of the first pull rod, the two or more towel thread clamping devices are located at the two ends of the moving direction of the towel thread clamping devices respectively, and the two or more needle ring shuttle frames are jointly connected with two second driving devices through second pull rods. The two second driving devices jointly drive the more than two needle ring shuttle frames to move in the axial direction of the second pull rod and are located at the two ends of the moving direction of the needle ring shuttle frames respectively. According to the multi-head towel embroidery machine, the two first driving devices jointly drive the more than two towel thread clamping devices, and the two second driving devices jointly drive the more than two needle ring shuttle frames, so that the running stability of the multi-head towel embroidery machine is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of multi-head towel embroidery machines, and in particular to a bidirectional driven multi-head towel embroidery machine and a thread-cutting method. Background Technology

[0002] Multi-head towel embroidery machines employ a multi-head design, typically equipped with 4-16 heads, allowing for simultaneous embroidery of different patterns. This type of specialized embroidery equipment uses special hooks and threads to create three-dimensional loops on the fabric surface (similar to the texture of a towel), often used to create 3D embroidery patterns. The key technical parameters of this type of embroidery machine involve color-changing speed (high-quality models <0.5 seconds) and XY-axis guide rail accuracy (error ≤0.01mm). With the increased number of heads in multi-head towel embroidery machines, both color-changing speed and XY-axis guide rail accuracy have decreased to varying degrees. Improving the color-changing speed and XY-axis guide rail accuracy of multi-head towel embroidery machines is a subject of research for those skilled in the art. Utility Model Content

[0003] This utility model provides a bidirectional drive multi-head towel embroidery machine. By arranging radial drive devices at both ends of the running direction of two key components, the towel thread clamp and the needle ring shuttle frame, which are involved in the color changing and guide rail accuracy of the embroidery machine, the bidirectional drive is achieved, solving the technical problem of decreased color changing speed and guide rail accuracy caused by the increase in the number of machine heads.

[0004] This application provides a bidirectional driven multi-head towel embroidery machine, the technical solution of which is as follows: it includes two or more towel thread clamps and two or more needle ring shuttles. The two or more towel thread clamps are connected to two first driving devices through a first pull rod. The two first driving devices jointly drive the two or more towel thread clamps to move along the axial direction of the first pull rod and are respectively located at both ends of the moving direction of the towel thread clamps. The two or more needle ring shuttles are connected to two second driving devices through a second pull rod. The two second driving devices jointly drive the two or more needle ring shuttles to move along the axial direction of the second pull rod and are respectively located at both ends of the moving direction of the needle ring shuttles.

[0005] The first drive unit and the second drive unit are connected to each other through a mounting frame to form an integral drive module, and the drive module is connected to the refrigeration module through a cooling pipe.

[0006] The first driving device includes a first motor, which drives a first color-changing camshaft to rotate via a first gear set. The outer periphery of the first color-changing camshaft is provided with a spiral first track, and a first roller running along the first track is embedded in the first track. The first roller is connected to a first mounting hole of a first movable block, and a second mounting hole of the first movable block is connected to a first pull rod.

[0007] The first gear set includes a first gear connected to a first motor and a second gear connected to a first color-changing camshaft. The first gear meshes with the second gear, and the diameter of the first gear is smaller than that of the second gear.

[0008] The first movable block is connected to the first guide shaft on the upper and lower sides of the first mounting hole, respectively.

[0009] The second drive device includes a second motor, which drives the second color-changing camshaft to rotate through a second gear set. The outer circumference of the second color-changing camshaft is provided with a spiral second track, and a second roller running along the second track is embedded in the second track. The second roller is connected to the third mounting hole of the second moving block, and the fourth mounting hole of the second moving block is connected to the second pull rod.

[0010] The second gear set includes a third gear connected to the second motor and a fourth gear connected to the second color-changing camshaft. The third gear meshes with the fourth gear, and the diameter of the third gear is smaller than that of the fourth gear.

[0011] The second movable block is connected to the second guide shaft on the upper and lower sides of the fourth mounting hole, respectively.

[0012] One end of the second color-changing camshaft is connected to the fourth gear, and the other end is connected to the fifth gear. The fifth gear meshes with the sixth gear, and the sixth gear is connected to the position sensor of the second color-changing camshaft through a connecting shaft.

