CN113832625B

CN113832625B - Embroidery machine tabouret driving gain adjusting method and device based on displacement graphic method

Info

Publication number: CN113832625B
Application number: CN202111270627.5A
Authority: CN
Inventors: 陈伟星; 陈韦东
Original assignee: Zhuji Chuangjia Electronic Equipment Co ltd
Current assignee: Zhuji Chuangjia Electronic Equipment Co ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-07-19
Anticipated expiration: 2041-10-29
Also published as: CN113832625A

Abstract

The invention provides a displacement graphic method-based embroidery machine tabouret driving gain adjusting method, which is used for realizing the high-efficiency adjustment of the gain of a tabouret driving servo motor and specifically comprises the following steps: collecting signals of a main shaft encoder of the embroidery machine and displacement signals of an embroidery frame in the X/Y direction; generating a first graphic curve of the displacement signal of the embroidery frame in the X/Y direction in a coordinate plane by taking the signal of the main shaft encoder as a horizontal axis and the displacement as a vertical axis; acquiring the response speed and the distance of a moving frame of the tabouret on the basis of the first graph curve, and adjusting the response speed and the distance of the moving frame by adjusting the gain of a servo motor for driving the tabouret; the invention also provides a device for realizing the method.

Description

Embroidery machine tabouret driving gain adjusting method and device based on displacement graphic method

Technical Field

The invention relates to the technical field of embroidery equipment processes, in particular to a displacement graphic method-based embroidery machine tabouret driving gain adjusting method and device.

Background

The computerized embroidery machine is one industrial equipment capable of embroidering automatically based on designed pattern and can perform various kinds of decoration and processing on cloth, clothing and other fabric in high speed. When the embroidery machine works, the computer is controlled to control the X, Y motor to drive the embroidery frame to complete feed motion in the X, Y direction; meanwhile, a main shaft motor is driven, a main shaft is driven to drive a machine needle to move up and down, and the machine needle and the main shaft motor are matched to finish embroidery actions, so that the embroidery is continuously carried out.

With the continuous development of product iteration and related technologies, the embroidery frequency of the embroidery machine is faster and faster, and the corresponding requirements on the moving speed, the starting and stopping position accuracy and the moving frame time sequence (namely the matching degree of the embroidery frame and the main shaft in operation) of the embroidery frame are higher and higher. Meanwhile, the requirements for the precision and consistency of the embroidery also need to be met. In general, the moving speed and the starting and stopping position accuracy of the tabouret can be adjusted by adjusting the gain of a tabouret driving servo motor. If the gain setting of the tabouret driving servo motor is not appropriate, the timing coordination between the movement of the tabouret and the up-and-down movement of the needle is not good, and the following problems are easy to occur: when the gain is set to be too large, the embroidery frame can generate overshoot when the displacement stops, the frame can be thrown because the frame cannot be stopped in time, and particularly, the problems of uneven thickness, broken lines or broken needles and the like of the embroidery can be caused when the high speed and the low speed are switched; when the gain is set too small, the moving speed of the embroidery frame is too low, so that the frame stopping time sequence of the embroidery frame is insufficient, and the problems of inaccurate needle entering point, needle pulling, needle grinding and the like are caused. Therefore, in order to improve the embroidery efficiency and ensure the embroidery quality, a reasonable tabouret driving servo motor gain needs to be set so as to match with the main shaft frequency (the vertical movement of the needle), thereby completing the high-efficiency embroidery.

