CN116356491A - A multi-axis sewing equipment, its control method and medium - Google Patents

Abstract

The invention discloses multi-shaft sewing equipment, a control method and a medium thereof, wherein the multi-shaft sewing equipment comprises a cotton conveying part, a cotton conveying part and a control part, wherein the cotton conveying part is used for conveying materials to be sewn according to a certain speed; the cotton conveying part is connected with a cutting part, and the cutting part is used for sequentially starting sewing and cutting from different positions of the materials respectively; the cutting part is provided with a first rotating shaft, the first rotating shaft is connected with a first circular blade, and the first circular blade and the first rotating shaft rotate together; the first rotating shaft is connected with a displacement mechanism, and the displacement mechanism is used for enabling the first rotating shaft and the first circular blade to approach or separate from each other in the direction of the material; when the first circular blade and the first rotating shaft are used for cutting materials, the deformation of the surface of the materials is reduced, the flatness of the materials is improved, the extrusion displacement of the materials with thicker thickness is avoided, and the processing capacity of the thick materials is improved; the tail end of the material is rolled and cut through the transverse trimming part, so that the tail end of the material is guaranteed to be cut smoothly, and the material filler is prevented from being extruded in the cutting process to cause filler loss, so that the cutting is uneven.

Description

A multi-axis sewing equipment, its control method and medium

technical field

The invention relates to the technical field of quilting, in particular to a multi-axis sewing device, a control method and a medium thereof.

Background technique

Quilting is a sewing process by which layers of textile materials and/or other textiles are joined to create a decorative and functional compressible surface. The manufacture of certain products, such as mattress covers, involves the application of a large-scale quilting process. These mass quilting processes typically use high-speed multi-needle quilting machines to form a series of covers along the fabric of multiple layers of material. The intelligent high-speed quilting machine is an automatic sewing equipment with high speed, high efficiency and high performance. It adopts the industrial computer control system and electric synchronous control main motion technology and pattern-making software that can automatically recognize the DST format, realizes the sewing of various patterns that can be set by itself under the state of various protection functions, and is in the computer system. Automatic quilting according to the selected pattern under control greatly improves industrial automation, greatly improves production efficiency, and reduces enterprise costs. It is a necessary sewing equipment for making various soft mattresses, quilts, etc. It is a major breakthrough. The single-needle machine industry has demonstrated superior performance and broad application prospects, thus ensuring the smooth progress of the guarantee work for materials such as quilts.

The intelligent quilting machine in the prior art first sends materials such as mattresses and quilts to the head of the quilting machine, then sews the materials such as mattresses and quilts, and finally delivers them out of the machine head. Computer-controlled high-speed sewing often has the problem of poor stability, mainly due to the poor sewing effect caused by machine body shaking and material displacement.

For example, a "quilting machine" disclosed in Chinese patent literature, its notification number: CN111778637A, discloses a quilting machine frame, a machine head movement assembly, a machine base movement assembly, a stretcher frame and a machine base compensation assembly; The seat compensating assembly is connected with the machine base, and when the needle on the machine head does not correspond to the hole on the machine base, the machine base is made to perform a fine-tuning movement perpendicular to the X direction through the machine base compensating assembly. But this scheme only adjusted the relative position of nose and machine base.

Contents of the invention

In order to solve the problem of poor sewing effect caused by material displacement in the prior art, the present invention provides a multi-axis sewing device, its control method and medium, which can avoid material displacement, improve sewing precision, and improve sewing effect. A variety of different materials can be stably sewn.