[0013] This invention improves the operational stability of multi-head towel embroidery machines by using two first driving devices to jointly drive two or more towel thread clamps and two second driving devices to jointly drive two or more needle ring shuttles. It has the advantages of improving color changing speed and guide rail accuracy, realizing synchronous driving of multiple towel thread clamps and needle ring shuttles, and enhancing the stability and efficiency of the driving device. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings:

[0015] Figure 1 This is a three-dimensional structural diagram of a bidirectional driven multi-head towel embroidery machine according to the present invention;

[0016] Figure 2 This is a three-dimensional structural diagram of a bidirectional driven multi-head towel embroidery machine according to this utility model from another angle;

[0017] Figure 3 This is a schematic diagram of the three-dimensional installation structure of the drive module in this utility model;

[0018] Figure 4 This is a three-dimensional structural diagram of the second driving device in this utility model;

[0019] Figure 5This is a three-dimensional structural diagram of the first driving device in this utility model. Detailed Implementation

[0020] The following is in conjunction with the appendix Figure 1-5 The specific implementation method further illustrates the technical solution of this patent.

[0021] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] In existing technologies, multi-head towel embroidery machines, after adopting a multi-head design, experience a gradual decrease in color-changing speed and guide rail accuracy as the number of heads increases. Traditional equipment uses a single-sided drive structure; when multiple towel thread clamps or needle ring shuttles move synchronously, the increased driving force transmission distance leads to asynchronous movement, easily causing positional deviations during color changing, especially at high speeds where error accumulation is more pronounced. For example, in a certain model with a 16-head configuration, the color-changing speed drops to over 8 seconds, and the accumulated error of the XY axis guide rail exceeds 3 millimeters, affecting the forming quality of the three-dimensional coil.

[0023] To address these issues, designers discovered that the synchronization of moving parts directly impacts color-changing efficiency and positioning accuracy. Analysis of the drive structure revealed end-effector hysteresis in long-stroke movements caused by unilateral drive, resulting in inconsistent motion trajectories among multiple actuators. After repeated verification, bidirectional cooperative drive was found to effectively balance the drive force distribution and eliminate end-effector hysteresis. In practice, drive devices are placed at both ends of the movement direction to provide symmetrical drive force to the actuators, while rigid connections are optimized to improve dynamic response.

[0024] Therefore, this application proposes a bidirectional driven multi-head towel embroidery machine, comprising two or more sets of towel thread clamps 7 and needle loop shuttle frames 4. The two or more sets of towel thread clamps are connected to a first pull rod 2, and a first drive device is configured at both ends to drive axial movement in coordination; the two or more sets of needle loop shuttle frames 4 are connected to a second pull rod 5, and a second drive device is configured at both ends to drive axial movement in coordination.

[0025] The first pull rod 2 refers to the rigid transmission rod that runs through all the towel clamps. It can be made of alloy steel rod with a diameter of 8-22 mm. Its function is to evenly transmit the driving force from both ends to each towel clamp, avoiding deformation errors caused by excessively long transmission chains. The first drive device refers to the power components symmetrically arranged at both ends of the pull rod. It can be implemented using servo motors and reduction gear sets. The motors at both ends are synchronized by a synchronous controller to achieve torque balance, thereby eliminating inertial deviations during movement. The second pull rod refers to the positioning guide rod connecting all the needle ring shuttles. Its function is to maintain the linear motion trajectory of the needle ring shuttles during bidirectional drive, preventing lateral deviation. The second drive device refers to the power mechanism located at both ends of the needle ring shuttle's moving direction. It can be implemented using servo motors and reduction gear sets. The motors at both ends are synchronized by a synchronous controller to achieve torque balance, thereby eliminating inertial deviations during movement.

[0026] Specifically, when a color-changing action is required, the first drive devices at both ends synchronously output driving force, which drives all towel clamps to move axially via the first pull rod. Because the power is applied symmetrically at both ends, each towel clamp experiences uniform force, ensuring consistent movement speed. Simultaneously, the second drive device synchronously drives the second pull rod, keeping all needle ring shuttles synchronously positioned during axial movement. This structure converts bidirectional driving force into overall motion through rigidly connected pull rods, avoiding the end-effector lag problem present in traditional single-sided drives. During high-speed color changing, the drive devices at both ends can adjust their output torque in real time based on position sensor feedback, dynamically compensating for inertia differences in moving parts.

