CN106222901A - A kind of automatic shuttle changer and method - Google Patents

Abstract

The invention provides an automatic hook changing device, which includes a rotary hook, the first bobbin case and the first bobbin are sheathed on the rotary hook core shaft of the rotary hook, and also includes a bobbin thread remaining detection station, a grabbing station and a changing station. The fixed base plate of the station, the movable bobbin case claw, the bobbin thread remaining detection sensor installed on the bobbin case claw, and the movable storage device. The storage device has an empty station and a storage station. There is an intermediate empty shaft, and the second bobbin case and the second bobbin are placed at the storage station. bobbin, or second bobbin case and second bobbin. The application can detect and monitor the bobbin thread surplus on the first bobbin winding column in real time, and when the bobbin thread on the first bobbin is almost used up, the sewing machine will automatically stop, and automatically turn the first bobbin with insufficient bobbin thread surplus from the spinning machine. Remove it from the hook, and then automatically replace the second bobbin, which is full of bobbins, into the hook, improving sewing efficiency and sewing quality.

Description

An automatic shuttle changing device and method

technical field

The invention relates to the field of sewing machines, in particular to an automatic shuttle changing device and an automatic shuttle changing method.

Background technique

A sewing machine is a machine that uses one or more sewing threads to form one or more stitches on the sewing material to interweave or sew one or more layers of sewing material. The sewing machine can sew fabrics such as cotton, fiber crops, silk, wool, and artificial fibers, and products such as leather, plastics, and paper. Sewing machines are divided into household sewing machines and industrial sewing machines. Among them, industrial sewing machines are mostly general-purpose sewing machines, including lockstitch sewing machines, chain sewing machines, quilting machines, overlock sewing machines and interlock sewing machines.

When the sewing machine is sewing the fabric, the rotary hook and the needle of the sewing machine cooperate with each other to interweave the bottom thread and the upper thread and sew them on the fabric to form stitches. The upper thread is passed through the needle eye of the machine needle, and the machine needle moves up and down; the rotary hook is composed of a bobbin case and a bobbin, the bobbin is accommodated in the bobbin case, and the bottom thread is wound on the winding post of the bobbin. Generally speaking, the upper thread is wound on the bobbin, so the upper thread is longer; while the lower thread is provided by the bobbin, but due to the limitation of the space of the sewing machine and the principle of the mechanism, the size of the bobbin is limited, so the bobbin on the bobbin winding post is limited. The length of the wound bobbin thread is very limited, which leads to the need for workers to frequently replace the bobbin during the sewing process, and also requires workers to constantly monitor the bobbin thread margin to prevent the sewing machine from running empty due to the end of the bobbin thread. The phenomenon that a row of voids without stitches appears on the fabric. Therefore, in the prior art, it is very time-consuming and labor-intensive to manually monitor the bottom line margin and manually replace the bobbin.

Contents of the invention

In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an automatic shuttle changing device, which can automatically monitor the bobbin thread remaining on the bobbin at the rotary hook of the sewing machine, and automatically replace the bobbin thread when the bobbin thread is insufficient. bobbin inside.

In order to achieve the above object, the present invention provides an automatic shuttle changing device, comprising a base plate with a shuttle chamber and a hook installed in the shuttle chamber, the hook spindle of the hook is covered with a first bobbin case and The first bobbin in the first bobbin case also includes a fixed base plate with a bobbin thread residual detection station, a grabbing station and a replacement station, a movable bobbin case claw, and a bobbin thread surplus installed on the bobbin case claw. detection sensor, and a movable storage device, the bottom thread residual detection sensor is connected with the electric control module of the sewing machine, and the storage device has at least one empty station and at least one storage station, and the empty station is There is a transfer empty shaft, the storage station is placed with a second bobbin case and a second bobbin located in the second bobbin case, the bobbin winding post of the second bobbin is full of bobbins, and the bobbin case claws are used to for grabbing and moving the first bobbin case and the first bobbin, or the second bobbin case and the second bobbin; The sensor faces the first bobbin and detects the remaining amount of bottom thread on the first bobbin winding column; when the bobbin claw is located at the grabbing station on the fixed base plate, the grabbing portion of the bobbin claw is facing the The first bobbin case; when the bobbin case claw is located at the replacement station on the fixed base plate, the grasping part of the bobbin case claw is facing the intermediate idle shaft at the empty station, or the second bobbin case at the storage station .

Further, the fixed base plate is provided with a track groove, and the bobbin case claw moves along the extending direction of the track groove; the track groove includes a horizontal groove section extending left and right, a vertical groove section extending up and down, and a transition connection level The arc groove section of the groove section and the vertical groove section, the right end of the horizontal groove section close to the rotary hook is the grabbing station, the left end of the horizontal groove section away from the rotary hook is the bottom thread margin detection station, and the vertical groove section The lower end of the segment near the storage device is the replacement station.

Further, the bobbin case claw is driven by a first motor installed on the fixed base plate, and the first motor is connected with the electric control module of the sewing machine; the output end of the first motor is fixedly connected with a crank tooth fork, the The crank tooth fork is provided with a first chute at one end away from the first motor, and a slider is arranged in the first chute; it also includes a connecting shaft extending back and forth and passing through the track groove, the connecting shaft The front end is fixed in the bobbin case claw, and the slide block is rotatably arranged at the rear end of the connecting shaft.

Preferably, a positioning sensor is fixed inside the crank fork, and the positioning sensor is connected to the electric control module of the sewing machine; the fixed base plate is provided with a sensed element at the grasping station and the replacement station; When the sensor senses the sensed element, the first motor stops rotating.

Preferably, the connecting shaft is rotatably passed through a rolling sleeve, and the rolling sleeve is rotatably placed in the track groove.

Further, it also includes a steering seat arranged on the fixed base plate, a pin extending forward and backward and fixed on the fixed base plate, and at least one linear guide rod, the pin is the rotation fulcrum of the bobbin case claw, the steering seat The bearing is connected with the pin, one end of the linear guide rod is fixed in the steering seat, and the other end of the linear guide rod is connected with the bobbin case claw through the linear bearing.