In order to achieve the above object, the present invention provides the following technical solutions:

A multi-axis sewing equipment, including: a cotton feeding part, which is used to transport materials to be sewn at a certain speed; the cotton feeding part is connected with a cutting part, and the cutting part is used to start sewing and cutting sequentially from different positions of the materials The cutting part is provided with a first rotating shaft, the first rotating shaft is connected with a first circular blade, and the first circular blade and the first rotating shaft rotate together; the first rotating shaft is connected with a displacement mechanism, and the displacement mechanism is used to connect the first rotating shaft and the second rotating shaft A circular blade moves toward or away from the material. The cotton feeding part is used to control the material to move at a certain speed and in the same direction, including the main body of the equipment. The cotton feeding part is arranged on the front, middle and rear sides of the equipment main body. The cotton feeding part is used to control the material entering from the front side of the equipment main body To the rear side away from the main body of the equipment; the cutting part is located on the front and rear sides of the cotton feeding part in the middle of the main body of the equipment. The cutting part is used to sew and cut the material. The displacement mechanism and the first rotating shaft are connected to the motor at the same time. The first rotating shaft is used Rotate when the displacement mechanism is working, the shape of the first circular blade is circular or fan-shaped, the direction of the blade of the first circular blade faces the radial tangent direction of the first rotating shaft, and the distance between the first circular blade and the first rotating shaft There are fixed connections between them; the displacement mechanism is located above the material. Through the first circular blade and the first rotating shaft, the surface deformation of the material can be reduced when the material is cut, the flatness of the material can be increased, extrusion displacement can be avoided for thicker materials, and the processing capacity of thicker materials can be improved.

Preferably, the cutting portion includes a trimming portion, the first rotating shaft is located at the trimming portion, the trimming portion includes a side trimming portion and a transverse trimming portion arranged in sequence, and a cotton delivery shaft is arranged between the side trimming portion and the transverse trimming portion . The cutting part also includes a tangent part, which is connected with a quilting part. The quilting part is used for quilting the material, and the tangent part is used to cut off the excess thread ends after the material is quilted; the side trimming part is located at the upper right edge of the material, The cross-cutting part is located at the rear side edge above the material, the cross-cutting part is used to cut the material, the side-cutting part is used to cut off the excess material on the edge of the material, and the middle side cotton feeding part is located at the side-cutting part and the cross-cutting part Among them, the middle side cotton feeding part is used to adjust the conveying speed of the material after side cutting to the cross cutting part. The rotation direction of the first circular blade and the first rotating shaft in the side trimming portion is the same as the material conveying direction, and the rotating direction of the first circular blade and the first rotating shaft in the cross-cutting edge portion is perpendicular to the material conveying direction. The side edge of the material is rolled and cut through the side cutting edge to achieve a smooth edge of the material, avoiding the displacement of the material surface due to cutting, making the side cutting of the material accurate, and avoiding the cutting deviation caused by extrusion. The end of the material is roll-cut by cross-cutting the edge to ensure that the end of the material is cut flat, and to avoid the loss of the material filler due to extrusion during the cutting process, resulting in uneven cutting.

As preferably, the cotton delivery part includes a plurality of cotton delivery shafts arranged side by side, the cotton delivery shafts are connected with a second displacement mechanism, and the second displacement mechanism is used to change the distance between the cotton delivery shafts, and the cotton delivery shafts arranged side by side are located at the side cut The edge is away from the side of the cross-cutting edge, and the cotton feeding shaft between the side-cutting edge and the cross-cutting edge is independently controlled. The cotton conveying shaft is a plurality of cotton conveying shafts arranged parallel to each other. Rollers are provided on the outer end of the cotton conveying shaft. The rollers are used to increase the friction between the cotton conveying shaft and the material, so as to prevent the material from slipping and facilitate the control of the material; the cotton conveying part includes The second rotating shaft group, the second rotating shaft group is located on the front side of the device main body, the rear side of the second rotating shaft group is the cutting part, the second rotating shaft group is connected with the second displacement mechanism, and the second displacement mechanism is used to change the upper and lower sides of the second rotating shaft group. The distance between the second rotating shaft on the side and the reciprocating motion of moving up and down when the second displacement mechanism is working. There is an equal relationship between the moving rate of the second displacement mechanism and the rotation speed of the cotton feeding shaft. The equal relationship includes the material conveying speed and the second displacement mechanism Moving speed. The material conveying process is controlled through the second rotating shaft group, so that the materials can be collected without stopping the conveying of materials, and the efficiency of quilting can be improved.

