CN103074741B - Method for controlling electronic pattern sewing machine to carry out herringbone sewing - Google Patents

Abstract

The invention provides a method for controlling an electronic pattern sewing machine to carry out herringbone sewing. According to the method, firstly, a plurality of straight line sections, circular arcs, circles and free curves for forming patterns respectively generate herringbone sewing data; secondly, a herringbone sewing data file obtained through integration is stored into an electric control system of the electronic pattern sewing machine; and the pattern data file selected by the users is read out by the electric control system, and the pattern data is reversely analyzed for controlling an X-axis stepping motor and a Y-axis stepping motor to be matched with a main shaft servo motor for operation. The needle pitch of the generated pattern data is smooth, no particularly large or small needle pitches exist, the operation of the pattern sewing machine is stable, the noise and the vibration are greatly reduced, and the sewing effect is good. When the pattern file is read out, the increment in the XY axis direction can be obtained without carrying out complicated bit operation like the traditional pattern file, the pattern data is directly read out, and the movement vector of a pattern frame relative to a frame needle is indicated through pattern point relative coordinates.

Description

A kind ofly control the method that electro-pattern-sewing machine carries out lambdoidal suture

Technical field

The present invention relates to a kind of method that electro-pattern-sewing machine carries out lambdoidal suture of controlling.

Background technology

Electro-pattern-sewing machine is the industrial sewing machine of three axle collaborative works, and these three axles are respectively to control the main shaft Z that eedle pumps and control cloth frame XY axle of motion all around in horizontal plane.In sewing process, main shaft at the uniform velocity moves reciprocatingly at vertical direction according to the speed of setting: eedle moves to eedle from peak will prick the eedle minimum point of entering to layout into cloth, then to eedle just left cloth go out to layout, finally arrive peak.Eedle from go out to layout peak again to this process of entering to layout be cloth frame according to the time period of the given displacement movement of pattern data, the stop motion of other times XY axle.

Arbitrarily complicated style (as lambdoidal suture) is all the combination of the orderly point that consists of pin one pin data, and the element of this combination is again to be represented afterwards by the most basic a series of geometric figure discretizations.Basic geometric figure comprises straightway, circular arc, circle and free curve, can determine a line segment at 2, can determine a circular arc or circle at 3, and several points can determine that again one by the smooth free curve of these points.These basic geometric figures are all continuous curves in plane, can not directly be used for sewing, and only have after discretization and could use.

Traditional style discrete method adopts raw straight numerical differential algorithm in computer graphics, inevitably there will be the needle gage of last pin to be less than setting needle gage.In the process of at a high speed sewing, run into such data and can cause pattern sewing machine to produce larger vibration, not only can make to make the effect situation that even there will be distortion not attractive in appearance, but also can affect pattern sewing machine service life.

Summary of the invention

The technical problem solving

The problem existing for solving prior art, the present invention proposes a kind of method that electro-pattern-sewing machine carries out lambdoidal suture of controlling.

Technical scheme

A kind of described method that electro-pattern-sewing machine carries out lambdoidal suture of controlling, is characterized in that: comprise the following steps:

Step 1: set up lambdoidal suture pattern data file: described lambdoidal suture pattern data file comprises header file, key point data and pattern data;

Described pattern data produces by following steps:

Step 1.1: style is divided into some sections of basic geometric figures that are connected successively, described basic geometric figure comprises straightway, circular arc, circle and free curve, and the data that wherein determine several points of straightway, circular arc, circle and free curve are key point data;

Step 1.2: with the amount of giving of lambdoidal suture ¹/ ₂for needle gage carries out discretization to basic geometric figure, obtain basic pattern data, as follows with vector representation:

$\left\{\begin{array}{c}\mathrm{\Δ}{\stackrel{\→}{p}}_{1j}=\mathrm{\Δ}{x}_j+\mathrm{i\Δ}{y}_j\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

N is the data point number of style after discrete;

Step 1.3: generate lambdoidal suture pattern data according to following steps:

1. ask each vectorial unit vector:

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{1j}=x_{\mathrm{ej}}+i{y}_{\mathrm{ej}}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

2. calculate deflection unit vector:

Divide three kinds of situations:

A) lambdoidal suture is the left side by direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{2j}={\stackrel{\→}{e}}_{1j}*e^{i(j\%2)(\mathrm{\π}/2)}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

B) lambdoidal suture is the right side by direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{2j}={\stackrel{\→}{e}}_{1j}*e^{-i(j\%2)(\mathrm{\π}/2)}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

C) lambdoidal suture is placed in the middle in direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{2j}={\stackrel{\→}{e}}_{1j}*e^{i{(-1)}^{(j\%2)}(\mathrm{\π}/2)}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