Further, the grasping part of the bobbin case claw includes a draw hook and an adsorption magnet, and the draw hook is driven by a second motor installed on the bobbin case claw, and the second motor is connected with the electric control module of the sewing machine; the shuttle A lug is provided on the shell claw, and a rotatable shaft is pierced through the lug, and a driving crank and a pull hook are fixed on the shaft; when the output end of the second motor moves, the driving crank is driven by the second motor. The output end drives the swing, and the drag hook catches the plectrum on the first bobbin case or the second bobbin case.

Preferably, the second motor is a linear motor.

Preferably, a return torsion spring is sheathed on the rotating shaft, and the two ends of the return torsion spring are respectively connected with the driving crank and the drag hook.

Further, the storage device includes a third motor, a driving pulley, a driven pulley, and a synchronous belt for connecting the driving pulley and the driven pulley, and the output shaft of the third motor is fixed on the driving pulley Among them, the outer surface of the synchronous belt is fixed with a plurality of baffles distributed along the length direction of the synchronous belt at intervals, and the baffles extend along the width direction of the synchronous belt; among the plurality of baffles, one of the baffles is provided with a Said empty station, and the remaining baffles are all provided with said storage station.

Preferably, both the empty station and the storage station include a bobbin case placement plate fixed on the baffle, the intermediate idle shaft is fixed on the bobbin case placement plate of the empty station, and the bobbin case of the storage station is placed The bobbin case support shaft is fixed on the board, and the second bobbin case and the second bobbin core are sleeved on the bobbin case support shaft; There is a circle of card slots extending in the circumferential direction, and the end faces of the first bobbin case and the second bobbin case are provided with picks and clips, and a through hole is provided in the clips, and the through hole includes a circle on the inner side. The arc part and the frame-shaped part located on the outside, the frame-shaped part can accommodate the spindle of the rotary hook or the hollow shaft of the intermediate rotation or the shaft of the bobbin case, and the outer end of the clip is also provided with a hook; when the claw of the bobbin case When the fetching part is not in action, the arc part engages with the slot; when the gripping part of the bobbin case claw moves to catch the plectrum, the bar moves inward, and the arc part and the slot Separated from each other, the rotary hook core shaft or intermediate rotating empty shaft or the bobbin case fulcrum is located in the frame portion, and the hook portion of the clip catches the flange of the first bobbin core or the second bobbin core.

Preferably, the bobbin case placement plate of the empty station and the storage station is also fixed with a bobbin case restriction plate, and a circumferential direction restriction groove is opened in the bobbin case restriction plate; when the bobbin case claw grabs When the part is not in action, the hook part of the clip is located in the circumferential direction limiting groove.

Further, the storage device is installed on a mounting plate, and a push-pull handle is fixed on the left end of the mounting plate away from the table; a linear guide rail extending left and right is fixed on the side of the mounting plate facing the fixed base plate, and the fixed A slide table is fixed on the side of the substrate facing the mounting plate, and a second chute extending left and right and matched with the linear guide rail is opened in the slide table, and the linear guide rail is arranged in the second chute of the slide table so that it can move left and right .

Preferably, a code disc is provided at the end of the third motor, and the code disc is connected with the electric control module of the sewing machine.

Another object of the present invention also provides an automatic shuttle-changing method, including the automatic shuttle-changing device as described above, and the automatic shuttle-changing method includes the following steps in sequence:

A. The bobbin case claw is located at the bottom thread remaining detection station on the fixed substrate, and the empty station on the storage device is located directly below the replacement station on the fixed substrate; When there is not enough bobbin thread remaining on the winding post of the core, the electric control module of the sewing machine controls the main motor of the sewing machine to stop running, and executes the following step B;

B. The bobbin claw moves from the bottom thread margin detection station to the grabbing station, and the grabbing part moves to make the bobbin claw grab the first bobbin case and the first bobbin;

C. The bobbin case claw, together with the first bobbin case and the first bobbin, moves from the grabbing station to the replacement station, and then the bobbin case claw removes the first bobbin case and the first bobbin core from the hook shaft, And put it on the intermediate empty shaft at the empty station;

D. The grasping part of the bobbin case claw loosens the first bobbin case and the first bobbin, and the bobbin case claw moves away from the replacement station; the storage device moves so that the storage station on the storage device is located on the fixed base plate and the replacement station directly below;

E. The bobbin case claw moves to the replacement station again, and the grasping part moves to make the bobbin case claw grab the second bobbin case and the second bobbin at the storage station;

F, the bobbin case claw moves from the changing station to the grabbing station together with the second bobbin case and the second bobbin, then the bobbin case claw removes the second bobbin case and the second bobbin from the storage station, and Put it on the spindle of the hook;

G. The grasping part of the bobbin case claw loosens the second bobbin case and the second bobbin, and the bobbin case claw moves from the grasping station to the bottom thread remaining detection station, so that the bobbin thread remaining detection sensor detects the Bottom line allowance.

As mentioned above, the automatic shuttle changing device and method involved in the present invention have the following beneficial effects:

The application can detect and monitor the bobbin thread margin on the first bobbin winding column in the rotary hook of the sewing machine in real time, and when the bobbin thread on the first bobbin is almost used up, the sewing machine will automatically stop, and automatically turn off the first bobbin thread margin that is insufficient. The bobbin is removed from the hook, and then the second bobbin, which is full of bobbin thread, is automatically replaced into the bobbin, so as to realize automatic detection of bobbin thread remaining and automatic bobbin replacement, thereby effectively preventing the sewing machine from idling, and greatly improving the sewing efficiency. efficiency and sewing quality.

Description of drawings

1 to 4 are structural schematic diagrams of the automatic shuttle changing device in the present application.

Wherein, in Fig. 1, the bobbin case claw is positioned at the bobbin thread surplus detection station, and this figure omits the storage mechanism.

In Fig. 2, the bobbin case pawl is located at the grabbing station, and the storage mechanism is omitted in this figure.

In Fig. 3, the bobbin case claw is located at the replacement station, and the grasping portion of the bobbin case claw is facing the intermediate idle shaft at the empty station.