Preferably, the cutting part includes a quilting mechanism for quilting the surface of the material, the quilting mechanism is located on the side of the side trimming part away from the cross-cutting part, and there is a The label washing installation mechanism is used to mark the working position of the side cutting part on the material. The quilting mechanism is located between the side trimming part and the cotton feeding part, and the quilting mechanism is used for quilting according to a preset rate; the rear side of the side trimming part is located on the lower side of the material, and a third rotating shaft group is arranged parallel to the second rotating shaft group , the third shaft group is used for temporary storage of materials, above the materials and corresponding to the third shaft group, there is a label washing installation mechanism, which is used to mark the materials temporarily stored in the third shaft group, through the quilting mechanism The material is intermittently quilted, and the temporary storage of the material is realized through the third shaft group, so that additional operations can be performed on the material, which facilitates the operation of long-length materials and avoids the accumulation of long-length materials during operation. Inconvenient to operate.

Preferably, both the cotton feeding part and the cutting part are connected to the detection part, the detection part includes a laser sensor, the laser sensor is connected to a processor, the laser sensor is used to detect the position and status information of the material, and the processor is used to The information determines the control strategy and sends control signals to the feeding and cutting sections. The laser sensors are respectively arranged in the cross-cutting part, the side-cutting part, the quilting mechanism and the cotton conveying part. The direction of the laser sensor is all facing the material. The laser sensor is used to detect whether the material reaches the corresponding position of the mechanism. The laser sensor is equipped with a number. The laser sensor Send the information of whether the material is in place to the processor, and the processor determines the position of the material according to the number and the information of whether the material is in place; the laser sensor detects the height information of the material at the same time, and the laser sensor sends the height information of the material to the processor, and the processor Determine the material status information at the corresponding position according to the serial number and the height information of the material. The laser sensor is used to monitor the position of the material throughout the process, which is convenient for controlling each mechanism separately. The processor processes the state of the material at each processing position and issues corresponding control commands to improve the intelligence and working accuracy of the equipment.

A method for controlling multi-axis sewing equipment, comprising the following steps: S1. Determine the position and state information of materials through a laser sensor, and simultaneously determine a sewing task; S2. Determine a first sewing order according to the sewing task; Send the first sewing command; S3, adjust the first sewing command according to the state information. At the same time, according to the laser sensor at each mechanism, the information of the corresponding position is obtained at the same time, and the initial state before the work of each mechanism is determined. At the same time, the sewing task is obtained in advance to determine the target working state of each mechanism; according to the sewing task, the The target working state of each mechanism is taken as the first sewing command, the first sewing command includes the working signal and preset working mode of each mechanism, the processor controls each mechanism through the AND gate circuit, and at the same time obtains the position information of the mechanism After the first sewing command and the first sewing command, the first sewing command is issued to the corresponding mechanism; after the first sewing command is issued, the processor determines the state of the material according to the monitoring information of the laser sensor at the corresponding mechanism in the first sewing command Information, adding an adjustment signal to the first sewing command according to the state information of the material, and the adjustment signal replaces the preset working mode to drive the corresponding mechanism. The monitoring of the whole process of material operation is realized through the laser sensor, and it is convenient to adjust each step, thereby improving the sewing degree, improving the intelligence and automation of the sewing process, and improving the versatility of sewing.