3. calculate twist vector:

In two kinds of situation:

A) lambdoidal suture is left side or the right side by direction of advance

$\left\{\begin{array}{c}\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}={\stackrel{\→}{e}}_{2j}*h\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

H is lambdoidal suture height

B) lambdoidal suture is placed in the middle in direction of advance

$\left\{\begin{array}{c}\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}={\stackrel{\→}{e}}_{2j}*h/2\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

4. calculate the absolute coordinate of original pattern data:

$\left\{\begin{array}{c}{\stackrel{\→}{p}}_{1j}={\stackrel{\→}{p}}_{1(j-1)}+\mathrm{\Δ}{\stackrel{\→}{p}}_{1j}\\ j=1\·\·\·(T-1)\end{array}\right.$

5. calculate the absolute coordinate of lambdoidal suture pattern data:

In two kinds of situation:

A) lambdoidal suture is left side or the right side by direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{P}}_{2j}={\stackrel{\→}{p}}_{1j}+\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}\\ j=2k+1\\ k=\mathrm{0,1}\·\·\·((T-2)/2)\end{array}\right.$

B) lambdoidal suture is placed in the middle in direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{p}}_{2j}={\stackrel{\→}{p}}_{1j}+\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

6. calculate lambdoidal suture pattern data relative coordinate:

The absolute coordinate of lambdoidal suture pattern data is write as

$\left\{\begin{array}{c}{\stackrel{\→}{P}}_{2j}=x_j+i{y}_j\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

Lambdoidal suture pattern data relative coordinate is

Step 2: the electric-control system that the pattern data file of step 1 gained is deposited in to electro-pattern-sewing machine;

Step 3: the electric-control system of electro-pattern-sewing machine coordinates spindle servo electric machine operation sewing lambdoidal suture style according to pattern data document control X-axis stepper motor and y-axis stepper motor.

Beneficial effect

The 1 pattern data needle gage generating is level and smooth, without large or especially little especially needle gage, pattern sewing machine is operated steadily, and has greatly reduced noise and vibration, and sewing efficiency is good.

2 styles are processed simple: while reading style file, be not as traditional style file, to carry out complicated bit arithmetic just can obtain the axial increment of XY, but directly read pattern data, style point relative coordinate, has indicated the motion vector of the relative eedle of picture frame.

The specific embodiment

Below in conjunction with specific embodiment, the present invention is described:

A kind of in the present embodiment controls the method that electro-pattern-sewing machine carries out lambdoidal suture, comprises the following steps:

Step 1: set up lambdoidal suture pattern data file: described lambdoidal suture pattern data file comprises header file, key point data and pattern data;

Described pattern data produces by following steps:

Step 1.1: style is divided into some sections of basic geometric figures that are connected successively, described basic geometric figure comprises straightway, circular arc, circle and free curve, and the data that wherein determine several points of straightway, circular arc, circle and free curve are key point data;

Step 1.2: with the amount of giving of lambdoidal suture ¹/ ₂for needle gage carries out discretization to basic geometric figure, obtain basic pattern data, as follows with vector representation:

$\left\{\begin{array}{c}\mathrm{\Δ}{\stackrel{\→}{p}}_{1j}=\mathrm{\Δ}{x}_j+\mathrm{i\Δ}{y}_j\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

N is the data point number of style after discrete;

Step 1.3: generate lambdoidal suture pattern data according to following steps:

1. ask each vectorial unit vector:

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{1j}=x_{\mathrm{ej}}+i{y}_{\mathrm{ej}}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

2. calculate deflection unit vector:

Divide three kinds of situations:

A) lambdoidal suture is the left side by direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{2j}={\stackrel{\→}{e}}_{1j}*e^{i(j\%2)(\mathrm{\π}/2)}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

B) lambdoidal suture is the right side by direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{2j}={\stackrel{\→}{e}}_{1j}*e^{-i(j\%2)(\mathrm{\π}/2)}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

C) lambdoidal suture is placed in the middle in direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{e}}_{2j}={\stackrel{\→}{e}}_{1j}*e^{i{(-1)}^{(j\%2)}(\mathrm{\π}/2)}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

3. calculate twist vector:

In two kinds of situation:

A) lambdoidal suture is left side or the right side by direction of advance

$\left\{\begin{array}{c}\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}={\stackrel{\→}{e}}_{2j}*h\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

H is lambdoidal suture height

B) lambdoidal suture is placed in the middle in direction of advance

$\left\{\begin{array}{c}\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}={\stackrel{\→}{e}}_{2j}*h/2\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