In Fig. 4, the bobbin case claw is located at the replacement station, and the grasping portion of the bobbin case claw is facing the second bobbin case at the storage station.

FIG. 5 is a schematic structural view of FIG. 4 omitting the bottom plate and the storage device.

FIG. 6 is a schematic structural diagram of a fixed substrate in the present application.

Fig. 7 is a schematic diagram of the connection between the first motor and the bobbin case claw in the present application.

Fig. 8 is a schematic diagram of the connection between the connecting shaft and the crank fork in Fig. 7 .

Fig. 9 is a schematic diagram of the connection between the bobbin case claw and the first bobbin case or the second bobbin case in the present application.

Fig. 10 is a schematic structural diagram of the storage device in the present application.

Fig. 11 is a structural schematic diagram of the clips on the first bobbin case and the second bobbin case.

Component designation description

1 bottom plate

2 First bobbin case

3 Fixed base

31 track groove

32 horizontal slot sections

33 vertical slot section

34 arc groove segment

4 Bobbin claw

41 hook

42 Adhesive magnet

43 Lugs

44 shafts

45 drive crank

46 return torsion spring

5 Bottom thread remaining detection sensor

6 storage device

61 Transition empty shaft

62 Third motor

63 drive pulley

64 driven pulley

65 timing belt

66 Baffle

67 Bobbin case setting plate

68 Bobbin case pivot

69 Bobbin case restriction plate

691 Circumferential direction limiting groove

7 Second bobbin case

8 first motor

91 crank fork

911 first chute

92 sliders

93 connecting shaft

931 limit part

94 positioning sensor

96 rolling set

97 steering seat

98 pins

99 Linear Guide

910 Spacer Bushing

10 Second motor

11 card slot

12 picks

13 strips

131 through hole

132 arc part

133 frame part

134 Hook

14 Mounting plate

15 push-pull handle

16 linear guide

17 sliding table

18 retaining nut

19 circlip

20 Support shaft

detailed description

The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit this specification. The practicable scope of the invention and the change or adjustment of its relative relationship shall also be regarded as the practicable scope of the present invention without any substantial change in the technical content.

In the following embodiments, each direction is defined as follows: the moving direction of the cloth when the sewing machine is running is defined as the front-rear direction, therefore, the width direction of the sewing machine is the front-rear direction, the length direction of the sewing machine is the left-right direction, and the height direction of the sewing machine is the front-rear direction, and The direction of the sewing machine towards the worker is the front direction, the direction of the sewing machine facing away from the worker is the rear direction, and the head of the sewing machine is located on the left side of the sewing machine casing.

The application provides an automatic shuttle changing device, as shown in Figure 1, it includes a base plate 1 with a shuttle compartment and a rotary hook installed in the shuttle compartment, the shuttle compartment is located at the left end of the base plate 1, the rotary hook of the rotary hook The first bobbin case 2 and the first bobbin located in the first bobbin case 2 are sheathed on the bobbin shaft, and the bobbin thread is wound on the bobbin post of the first bobbin. In order to realize the real-time monitoring of the bottom thread margin on the first bobbin during the sewing process of the sewing machine, and automatically replace the first bobbin when the bottom thread margin on the first bobbin is insufficient, as shown in Figures 1 to 5, The automatic shuttle changing device also includes a fixed base plate 3, a movable bobbin case claw 4, a bobbin thread residual detection sensor 5 installed on the bobbin case claw 4, and a movable storage device 6, and the fixed base plate 3 is fixed on On the platen of the sewing machine, its position is fixed, and the fixed substrate 3 has a bobbin thread margin detection station, a grabbing station and a replacement station; the bobbin thread surplus detection sensor 5 is connected with the electric control module of the sewing machine ; The storage device 6 has at least one empty station and at least one storage station, the empty station is provided with a transfer empty shaft 61, and the storage station is placed with the second bobbin case 7 and is located in the second The second bobbin in the bobbin case 7, the winding post of the second bobbin is full of bottom thread, and the bobbin case claw 4 is used to grab and move the first bobbin case 2 and the first bobbin, or the second bobbin Case 7 and the second bobbin. When the bobbin case claw 4 is located at the bottom thread surplus detection station on the fixed base plate 3, the bottom thread surplus detection sensor 5 faces the first bobbin and detects the bottom thread surplus on the first bobbin winding post; When the bobbin case pawl 4 is located at the grasping station on the fixed base plate 3, the grasping portion of the bobbin case pawl 4 is facing the first bobbin case 2; At the same time, the grasping portion of the bobbin case claw 4 is facing the intermediate idle shaft 61 at the empty station, or the second bobbin case 7 at the storage station.

In the above-mentioned automatic shuttle changing device, the first bobbin case 2, the first bobbin core, the second bobbin case 7, and the second bobbin core are all bobbin cases and bobbin cores in the prior art. Therefore, the first bobbin case 2 and the second bobbin case 7 all include the bobbin case body of the ring, the bobbin case cover that is located at one end of the bobbin case body, and the clip bar 13 and the plectrum 12 that are arranged on the bobbin case cover. The bar 13 and the picking piece 12 are arranged on the end faces of the first bobbin case 2 and the second bobbin case 7, and the clip bar 13 and the picking piece 12 are all provided with a hole through which the spindle shaft of the rotary hook passes; When the plectrum 12 is moved in the direction of , the bar 13 will move inward along the direction perpendicular to the spindle of the hook. Both the first bobbin and the second bobbin include a cylindrical winding post and flanges arranged at both ends of the winding post, and the bobbin thread is wound on the winding post. The structure of detecting the remaining amount of bobbin thread on the first bobbin winding post by using the detection sensor 5 of the remaining bobbin thread also belongs to the prior art, such as a bobbin thread monitoring device for sewing machines disclosed in the Chinese Invention Patent Application Specification of Application No. 201310278156.1, Or a kind of sewing machine bobbin thread detection device and detection method disclosed in the Chinese invention patent specification of 201410284852.8 as the application number, for this reason, the first bobbin and the cylinder of the winding post of the second bobbin in the application A reflective surface should be provided, or a light-absorbing material and a light-reflecting material should be provided on the surfaces of the flanges of the first bobbin and the second bobbin.