Preferably, S1 includes monitoring the position of the material through the laser sensor, setting different material actions for the laser sensors at different positions, and sending the corresponding material action to the mechanism at the corresponding position after receiving the sensor information at different positions through the processor , while the processor fetches all sewing tasks. The processor stores the preset working modes of all institutions at the same time, and numbers all the sensors. The number of the sensor corresponds to the preset working mode of the institution where it is located. After the sensor information reaches the processor, the processor will perform the corresponding preset work according to the number. The method is extracted and added to the information flow. The processor obtains the sewing task in a wireless or limited way. The sewing task includes the sensor number. The sensor number in the sewing task is used to determine the starting signal of the mechanism, and the processor obtains the sewing task. Match the sensor number in the sewing task with the sensor number in the sensor information after the task. The laser sensor collects the position of the material in the main body of the equipment and the collection of the processor to realize the segmental monitoring of the material action process, which is convenient for controlling each processing action of the material and realizes fine control.

Preferably, S2 includes that the processor simultaneously determines the first sewing command according to the material action and the sewing task, and the first sewing command includes sewing parameters and mechanism movement. There is a corresponding preset working mode for each mechanism, and the target working state of each mechanism is used as the first sewing command according to the sewing task. The first sewing command includes the working signal and preset working mode of each mechanism, and the processing The device controls each mechanism through an AND gate circuit. After acquiring the position information of each sensor and the first sewing command of the corresponding mechanism at the same time, the first sewing command is issued to the corresponding mechanism. For the first sewing command of the cotton feeding part It includes the rotation signal of the cotton input shaft, the rotation speed of the cotton input shaft, and the moving direction and moving distance of the second displacement mechanism. For the first sewing command of the cutting part, it includes the rotational speed of the first rotating shaft, the moving direction of the displacement mechanism and the moving distance of the displacement mechanism. The first sewing command of the quilting mechanism and the label washing installation mechanism includes a start signal and a timing signal. Automated production is realized by setting the first sewing command for different mechanisms, and the independent adjustment of each mechanism is realized by setting the first sewing command for each mechanism, so that each step in the production process can be individually targeted Adjustment.

Preferably, S3 includes obtaining the status information of the material, adjusting the power of each mechanism of the cutting part according to the status information of the material, and setting a correlation coefficient between the powers of each mechanism, and the correlation coefficient is used to represent the actions between the mechanisms Correlation. The status information of the material includes the first material thickness and the second material thickness. The first material thickness and the second material thickness are the thickness of the material when it is normal and when it is squeezed respectively; the status information of the material includes the material of the material, the material of the material Determined by the different degrees of light transmission, the material of the material is provided with different resistance values, and the resistance value is used to modify the rotational speed of the first circular blade and the moving distance of the displacement mechanism; the relationship coefficient includes the rotational speed and The first coefficient between the rotational speed of the first circular blade includes a second coefficient between the moving distance of the displacement mechanism and the rotational speed of the first circular blade. It can adjust the working state of each mechanism according to the state information of the material, and at the same time adjust the working state of each mechanism to achieve high-precision operation.

A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned multi-axis sewing equipment control method is realized. The computer program realizes the intelligent control and adjustment of the whole process of the sewing process, improves the self-adaptive ability of the sewing process, and improves the sewing precision.

The present invention has the following advantages:

(1) Reduce material surface deformation and increase material smoothness when cutting materials through the first circular blade and first rotating shaft, avoid extrusion displacement for thicker materials, and improve the processing capacity of thick materials; (2) Through The end of the material is rolled and cut at the cross-cutting edge to ensure that the end of the material is cut flat, and to avoid the loss of the material filler due to extrusion during the cutting process, resulting in uneven cutting; (3) The whole process of material operation is realized through the laser sensor It is easy to adjust each step, thereby improving the sewing degree, improving the intelligence and automation of the sewing process, and improving the versatility of sewing; (4) The working status of each mechanism can be monitored according to the status information of the material At the same time, adjust the working status of each mechanism to achieve high-precision operation.

Description of drawings

The drawings in the following description are only exemplary, and those skilled in the art can also obtain other implementation drawings according to the provided drawings without creative work.

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the method steps of the present invention.

In the figure: 1. Cotton feeding part; 2. Quilting mechanism; 3. Side trimming part; 4. Second displacement mechanism; 5. Washing label installation mechanism; 6. Cross-cutting edge part.

