KR100432915B1 - Apparatus and method for controlling position of an embroidery frame - Google Patents

Abstract

The present invention controls the position of the embroidery frame by detecting the displacement of the embroidery frame and controlling the position of the embroidery frame by feeding back the detected error of the displacement, thereby controlling the position of the embroidery frame more precisely. Apparatus and method thereof, in one embodiment to which the present invention is applied, an embroidery frame position control apparatus, an embroidery frame for fixing a fabric, an X-axis drive unit for moving the embroidery frame in the X-axis direction, and the embroidery frame In the embroidery machine comprising a Y-axis drive unit for moving the direction in the Y-axis direction and a drive control unit for outputting the X-axis and Y-axis drive control signals to control the X-axis and Y-axis drive unit, And sensing means for detecting a displacement in the X-axis and the Y-axis, and outputting an electrical signal corresponding to the detected displacement. Based on the signal, characterized by generating the X-axis and Y-axis drive control signal, respectively, it is possible to perform the position control of the more sophisticated the embroidery frame has the effect of maximizing the improvement in quality embroidery.

Description

Apparatus and method for controlling position of an embroidery frame

The present invention relates to an embroidery machine, and more particularly, by detecting the displacement of the embroidery frame and controlling the position of the embroidery frame by feeding back the detected error of the displacement, the position of the embroidery frame is more precisely controlled. It relates to a position control device and a method of the embroidery frame.

In general, the embroidery machine operates so that a desired pattern or pattern is embroidered on the fabric fixed by the embroidery frame as the embroidery frame holding the fabric horizontally moves in the X-axis and Y-axis directions while the needle bar moves up and down. do.

Therefore, the accuracy and constantness of the embroidery frame movement is closely related to the embroidery quality.

As a power source for moving the embroidery frame in the X-axis and Y-axis directions, a stepping motor having a good positioning power and easy control is mainly used, and a servo motor is also used.

1 is a configuration diagram of a position control apparatus of a conventional embroidery frame in a general embroidery machine. When the embroidery frame movement displacement command signal for requesting a movement of the embroidery frame by a predetermined displacement from the outside in the X-axis and Y-axis directions is input, A control unit 10 for outputting X and Y axis drive control signals respectively corresponding to the embroidery frame movement displacement command signals in the X and Y axis directions; An X-axis motor (not shown) is provided as a driving source for moving the embroidery frame 40 in the X-axis direction, and the X-axis motor is driven by the X-axis driving control signal input from the controller 10. X-axis driving unit 20 for moving the embroidery frame 40 in the X-axis direction by a predetermined displacement by the driven X-axis motor; And a Y-axis motor (not shown) as a driving source for moving the embroidery frame 40 in the Y-axis direction, driving the Y-axis motor by the drive control signal input from the controller 10, and The Y-axis drive unit 30 is configured to move the embroidery frame 40 in the Y-axis direction by a predetermined displacement by the driven Y-axis motor.

However, the X-axis and Y-axis motors provided in the X-axis and Y-axis driving units 20 and 30, respectively, transmit power to each interlocking device (driving timing pulley, driven timing pulley, shaft, etc.) using a timing belt. However, due to the error and the cumulative error generated by the interlocking devices in the power transmission process, the position of the embroidery frame 40 can not be controlled more precisely, there was a problem that the embroidery quality is reduced.

In order to solve this problem, a method of transmitting power by using a linear motor instead of a timing belt has been proposed. However, in the method of using a linear motor as a power transmission means, a plurality of linear motors must be provided. Since a driver for controlling the plurality of linear motors must be separately provided, a problem arises in that the manufacturing cost is increased.

In addition, since the plurality of linear motors must move the embroidery frame 40 in the same direction at the same time, a technical difficulty of synchronizing the operations of the plurality of linear motors has been generated.

The present invention has been made to solve the above-mentioned problems, by having a displacement sensor for detecting the displacement of the embroidery frame, by always feeding back the error of the position caused by the interlocking device for driving the embroidery frame the exact position It is an object of the present invention to provide a position control apparatus and a method of embroidering a frame to be embroidered on the fabric.

1 is a configuration diagram of a position control apparatus of a conventional embroidery frame in a general embroidery machine,

2 is a block diagram of a position control device of the embroidery frame according to the present invention,

3 is a detailed block diagram of FIG.

Figure 4 is a flow chart of the position control method of the embroidery frame according to the present invention,

5 is a view for explaining the movement displacement detection operation of the embroidery frame by the X- and Y-axis movement displacement detection unit.