The present application also provides an automatic shuttle-changing method, which includes the automatic shuttle-changing device as described above, and the automatic shuttle-changing method includes the following steps in sequence:

A. In the initial state (the initial state is that the bobbin thread margin on the first bobbin is sufficient and the sewing machine is sewing normally), the bobbin case claw 4 is located at the bobbin thread margin detection station on the fixed base plate 3, so the bobbin thread margin The amount detection sensor 5 detects in real time the bobbin thread margin on the winding post of the first bobbin, and the empty station on the storage device 6 is located directly below the replacement station on the fixed base plate 3; when the bobbin thread margin detection sensor 5 detects the When there is not enough bobbin thread remaining on the bobbin winding post of the first bobbin in the shuttle, the electric control module of the sewing machine controls the main motor of the sewing machine to stop running, and executes the following step B;

B. The bobbin case claw 4 moves from the bobbin thread margin detection station to the grasping station, then the grasping part of the bobbin case claw 4 is facing the first bobbin case 2 on the spindle of the hook, and the grasping part moves to make The bobbin case pawl 4 grabs the first bobbin case 2 and the first bobbin;

C. The bobbin case claw 4 moves together with the first bobbin case 2 and the first bobbin from the grabbing station to the replacement station, then the bobbin case claw 4 rotates the first bobbin case 2 and the first bobbin from the bottom plate 1 Take off on the rotating hook mandrel of shuttle, and be enclosed within on the intermediary empty shaft 61 of empty station place;

D, the grasping portion of the bobbin case claw 4 loosens the first bobbin case 2 and the first bobbin, and the bobbin case claw 4 moves away from the replacement station; after that, the storage device 6 moves to make the storage station on the storage device 6 Located directly below the replacement station on the fixed base plate 3;

E, the bobbin case claw 4 moves to the replacement station again, then the grasping part of the bobbin case claw 4 is facing the second bobbin case 7 on the storage station, and the grasping part moves so that the bobbin case claw 4 grabs the storage position The second bobbin case 7 and the second bobbin at the position;

F, the bobbin case pawl 4 moves from the replacement station to the grabbing station together with the second bobbin case 7 and the second bobbin, then the bobbin case pawl 4 moves the second bobbin case 7 and the second bobbin from the storage station Remove and set on the hook spindle;

G. The grasping part of the bobbin case claw 4 loosens the second bobbin case 7 and the second bobbin, and the bobbin case claw 4 moves from the grabbing station to the bottom thread remaining amount detection station, so that the bottom thread remaining amount detection sensor 5 detects Bottom thread allowance in the hook.

From the foregoing, it can be seen that the present application detects and monitors the bobbin thread surplus on the first bobbin winding post in the sewing machine rotary hook in real time through the bobbin thread surplus detection sensor 5, and the sewing machine automatically detects when the bobbin thread on the first bobbin is almost used up. Stop running, automatically remove the first bobbin with insufficient bobbin thread from the rotary hook, and then automatically replace the second bobbin with full bobbin thread into the rotary hook, so as to realize automatic detection of bobbin thread surplus and automatic bobbin replacement , and then effectively prevent the idling phenomenon of the sewing machine, greatly improving the sewing efficiency and sewing quality.

Further, as shown in FIG. 6 , the fixed base 3 is provided with a track groove 31 , and the bobbin case claw 4 moves along the extending direction of the track groove 31 , and the grabbing station and the bobbin thread margin detection on the fixed base 3 Both the station and the replacement station are arranged in the track groove 31 . At the same time, in this embodiment, the rotary hook core shaft extends axially along the left-right direction, the intermediate rotation hollow shaft 61 extends axially along the up-down direction, and the second bobbin case 7 and the second bobbin core are vertically placed in the storage device 6 along the up-down direction. On the storage station, therefore, the track groove 31 includes a horizontal groove section 32 extending left and right, a vertical groove section 33 extending up and down, and an arc groove section 34 transitionally connecting the horizontal groove section 32 and the vertical groove section 33, The right end of the horizontal slot section 32 close to the rotary hook is the grasping station, the left end of the horizontal slot section 32 away from the rotary hook is the bottom thread margin detection station, and the lower end of the vertical slot section 33 close to the storage device 6 is the said grabbing station. Change station. In the above step D, when the first bobbin case 2 and the first bobbin are loosened by the grasping part of the bobbin case claw 4, the bobbin case claw 4 moves upwards along the vertical groove section 33 to the upper end of the vertical groove section 33, Therefore, the bobbin case claw 4 is kept away from the replacement station, and the interference of the bobbin case claw 4 on the movement of the storage device 6 is avoided.

Further, the bobbin case claw 4 is driven by a first motor 8 installed on the fixed base 3, and the first motor 8 is connected with the electric control module of the sewing machine. The specific structure that the first motor 8 drives the movement of the bobbin case claw 4 is as follows: as shown in Figure 7, the output end of the first motor 8 is fixedly connected with a crank tooth fork 91 by screws, and the crank tooth fork 91 is far away from the first motor 8 A U-shaped first sliding slot 911 is provided at one end of the first sliding slot 911, and a sliding block 92 is arranged in the first sliding slot 911; a connecting shaft 93 extending forward and backward and passing through the track slot 31 is provided. The front end of connecting shaft 93 is fixed in the bobbin case pawl 4, and described slide block 92 is rotatably arranged on the rear end of connecting shaft 93, so the inner diameter of sliding block 92 matches the outer diameter of connecting shaft 93. The output shaft of the first motor 8 drives one end of the crank tooth fork 91 to rotate synchronously, and then the crank tooth fork 91 swings at a certain angle with the axis of the output shaft of the first motor 8 as the center line, thereby synchronously making the connecting shaft 93 in the track groove 31 along the extension direction of the track groove 31, the slider 92 slides along the extension direction of the first chute 911, and the slider 92 rotates relative to the connecting shaft 93, so that the connecting shaft 93 drives the bobbin case claw 4 along the track groove 31. The extension direction moves synchronously, so that the bobbin case claw 4 moves to the three stations or other positions on the fixed base plate 3 .