Detailed ways

The implementation of the present invention is described below by specific specific examples. Based on the examples in the present invention, all other examples obtained by those of ordinary skill in the art without making creative work all belong to the protection scope of the present invention. .

As shown in Figure 1, in a preferred embodiment, the present invention discloses a multi-axis sewing device, comprising: a cotton feeding part 1, the cotton feeding part 1 is used to transport the material to be sewn according to a certain speed; The cotton part is connected with a cutting part, and the cutting part is used to sew and cut sequentially from different positions of the material; the cutting part is provided with a first rotating shaft, and the first rotating shaft is connected with a first circular blade, and the first circular blade and the first rotating shaft Rotate together; the first rotating shaft is connected with a displacement mechanism, and the displacement mechanism is used to move the first rotating shaft and the first circular blade closer to or farther away from the direction of the material. The cotton feeding part is used to control the material to move at a certain speed and in the same direction, including the main body of the equipment. The cotton feeding part is arranged on the front, middle and rear sides of the equipment main body. The cotton feeding part is used to control the material entering from the front side of the equipment main body To the rear side away from the main body of the equipment; the cutting part is located on the front and rear sides of the cotton feeding part in the middle of the main body of the equipment. The cutting part is used to sew and cut the material. The displacement mechanism and the first rotating shaft are connected to the motor at the same time. The first rotating shaft is used Rotate when the displacement mechanism is working, the shape of the first circular blade is circular or fan-shaped, the direction of the blade of the first circular blade faces the radial tangent direction of the first rotating shaft, and the distance between the first circular blade and the first rotating shaft There are fixed connections between them; the displacement mechanism is located above the material. Through the first circular blade and the first rotating shaft, the surface deformation of the material can be reduced when the material is cut, the flatness of the material can be increased, extrusion displacement can be avoided for thicker materials, and the processing capacity of thicker materials can be improved.

When in use, the cotton feeding part transmits the materials to be sewn at a fixed speed, and the cutting part cuts the sewing materials from the side and the tail, and the working parameters of the displacement mechanism and the cutting part are determined by the working parameters of the cotton feeding part and the sewing materials to be sewn. The parameters of the manufacturing material are determined.

The cutting part includes a trimming part, the first rotating shaft is located at the trimming part, and the trimming part includes a side trimming part 3 and a transverse trimming part 6 arranged in sequence, and a cotton feeding shaft is arranged between the side trimming part and the transverse trimming part. The cutting part also includes a tangent part, which is connected with a quilting part. The quilting part is used for quilting the material, and the tangent part is used to cut off the excess thread ends after the material is quilted; the side trimming part is located at the upper right edge of the material, The cross-cutting part is located at the rear side edge above the material, the cross-cutting part is used to cut the material, the side-cutting part is used to cut off the excess material on the edge of the material, and the middle side cotton feeding part is located at the side-cutting part and the cross-cutting part Among them, the middle side cotton feeding part is used to adjust the conveying speed of the material after side cutting to the cross cutting part. The rotation direction of the first circular blade and the first rotating shaft in the side trimming portion is the same as the material conveying direction, and the rotating direction of the first circular blade and the first rotating shaft in the cross-cutting edge portion is perpendicular to the material conveying direction. The side edge of the material is rolled and cut through the side cutting edge to achieve a smooth edge of the material, avoiding the displacement of the material surface due to cutting, making the side cutting of the material accurate, and avoiding the cutting deviation caused by extrusion. The end of the material is roll-cut by cross-cutting the edge to ensure that the end of the material is cut flat, and to avoid the loss of the material filler due to extrusion during the cutting process, resulting in uneven cutting.

When in use, the quilting part sews the materials to be sewn while the trimming part cuts the materials.

