CN113062059A - Embroidery robot with automatic thread dyeing function and control method - Google Patents
Embroidery robot with automatic thread dyeing function and control method Download PDFInfo
- Publication number
- CN113062059A CN113062059A CN202110357520.8A CN202110357520A CN113062059A CN 113062059 A CN113062059 A CN 113062059A CN 202110357520 A CN202110357520 A CN 202110357520A CN 113062059 A CN113062059 A CN 113062059A
- Authority
- CN
- China
- Prior art keywords
- embroidery
- thread
- dyeing
- motor
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05C—EMBROIDERING; TUFTING
- D05C11/00—Devices for guiding, feeding, handling, or treating the threads in embroidering machines; Machine needles; Operating or control mechanisms therefor
- D05C11/24—Devices for guiding, feeding, handling, or treating the threads in embroidering machines; Machine needles; Operating or control mechanisms therefor incorporating devices for dyeing or impregnating the threads
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention discloses an embroidery robot with an automatic thread dyeing function and a control method. The embroidery robot comprises a mechanical arm, a bottom thread rotating shuttle device, a thread dyeing device and a controller. The arm adopts four-axis industrial robot. The bobbin thread rotating shuttle device comprises a base, a first motor and a rotating shuttle. An embroidery needle head is fixed at the tail end of the mechanical arm. The thread dyeing device comprises a dye part, the dye part is used for dyeing the embroidery thread, and the embroidery thread penetrates through the embroidery needle head after dyeing. The controller is respectively used for controlling the mechanical arm, the first motor and the dyeing device, the first motor is expanded into the fifth shaft of the mechanical arm, and the dyeing device is expanded into the sixth shaft of the mechanical arm. The invention fully exerts the characteristics of flexibility, rapidness and accuracy of the robot, and cooperates with the servo motor to complete the automatic thread dyeing function and embroider exquisite patterns.
Description
Technical Field
The invention belongs to the field of mechanical arm application, and particularly relates to an embroidery robot with an automatic thread dyeing function and a control method.
Background
At present, with the development of robot technology and corresponding industries, the application field of robots is gradually expanded to wider cultural application, and the embroidery robot with the automatic thread dyeing function combines traditional culture and modern science and technology, so as to arouse the attention and enthusiasm of people on the traditional culture.
At present, in the field of intelligent embroidery, an industrial embroidery machine is mainly applied, the principle is that a needle head is fixed, and an embroidery face moves to complete embroidery, so that a huge machine tool and a complicated mechanical structure are needed, the cost is high, meanwhile, the product efficiency and the durability are not high, and the industrial mass production is still limited at present. The current color embroidery mainly adopts embroidery threads with different colors for embroidery, when the colors need to be changed, an automatic sewing machine needs to manually change the threads and has complicated thread cutting procedures, and the automatic thread cutting function of an industrial embroidery machine still has the problems of rough thread cutting, continuous thread cutting and the like.
Disclosure of Invention
The embodiment of the invention provides an embroidery robot with an automatic thread dyeing function and a control method thereof, and aims to solve the problems that in the related technology, the mechanical structure is large and complex, the efficiency is low, a plurality of embroidery threads are needed in color embroidery, the manual thread changing and cutting process is complicated, and the cut threads are rough.
According to a first aspect of embodiments of the present invention, there is provided an embroidery robot having an automatic thread dyeing function, including: a bobbin thread rotating shuttle device including a base, a first motor mounted on the base, and a rotating shuttle mounted on the first motor; the embroidery needle head is fixed at the tail end of the mechanical arm; the dyeing device comprises a dye part, the dye part is used for dyeing embroidery threads, and the dyed embroidery threads penetrate through the embroidery needle head; and the controller is respectively used for controlling the mechanical arm, the first motor and the dyeing line device.
Further, the base comprises a main support, a motor fixing frame arranged on the main support and an adjustable frame arranged on the motor fixing frame, the main support is fixed on the machine shell of the mechanical arm, and the first motor is arranged on the adjustable frame.
Further, the embroidery needle and the rotary hook always remain on the same vertical line.
Further, the dyeing device also comprises a second motor, and the dye component is arranged on a rotating shaft of the second motor.
Further, the dye component comprises a paint box and a paint pen point, wherein the paint pen point obtains the dye from the paint box, and the paint pen point dyes the embroidery thread.
Furthermore, there are a plurality of the pigment nib, a plurality of the pigment nib colour difference.
Further, still include the support that is used for fixed the second motor.