The fixed structure of the connecting shaft 93 and the bobbin case claw 4 is as follows: as shown in Figure 7 and Figure 8, the front end of the connecting shaft 93 is threadedly connected with a fixed nut 18, and the fixed nut 18 is fixedly embedded in the bobbin case claw 4, thereby Connect the connecting shaft 93 to the bobbin case claw 4 . In order to make the connecting shaft 93 move more stably in the track groove 31, as shown in FIG. Cooperating, the rolling sleeve 96 can be rolled in the track groove 31; when the outer peripheral surface of the rolling sleeve 96 is a cylindrical surface, the rolling sleeve 96 is in line contact with the groove wall of the track groove 31, When the surface is a drum-shaped outer peripheral surface protruding radially in the middle, the rolling sleeve 96 and the groove wall of the track groove 31 are in point contact. The drum-shaped outer peripheral surface refers to: the diameter of the outer peripheral surface of the rolling sleeve 96 gradually increases first, and then gradually decreases. In this embodiment, the rolling sleeve 96 with a drum-shaped outer peripheral surface is preferably selected, which can greatly reduce the contact between the rolling sleeve 96 and the track. The frictional force between the groove walls of the groove 31 ensures the flexibility and stability that the connecting shaft 93 drives the bobbin case claw 4 to move along the extending direction of the track groove 31 . The connecting shaft 93 is provided with a radially protruding limiting part 931 on the front side of the rolling sleeve 96, and the connecting shaft 93 is also covered with a spacer bushing 910 located on the front side of the slider 92, and the spacer bushing 910 and the limiting part 931 are respectively located at both ends of the rolling sleeve 96 , thereby forming a limit to the axial movement of the rolling sleeve 96 along the connecting shaft 93 .

In addition, as shown in Figure 7, a positioning sensor 94 for in-position detection is fixed in the crank tooth fork 91, and the positioning sensor 94 is connected with the electric control module of the sewing machine; A sensed element is arranged at the replacement station; when the positioning sensor 94 senses the sensed element, the first motor 8 stops rotating, so that the first motor 8 drives the bobbin case pawl 4 through the crank tooth fork 91 and the connecting shaft 93 Accurately move to the grabbing station or changing station, improve the accuracy of bobbin case claw 4 movement. There are many types of the positioning sensor 94 , for example, the positioning sensor 94 can be a Hall sensor, and the sensed element corresponds to a magnet.

Further, since the rotary hook core shaft extends axially left and right, while the idle shaft 61 of intermediate rotation extends axially up and down, and the second bobbin case 7 and the second bobbin core are vertically placed on the storage device 6, so the hook The shell claw 4 also needs to turn while moving along the extending direction of the track groove 31. For this reason, as shown in Figure 5, it also includes a steering seat 97 arranged on the fixed base plate 3, a front and rear extension and fixed on the fixed base plate 3. pin 98, and two linear guide rods 99, the pin 98 is the fulcrum of the bobbin case pawl 4, bearings are installed in the steering seat 97, and the steering seat 97 is connected with the pin 98 through the bearing, so that the steering The shaft is rotatably connected to the pin 98, and the front end of the pin 98 is also equipped with a jumper 19, which restricts the steering shaft from moving forward and backward along the axial direction of the pin 98; one end of the linear guide rod 99 is fixed in the steering seat 97 , the other end of the linear guide rod 99 is connected with the bobbin case claw 4 by a linear bearing, and the linear bearing is installed in the bobbin case claw 4. When the first motor 8 rotated, the bobbin case pawl 4 turned to the pin 98 as a fulcrum, and the bobbin case pawl 4 could slide back and forth along the extending direction of the linear guide rod 99 toward the steering seat 97 or away from the steering seat 97.

Further, as shown in FIG. 9 , the grasping portion of the bobbin case claw 4 includes a pull hook 41 and an adsorption magnet 42 , and the pull hook 41 is driven by a second motor 10 installed on the bobbin case claw 4 , and the second motor 10 is connected with the electric control module of the sewing machine; a lug 43 is provided on the bobbin case claw 4, and a rotatable rotating shaft 44 is pierced in the lug 43, and a driving crank 45 and a pull hook 41 are fixed on the rotating shaft 44 ; When the output end of the second motor 10 moves, the drive crank 45 is driven to swing by the output end of the second motor 10, thereby driving the rotating shaft 44 and the pull hook 41 to rotate at the same angle synchronously, so that the pull hook 41 catches the first shuttle The plectrum 12 on the shell 2 or the second bobbin case 7, and make the end of the plectrum 12 hooked by the pull hook 41 away from the first bobbin case 2 or the second bobbin case 7, so the first bobbin case 2 or the second bobbin case The clip 13 on 7 moves inward, and the hook 134 of the clip 13 catches the flange of the first bobbin or the second bobbin, so that the bobbin case claw 4 grabs the first bobbin case 2 and the first bobbin case 2. bobbin, or the second bobbin case 7 and the second bobbin.

The second motor 10 is a linear motor, so when the linear motor operates, after the output end of the linear motor extends toward the direction close to the driving crank 45, it can directly push the driving crank 45 to swing at a certain angle. Of course, the second motor 10 can be replaced by an air cylinder, or the second motor 10 is a rotary motor. At this time, the rotatable output shaft of the second motor 10 needs to be connected with the drive crank 45 through a transmission mechanism.

Preferably, as shown in FIG. 9 , a return torsion spring 46 is also set on the rotating shaft 44 , and the two ends of the return torsion spring 46 are respectively connected with the driving crank 45 and the pull hook 41 ; When unclamping the first bobbin case 2 and the first bobbin or the second bobbin case 7 and the second bobbin, then the second motor 10 resets, and the output shaft of the second motor 10 is separated from the drive crank 45, so the drive crank 45 and drag hook 41 reset under the effect of reset torsion spring 46.