[0027] Compared to existing technologies, traditional equipment using single-sided drive suffers from a speed difference between the actuators near the drive end and the end-effectors, requiring additional time for position calibration after the color-changing action is completed. This solution, using synchronous drive from both ends, ensures that all actuators maintain synchronized speeds throughout the entire movement, reaching the target position immediately upon completion of the color-changing action, eliminating the need for secondary calibration. Furthermore, the bidirectional drive structure effectively reduces the load on individual drive units, preventing wear on transmission components due to overload and extending the equipment's lifespan.

[0028] Through the above technical solution, this application enables multi-head embroidery machines to maintain a stable color-changing speed even when the number of heads is increased, significantly improving the consistency of the movement trajectory of each head and effectively reducing the forming error of loops during embroidery. This structure is particularly suitable for high-density configurations with 16 or more heads, and can maintain the positioning accuracy of the XY axis guide rails in continuous operation, ensuring the edge clarity of the three-dimensional embroidery pattern.

[0029] This application further proposes a drive module 6 formed by connecting the first drive device and the second drive device together through a mounting frame 1, and the drive module is connected to a cooling module 9 through a cooling pipe 8.

[0030] The mounting frame 1 refers to the rigid support structure that bears the drive unit. Specifically, it can be implemented using aluminum alloy profiles spliced ​​into a frame. The frame connection allows the two drive units to form a rigid, integrated structure, synchronously absorbing vibration energy during equipment operation. The cooling pipe refers to the pipeline that transports the cooling medium. Specifically, it can be made of copper serpentine coils wrapped around the surface of the drive module, circulating the cooling medium to conduct the heat generated by the drive unit to the outside. The cooling module refers to the temperature control unit, which can be composed of a semiconductor cooling chip and heat sink fins. It actively regulates the temperature of the cooling medium to maintain the drive unit within a stable operating temperature range.

[0031] Specifically, the mounting frame integrates two independently driven devices into a single module, and its rigid connection structure suppresses the resonance effect generated during bidirectional drive. Cooling pipes are arranged along the surface of the drive module to form a heat exchange interface, and the cooling module controls the coolant temperature within a predetermined range through the compressor's cooling principle. When the bidirectional drive devices operate synchronously, the integrated structure of the frame reduces the relative displacement error of the components, and the cooling system continuously removes heat from the motor and transmission mechanism, avoiding mechanical deformation caused by temperature changes.

[0032] Compared to existing technologies, traditional multi-head embroidery machines employ a split drive structure and lack active cooling measures. This results in decreased heat dissipation efficiency of the drive system as the number of heads increases, and thermal expansion of the guide rails causes positioning deviations. This solution constructs a temperature-controlled bidirectional drive system using an integrated drive module combined with an active cooling unit, overcoming the impact of temperature fluctuations on motion accuracy.

[0033] Through the above technical solution, this application effectively suppresses the heat accumulation generated by the multi-head drive system during long-term operation, and solves the technical defect of XY axis guide rail deformation caused by temperature changes. The constant temperature drive operation mode controls the displacement error during synchronous color changing of multiple heads, ensuring the embroidery accuracy and stability of the multi-head towel embroidery machine under high-density head configuration.

[0034] This application further proposes a bidirectional driven multi-head towel embroidery machine, wherein the first driving device includes a first motor 16, the first motor 16 drives a first color-changing camshaft 10 to rotate through a first gear set, the first color-changing camshaft 10 is provided with a spiral first track 26 on its outer periphery, a first roller 25 running along the first track 26 is embedded in the first track 26, the first roller 25 is connected to the first mounting hole 18 of the first moving block 24, and the second mounting hole 11 of the first moving block 24 is connected to the first pull rod 2.