Furthermore, the embroidery machine also comprises a sector fixing frame for fixing embroidery sectors, and the embroidery needles and the rotating shuttles are symmetrically distributed on the upper side and the lower side of the sector fixing frame.
The embroidery guide structure is used for guiding the embroidery thread from the thread barrel to the thread dyeing side of the thread dyeing device, and finally, the embroidery thread penetrates through the tail end of the embroidery needle head and is fixed.
An embodiment of the present invention further provides a control method of an embroidery robot with an automatic thread dyeing function according to the first aspect, including the following steps:
(1) establishing a plane coordinate system with the center of the embroidery face as an origin;
(2) identifying embroidery patterns, calculating the traveling route data of the embroidery needle head, and converting the traveling route data into data containing position information and color information;
(3) performing coordinate conversion on the position information, converting the size of the pattern into the size suitable for the embroidery sector, and generating a corresponding coordinate sequence;
(4) performing sequence conversion on the color information, calculating each corresponding color in the whole embroidery process according to the planned traveling route, and generating a corresponding color sequence;
(5) and controlling the mechanical arm and the thread dyeing device to perform embroidery and dyeing by using the coordinate sequence and the color sequence.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the first motor of the bobbin thread rotating shuttle device is used for fixing the rotating shuttle, the mechanical arm is used for fixing the embroidery needle head, the splitting of a complex embroidery mechanical structure is realized, and the flexibility and the appreciation of the embroidery device are improved; meanwhile, the dyeing device is adopted to dye the embroidery threads, the idea is novel, the traditional mode of embroidering by a plurality of embroidery threads is completely replaced, and various problems of thread changing, thread shearing, frizzy and the like are greatly avoided; the control system of the embroidery robot is used for controlling the mechanical arm, the first motor and the thread dyeing device, and has the advantages of simple structure, convenience in operation, lower cost and wide application prospect.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is an overall structural diagram of an embroidery robot with an automatic thread dyeing function according to an embodiment of the present invention.
Fig. 2 is a schematic view of a bobbin thread rotating shuttle device according to an embodiment of the present invention.
Fig. 3 is a schematic view of a dyeing apparatus provided in an embodiment of the present invention.
Fig. 4 is a schematic view of a sector fixing frame according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a fixing block according to an embodiment of the present invention.
Fig. 6 is an electrical connection diagram of a controller of an embroidery robot with an automatic thread dyeing function according to an embodiment of the invention.
In the figure: the embroidery machine comprises a mechanical arm 1, a main support 2, a motor fixing frame 3, an adjustable frame 4, a first motor 5, an embroidery needle 6, a rotating shuttle 7, a second motor 8, a dye part 9, a second motor support 10, an embroidery surface fixing frame 11, an upper end hole 12 and a lower end hole 13.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Referring to fig. 1 to 6, the present invention provides an embroidery robot having an automatic thread dyeing function, including: a bobbin thread rotating shuttle device including a base, a first motor mounted on the base, and a rotating shuttle mounted on the first motor; the embroidery needle head is fixed at the tail end of the mechanical arm; the dyeing device comprises a dye part, the dye part is used for dyeing embroidery threads, and the dyed embroidery threads penetrate through the embroidery needle head; and the controller is respectively used for controlling the mechanical arm, the first motor and the dyeing line device.
According to the embodiment, the first motor of the bobbin thread rotating shuttle device is used for fixing the rotating shuttle, the mechanical arm is used for fixing the embroidery needle head, the splitting of a complex embroidery mechanical structure is realized, and the flexibility and the appreciation of the embroidery device are improved; meanwhile, the dyeing device is adopted to dye the embroidery threads, the idea is novel, the traditional mode of embroidering by a plurality of embroidery threads is completely replaced, and various problems of thread changing, thread shearing, frizzy and the like are greatly avoided; the control system of the embroidery robot is used for controlling the mechanical arm, the first motor and the thread dyeing device, and has the advantages of simple structure, convenience in operation, lower cost and wide application prospect.
In the embodiment of the invention, the mechanical arm 1 adopts a four-axis industrial robot model Mitsubishi RH-3CH4018-1D-S11, but is not limited to the four-axis industrial robot.
In the embodiment of the invention, the base comprises a main support 2, a motor fixing frame 3 arranged on the main support and an adjustable frame 4 arranged on the motor fixing frame, the main support is fixed on a machine shell of the mechanical arm, and the first motor 5 is arranged on the adjustable frame. Guarantee first motor and the terminal simultaneous movement of arm like this, adjustable shelf guarantees that first motor can finely tune the position according to actual conditions, and the auxiliary motor mount supports the motor simultaneously.