Further, there are many ways for the storage device 6 to drive the empty station and the storage station to move, for example, a synchronous belt transmission form, a chain transmission form, or a disc rotation transmission form can be adopted, and synchronous transmission is preferred in this embodiment. Belt drive form. As shown in Figure 10, the storage device 6 includes a third motor 62, a driving pulley 63, a driven pulley 64, and a synchronous belt 65 for connecting the driving pulley 63 and the driven pulley 64. The output shaft of the three motors 62 is fixed in the driving pulley 63, and the outer surface of the synchronous belt 65 is fixed with a plurality of baffle plates 66 that are equally spaced left and right along the length direction of the synchronous belt 65. The width direction extends forward and backward to ensure that the synchronous belt 65 drives the baffle 66 to turn smoothly at the driving pulley 63 and the driven pulley 64; among the plurality of baffles 66, one of the baffles 66 is provided with the empty station , and the remaining baffles 66 are all set as the storage stations. The third motor 62 drives the driving pulley 63 to rotate, and the driving pulley 63 drives the driven pulley 64 to rotate through the timing belt 65, and the timing belt 65 is also moving synchronously, so that the empty station or storage station can be moved to the fixed base 3 directly below the upper changing station.

Preferably, the end of the third motor 62 is provided with a code disc, which is connected to the electric control module of the sewing machine, and the electric control module can accurately control the angle of each rotation of the third motor 62 through the output signal of the code disc , and then ensure that the synchronous belt 65 drives the accuracy of the empty station and the movement of the storage station, and ensures that the bobbin case claw 4 can accurately place the first bobbin case 2 and the first bobbin on the empty station, and the bobbin case claw 4 The second bobbin case 7 and the second bobbin on the storage station can be grasped accurately.

Preferably, both the empty station and the storage station include a bobbin case placement plate 67 fixed on the baffle plate 66, and the bobbin case placement plate 67 and the baffle plate 66 pass through two screws respectively located at the front and rear ends of the baffle plate 66. Fixed, the intermediate empty shaft 61 is fixed on the bobbin case placement plate 67 of the empty station, and the bobbin case support shaft 68 is fixed on the bobbin case placement plate 67 of the storage station, and the second bobbin case 7 and the first bobbin case Two bobbins are enclosed within on the bobbin case supporting shaft 68. The structure of the intermediate empty shaft 61 and the bobbin case fulcrum 68 is consistent with that of the rotary hook spindle. Specifically, a circle of circumferential extension is provided at the ends of the rotary hook spindle, the intermediate rotary empty shaft 61 and the bobbin case fulcrum 68. The card groove 11 of the first bobbin case 2 and the clip bar 13 on the second bobbin case 7 are provided with a through hole 131, as shown in Fig. The frame-shaped part 133 can accommodate the rotary hook core shaft or intermediate rotation hollow shaft 61 or the bobbin case support shaft 68 to pass through. The outer end of the clip bar 13 is also provided with a hook part 134 . When the grasping part of the bobbin case claw 4 is not in action (that is, the pull hook 41 on the bobbin case claw 4 is not hooked on the plectrum 12), the arc portion 132 is engaged with the engaging groove 11, so the first bobbin case 2 And the first bobbin core can not move along the axial direction of the bobbin shaft, and the second bobbin case 7 and the second bobbin core can not move along the axial direction of the idle shaft 61 or the bobbin case supporting shaft 68, so as to realize the axial limit. When the grasping part of the bobbin case pawl 4 moves and hooks the plectrum 12, the clip bar 13 moves inward, and the arc part 132 is separated from the clip groove 11, and the hook core shaft or the intermediate idle shaft 61 or the shuttle The shell fulcrum 68 is located in the frame portion 133, and the hook portion 134 of the clip 13 catches the flange of the first bobbin or the second bobbin, so the clip 13 is clamped with the first bobbin or the second bobbin, At this moment, the bobbin case pawl 4 can drive the first bobbin case 2 and the first bobbin core to be taken off from the hook shaft, or drive the second bobbin case 7 and the second bobbin core to be placed on the intermediate idle shaft 61, or drive The second bobbin case 7 and the second bobbin are removed from the bobbin case fulcrum 68 .

Preferably, as shown in FIG. 10 , a bobbin case restricting plate 69 is also fixed on the bobbin case placing plate 67 of the empty station and storage station, and a circumferential direction restricting plate 69 is provided in the bobbin case restricting plate 69 . Slot 691; when the grasping part of the bobbin case claw 4 is not in motion, the hook portion 134 of the clip bar 13 is located in the circumferential direction limiting groove 691, forming the first bobbin case 2 on the empty station and the storage station The circumferential limit of the second bobbin case 7.

Further, as shown in FIG. 10 , it also includes a mounting plate 14, the third motor 62 in the storage device 6 is fixed on the mounting plate 14, and the output shaft of the third motor 62 is rotatably installed in the mounting plate 14, A bearing is installed in the driven pulley 64 in the storage device 6, and the driven pulley 64 is installed on a support shaft 20 extending back and forth through the bearing, and the rear end of the support shaft 20 is fixed in the mounting plate 14 by a fixing nut. Therefore, the entire storage device 6 is placed on the mounting plate 14 , which is connected to the fixed base plate 3 and located on the rear side of the fixed base plate 3 .

Preferably, as shown in Fig. 3 and Fig. 4, a push-pull handle 15 is fixedly provided on the left end of the mounting plate 14 away from the table; A sliding table 17 is fixed on the top, and a second chute extending left and right and matched with the linear guide rail 16 is opened in the sliding table 17, and the linear guide rail 16 is arranged in the second chute of the sliding table 17 so that it can move left and right . After the second bobbin case 7 and the second bobbin core were all replaced with the first bobbin case 2 and the first bobbin core that the bottom thread was used up on a plurality of storage stations in the storage device 6, the operator can use the push-pull handle 15 to The mounting plate 14 and the storage device 6 are pulled out to the left as a whole, and after replacing a batch of new second bobbin cases 7 and the second bobbins, the mounting plate 14 and the storage device 6 are integrally advanced to the right to improve the convenience of operation.