The cotton delivery part comprises a plurality of cotton delivery shafts arranged side by side, the cotton delivery shafts are connected with a second displacement mechanism 4, and the second displacement mechanism is used to change the distance between the cotton delivery shafts, and the cotton delivery shafts arranged side by side are located at the side cutting edge away from On one side of the cross-cutting edge, the feeding shaft between the side-cutting edge and the cross-cutting edge is independently controlled. The cotton conveying shaft is a plurality of cotton conveying shafts arranged parallel to each other. Rollers are provided on the outer end of the cotton conveying shaft. The rollers are used to increase the friction between the cotton conveying shaft and the material, so as to prevent the material from slipping and facilitate the control of the material; the cotton conveying part includes The second rotating shaft group, the second rotating shaft group is located on the front side of the device main body, the rear side of the second rotating shaft group is the cutting part, the second rotating shaft group is connected with the second displacement mechanism, and the second displacement mechanism is used to change the upper and lower sides of the second rotating shaft group. The distance between the second rotating shaft on the side and the reciprocating motion of moving up and down when the second displacement mechanism is working. There is an equal relationship between the moving rate of the second displacement mechanism and the rotation speed of the cotton feeding shaft. The equal relationship includes the material conveying speed and the second displacement mechanism Moving speed. The material conveying process is controlled through the second rotating shaft group, so that the materials can be collected without stopping the conveying of materials, and the efficiency of quilting can be improved.

When in use, the second displacement mechanism adjusts the positions of the plurality of cotton conveying shafts, so that the materials to be sewn are no longer conveyed but stored in the cotton conveying part.

The cutting part includes a quilting mechanism 2. The quilting mechanism is used for quilting the surface of the material. The quilting mechanism is located on the side of the side trimming part away from the cross-cutting part. There is a washing machine between the cotton feeding shaft and the cross-cutting part Mechanism 5, the label washing installation mechanism is used to mark the working position of the side cutting part on the material. The quilting mechanism is located between the side trimming part and the cotton feeding part, and the quilting mechanism is used for quilting according to a preset rate; the rear side of the side trimming part is located on the lower side of the material, and a third rotating shaft group is arranged parallel to the second rotating shaft group , the third shaft group is used for temporary storage of materials, above the materials and corresponding to the third shaft group, there is a label washing installation mechanism, which is used to mark the materials temporarily stored in the third shaft group, through the quilting mechanism The material is intermittently quilted, and the temporary storage of the material is realized through the third shaft group, so that additional operations can be performed on the material, which facilitates the operation of long-length materials and avoids the accumulation of long-length materials during operation. Inconvenient to operate.

When in use, the quilting mechanism sews the materials conveyed by the cotton conveying part, and after the materials are sewn by the quilting mechanism, they move to the label washing installation mechanism for the next process.

Both the cotton feeding part and the cutting part are connected to the detection part. The detection part includes a laser sensor, which is connected to a processor. The laser sensor is used to detect the position and status information of the material, and the processor is used to determine the control strategy according to the position and status information of the material. And send control signals to the cotton transporting department and the cutting department. The laser sensors are respectively arranged in the cross-cutting part, the side-cutting part, the quilting mechanism and the cotton conveying part. The direction of the laser sensor is all facing the material. The laser sensor is used to detect whether the material reaches the corresponding position of the mechanism. The laser sensor is equipped with a number. The laser sensor Send the information of whether the material is in place to the processor, and the processor determines the position of the material according to the number and the information of whether the material is in place; the laser sensor detects the height information of the material at the same time, and the laser sensor sends the height information of the material to the processor, and the processor Determine the material status information at the corresponding position according to the serial number and the height information of the material. The laser sensor is used to monitor the position of the material throughout the process, which is convenient for controlling each mechanism separately. The processor processes the state of the material at each processing position and issues corresponding control commands to improve the intelligence and working accuracy of the equipment.

When in use, the detection unit transmits the detected multiple parameters to the processor, and sends them to the corresponding working mechanism after processing by the processor, so as to realize mutual adjustment between various steps.