4. calculate the absolute coordinate of original pattern data:

$\left\{\begin{array}{c}{\stackrel{\→}{p}}_{1j}={\stackrel{\→}{p}}_{1(j-1)}+\mathrm{\Δ}{\stackrel{\→}{p}}_{1j}\\ j=1\·\·\·(T-1)\end{array}\right.$

5. calculate the absolute coordinate of lambdoidal suture pattern data:

In two kinds of situation:

A) lambdoidal suture is left side or the right side by direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{P}}_{2j}={\stackrel{\→}{p}}_{1j}+\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}\\ j=2k+1\\ k=\mathrm{0,1}\·\·\·((T-2)/2)\end{array}\right.$

B) lambdoidal suture is placed in the middle in direction of advance

$\left\{\begin{array}{c}{\stackrel{\→}{p}}_{2j}={\stackrel{\→}{p}}_{1j}+\mathrm{\Δ}{\stackrel{\→}{p}}_{2j}\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

6. calculate lambdoidal suture pattern data relative coordinate:

The absolute coordinate of lambdoidal suture pattern data is write as

$\left\{\begin{array}{c}{\stackrel{\→}{P}}_{2j}=x_j+i{y}_j\\ j=\mathrm{0,1}\·\·\·(T-1)\end{array}\right.$

Lambdoidal suture pattern data relative coordinate is

Step 2: the electric-control system that the pattern data file of step 1 gained is deposited in to electro-pattern-sewing machine;

Step 3: the electric-control system of electro-pattern-sewing machine coordinates spindle servo electric machine operation sewing lambdoidal suture style according to pattern data document control X-axis stepper motor and y-axis stepper motor.

The process of wherein basic geometric figure being carried out to discretization is:

In accordance with the following methods every section of basic geometric figure is carried out respectively to uniform discrete:

A: the uniform discrete of straightway:

Steps A .1: two points establishing given straightway are O (0,0) and P (x, y), the needle gage that user sets is d; Draw the length of line segment OP $l_1=\sqrt{x^2+y^2};$

Steps A .2: determine the little line segment number N and the revised needle gage Δ l that obtain after line segment OP discretization ₁:

Get

if N ₁* (d+1) <l ₁, N=N ₁+ 1, otherwise N=N ₁; Δ l ₁=l ₁/ N;

Steps A .3: determine vector

unit vector at the component x of electro-pattern-sewing machine X-axis, Y direction _e, y _e:

$\left\{\begin{array}{c}{x}_e=x/l_1\\ y_e=y/l_1\end{array}\right.$

Steps A .4: generate the pattern data absolute position after uniform discrete and round:

Steps A .5: generate pattern data point relative coordinate:

B: the uniform discrete of circular arc or circle:

Step is B.1: three points establishing given circular arc or circle are P ₀(0,0), P ₁(x ₁, y ₁) and P ₂(x ₂, y ₂), and these three points are on same straight line, and the needle gage that user sets is d;

Step is B.2: the center of circle O (x that calculates circular arc place circle ₀, y ₀) and radius R;

Step is B.3: calculate circular arc institute to central angle alpha, direction of rotation β and vector

tilt angle gamma; Wherein, if style is round, α=2 π; Circular arc β=-1 that turns clockwise, is rotated counterclockwise β=1;

Step is B.4: calculate and take needle gage d as the corresponding central angle θ of chord length ₁;

Step is B.5: determine little line segment number M and revised central angle Δ θ after circular arc or circle discretization:

Get

if M ₁* θ ₁< α, M=M ₁+ 1, otherwise M=M ₁; Δ θ=α/M;

Step is B.6: obtain the pattern data after uniform discrete:

Step is B.7: whether the pattern data after the uniform discrete that judgement generates exceeds is set border, if exceed, sets border, represents that discrete results cannot realize, otherwise, obtain style point relative coordinate:

C: the uniform discrete of free curve:

Step is C.1: m+1 point establishing given free curve is P ₁(x ₁, y ₁), P ₂(x ₂, y ₂) ... P _m+1(x _m+1, y _m+1), free curve is comprised of m section B-spline Curve; ;

Step is C.2: according to formula:

$\left\{\begin{array}{c}\left(\begin{array}{ccccccc}6& 0& & \&CenterDot;\&CenterDot;\&CenterDot;& & & 0\\ 1& 4& 1& \&CenterDot;\&CenterDot;\&CenterDot;& & & 0\\ \&CenterDot;& & & & & & \&CenterDot;\\ \&CenterDot;& & & \&CenterDot;\&CenterDot;\&CenterDot;& & & \&CenterDot;\\ \&CenterDot;& & & & & & \&CenterDot;\\ 0& & & \&CenterDot;\&CenterDot;\&CenterDot;& 1& 4& 1\\ 0& & & \&CenterDot;\&CenterDot;\&CenterDot;& & 0& 6\end{array}\right)\left(\begin{array}{c}{G}_1\\ G_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ G_m\\ G_{m+1}\end{array}\right)=6\left(\begin{array}{c}{P}_1\\ P_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_m\\ P_{m+1}\end{array}\right)\\ G_2-2G_1+G_0=0\\ G_m-2G_{m+1}+G_{m+2}=0\end{array}\right.$

Obtain m+3 control point G of B-spline Curve ₀, G ₁g _m+2;

Step is C.3: according to formula:

$\left\{\begin{array}{c}{C}_i\left(u\right)=A_{i3}{u}^3+A_{i2}{u}^2+A_{i1}u+A_{i0}=\left(\begin{array}{c}{x}_i\left(u\right)\\ y_i\left(u\right)\end{array}\right)\\ A_{i3}=(-G_{i-1}+2G_i-3G_{i+1}+G_{i+2})/6\\ A_{i2}=(3G_{i-1}-6G_i+3G_{i+1})/6\\ A_{i1}=(-{3G}_{i-1}+3G_{i+1})/6\\ A_{i0}=(G_{i-1}+4G_i+G_{i+1})/6\\ 0\&le;u\&le;1,i=\mathrm{1,2}\&CenterDot;\&CenterDot;\&CenterDot;m\end{array}\right.$

Obtain the coefficient A of B-spline Curve track computing formula _i3, A _i2, A _i1, A _i0;

Step is C.4: obtain free curve length $l_2=\underset{1}{\overset{m}{\mathrm{\&Sigma;}}}{\&Integral;}_0^1\sqrt{{\left(\frac{d{x}_i\left(u\right)}{\mathrm{du}}\right)}^2+{\left(\frac{d{y}_i\left(u\right)}{\mathrm{du}}\right)}^2}\mathrm{du}$

Step is C.5: calculate little line segment number K and revised needle gage Δ l after free curve discretization ₂:

Get

if K ₁* (d+1) <l ₂, K=K ₁+ 1, otherwise K=K ₁, Δ l ₂=l ₂/ K;

Step is C.6: obtain the pattern data x after uniform discrete _i, y _i, whether the pattern data after the uniform discrete that judgement generates exceeds is set border, if exceed, sets border, represents that discrete results cannot realize, otherwise, obtain style point relative coordinate:

Claims (1)

1. control the method that electro-pattern-sewing machine carries out lambdoidal suture, it is characterized in that: comprise the following steps:

Step 1: set up lambdoidal suture pattern data file: described lambdoidal suture pattern data file comprises header file, key point data and pattern data;

Described pattern data produces by following steps:

Step 1.1: style is divided into some sections of basic geometric figures that are connected successively, described basic geometric figure comprises straightway, circular arc, circle and free curve, and the data that wherein determine several points of straightway, circular arc, circle and free curve are key point data;

Step 1.2: take lambdoidal suture the amount of sending 1/2 basic geometric figure is carried out to discretization as needle gage, obtain basic pattern data, as follows with vector representation:

T is the data point number of style after discrete, and i represents vectorial imaginary part;

Step 1.3: generate lambdoidal suture pattern data according to following steps:

1. ask each vectorial unit vector:

2. calculate deflection unit vector:

Divide three kinds of situations:

A) lambdoidal suture is the left side by direction of advance

B) lambdoidal suture is the right side by direction of advance

C) lambdoidal suture is placed in the middle in direction of advance

3. calculate twist vector:

In two kinds of situation:

A) lambdoidal suture is left side or the right side by direction of advance

H is lambdoidal suture height

B) lambdoidal suture is placed in the middle in direction of advance

4. calculate the absolute coordinate of original pattern data:

5. calculate the absolute coordinate of lambdoidal suture pattern data:

In two kinds of situation:

A) lambdoidal suture is left side or the right side by direction of advance

B) lambdoidal suture is placed in the middle in direction of advance

6. calculate lambdoidal suture pattern data relative coordinate:

The absolute coordinate of lambdoidal suture pattern data is write as

Lambdoidal suture pattern data relative coordinate is

Step 2: the electric-control system that the pattern data file of step 1 gained is deposited in to electro-pattern-sewing machine;

Step 3: the electric-control system of electro-pattern-sewing machine coordinates spindle servo electric machine operation sewing lambdoidal suture style according to pattern data document control X-axis stepper motor and y-axis stepper motor.