In the above-mentioned automatic shuttle changing device, the bobbin thread margin detection sensor 5, the positioning sensor 94, the encoder disk, the first motor 8, the second motor 10, and the third motor 62 are all connected with the electric control module of the sewing machine, so the bobbin thread surplus Quantity detection sensor 5, positioning sensor 94, encoder disc, first motor 8, second motor 10, and third motor 62 can be directly connected with the electric control module of sewing machine, also can be with a control circuit independent of electric control module The independent control circuit board is connected with the electric control module.

The working principle of the automatic shuttle changing device with the above structure is as follows:

When the sewing machine is sewing normally and the bottom thread margin on the first bobbin in the sewing machine rotary hook is sufficient, as shown in Figure 1, the bobbin case claw 4 rests on the left end of the horizontal groove section 32 of the track groove 31, and is positioned at the bottom thread margin detection tool. position, the empty station on the storage device 6 is located directly below the replacement station on the fixed base plate 3, the bobbin thread remaining detection sensor 5 is facing the first bobbin in the hook, and detects the bobbin thread remaining on the first bobbin in real time .

When the bobbin thread surplus detection sensor 5 detects that the bobbin thread surplus on the first bobbin is insufficient and the bobbin thread is almost used up, the electric control module of the sewing machine sends an instruction to make the main motor of the sewing machine stop rotating, and then the sewing machine stops working. Afterwards, the electric control module of the sewing machine controls the first motor 8 to rotate forward, and the first motor 8 drives the bobbin case claw 4 to move rightward along the horizontal groove section 32 of the track groove 31 through the crank tooth fork 91 and the connecting shaft 93 until the positioning sensor 94 senses the sensed element positioned at the grabbing station, then the first motor 8 stops rotating, and the bobbin case pawl 4 stays at the right end of the horizontal slot section 32 of the track groove 31 and is positioned at the grabbing station, as shown in Figure 2 . The adsorption magnet 42 of the bobbin case claw 4 is facing the first bobbin case 2 at the hook, and is in contact with the first bobbin case 2, so the adsorption magnet 42 of the bobbin case claw 4 is attracted to the first bobbin case 2 at the hook. , the electric control module of the sewing machine controls the output end of the second motor 10 to extend toward the direction close to the drive crank 45, then the drag hook 41 on the bobbin case claw 4 hooks the plectrum 12 on the first bobbin case 2, and the plectrum 12 to move away from the first bobbin case 2, so that the hook 134 of the clip bar 13 on the first bobbin case 2 hooks the first bobbin, and the clip bar 13 and the slot 11 on the hook shaft break away.

The first motor 8 rotates in reverse, and the first motor 8 drives the bobbin case pawl 4 to move along the extending direction of the track groove 31 through the crank tooth fork 91 and the connecting shaft 93 until the positioning sensor 94 senses the sensed element at the replacement station. , then the first motor 8 stops rotating, and the bobbin case pawl 4 stays at the lower end of the vertical slot section 33 of the track groove 31 and is positioned at the replacement station, as shown in Figure 3 , during this process, the adsorption magnet of the bobbin case pawl 4 42 and drag hook 41 drive the first bobbin case 2 and the first bobbin core to move out from the hook spindle, and be enclosed within on the intermediary empty shaft 61 of storage device 6 empty stations. The electric control module of the sewing machine controls the output end of the second motor 10 to retract in a direction away from the driving crank 45, and under the action of the reset torsion spring 46, the driving crank 45 and the draw hook 41 are reset, so that the draw hook 41 releases the first bobbin case 2 The plectrum 12 on the top, the clip bar 13 on the first bobbin case 2 moves outwards, and the clip bar 13 is engaged with the clip slot 11 on the intermediary empty shaft 61 . The first motor 8 rotates in the forward direction, driving the bobbin case pawl 4 to move upwards to the upper end of the vertical groove section 33 along the vertical groove section 33 of the track groove 31, so that the bobbin case pawl 4 is separated from the first bobbin case 2 and away from the replacement. Station; So far, the first bobbin case 2 and the first bobbin that the bobbin case pawl 4 is finished and the bottom thread is almost used up are moved to the empty station of the storage device 6.

The third motor 62 rotates to drive the synchronous belt 65 to move a station, so that the storage station is located directly below the replacement station. The first motor 8 rotates in the opposite direction again, and drives the bobbin case pawl 4 to move downward along the vertical slot section 33 of the track groove 31 until the positioning sensor 94 senses the sensed element located at the replacement station, then the first motor 8 stops Rotate, bobbin case pawl 4 rests on the lower end of the vertical groove section 33 of track groove 31, is positioned at changing station, as shown in Figure 4. The adsorption magnet 42 of the bobbin case pawl 4 is facing the second bobbin case 7 at the storage station, and is in contact with the second bobbin case 7, so the adsorption magnet 42 of the bobbin case claw 4 absorbs the second shuttle at the storage station. shell 7, the electric control module of the sewing machine controls the output end of the second motor 10 to stretch out toward the direction close to the drive crank 45, then the pull hook 41 on the bobbin case claw 4 hooks the plectrum 12 on the second bobbin case 7, and The plectrum 12 moves away from the direction of the second bobbin case 7, so that the hook 134 of the clip 13 on the second bobbin case 7 hooks the second bobbin, and the clip 13 is connected to the hook on the bobbin case shaft 68. The card slot 11 is disengaged.

The first motor 8 rotates forward again to drive the bobbin case claw 4 to move along the extension direction of the track groove 31 until the positioning sensor 94 senses the sensed element positioned at the grabbing station, then the first motor 8 stops rotating, and the bobbin case The pawl 4 stays at the right end of the horizontal groove section 32 of the track groove 31 and is positioned at the grabbing station. Device 6 moves out on the bobbin case supporting shaft 68 of station place, and is enclosed within on the rotary hook mandrel. The electric control module of the sewing machine controls the output end of the second motor 10 to retract in a direction away from the driving crank 45, and under the action of the reset torsion spring 46, the driving crank 45 and the pull hook 41 are reset, so that the pull hook 41 releases the second bobbin case 7 The plectrum 12 on the hook, the clip bar 13 on the second bobbin case 7 moves outward, and the clip bar 13 is engaged with the draw-in groove 11 on the hook spindle. The first motor 8 rotates in the opposite direction again, and drives the bobbin case pawl 4 to move leftward along the horizontal groove section 32 of the track groove 31 to the left end of the horizontal groove section 32, so that the bobbin case pawl 4 is separated from the second bobbin case 7 and rests on the left side of the horizontal groove section 32. Bottom thread margin detection station; so far, the bobbin case claw 4 is completed to move the second bobbin case 7 and the second bobbin with sufficient bobbin thread to the rotary hook of the sewing machine, and the sewing machine can work normally and is the initial state of the automatic shuttle changing device ,As shown in Figure 1. At this moment, the storage station of the second bobbin case 7 and the second bobbin core is replaced and becomes an empty station positioned directly below the replacement station, and the bobbin case supporting shaft 68 on it becomes the empty shaft 61 for intermediate rotation.