In the embodiment of the invention, the embroidery needle 6 and the rotating shuttle 7 are always kept on the same vertical line, which accords with the embroidery principle of a sewing machine.
In the embodiment of the invention, the yarn dyeing device further comprises a second motor 8, the dye component 9 is installed on a rotating shaft of the second motor, and the second motor is installed on a second motor bracket 10. The dye component is used for dyeing the embroidery thread, and the embroidery thread penetrates through the embroidery needle head after dyeing; the embroidery guiding structure is used for guiding the embroidery thread from the thread reel to the thread dyeing side of the thread dyeing device, and finally, the embroidery thread penetrates through the tail end of the embroidery needle head and is fixed.
In the embodiment of the invention, the dye part comprises a pigment box and a pigment pen point, wherein the pigment pen point obtains dye from the pigment box, and the pigment pen point dyes embroidery threads. The pigment box is cylindrical honeycomb briquette, only one pigment pen point contacts white embroidery threads each time in the embroidery process, and the color of the current dyed threads is changed through the rotating pigment box of the second motor.
In the embodiment of the invention, the pigment pen points are multiple, and the colors of the pigment pen points are different. Colors are self-defined according to the specific embroidery task. In the embodiment of the invention, the embroidery machine further comprises a sector fixing frame 11 for fixing embroidery sectors, and the embroidery needles and the rotating shuttles are symmetrically distributed on the upper side and the lower side of the sector fixing frame. The embroidery needle head and the rotating shuttle synchronously move on the horizontal plane to ensure that the embroidery needle head and the rotating shuttle are matched with each other for embroidering.
In the embodiment of the invention, the embroidery guide structure is also used for guiding the embroidery thread from the thread barrel to the thread dyeing side of the thread dyeing device, and finally, the embroidery thread penetrates through the tail end of the embroidery needle head and is fixed. The embroidery guiding structure can be made of any material and in any shape according to actual conditions.
In the embodiment of the invention, the embroidery machine further comprises a fixed block for fixing the embroidery needle head at the tail end of the mechanical arm, the upper end hole 12 of the fixed block is connected with the tail end of the robot, the lower end hole 13 of the fixed block is connected with the embroidery needle, and the embroidery needle adopts a DB type 14-gauge needle.
In the embodiment of the invention, the device also comprises a controller used for controlling the mechanical arm, the first motor and the dyeing device, interfaces CNUSR11 and CNUSR12 of the controller are respectively connected with the servo amplifier 1 and the servo amplifier 2 through electromagnetic contactors, and the servo amplifier 1 and the servo amplifier 2 are respectively used for controlling the first motor and the second motor to complete the connection of an electric circuit; the ExtOPT interface of the controller is connected to the CN1A interface of the servo amplifier 1 through an SSCNETIII cable, and the CN1B interface of the servo amplifier 1 is connected with the CN1A interface of the servo amplifier 2 to complete communication line connection.
An embodiment of the present invention further provides a control method of an embroidery robot with an automatic thread dyeing function according to the first aspect, including the following steps:
(1) establishing a plane coordinate system with the center of the embroidery face as an origin;
specifically, the embroidery face area is meshed, so that the needle can be accurately positioned to each required position, and the precision of a coordinate system is defined according to the required screen fineness.
(2) Identifying embroidery patterns, calculating the traveling route data of the embroidery needle head, and converting the traveling route data into data containing position information and color information;
specifically, color blocks which can be identified by each part are extracted from the embroidery pattern, the shortest traveling route of the embroidery pattern is planned, the dyeing color of the corresponding dyeing device in each step is corresponding to the identified color blocks, and finally data containing position and color information are obtained.
(3) Performing coordinate conversion on the position information, converting the size of the pattern into the size suitable for the embroidery sector, and generating a corresponding coordinate sequence;
specifically, the converted coordinate sequence is sent to a controller, and the needle head and the rotating shuttle are controlled to act in a matched mode to complete the plane movement of the tail end of the robot.
(4) Performing sequence conversion on the color information, calculating each corresponding color in the whole embroidery process according to the planned traveling route, and generating a corresponding color sequence;
specifically, a rotating position sequence of the motor of the automatic dyeing device is obtained according to the corresponding color sequence, and the dyeing device is controlled to switch colors.
(5) And controlling the mechanical arm and the thread dyeing device to perform embroidery and dyeing by using the coordinate sequence and the color sequence.