<Code Description of Main Parts of Drawing>

10,100: control unit 20,200: X-axis drive unit

30,300: Y-axis drive part 40,400: Embroidery frame

101: position control unit 102: speed control unit

103: current detector 104: position detector

105: speed detection unit 106: moving displacement coefficient unit

107a, 107b, 107c: first, second, third calculator

500: X-axis movement displacement detection unit 600: Y-axis movement displacement detection unit

As one embodiment of the present invention for achieving the above object, the invention of claim 1, the embroidery frame for fixing the fabric, the X-axis drive unit for moving the embroidery frame in the X-axis direction, and the embroidery frame Y In the embroidery machine comprising a Y-axis drive unit for moving in the axial direction and a drive control unit for outputting the X-axis and Y-axis drive control signals respectively for controlling the X-axis and Y-axis drive unit, the X-axis of the embroidery frame And sensing means for sensing a displacement on the Y axis and outputting an electrical signal corresponding to the detected displacement, wherein the driving controller is further configured to generate the X axis based on the output electrical signal. And a Y-axis driving control signal, respectively.

The invention according to claim 2 is the position control apparatus of the embroidery frame according to claim 1, wherein the sensing means is attached to predetermined positions of the X and Y axes of the embroidery frame. .

The invention according to claim 3 is the position control apparatus of the embroidery frame according to claim 1 or 2, wherein the sensing means is a displacement sensor.

The invention according to claim 4, wherein the sensing means outputs an electrical signal corresponding to the detected movement displacement by a linear scale method. As a result, the above-mentioned problem is solved.

In addition, according to claim 5, the drive control section according to claim 1 or 2, further comprising: position detecting means for detecting a displacement of the embroidery frame based on the output electric signal; Speed detecting means for detecting a moving speed of the embroidery frame based on the detected displacement; And current detecting means for detecting a voltage value proportional to the motor driving current output from the X and Y axis driving units, by using the detected displacement, the moving speed and the voltage value of the embroidery frame. The above-mentioned problem is solved by the embroidery frame position control apparatus characterized by generating the said X-axis and Y-axis drive control signals.

The invention as set forth in claim 6, wherein the position detecting unit further comprises a counting unit for counting the number of pulses of the electrical signal to be output, wherein the position detecting unit The above-mentioned problem is solved by the embroidery frame position control apparatus which detects the movement displacement to an X-axis and a Y-axis direction.

The invention according to claim 7 is the position control apparatus of the embroidery frame according to claim 5, wherein the sensing means is a displacement sensor.

The invention as set forth in claim 8, wherein the sensing means outputs an electrical signal corresponding to the sensed movement displacement by a linear scale method. As a result, the above-mentioned problem is solved.

The invention according to claim 9 is the position control apparatus of the embroidery frame according to claim 6, wherein the sensing means is a displacement sensor.

The invention according to claim 10, wherein the sensing means outputs an electric signal corresponding to the sensed movement displacement by a linear scale method. As a result, the above-mentioned problem is solved.

As another embodiment of the present invention for achieving the above object, the invention described in claim 11, in the method for moving the position of the embroidery frame in the X-axis and Y-axis direction by the X-axis and Y-axis drive control signal, A movement displacement detection step of detecting an electric signal corresponding to a movement displacement while the embroidery frame moves on the X-axis and the Y-axis; And a driving control signal generating step of generating the X-axis and Y-axis driving control signals, respectively, based on the detected electrical signal.

The invention according to claim 12 is the positional control method of the embroidery frame according to claim 11, wherein the movement displacement detection step is performed by a linear scale method, which solves the above-mentioned problems. .

The invention as set forth in claim 13, wherein the driving control signal generating step comprises: a position detecting step of detecting a displacement of the embroidery frame based on the output electric signal; A speed detecting step of detecting a moving speed of the embroidery frame based on the detected displacement; And a current detecting step of detecting a voltage value proportional to a motor driving current output from the X and Y axis drivers, by using the detected displacement, the moving speed, and the voltage value of the embroidery frame. The above-mentioned problem is solved by the embroidery frame position control method characterized by further generating the X-axis and Y-axis drive control signals.

The invention according to claim 14, wherein the position detecting step further comprises a counting step of counting the number of pulses of the output electrical signal, based on the counted pulse number, The above-mentioned problem is solved by the embroidery frame position control method characterized by detecting the displacement of the embroidery frame in the X-axis and Y-axis directions.