A method for controlling multi-axis sewing equipment, comprising the following steps: S1. Determine the position and state information of materials through a laser sensor, and simultaneously determine a sewing task; S2. Determine a first sewing order according to the sewing task; Send the first sewing command; S3, adjust the first sewing command according to the state information. At the same time, according to the laser sensor at each mechanism, the information of the corresponding position is obtained at the same time, and the initial state before the work of each mechanism is determined. At the same time, the sewing task is obtained in advance to determine the target working state of each mechanism; according to the sewing task, the The target working state of each mechanism is taken as the first sewing command, the first sewing command includes the working signal and preset working mode of each mechanism, the processor controls each mechanism through the AND gate circuit, and at the same time obtains the position information of the mechanism After the first sewing command and the first sewing command, the first sewing command is issued to the corresponding mechanism; after the first sewing command is issued, the processor determines the state of the material according to the monitoring information of the laser sensor at the corresponding mechanism in the first sewing command Information, adding an adjustment signal to the first sewing command according to the state information of the material, and the adjustment signal replaces the preset working mode to drive the corresponding mechanism. The monitoring of the whole process of material operation is realized through the laser sensor, and it is convenient to adjust each step, thereby improving the sewing degree, improving the intelligence and automation of the sewing process, and improving the versatility of sewing.

S1 includes monitoring the position of the material through the laser sensor, setting different material actions for the laser sensors at different positions, and sending the corresponding material action to the mechanism at the corresponding position after receiving the sensor information at different positions through the processor. Get all sewing quests. The processor stores the preset working modes of all institutions at the same time, and numbers all the sensors. The number of the sensor corresponds to the preset working mode of the institution where it is located. After the sensor information reaches the processor, the processor will perform the corresponding preset work according to the number. The method is extracted and added to the information flow. The processor obtains the sewing task in a wireless or limited way. The sewing task includes the sensor number. The sensor number in the sewing task is used to determine the starting signal of the mechanism, and the processor obtains the sewing task. Match the sensor number in the sewing task with the sensor number in the sensor information after the task. The laser sensor collects the position of the material in the main body of the equipment and the collection of the processor to realize the segmental monitoring of the material action process, which is convenient for controlling each processing action of the material and realizes fine control.

In S2, the processor simultaneously determines the first sewing command according to the material action and the sewing task, and the first sewing command includes sewing parameters and mechanism movement. There is a corresponding preset working mode for each mechanism, and the target working state of each mechanism is used as the first sewing command according to the sewing task. The first sewing command includes the working signal and preset working mode of each mechanism, and the processing The device controls each mechanism through an AND gate circuit. After acquiring the position information of each sensor and the first sewing command of the corresponding mechanism at the same time, the first sewing command is issued to the corresponding mechanism. For the first sewing command of the cotton feeding part It includes the rotation signal of the cotton input shaft, the rotation speed of the cotton input shaft, and the moving direction and moving distance of the second displacement mechanism. For the first sewing command of the cutting part, it includes the rotational speed of the first rotating shaft, the moving direction of the displacement mechanism and the moving distance of the displacement mechanism. The first sewing command of the quilting mechanism and the label washing installation mechanism includes a start signal and a timing signal. Automated production is realized by setting the first sewing command for different mechanisms, and the independent adjustment of each mechanism is realized by setting the first sewing command for each mechanism, so that each step in the production process can be individually targeted Adjustment.

S3 includes obtaining the state information of the material, adjusting the power of each mechanism of the cutting part according to the state information of the material, and setting a correlation coefficient between the powers of each mechanism. The correlation coefficient is used to represent the action correlation between each mechanism. The status information of the material includes the first material thickness and the second material thickness. The first material thickness and the second material thickness are the thickness of the material when it is normal and when it is squeezed respectively; the status information of the material includes the material of the material, the material of the material Determined by the different degrees of light transmission, the material of the material is provided with different resistance values, and the resistance value is used to modify the rotational speed of the first circular blade and the moving distance of the displacement mechanism; the relationship coefficient includes the rotational speed and The first coefficient between the rotational speed of the first circular blade includes a second coefficient between the moving distance of the displacement mechanism and the rotational speed of the first circular blade. It can adjust the working state of each mechanism according to the state information of the material, and at the same time adjust the working state of each mechanism to achieve high-precision operation.