On the other hand, the gain adjustment value of the drive is directly related to the weight and mechanical structure of the embroidery frame and the transmission part, and the size of the adjustment value is greatly changed with the size of the machine, different specifications of the machine and different manufacturers. Meanwhile, the size and speed of the machine, the weight and structure of transmission materials such as an embroidery frame and a guide rail and the size of the stroke of the embroidery frame all influence the response speed of the movable frame. Particularly, the efficiency of the machine is continuously improved, the quality requirement of embroidery products is continuously improved, the requirements on the moving frames of different machines are increasingly high, the response speed and the precision of the embroidery frame need to be improved, and the matching degree (the time sequence of the moving frame is adjusted) of the embroidery frame and the operation of the main shaft needs to be improved. Under the existing conditions, the adjustment of the corresponding speed and precision of the embroidery frame and the time sequence of the movable frame often requires a lot of time and cost, and the adjustment cannot be simply carried out by naked eyes or experience. The whole debugging process is time-consuming and labor-consuming, and the machine is easily damaged, so that the debugging cost is high, and the efficiency is difficult to improve.

Disclosure of Invention

Based on the problems, the invention provides a displacement-graphic-method-based embroidery machine tabouret driving gain adjusting method so as to realize efficient adjustment of tabouret driving servo motor gain and moving frame time sequence. The method is realized by the following technical scheme:

the invention relates to a displacement-based embroidery machine tabouret driving gain adjusting method, which comprises the following steps:

s1, acquiring signals of a main shaft encoder of the embroidery machine and displacement signals of an embroidery frame in the X/Y direction;

s2, generating a first graphic curve of the displacement signal of the embroidery frame in the X/Y direction in a coordinate plane by taking the signal of the main shaft encoder as a horizontal axis and the displacement as a vertical axis;

and S3, acquiring the response speed and the distance of the moving frame of the embroidery frame based on the first graph curve, and adjusting the response speed and the distance of the moving frame by adjusting the gain of the embroidery frame driving servo motor.

Further, displacement signals of the tabouret in the X/Y direction are acquired by a high-precision distance sensor aligned with the tabouret.

Further, step S3 includes adjusting the gain of the tabouret driving servo motor to make the first graph curve approach to an ideal curve, where the ideal curve includes a horizontal section representing the rest of the tabouret, an inclined section representing the movement of the tabouret, and a transition section connecting the horizontal section and the inclined section; wherein, the ratio of the inclined section to the horizontal section represents the response speed of the moving frame, and the distance between the two horizontal sections represents the distance of the moving frame; the transition section is a smooth short arc.

Further, in step S3, the adjusting the gain of the embroidery frame driving servo motor includes adjusting a position loop gain and a velocity loop gain of the servo motor.

Further, the position loop gain and/or the velocity loop gain are/is sectionally set into a plurality of groups based on the preset moving distance of the embroidery frame, and the gains of the corresponding groups are adjusted based on the preset moving distance of the embroidery frame during adjustment.

Further, step S2 includes generating a second graphic curve corresponding to the preset value of the spindle encoder signal in the coordinate plane, where the second graphic curve includes a plurality of vertical lines parallel to the ordinate axis; step S3 further includes adjusting the moving frame timing based on the first and second graphical curves.

Further, adjusting the moving frame timing sequence based on the first graph curve and the second graph curve specifically includes:

acquiring a main shaft encoder signal corresponding to the starting/stopping position of the embroidery frame and the proportion of the continuous section of the embroidery frame action between two adjacent vertical lines of the second graph curve based on the first graph curve through the movable auxiliary base line;

calculating the actual starting/stopping angle of the tabouret based on a preset conversion rule based on the obtained main shaft encoder signal corresponding to the starting/stopping position of the tabouret and the proportion of the motion continuation section of the tabouret between two adjacent vertical lines of the second graph curve;

and changing the actual start/stop angle of the embroidery frame by adjusting the configuration parameters of the embroidery machine.

A second aspect of the present invention relates to an embroidery machine tabouret driving gain adjustment device based on displacement graphics, for implementing the method according to the first aspect, comprising:

the first acquisition unit is connected with a main shaft encoder of the embroidery gathering machine and is used for acquiring signals of the main shaft encoder;

the second acquisition unit is used for acquiring displacement signals of the embroidery frame in the X/Y direction;

the data processing and displaying unit is used for receiving the signals acquired by the first acquisition unit and the second acquisition unit and displaying the signals according to a preset mode;

and the parameter adjusting unit is connected with the embroidery machine control terminal and is used for adjusting the gain of the embroidery frame driving servo motor and the embroidery frame starting/stopping angle parameters.