The invention according to claim 15 is the position control method of the embroidery frame according to claim 14, wherein the position detecting step is performed by a linear scale method.

The objects, features and advantages of the present invention will be more readily understood by reference to the accompanying drawings and the following detailed description.

2 is a configuration diagram of the position control apparatus of the embroidery frame according to the present invention, the embroidery frame 400 for fixing the fabric; An X-axis drive unit 200 having an X-axis servomotor (not shown) as a driving source for moving the embroidery frame 400 in the X-axis direction, and moving the embroidery frame 400 in the X-axis direction; A Y-axis servo motor (not shown) as a driving source for moving the embroidery frame 400 in the Y-axis direction, and a Y-axis driving unit 300 for moving the embroidery frame 400 in the Y-axis direction; An X-axis movement displacement detector 500 for outputting an electric signal corresponding to the X-axis movement displacement of the embroidery frame 400; A Y-axis movement displacement detector 600 for outputting an electric signal corresponding to the Y-axis movement displacement of the embroidery frame 400; The electric signals output from the X-axis movement displacement detection unit 500 and the Y-axis movement displacement detection unit 600 are compared with the embroidery frame movement displacement command signals input from the outside, and the embroidery frame according to the comparison result is The control unit 100 controls the position of the 400.

As shown in FIG. 3, the control unit 100 includes a movement displacement coefficient unit 106 for counting the number of pulses of an electrical signal output from the X- and Y-axis movement displacement detection units 500 and 600; A position detection unit 104 for detecting a displacement of the embroidery frame 400 corresponding to the number of pulses counted by the movement displacement coefficient unit 106; A speed detecting unit 105 for detecting a moving speed of the embroidery frame 400 corresponding to the number of pulses counted by the moving displacement counting unit 106; A first calculator (107a) which calculates a position error by calculating the movement displacement detected by the position detection unit 104 and the embroidery frame movement displacement command signal; A position controller 101 outputting a speed control signal based on the position error calculated by the first calculator 107a; A second calculator (107b) for calculating a speed error by calculating a speed control signal output from the position controller (101) and a moving speed detected by the speed detector (105); A speed controller 102 for outputting a current control signal based on the speed error calculated by the second calculator 107b; A current detector (103) for detecting a voltage value proportional to the motor driving current output from the X and Y axis drivers (200, 300); A third calculator (107c) for calculating a drive current error by calculating a voltage value detected by the current detector (103) and a current control signal detected by the speed controller (102); And a current controller 108 for reapplying a driving control signal to the X-axis and Y-axis driving units 200 and 300 based on the driving current error calculated by the third calculator 107c.

Hereinafter, the operation of the position control apparatus of the embroidery frame according to the present invention configured as described above will be described in detail in parallel with the flowchart of FIG. 4 which is the position control method of the embroidery frame according to the present invention.

First, the embroidery frame movement displacement command signal requesting the position of the embroidery frame 400 to be moved by 10 mm and 20 mm in the X-axis and Y-axis directions, respectively, is input to the control unit 100 (S401), and the control unit 100. It is assumed that the driving control signal corresponding to the input embroidery frame movement displacement command signal is applied to the X-axis and Y-axis driving units 200 and 300 (S402).

In response to the applied drive control signal, the X- and Y-axis servomotors provided in the X- and Y-axis drivers 200 and 300 are provided in the X- and Y-axis drivers 200 and 300 using timing belts. (Drive timing pulley, driven timing pulley, shaft, etc.) As the embroidery frame 400 moves in the X-axis and Y-axis directions as power is transmitted, the X-axis and Y-axis movement displacement detection unit (500, 600) is the embroidery The displacement of the frame 400 is detected.

That is, a displacement sensor may be proposed as the X and Y axis direction displacement sensors 500 and 600. In particular, in the present embodiment, a displacement sensor operated by a linear scale method is assumed.