[0035] The first gear set refers to the transmission mechanism that transmits the power of the first motor to the first color-changing camshaft. Specifically, it can be implemented using a combination of meshing gears, which convert the rotational motion of the motor output shaft into the rotational motion of the camshaft. The first color-changing camshaft is a rotating shaft with a helical track on its surface. The helical track on its outer circumference can convert the rotational motion into linear motion via rollers. The first roller is a cylindrical rolling component embedded in the helical track, which can be made of bearing steel to achieve low-friction rolling. By moving along the track, it converts the rotation of the camshaft into the linear displacement of the moving block. The first moving block is a rigid component connecting the roller and the tie rod. Its first mounting hole is used to fix the roller, and its second mounting hole is used to connect the tie rod. The linear motion of the roller is transmitted to the tie rod through the moving block.

[0036] Specifically, the first motor drives the first color-changing camshaft to rotate via the first gear set. The helical track, rotating with the camshaft, pushes the first roller embedded within the track to move axially. The roller causes the first moving block to generate linear displacement at the first mounting hole, which in turn drives the first pull rod to move axially through the second mounting hole. This motion process converts rotational power into linear driving force, enabling multiple towel clamps to move synchronously under the linkage of the pull rod. The rolling contact of the roller within the helical track reduces sliding friction, and the cooperation between the moving block and the guide shaft further constrains the direction of movement, thus ensuring the accuracy of linear driving force transmission.

[0037] Compared to existing technologies, traditional multi-head embroidery machine drive devices often use a single-sided motor with a linear guide rail to achieve unidirectional drive. This is prone to reduced color-changing speed and positional deviation due to transmission backlash or guide rail deformation. This solution eliminates the transmission lag problem of unidirectional drive by combining a bidirectional drive structure with the rolling transmission of the camshaft and rollers. At the same time, the continuous rotation of the helical track enables smoother linear displacement output.

[0038] Through the above technical solution, this application achieves precise transmission and bidirectional synchronous control of the driving force of the towel thread clamp, solving the problems of decreased color changing speed and insufficient guide rail precision caused by the increase in the number of machine heads in multi-head embroidery machines. The rolling contact between the roller and the spiral track reduces motion resistance and improves driving efficiency; the cooperation between the moving block and the guide shaft effectively suppresses deviation during the movement process, ensuring the linearity of the axial movement of the pull rod.

[0039] This application further proposes a first gear set including a first gear 17 connected to a first motor 16 and a second gear 22 connected to a first color-changing camshaft 10, wherein the first gear 17 meshes with the second gear 22, and the diameter of the first gear 17 is smaller than that of the second gear 22.

[0040] The first gear refers to the transmission component directly connected to the motor output shaft. Specifically, it can form a rigid connection with the motor shaft through a keyway structure to achieve power transmission. The second gear refers to the driven gear coaxially assembled with the color-changing camshaft. The design of the first gear having a smaller diameter than the second gear can form a reduction transmission ratio, for example, the transmission ratio range can be set to 1:2 to 1:10, so that the high speed output of the motor is converted into the low speed and high torque output of the color-changing camshaft.

[0041] Specifically, when the first motor starts, its output shaft drives the first gear to rotate, which in turn drives the second gear to rotate in the opposite direction at a lower speed through tooth meshing. Since the second gear is fixedly connected to the first color-changing camshaft, this reduction transmission allows the rotational speed of the camshaft to be precisely controlled, for example, reducing the motor input speed from 3000 rpm to the range of 1000-1500 rpm. The reduced-speed camshaft drives the helical first track at a speed adapted to the color-changing action, allowing the first roller embedded in the track to move smoothly. This, in turn, drives the first pull rod to perform axial displacement through the first moving block, ultimately achieving synchronous color-changing operation of multiple towel clamps.

[0042] Compared to existing technologies, traditional multi-head embroidery machines typically use equal-diameter gears or a single drive source, which can easily lead to excessively high rotational speeds of the color-changing camshaft, causing deviations in the roller's motion trajectory. Furthermore, insufficient torque exists when multiple heads are synchronized. This solution, through a gear set design with a specific transmission ratio, reduces the inertial impact of moving parts while maintaining power transmission efficiency. This ensures an optimal match between the rotational speed of the color-changing camshaft and the movement speed of the roller, thereby reducing the accumulation of motion errors when multiple heads work together.