Specifically, the embroidering process is based on the principle of a sewing machine, an embroidery thread is threaded on an embroidery needle, a bobbin thread is placed in a rotating shuttle, and one end of the bobbin thread is fixed on an embroidery surface. When the embroidery needle moves downwards each time to penetrate through the embroidery surface and reach a proper position in the rotating shuttle, the rotating shuttle further hooks the embroidery thread on the needle head and rotates a circle at the same time, so that the ground thread and the embroidery thread are crossed on the back of the embroidery surface to be knotted, the embroidery thread is further fixed on the front of the embroidery surface, then the rotating shuttle rotates reversely for a circle, and the needle head returns to the position above the embroidery surface, and therefore one-position embroidery is completed.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. An embroidery robot having an automatic thread dyeing function, comprising:
a bobbin thread rotating shuttle device including a base, a first motor mounted on the base, and a rotating shuttle mounted on the first motor;
the embroidery needle head is fixed at the tail end of the mechanical arm;
the dyeing device comprises a dye part, the dye part is used for dyeing embroidery threads, and the dyed embroidery threads penetrate through the embroidery needle head;
and the controller is respectively used for controlling the mechanical arm, the first motor and the dyeing line device.
2. The embroidery robot with the automatic thread dyeing function as claimed in claim 1, wherein the base comprises a main bracket, a motor fixing bracket mounted on the main bracket, and an adjustable bracket mounted on the motor fixing bracket, the main bracket is fixed on a housing of the mechanical arm, and the first motor is mounted on the adjustable bracket.
3. An embroidery robot having an automatic thread dyeing function according to claim 1, wherein the embroidery needle and the rotary hook are always kept on the same vertical thread.
4. The embroidery robot with the automatic thread dyeing function as claimed in claim 1, wherein the thread dyeing device further comprises a second motor, and the dye part is mounted on a rotating shaft of the second motor.
5. The embroidery robot having an automatic thread dyeing function as claimed in claim 1, wherein the dye part comprises a color box and a color pen point, the color pen point obtains a dye from the color box, and the color pen point dyes the embroidery thread.
6. The embroidery robot with the automatic thread dyeing function as claimed in claim 1, wherein the pigment pen points are multiple and different in color.
7. An embroidery robot having an automatic thread dyeing function according to claim 4, further comprising a bracket for fixing the second motor.
8. The embroidery robot with the automatic thread dyeing function as claimed in claim 1, further comprising a sector fixing frame for fixing an embroidery sector, wherein the embroidery needle and the rotary shuttle are symmetrically distributed on the upper and lower sides of the sector fixing frame.
9. The embroidery robot with the automatic thread dyeing function as claimed in claim 1, further comprising an embroidery guiding structure for guiding the embroidery thread from a thread bobbin to a thread dyeing side of the thread dyeing device and finally fixing the embroidery thread after passing through the end of the embroidery needle.
10. The control method of an embroidery robot having an automatic thread dyeing function according to claim 1, characterized in that the method comprises the steps of:
(1) establishing a plane coordinate system with the center of the embroidery face as an origin;
(2) identifying embroidery patterns, calculating the traveling route data of the embroidery needle head, and converting the traveling route data into data containing position information and color information;
(3) performing coordinate conversion on the position information, converting the size of the pattern into the size suitable for the embroidery sector, and generating a corresponding coordinate sequence;
(4) performing sequence conversion on the color information, calculating each corresponding color in the whole embroidery process according to the planned traveling route, and generating a corresponding color sequence;
(5) and controlling the mechanical arm and the thread dyeing device to perform embroidery and dyeing by using the coordinate sequence and the color sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357520.8A CN113062059A (en) | 2021-04-01 | 2021-04-01 | Embroidery robot with automatic thread dyeing function and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357520.8A CN113062059A (en) | 2021-04-01 | 2021-04-01 | Embroidery robot with automatic thread dyeing function and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113062059A true CN113062059A (en) | 2021-07-02 |