A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned multi-axis sewing equipment control method is realized. The computer program realizes the intelligent control and adjustment of the whole process of the sewing process, improves the self-adaptive ability of the sewing process, and improves the sewing precision.

Although the present invention has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.

Claims (10)

1. A kind of multi-axis sewing equipment, it is characterized in that, comprises: Cotton conveying part, and cotton conveying part is used for conveying the material to be sewn according to certain speed; The position starts sewing and cutting in turn; the cutting part is provided with a first rotating shaft, and the first rotating shaft is connected with a first circular blade, and the first circular blade and the first rotating shaft rotate together; the first rotating shaft is connected with a displacement mechanism, and the displacement The mechanism is used to move the first rotating shaft and the first circular blade closer to or farther away from the material direction. 2. A multi-axis sewing device according to claim 1, wherein the cutting part includes a trimming part, the first rotating shaft is located at the trimming part, and the trimming part includes sequentially The side trimming portion and the transverse trimming portion are arranged, and a cotton delivery shaft is arranged between the side trimming portion and the transverse trimming portion. 3. A multi-axis sewing device according to claim 2, characterized in that, said cotton delivery part comprises a plurality of cotton delivery shafts arranged side by side, said cotton delivery shafts are connected with a second displacement mechanism, The second displacement mechanism is used to change the distance between the cotton conveying shafts, the cotton conveying shafts arranged side by side are located on the side away from the side trimming part, and the side trimming part and the cross cutting part The feeding shafts are controlled independently. 4. The multi-axis sewing equipment according to claim 2, wherein the cutting part comprises a quilting mechanism, the quilting mechanism is used for quilting the surface of the material, and the quilting The sewing mechanism is located on the side of the side cutting edge away from the cross-cutting edge, and a washing label installation mechanism is provided between the cotton conveying shaft and the cross-cutting edge. Marking at the working position. 5. A kind of multi-axis sewing equipment according to claim 4, characterized in that, the cotton feeding part and the cutting part are connected to the detection part, and the detection part includes a laser sensor, and the laser sensor A processor is connected, the laser sensor is used to detect the position and state information of the material, and the processor is used to determine the control strategy according to the position and state information of the material and send control signals to the cotton conveying part and the cutting part. 6. A method for controlling multi-axis sewing equipment, which is suitable for a multi-axis sewing equipment according to any one of claims 1 to 5, characterized in that it comprises the following steps: S1, determining the position of the material by a laser sensor and status information, simultaneously determine the sewing task; S2, determine the first sewing command according to the sewing task; issue the first sewing command according to the position of the material; S3, adjust the first sewing command according to the status information. 7. A multi-axis sewing equipment control method according to claim 6, characterized in that said S1 includes monitoring the position of the material through the laser sensor, setting different material actions for the laser sensor at different positions, through After receiving the sensor information at different positions, the processor sends the corresponding material action to the mechanism at the corresponding position, and at the same time, the processor acquires all sewing tasks. 8. A method for controlling multi-axis sewing equipment according to claim 7, wherein said S2 includes that the processor simultaneously determines the first sewing command according to the material action and the sewing task, and said The first sewing command includes sewing parameters and movement amount of the mechanism. 9. A multi-axis sewing equipment control method according to claim 7 or 8, characterized in that said S3 includes acquiring the state information of the material, and adjusting the power of each mechanism of the cutting part according to the state information of the material , and at the same time set correlation coefficients between the powers of the mechanisms, and the correlation coefficients are used to represent the action correlation between the mechanisms. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, a multi-axis sewing device as claimed in any one of claims 6 to 9 is realized Control Method.

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