[0043] Through the above technical solution, this application can effectively reduce the rotational inertia of the color-changing camshaft, enhance the load capacity of the drive system on the multi-towel clamp through the deceleration and torque-increasing effect, and enable multiple heads to maintain consistent motion trajectories during high-speed color changing. The component force generated by the gear meshing transmission is limited to the axial direction, avoiding the radial vibration problem of traditional belt drives, thereby improving the color-changing positioning accuracy and the stability of the mechanism operation.

[0044] This application further proposes a bidirectional driven multi-head towel embroidery machine, wherein the first moving block 24 is connected to the first guide shaft 23 on the upper and lower sides of the first mounting hole 18 respectively.

[0045] The first guide shaft 23 refers to a rigid guide component arranged axially, which can be implemented using an alloy steel shaft with a hard chrome-plated surface. It forms a sliding fit with the mounting hole of the moving block to constrain the direction of movement. This structure restricts the deflection of the moving block through the guide shafts arranged symmetrically at two points, ensuring that the moving block only translates along the tie rod axis during the color-changing camshaft drive process.

[0046] Specifically, when the first color-changing camshaft rotates, the first roller moves along a helical track, generating axial thrust. At this time, the first guide shaft, symmetrically arranged vertically, cooperates with the first mounting hole to form a double constraint, ensuring that the first moving block maintains a linear motion trajectory even when subjected to the radial component force transmitted by the color-changing camshaft. This double guide shaft structure counteracts the lateral torque generated by the rotation of the color-changing camshaft, preventing the moving block from wobbling or jamming during high-speed color changing.

[0047] Compared to existing technologies, traditional embroidery machine color-changing mechanisms typically employ a single-sided guide rod or slide rail structure. As the number of machine heads increases, insufficient guide support leads to deviations in the movement trajectory of the moving block. This solution, however, utilizes symmetrically distributed guide shafts to create dual-point support, significantly improving the linearity of the moving block's movement under the same load conditions.

[0048] Through the above technical solution, this application effectively suppresses the radial vibration of the moving block during the color change process of a multi-head embroidery machine, so that multiple towel thread clamps maintain consistent movement during synchronous color change, thereby maintaining the positioning accuracy of the XY axis guide rail even when the number of machine heads increases.

[0049] This application further proposes a second driving device including a second motor 15, which drives a second color-changing camshaft 36 to rotate via a second gear set. The second color-changing camshaft 36 has a spiral second track 31 on its outer periphery. A second roller 35 running along the second track 31 is embedded in the second track 31. The second roller 35 is connected to a third mounting hole 14 of a second moving block 13. A fourth mounting hole 12 of the second moving block 13 is connected to a second pull rod 5.

[0050] The second drive unit refers to the power component that controls the axial movement of the needle ring shuttle, which can be implemented using a combination of a servo motor and a gear transmission mechanism for precise control of the motion trajectory. The second color-changing camshaft is a rotating shaft with helical grooves, which can be machined from alloy steel to convert rotational motion into linear displacement. The helical second track is a continuous groove structure surrounding the outer wall of the second color-changing camshaft, which can be CNC machined to guide the movement path of the rollers. The second roller is a cylindrical rolling element embedded in the track, which can be made of hardened steel to reduce frictional resistance. The third mounting hole is a circular through hole on the moving block, which can be used to fix the second roller with an interference fit for power transmission. The fourth mounting hole 12 is a connecting structure on the other side of the moving block that is hinged to the second tie rod 5 for driving the needle ring shuttle.

[0051] Specifically, the torque output by the second motor is transmitted to the second color-changing camshaft via the second gear set, causing it to rotate. As the helical second track rotates synchronously with the second color-changing camshaft, it forces the second roller embedded within the track to displace axially. This displacement is transmitted to the second moving block through the third mounting hole, which in turn drives the second tie rod, rigidly connected to the fourth mounting hole, to reciprocate. Because the lead angle of the helical track is constant, the movement of the second roller is linearly related to the rotation angle of the camshaft, thus achieving precise control of the needle ring shuttle's movement. Simultaneously, the rolling friction characteristics between the roller and the track effectively reduce power loss and extend the service life of mechanical components.

[0052] Compared to existing technologies, traditional multi-head embroidery machines often employ single-sided drive or belt transmission, resulting in delayed color-changing response and asynchronous movement. This solution, however, utilizes a symmetrically arranged second drive unit on both sides, combined with a rigid transmission structure of a helical camshaft and rollers, to eliminate positioning errors caused by transmission backlash. The application of a gear reduction mechanism ensures a more reasonable match between motor speed and movement speed, avoiding vibration interference from high-speed motion.