Further, the second acquisition unit comprises a first high-precision distance sensor for acquiring displacement signals of the embroidery frame in the X direction and a second high-precision distance sensor for acquiring displacement signals of the embroidery frame in the Y direction.

Furthermore, the first acquisition unit, the second acquisition unit, the data processing and displaying unit and the parameter adjusting unit are integrally arranged on the embroidery machine.

The invention has the following beneficial effects:

the embroidery machine tabouret driving gain adjusting method and device based on the displacement graphic method can visually and accurately display the motion of the tabouret and the matching condition of the motion of the tabouret and the rotation period of the main shaft through the graphic curve, thereby facilitating debugging personnel to adjust the gain of the tabouret driving servo motor and the start/stop angle parameters of the tabouret according to the graphic curve so as to achieve an ideal working state. The method can improve the precision of the moving frame of the embroidery machine and the matching degree of the moving frame and the main shaft, and effectively eliminate errors in the machine/electricity matching process, thereby achieving perfect machine/electricity matching, improving the precision and consistency of embroidery, reducing the thread breakage rate, improving the running speed and prompting some key performances of the embroidery machine. In addition, the visual graph curve and the data are realized, so that the debugging time and the debugging cost can be greatly saved, the debugging efficiency is effectively improved, and the important effect on the development of a new technology and a new machine type of the embroidery machine is also realized.

Drawings

FIG. 1 is a schematic flow chart of an embodiment of the method of the present invention.

FIG. 2 is a first graphical plot illustrating an embodiment of the present invention.

FIG. 3 is a second graphical diagram illustrating an embodiment of the present invention.

Fig. 4 is a third graphical curve diagram illustrating an embodiment of the present invention.

FIG. 5 is a fourth graphical plot illustrating an embodiment of the present invention.

FIG. 6 is a fifth graphical plot illustrating an embodiment of the present invention.

Fig. 7 is a schematic view of an embroidering machine according to an embodiment of the present invention.

Detailed Description

For a further understanding of the invention, reference will now be made to the preferred embodiments of the invention by way of example, and it is to be understood that the description is intended to further illustrate features and advantages of the invention, and not to limit the scope of the claims.

Referring to fig. 1, a first embodiment of the present invention provides a displacement-based embroidery machine tabouret driving gain adjustment method, including the following steps:

the first step is as follows: collecting signals of a main shaft encoder of the embroidery machine and displacement signals of an embroidery frame in the X/Y direction.

Secondly, a first graph curve of the displacement signal of the embroidery frame in the X/Y direction is generated in a coordinate plane by taking the signal of the main shaft encoder as a horizontal axis and the displacement as a vertical axis;

and thirdly, acquiring the response speed and the distance of the moving frame of the embroidery frame based on the first graph curve, and adjusting the response speed and the distance of the moving frame by adjusting the gain of the embroidery frame driving servo motor.

Referring to fig. 2, a graph curve example diagram generated in a coordinate plane based on the collected signals of the embroidery machine spindle encoder and the displacement signals of the embroidery frame in the X/Y directions in the present embodiment is shown. The horizontal axis of the coordinate plane represents a spindle encoder signal, and each scale corresponds to one encoding value of the spindle encoder; the ordinate is the displacement, and in this embodiment, the positive and negative displacements of the embroidery frame with respect to the reference zero point are taken as coordinate values. When the embroidery machine is running, the displacement of the embroidery frame forms a graph curve (r) in the coordinate plane along with the value of the main shaft encoder.

In the preferred embodiment, the displacement signal of the embroidery frame in the X/Y direction is obtained by acquiring the distance signal and converting the distance signal by a high-precision distance sensor aligned with the embroidery frame.