In addition, in this embodiment, as shown in Figure 5, in the case of the X-axis scale 510 is attached to the frame 401 of the embroidery frame 400, when the embroidery frame 400 is moved in the X-axis direction X-axis The direction movement displacement detector 500 operates to move the scale 510 together with the embroidery frame 400 in the X-axis direction in a fixed state, and in the case of the Y-axis, the Y-axis displacement displacement detector ( When 600 is attached to the frame 402 of the embroidery frame 400 and the embroidery frame 400 is moved in the Y-axis direction, the scale 610 is fixed and the Y-axis movement displacement detector 600 is fixed. It will be described as operating to move in the Y-axis direction with the embroidery frame 400, but scales 510 and 610 corresponding to the X-axis and Y-axis are attached to the frames 401 and 402 of the embroidery frame 400, respectively. The frame 400 is moved in the X-axis and Y-axis directions, and the two scales 510 and 610 move together with the embroidery frame 400 in the X-axis and Y-axis. It may be operable to move in the direction, the X- and Y-axis movement displacement detection unit (500, 600) is attached to the frame (401, 402) of the embroidery frame 400, respectively, the embroidery frame 400 is X-axis and Y-axis direction And moved in the X-axis and Y-axis direction displacement detection unit 500, 600 may be operated to move in the X-axis and Y-axis direction with the embroidery frame 400, of course.

Regardless of whether the X- and Y-axis movement displacement detectors 500 and 600 and the scales 510 and 610 are attached to the frames 401 and 402 of the embroidery frame 400, the X and Y-axis movement displacement detectors 500 and 600 Since the movement displacement detection operation by) is performed in the same manner, only the movement displacement detection operation by the Y-axis movement displacement detection unit 600 will be described in detail with reference to FIG. 5 as follows.

A coil 601 is provided inside the Y-axis movement displacement detector 600 attached to the Y-axis frame 402 corresponding to the Y-axis edge of the embroidery frame 400, and a bearing ( 611 is seated in line.

Therefore, when the Y-axis direction displacement detection unit 600 is guided along the scale 610 in the Y-axis direction by the power transmitted from the Y-axis driver 300, the control unit 100 controls the Y. Power is applied to the axial movement displacement detector 600. Accordingly, in a state in which a current having a predetermined magnitude flows in the coil 601 and a magnetic field is formed in the coil 601, the coil of the Y-axis movement displacement detector 600 guided in the Y-axis direction along the scale 610 ( 601, as the plurality of bearings 611 mounted in a row in the scale 610 are sequentially penetrated, the controller 100 moves before and after the embroidery frame 400 moves in the Y-axis direction. Subsequently, a voltage value in the form of a pulse corresponding to the phase difference of the current flowing in the coil 601 is received from the Y-axis direction displacement detector 600 (S403).

By the same principle, when a pulse value voltage is also input from the X-axis movement displacement detector 500, the controller 100 is input from the X-axis and Y-axis movement displacement detector 500 and 600, respectively. The voltage value is applied to the movement displacement coefficient unit 106 in the control unit 100, and the movement displacement coefficient unit 106 counts the number of pulses of the applied voltage value (S404), respectively.

The components provided in the controller 100 to compensate for the position of the embroidery frame 400 by the counted pulses are operated by a Proportional-Integral-Derivation (PID) control principle, and the PID control principle is known. As this is a known technology, it will be briefly mentioned.

The number of pulses counted as described above is input to the position detecting unit 104 and the speed detecting unit 105, respectively, and the position detecting unit 104 continuously detects the displacement of the embroidery frame 400 in the X-axis and Y-axis directions ( In operation S405, the first calculator 407a calculates a position error by calculating the detected displacement and the embroidery frame displacement command signal input in step S401, and the speed detector 105 calculates the counted pulse. The moving speed of the embroidery frame 40 corresponding to the number is detected (S406).

Subsequently, the position control unit 101 outputs the speed control signal based on the calculated position error, and the second calculator 107b outputs the speed control signal output from the position control unit 101 and the speed detection unit 105. After calculating the speed error by calculating the moving speed detected by the speed controller 102, the speed controller 102 outputs a current control signal based on the speed error calculated by the second calculator 107b.

On the other hand, the current detector 103 is a voltage value proportional to the drive current of the X-axis and Y-axis servomotor output from the X-axis and Y-axis drive unit (200,300) After the detection (S407), the third calculator 107c calculates a drive current error by calculating the voltage value detected by the current detector 103 and the current control signal detected by the speed controller 102, The current controller 108 outputs the driving control signal to the X-axis and Y-axis driving units 200 and 300 based on the driving current error calculated by the third calculator 107c (S408), thereby causing the embroidery frame 400 to be X. Compensation control of the position of the embroidery frame 400 by the movement displacement while moving in the axial and Y-axis directions, respectively.