[0053] Through the above technical solution, this application effectively improves the synchronization accuracy of the axial movement of the needle ring shuttle, ensuring consistent positioning of multiple heads during high-speed color changing. The helical track and roller coupling structure enhances the rigidity of the transmission system, preventing motion misalignment caused by load changes during multi-head operations. The torque amplification effect of gear transmission allows a small-power motor to drive multiple sets of needle ring shuttles, reducing energy consumption while improving system response speed.

[0054] This application further proposes a second gear set including a third gear 28 connected to a second motor 15 and a fourth gear 29 connected to a second color-changing camshaft 36, wherein the third gear 28 meshes with the fourth gear 29, and the diameter of the third gear 28 is smaller than that of the fourth gear 29.

[0055] The third gear refers to the transmission component connected to the output shaft of the second motor. The fourth gear refers to the driven component coaxially fixed to the second color-changing camshaft, with a larger number of teeth than the third gear. Specifically, a split hub structure can be used to achieve assembly with the camshaft. The difference in diameter between the third and fourth gears constitutes the reduction ratio, which increases the output torque by reducing the rotational speed, thereby adapting to the driving force requirements of the color-changing camshaft.

[0056] Specifically, the power of the second motor is transmitted to the fourth gear via the third gear. Since the diameter of the third gear is smaller than that of the fourth gear, a reduction gear ratio is achieved. For example, when the third gear has 15 teeth and the fourth gear has 45 teeth, the gear ratio is 1:3, reducing the speed of the fourth gear to one-third of the motor's speed while simultaneously tripling the output torque. The reduced motion directly drives the second color-changing camshaft to rotate via the fourth gear, enhancing the synchronization between the unfolding speed of its helical track and the movement of the rollers. During this process, gear meshing clearance can be compensated for by adjusting the installation spacing of the gear pairs, preventing camshaft angle deviation due to transmission errors.

[0057] Compared to existing technologies, traditional single-motor direct-drive color-changing camshaft solutions rely on high-power motors to directly overcome the camshaft load, which can easily lead to motor overload and positioning errors. However, by introducing a gear set with a reduction ratio, the power requirement for the motor is reduced while maintaining the same color-changing speed. Simultaneously, the increased output torque improves the smoothness of the color-changing camshaft's movement. Furthermore, gear meshing transmission offers higher positioning repeatability compared to belt or chain drives, reducing accumulated positional errors during operation.

[0058] Through the above technical solution, this application achieves optimized distribution of the driving force of the color-changing camshaft, reducing the motor load while ensuring precise displacement of the rollers within the helical track. The application of the reduction gear set enables the second color-changing camshaft to operate at a more stable speed, avoiding the needle ring shuttle frame vibration problem caused by sudden speed changes, thereby improving the positional consistency during synchronous color changing of multiple heads. The rigid transmission characteristics of the gear pair further reduce the impact of transmission component deformation on the accuracy of the XY axis guide rails.

[0059] This application further proposes that the second moving block 13 is connected to the second guide shaft 30 on the upper and lower sides of the fourth mounting hole 12 respectively. One end of the second color-changing camshaft 36 is connected to the fourth gear 29, and the other end is connected to the fifth gear 34. The fifth gear 34 meshes with the sixth gear 32, and the sixth gear 32 is connected to the position sensor 20 of the second color-changing camshaft through the connecting shaft 33.

[0060] The fifth gear 34 is a transmission component located at the end of the second color-changing camshaft, used to transmit the rotational motion of the second color-changing camshaft to the sixth gear. The sixth gear is a driven component meshing with the fifth gear. The connecting shaft 33 is a rigid transmission rod connecting the sixth gear and the position sensor, used to convert the gear rotation angle into an electrical signal. The position sensor 20 is a detection device that monitors the rotation angle of the second color-changing camshaft; specifically, it can be a photoelectric encoder with a resolution of 0.1 degrees, used to provide real-time feedback of the second color-changing camshaft position data to the control system. The position sensor collects data in real time and feeds it back to the controller, forming a closed-loop control circuit to ensure that the axial movement position of the needle ring shuttle is consistent with the preset trajectory.