In a preferred embodiment, the third step further comprises adjusting the gain of the tabouret driving servo motor to make the graph curve (r) approach the ideal curve. The ideal curve includes

horizontal segments

101, 104 characterizing the rest of the tabouret,

inclined segments

102, 105 characterizing the movement of the tabouret, and a transition segment 103 connecting the horizontal and inclined segments. The ratio of the inclined section to the horizontal section in one period represents the response speed of the moving frame, and the distance between the two horizontal sections represents the distance of the moving frame; ideally, the transition is a smooth short arc.

In the embodiment, the response speed of the moving frame and the distance of the moving frame can be adjusted by adjusting the gain of the tabouret driving servo motor, and the graph curve in the coordinate plane is close to an ideal curve, so that the optimal gain value can be debugged, and the efficient adjustment of the gain of the tabouret driving servo motor is realized.

This is further illustrated below in conjunction with figures 2-6.

Referring to fig. 2, a graph curve (r) representing the displacement signal of the embroidery frame in the X/Y direction is close to an ideal curve. Its

horizontal segments

101, 104 characterize the tabouret rest, and its length on the abscissa characterizes the duration of the tabouret rest. In the time, the main shaft drives the needle to move downwards to insert into the fabric, and then the needle intersects with the rotating shuttle at the bottom to complete embroidery thread hooking and then moves upwards until the needle is completely separated from the fabric. Then, the tabouret drives a servo motor to drive the tabouret to move to the next designated position, the process corresponds to the

inclined sections

102 and 105 of the graphic curve I, the continuous length of the tabouret on the abscissa represents the duration of the movement of the tabouret, and the slope represents the moving speed of the tabouret; after the embroidery frame moves in place, the main shaft drives the machine needle to move downwards again to be inserted into the embroidery surface to complete the embroidery action, then the embroidery frame drives the servo motor to drive the embroidery frame to move again, and the embroidery of the preset plate-making flower shape is completed in a reciprocating mode in the period. While the transition 103 in the graphical curve (r) represents the movement of the embroidery frame from the rest position to the rest position. Ideally, the

horizontal segments

101 and 104 on the graph curve (i) should be kept horizontal, and the duration of the horizontal segments meets an embroidery action of the needle, and the duration of the horizontal segments cannot exceed the action too much; the slope of the inclined segments 102 and 105 (i.e. the moving speed of the embroidery frame) and the ratio of the inclined segments to the horizontal segments should satisfy the requirement, indicating that the embroidery frame moves to the designated position within the preset time. The transition 103 is ideally a smooth short arc, indicating that the tabouret is stopped in the predetermined position after movement. Correspondingly, the gain of the tabouret driving servo motor corresponding to the ideal curve is an ideal set value.

Referring to fig. 3 and 4, a horizontal movable auxiliary baseline (c) or a vertical movable auxiliary baseline (c) may be disposed in the coordinate plane, so as to perform corresponding measurement on the graph to obtain related parameters, thereby providing a further basis for debugging. For example, in fig. 3, the auxiliary moving base line (c) is aligned to the upper and lower horizontal segments of the graph curve (c), and the distance represents the displacement distance of the embroidery frame. In fig. 4, by moving the movable auxiliary baseline (c), the spindle encoder signal value at the intersection point of the movable auxiliary baseline (c) and the graph curve (i) can be obtained, and the parameters such as the response speed of the moving frame can be further calculated.

Referring to fig. 5, when the gain setting of the tabouret driving servo motor is too large, the transition section 103 is extended and forms a significant protrusion (as shown at a in the figure), which means that the tabouret moves too fast and cannot stop the tabouret more stably when reaching the preset position, but forms an overshoot. Correspondingly, the embroidery frame is easy to get rid of the frame, which can cause the problems of uneven thickness, broken thread or broken needle and the like of the embroidery. At this time, the problem can be improved by reducing the gain of the tabouret driving servo motor.