The present invention is not limited to the above-described embodiment, and the X-axis and Y-axis movement displacement detection unit (X-axis and Y-axis drive source (in the above-described embodiment, corresponds to the X-axis and Y-axis servomotor) 500,600 may be attached directly or in addition to other variations and modifications by those skilled in the art, in particular, can be equally applied to sewing machines equipped with X-axis and Y-axis, which is defined in the appended claims It is included in the spirit and scope of the invention.

The present invention, by detecting the displacement (shift sensor) in the X-axis and Y-axis direction by detecting the displacement of the embroidery frame 400 is generated by the respective interlocking devices during power transmission by controlling the position of the embroidery frame 400 The error of the displacement can be reduced.

In addition, the present invention has an effect of reducing the manufacturing cost significantly compared with the prior art using a linear motor as a power transmission means.

In addition, the present invention, by detecting the displacement of the embroidery frame 400 in the X-axis and Y-axis direction, to the type of X-axis and Y-axis drive source (in this embodiment, corresponding to the X-axis and Y-axis servomotor) Regardless (even if a stepping motor or a linear motor is used), it is possible to compensate for an error in the movement displacement that may occur in the corresponding driving source, so that position control of the embroidery frame 400 can be performed more precisely, thereby improving embroidery quality. Has the effect of maximizing.

Claims (15)

An embroidery frame for fixing the fabric, an X-axis driving unit for moving the embroidery frame in the X-axis direction, a Y-axis driving unit for moving the embroidery frame in the Y-axis direction, and X for controlling the X-axis and Y-axis driving unit In the embroidery machine comprising a drive control unit for outputting the axial and Y-axis drive control signals, respectively, It further comprises a sensing means for detecting the displacement displacement of the embroidery frame to the X-axis and Y-axis, and outputs an electrical signal corresponding to the detected movement displacement, And the drive control unit generates the X-axis and Y-axis drive control signals, respectively, based on the output electrical signal. The position control apparatus of claim 1, wherein the sensing means is attached to predetermined positions of the X-axis and the Y-axis of the embroidery frame. The embroidery frame position control apparatus according to claim 1 or 2, wherein the sensing means is a displacement sensor. 4. The position control apparatus of claim 3, wherein the sensing unit outputs an electric signal corresponding to the sensed movement displacement by a linear scale method. The method of claim 1 or 2, wherein the drive control unit, Position detecting means for detecting a displacement of the embroidery frame based on the output electric signal; Speed detecting means for detecting a moving speed of the embroidery frame based on the detected displacement; And current detecting means for detecting a voltage value proportional to a motor driving current output from the X and Y axis driving units. And the X-axis and Y-axis driving control signals are generated by using the detected displacement of the embroidery frame, the movement speed, and the voltage value. The method of claim 5, wherein the position detection unit, It further comprises a counting unit for counting the number of pulses of the output electrical signal, And a displacement displacement of the embroidery frame in the X- and Y-axis directions based on the counted pulse number. 6. The position control apparatus of the embroidery frame according to claim 5, wherein the sensing means is a displacement sensor. 8. The position control apparatus of claim 7, wherein the sensing means outputs an electric signal corresponding to the sensed movement displacement by a linear scale method. 7. The position control apparatus of the embroidery frame according to claim 6, wherein the sensing means is a displacement sensor. 10. The position control apparatus of claim 9, wherein the sensing unit outputs an electric signal corresponding to the detected displacement by a linear scale method. In the method of moving the position of the embroidery frame in the X-axis and Y-axis directions by the X-axis and Y-axis drive control signals, A displacement displacement detecting step of detecting an electrical signal corresponding to the displacement after the embroidery frame is moved on the X axis and the Y axis; And And a drive control signal generating step of generating the X and Y axis drive control signals, respectively, based on the detected electrical signal. 12. The position control method of claim 11, wherein the movement displacement detection step is performed by a linear scale method. The method of claim 11 or 12, wherein the driving control signal generation step, A position detecting step of detecting a displacement of the embroidery frame based on the output electric signal; A speed detecting step of detecting a moving speed of the embroidery frame based on the detected displacement; And a current detecting step of detecting a voltage value proportional to the motor driving current output from the X and Y axis driving units. And the X-axis and Y-axis driving control signals are generated using the detected displacement of the embroidery frame, the movement speed, and the voltage value. The method of claim 13, wherein the position detection step, Further comprising a counting step of counting the number of pulses of the output electrical signal, And a displacement displacement in the X-axis and Y-axis directions of the embroidery frame based on the counted pulse number. 15. The position control method of claim 14, wherein the position detecting step is performed by a linear scale method.