Family
ID=76565451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110357520.8A Pending CN113062059A (en) | 2021-04-01 | 2021-04-01 | Embroidery robot with automatic thread dyeing function and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113062059A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4465005A (en) * | 1981-12-22 | 1984-08-14 | Janome Sewing Machine Industry Co., Ltd. | Apparatus for dyeing sewing machine upper threads |
| JP2002102576A (en) * | 2000-09-29 | 2002-04-09 | Brother Ind Ltd | Needle thread coloring device for sewing machine |
| JP2008289522A (en) * | 2007-05-22 | 2008-12-04 | Seiko Epson Corp | Embroidering apparatus, controlling method for embroidering apparatus, and program |
| JP2008289521A (en) * | 2007-05-22 | 2008-12-04 | Seiko Epson Corp | Embroidering apparatus, controlling method for embroidering apparatus, and program |
| TW200925345A (en) * | 2007-12-14 | 2009-06-16 | S S Industry Co Ltd | Thread-coloring method, device thereof, and sewing machine having the thread-coloring device |
| KR100985471B1 (en) * | 2009-11-03 | 2010-10-05 | 주식회사 스페이스솔루션 | Embroidering machine with real time dyeing function |
| CN104294496A (en) * | 2013-07-15 | 2015-01-21 | 上海开通数控有限公司 | A computerized embroidery machine integrating dyeing and embroidering |
| CN106012316A (en) * | 2016-08-14 | 2016-10-12 | 贵州大学 | Intelligent scanning color taking sewing machine |
-
2021
- 2021-04-01 CN CN202110357520.8A patent/CN113062059A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4465005A (en) * | 1981-12-22 | 1984-08-14 | Janome Sewing Machine Industry Co., Ltd. | Apparatus for dyeing sewing machine upper threads |
| JP2002102576A (en) * | 2000-09-29 | 2002-04-09 | Brother Ind Ltd | Needle thread coloring device for sewing machine |
| JP2008289522A (en) * | 2007-05-22 | 2008-12-04 | Seiko Epson Corp | Embroidering apparatus, controlling method for embroidering apparatus, and program |
| JP2008289521A (en) * | 2007-05-22 | 2008-12-04 | Seiko Epson Corp | Embroidering apparatus, controlling method for embroidering apparatus, and program |
| TW200925345A (en) * | 2007-12-14 | 2009-06-16 | S S Industry Co Ltd | Thread-coloring method, device thereof, and sewing machine having the thread-coloring device |
| KR100985471B1 (en) * | 2009-11-03 | 2010-10-05 | 주식회사 스페이스솔루션 | Embroidering machine with real time dyeing function |
| CN104294496A (en) * | 2013-07-15 | 2015-01-21 | 上海开通数控有限公司 | A computerized embroidery machine integrating dyeing and embroidering |
| CN106012316A (en) * | 2016-08-14 | 2016-10-12 | 贵州大学 | Intelligent scanning color taking sewing machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101988237A (en) | Control method and equipment of computer embroidering machine | |
| CN102517805A (en) | Numerical control multifunctional automatic sewing machine and template | |
| CN108411511B (en) | Control method of engraved needle bar frame assembly and needle bar frame assembly thereof | |
| CN109778451A (en) | A kind of personalized custom-built system and method for embroidering | |
| CN113062059A (en) | Embroidery robot with automatic thread dyeing function and control method | |
| CN207760529U (en) | A kind of disk rope embroidery machine | |
| CN202530254U (en) | Flat knitting machine and roller mechanism thereof | |
| CN101705589A (en) | Double-faced multihead embroidering machine | |
| CN206986484U (en) | A kind of integrated spray drawing apparatus | |
| CN113373610B (en) | Line wheel subassembly and embroidery machine thereof | |
| CN209024770U (en) | Embroidery machine | |
| CN203938867U (en) | Thick line control system of embroidering machine | |
| CN209989545U (en) | Frock clamp that automation equipment was used is made up to cap single needle | |
| CN209619643U (en) | Full-automatic round end embroidery machine | |
| CN102477669A (en) | Integrated machine with diamond inlaying and embroidering functions and its control method | |
| CN201904177U (en) | Coil plate for electronic whiteboard and automatic coiling machine for coil plate | |
| CN201538882U (en) | Two-sided embroidery machine with multiple heads | |
| CN205893625U (en) | Can adjust computerized embroidery machine of rotating shuttle bottom line tension | |
| CN105207551A (en) | Fur abutting machine combing head control system and control method | |
| CN104943402A (en) | Fully-automatic laser marking machine for jeans | |
| CN206030914U (en) | High -efficient engraver in synchronous duplex position | |
| CN110468525A (en) | A kind of intelligence bayonet machine control method | |
| CN114775182B (en) | Method and device for controlling pearl embroidery | |
| US5740748A (en) | Embroidery stitching device capable of simultaneously performing stitching a computation of stitching time | |
| CN201864936U (en) | Integrated machine with diamond inlaying and embroidering functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210702 |