Referring to fig. 6, when the gain setting of the tabouret driving servo motor is too small, the horizontality of the

horizontal segments

101 and 104 is insufficient and the duration is short, which means that the tabouret moves too slowly and cannot reach the preset position within the preset time. Correspondingly, the frame stopping time sequence of the embroidery frame is insufficient, and the problems of inaccurate needle entering point, needle pulling hole (the needle starts to move when the embroidery frame is still in the fabric), needle grinding and the like are caused. At this time, the problem can be improved by increasing the gain of the tabouret driving servo motor.

When the embroidery machine is in actual operation, the embroidery frequency is very high, the moving speed of the embroidery frame is very high, the problem caused by the unsatisfactory gain setting of the embroidery frame driving servo motor is difficult to find by naked eyes, and the gain of the embroidery frame driving servo motor can be adjusted unless the problems of uneven thickness, broken threads and broken needles of the embroidery product, inaccurate needle inserting point, needle pulling hole, needle grinding and the like are observed, so that the conventional debugging efficiency is very low, and the machine is easy to damage. Similarly, when the embroidery efficiency is further improved for the mature platemaking flower shape, the same problem is faced, which results in high debugging cost and difficulty in improving the embroidery efficiency. By the method in the embodiment, the influence of the gain of the embroidery frame driving servo motor on the embroidery process can be visually observed, and the gain of the embroidery frame driving servo motor can be adjusted to be close to an ideal curve, so that the gain of the embroidery frame driving servo motor can be optimized, and the debugging efficiency is greatly improved.

Typically, adjusting the gain of the tabouret drive servo motor includes adjusting a position loop gain and a velocity loop gain of the servo motor. Wherein, the speed loop gain is a basic quantity, and the position loop gain can be further refined and adjusted.

As a preferred embodiment, in consideration of different requirements for gains under different displacement distances of the embroidery frame, the position loop gain and/or the velocity loop gain may be set in multiple groups in segments based on a preset movement distance of the embroidery frame, and the gains of the corresponding groups may be adjusted based on the movement distance set by the embroidery frame during adjustment. Referring to table 1 below, a set of tuning parameters is given that approximates the graphical curve (r) to the ideal curve.

TABLE 1

	Set value	Corresponding to the preset displacement of the tabouret
			Tabouret driving servo motor speed loop gain	520	/
Tabouret drive servo motor position loop gain 1	39	Less than 0.5mm
			Tabouret drive servo motor position loop gain 2	39	0.5-1mm
Tabouret drive servo motor position loop gain 3	38	1-1.5mm
			Tabouret driving servo motor position loop gain 4	37	1.5-2mm
Tabouret drive servo motor position loop gain 5	36	2-2.5mm
			Tabouret driving servo motor position loop gain 6	35	2.5-3mm
Tabouret drive servo motor position loop gain 7	34	3-3.5mm
			Tabouret driving servo motor position loop gain 8	33	3.5-4mm
Tabouret driving servo motor position loop gain 9	33	4-5mm
			Tabouret drive servo motor position loop gain 10	33	5-6mm
Tabouret driving servo motor position loop gain 11	33	6-8mm
			Tabouret drive servo motor position loop gain 12	32	Over 8mm

As a further preferred embodiment, in the method of this embodiment, the second step further includes generating a second graph curve corresponding to the preset value of the spindle encoder signal in the coordinate plane, where the second graph curve includes a plurality of vertical lines parallel to the ordinate axis; the third step also comprises adjusting the moving frame time sequence based on the first graph curve and the second graph curve.

Specifically, referring to fig. 2-6, in the present embodiment, a plurality of graph curves (i) parallel to the ordinate axis corresponding to the value (encoder 0 bit) of the encoder of the specific spindle are also shown in the coordinate plane. Correspondingly, the steps of adjusting the time sequence of the moving frame are as follows:

firstly, the main shaft encoder coding value corresponding to the starting/stopping position of the embroidery frame can be obtained by moving the vertical movable auxiliary base line to the starting point and the end point of the inclined section in the first graph curve, and the proportion of the embroidery frame action continuous section between two adjacent vertical lines in the second graph curve can be obtained by calculating the ratio of the difference value of the two ends to the period (namely the period of the main shaft encoder) occupied by the adjacent vertical lines in the graph curve.