[0061] Compared to existing technologies, traditional multi-head embroidery machines use independent encoders to directly detect the position of the motor output shaft, which leads to the accumulation of transmission chain errors. This solution adds a gear transmission chain and a position sensor to the end of the color-changing camshaft to directly detect the actual rotation angle of the camshaft, eliminating error interference from intermediate transmission links.

[0062] Through the above technical solution, this application achieves direct and high-precision detection of the rotation angle of the second color-changing camshaft, solving the problem of decreased positional synchronization in multi-head embroidery machines caused by the increase in the number of machine heads. The closed-loop control mechanism effectively compensates for the backlash error of the transmission system, ensuring the synchronous movement accuracy of multiple needle ring shuttles and avoiding stitch misalignment defects caused by positional deviations.

[0063] Through the above technical solution, this application effectively solves the problem of decreased color-changing positioning accuracy caused by the increase in the number of machine heads in multi-head embroidery machines. By working together with the end-drive gear set and the position sensor, the rotation angle of the color-changing camshaft is calibrated in real time while ensuring the color-changing speed, which significantly improves the position consistency when multiple machine heads are changing colors synchronously.

[0064] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A bidirectional driven multi-head towel embroidery machine, comprising two or more towel thread clamps (7) and two or more needle loop shuttle frames (4), characterized in that: The two or more towel clamps (7) are connected to two first drive devices through a first pull rod (2), and the two or more needle ring shuttles (4) are connected to two second drive devices through a second pull rod (5).

2. The bidirectional driven multi-head towel embroidery machine according to claim 1, characterized in that: The first drive device and the second drive device are connected to each other through the mounting frame (1) to form an integral drive module (6), and the drive module (6) is connected to the cooling module (9) through the cooling pipe (8).

3. The bidirectional driven multi-head towel embroidery machine according to claim 1, characterized in that: The first driving device includes a first motor (16), which drives the first color-changing camshaft (10) to rotate through a first gear set. The first color-changing camshaft (10) has a spiral first track (26) on its outer periphery. The first roller (25) running along the first track (26) is embedded in the first track (26). The first roller (25) is connected to the first mounting hole (18) of the first moving block (24), and the second mounting hole (11) of the first moving block (24) is connected to the first pull rod (2).

4. The bidirectional driven multi-head towel embroidery machine according to claim 3, characterized in that: The first gear set includes a first gear (17) connected to the first motor (16) and a second gear (22) connected to the first color-changing camshaft (10). The first gear (17) meshes with the second gear (22), and the diameter of the first gear (17) is smaller than that of the second gear (22).

5. A bidirectional driven multi-head towel embroidery machine according to claim 3, characterized in that: The first movable block (24) is connected to the first guide shaft (23) on the upper and lower sides of the first mounting hole (18).

6. The bidirectional driven multi-head towel embroidery machine according to claim 1, characterized in that: The second driving device includes a second motor (15), which drives the second color-changing camshaft (36) to rotate through a second gear set. The second color-changing camshaft (36) has a spiral second track (31) on its outer periphery. The second track (31) is embedded with a second roller (35) that runs along the second track (31). The second roller (35) is connected to the third mounting hole (14) of the second moving block (13), and the fourth mounting hole (12) of the second moving block (13) is connected to the second pull rod (5).

7. A bidirectional driven multi-head towel embroidery machine according to claim 6, characterized in that: The second gear set includes a third gear (28) connected to the second motor (15) and a fourth gear (29) connected to the second color-changing camshaft (36). The third gear (28) meshes with the fourth gear (29), and the diameter of the third gear (28) is smaller than that of the fourth gear (29).

8. A bidirectional driven multi-head towel embroidery machine according to claim 6, characterized in that: The second moving block (13) is connected to the second guide shaft (30) on the upper and lower sides of the fourth mounting hole (12).

9. A bidirectional driven multi-head towel embroidery machine according to claim 7, characterized in that: The second color-changing camshaft (36) is connected to the fourth gear (29) at one end and to the fifth gear (34) at the other end. The fifth gear (34) meshes with the sixth gear (32). The sixth gear (32) is connected to the position sensor (20) of the second color-changing camshaft through the connecting shaft (33).

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