Then, based on the obtained main shaft encoder signal corresponding to the tabouret start/stop position and the proportion of the tabouret motion continuous section between two adjacent vertical lines of the second graph curve, the actual start/stop angle of the tabouret can be calculated. In one embodiment, the encoder vertical line is an encoder 0-bit signal, generally corresponding to 100 degrees of the dial of the embroidery machine, while the needle is inserted into the fabric at about 110 degrees and the needle is inserted out of the fabric at about 250 degrees, which can be changed according to the thickness of the fabric and the structure of the machine head.

And finally, adjusting the configuration parameters of the embroidery machine at the control terminal of the embroidery machine according to the actual situation to adjust the actual starting/stopping angle of the embroidery frame, thereby realizing the perfect matching of the operation of the embroidery frame and the main shaft.

Referring to table 2 below, a parameter setting page for adjusting the starting angle of the moving frame for the embroidery machine control terminal.

TABLE 2

Moving frame parameters	Angle of the movable frame
		Angle A of X-direction moving frame	[245]
Angle B of X-direction moving frame	[250]
		Angle A of Y-direction moving frame	[245]
Angle B of Y-direction moving frame	[245]

Due to the size and speed of the machine, the weight and structure of transmission materials such as an embroidery frame and a guide rail, the size of the embroidery frame stroke, the material and thickness of embroidery fabric and the like, the response speed of the embroidery frame is influenced, and the setting of the moving frame time sequence (namely the matching degree of the embroidery frame and active movement) is further influenced. Particularly, as the efficiency of the machine is continuously improved and the quality requirement of embroidery products is continuously improved, the response speed and the precision of the embroidery frame are required to be continuously improved, and the matching performance of the embroidery frame and the operation of the main shaft is improved. By the method in the embodiment, the matching degree of the precision of the movement of the embroidery frame of the embroidery machine and the main shaft can be effectively improved, and the error in the mechanical/electrical matching process is eliminated, so that the mechanical/electrical perfect matching is achieved, and the precision and the consistency of embroidery are improved.

The second embodiment of the present invention provides a displacement-based embroidery machine tabouret driving gain adjustment device for implementing the method as described in the first embodiment. The device includes: the first acquisition unit is connected with a main shaft driving motor encoder of the embroidery collecting machine and is used for acquiring a main shaft encoder signal; the second acquisition unit is used for acquiring displacement signals of the embroidery frame in the X/Y direction; the data processing and displaying unit is used for receiving the signals acquired by the first acquisition unit and the second acquisition unit and displaying the signals according to a preset mode; and the parameter adjusting unit is connected with the embroidery machine control terminal and is used for adjusting the gain of the embroidery frame driving servo motor and the embroidery frame starting/stopping angle parameters.

Referring to fig. 7, in one illustrated embodiment, an embroidery frame 1 is provided with an embroidery frame 2 and a spindle bracket 3, and the spindle bracket 3 is provided with a head 4. Wherein, the tabouret 2 is driven by a servo motor (not shown in the figure) arranged in the frame 1, and a main shaft driven by a main shaft motor is arranged in the main shaft frame 3 to drive the tool of the machine head 4. The frame 1 is also provided with a controller 5 with a display screen to adjust the gain of the tabouret driving servo motor, the tabouret start/stop angle parameters and the like.

In the present embodiment, as a preferred embodiment, the second collecting unit includes a first high-precision distance sensor 62 for collecting a signal of displacement of the embroidery frame in the X direction, and a second high-precision distance sensor 61 for collecting a signal of displacement of the embroidery frame in the Y direction. The displacement data of the embroidery frame can be converted by selecting the displacement data of the embroidery frame as distance measuring equipment such as a laser distance meter or a stay wire displacement encoder. Since the tabouret is relatively more easily shaken at the edge when moving, in order to ensure the accuracy of the tabouret displacement data acquisition, the high-

precision distance sensors

61, 62 can be installed at the middle positions corresponding to the X/Y directions of the tabouret.

In this embodiment, the data processing and displaying unit may be a computer host (not shown) connected to the spindle encoder and the high-

precision distance sensors

61 and 62, and the coordinate plane can be displayed on the display after processing the received data. Alternatively, the embroidery machine may be integrated with the embroidery machine, and is not particularly limited herein.

The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. A displacement graphic method based embroidery machine tabouret driving gain adjusting method is characterized by comprising the following steps:

s1, collecting signals of a main shaft encoder of the embroidery machine and displacement signals of an embroidery frame in the X/Y direction;

s2, a first graphic curve of the tabouret displacement signals in the X/Y direction is generated in a coordinate plane by taking the main shaft encoder signals as a horizontal axis and the displacement as a vertical axis;

s3, acquiring the response speed and the distance of the moving frame of the tabouret based on the first graph curve, and adjusting the response speed and the distance of the moving frame by adjusting the gain of a tabouret driving servo motor to enable the first graph curve to be close to an ideal curve; the ideal curve comprises a horizontal section for representing the static state of the embroidery frame and an inclined section for representing the movement of the embroidery frame, wherein the ratio of the inclined section to the horizontal section in one period represents the response speed of the moving frame, and the distance between the two horizontal sections represents the distance of the moving frame.

2. The displacement-mapping-based embroidery machine tabouret driving gain adjustment method according to claim 1, wherein the displacement signals of the tabouret in the X/Y direction are acquired by a high-precision distance sensor aligned with the tabouret.

3. The displacement-based embroidery machine embroidery frame driving gain adjustment method according to claim 1, wherein the ideal curve includes a transition section connecting a horizontal section and an inclined section, and the transition section is a smooth short arc.

4. The displacement vision-based embroidery machine tabouret driving gain adjustment method as claimed in claim 1, wherein the adjusting of the gain of the tabouret driving servo motor in step S3 includes adjusting a position loop gain and a velocity loop gain of the servo motor.

5. The displacement vision-based embroidery machine tabouret driving gain adjustment method according to claim 4, wherein the position loop gain and/or the velocity loop gain are sectionally set to a plurality of groups based on a preset movement distance of the tabouret, and the gain of the corresponding group is adjusted based on the movement distance set by the tabouret when adjusted.

6. The displacement vision-based embroidery machine tabouret driving gain adjustment method according to any one of claims 1 to 5, wherein the step S2 further comprises generating a second graphic curve corresponding to the preset value of the spindle encoder signal in the coordinate plane, the second graphic curve comprising a plurality of vertical lines parallel to the ordinate axis; step S3 further includes adjusting the moving frame timing based on the first and second graphical curves.

7. The method of adjusting embroidery machine tabouret drive gain based on displacement graphics as claimed in claim 6, wherein adjusting the moving frame timing based on the first graph curve and the second graph curve specifically comprises:

calculating the actual start/stop angle of the tabouret on the basis of a preset conversion rule based on the obtained main shaft encoder signal corresponding to the tabouret start/stop position and the proportion of the tabouret action duration segment between two adjacent vertical lines of the second graph curve;

8. An embroidery machine tabouret driving gain adjusting device based on displacement graphics, which is used for realizing the method according to any one of claims 1-7, and is characterized by comprising the following steps:

9. The apparatus of claim 8, wherein the second pickup unit comprises a first high-precision distance sensor for picking up a displacement signal of the embroidery frame in the X direction and a second high-precision distance sensor for picking up a displacement signal of the embroidery frame in the Y direction.

10. The embroidery machine tabouret driving gain adjusting device based on displacement graphics according to claim 8 or 9, wherein the first acquisition unit, the second acquisition unit, the data processing display unit and the parameter adjusting unit are integrally arranged on the embroidery machine.