After the bobbins in all the second bobbins on the synchronous belt 65 are all used up, the whole storage device 6 can be pulled out to the left by the push-pull handle 15, and a new bobbin that is full of bottom threads can be replaced, and then the whole storage device can be pulled out. 6 Push it to the right.

In summary, this application can monitor the remaining amount of bottom thread in the rotary hook of the sewing machine in real time when the sewing machine is working, and can automatically replace the bobbin bobbin case when the bottom thread in the rotary hook is used up; at the same time, the application uses a synchronous belt to store The bobbin bobbin case wound full of bobbins has a simple structure, is easy to control, replaces manual completion, and greatly reduces labor intensity. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial application value.

The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.

Claims (15)

1. an automatic shuttle changer, including there is the base plate (1) in shuttle storehouse and being arranged on the rotating shuttle in shuttle storehouse, described rotating shuttle Rotating shuttle mandrel on be cased with the first bobbin case (2) and be positioned at the first peg or spindle of the first bobbin case (2), it is characterised in that: also include tool There is bottom line surplus detection station, capture station and change the fixing substrate (3) of station, movable bobbin case pawl (4), be arranged on shuttle Quantity detection sensor (5) and moveable storing unit (6) more than bottom line on shell pawl (4), described bottom line surplus detection sensing Device (5) is connected with the electronic control module of sewing machine, described storing unit (6) has at least one idle station and at least one is deposited Knock off position, at described idle station, be provided with transfer sky axle (61), described in deposit and be placed with the second bobbin case (7) at station and be positioned at second The second peg or spindle in bobbin case (7), the wrapping post of the second peg or spindle is wound around full bottom line, and described bobbin case pawl (4) is used for capturing and mobile First bobbin case (2) and the first peg or spindle or the second bobbin case (7) and the second peg or spindle；

Time at the bottom line surplus detection station that bobbin case pawl (4) is positioned on fixing substrate (3), quantity detection sensor more than described bottom line (5) just to the first peg or spindle and detect the bottom line surplus on the first shuttle peg winding post；

When bobbin case pawl (4) is positioned at the crawl station on fixing substrate (3), the crawl section of described bobbin case pawl (4) is just to first Bobbin case (2)；

When bobbin case pawl (4) is positioned at the replacing station on fixing substrate (3), the crawl section of described bobbin case pawl (4) is just to empty work Transfer sky axle (61) at Wei or deposit the second bobbin case (7) at station.

Automatic shuttle changer the most according to claim 1, it is characterised in that: offer track on described fixing substrate (3) Groove (31), described bobbin case pawl (4) is moved along the bearing of trend of rail groove (31)；Described rail groove (31) includes the water that left and right extends The section of rising as high as the banks (32), the vertical slots section (33) extended up and down and transition connect level trough section (32) and the circle of vertical slots section (33) Arc groove section (34), level trough section (32) is described crawl station near the right-hand member of rotating shuttle, and level trough section (32) is away from a left side for rotating shuttle End detects station for described bottom line surplus, and vertical slots section (33) is described replacing station near the lower end of storing unit (6).

Automatic shuttle changer the most according to claim 2, it is characterised in that: described bobbin case pawl (4) is by being arranged on fixed base The first motor (8) on plate (3) drives motion, and this first motor (8) is connected with the electronic control module of sewing machine；Described first electricity The outfan of machine (8) is fixedly connected with crank tooth fork (91), and this crank tooth fork (91) is offered away from one end of the first motor (8) There is the first chute (911), this first chute (911) is provided with a slide block (92)；Extend before and after also including one and be located in institute Stating the connecting shaft (93) in rail groove (31), the front end of described connecting shaft (93) is fixed in bobbin case pawl (4), described slide block (92) It is rotatably arranged at the rear end of connecting shaft (93).

Automatic shuttle changer the most according to claim 3, it is characterised in that: it is installed with location in described crank tooth fork (91) Sensor (94), this alignment sensor (94) is connected with the electronic control module of sewing machine；Described fixing substrate (3) is capturing station It is both provided with by sensing unit at station with changing；When alignment sensor (94) senses by sensing unit, described first motor (8) Stop operating.

Automatic shuttle changer the most according to claim 3, it is characterised in that: described connecting shaft (93) is located in rotationally One rolls in set (96), and this rolling set (96) is rollably placed in described rail groove (31).

Automatic shuttle changer the most according to claim 3, it is characterised in that: also include that one is placed on fixing substrate (3) Steering base (97), extend before and after one and the pin (98) that is fixed on fixing substrate (3) and at least linear guide (99), described pin (98) is the rotating fulcrum of bobbin case pawl (4), and described steering base (97) is connected with pin (98) by bearing Connecing, one end of described linear guide (99) is fixed in steering base (97), and the other end of linear guide (99) passes through linear bearing It is connected with bobbin case pawl (4).

Automatic shuttle changer the most according to claim 1, it is characterised in that: the crawl section of described bobbin case pawl (4) includes drawing Hook (41) and adsorption magnet (42), described drag hook (41) is driven by the second motor (10) being arranged on bobbin case pawl (4), and this is second years old Motor (10) is connected with the electronic control module of sewing machine；Described bobbin case pawl (4) is provided with a lug (43), and this lug is worn in (43) It is provided with a rotating rotating shaft (44), described rotating shaft (44) is fixed with driving crank (45) and drag hook (41)；When the second motor (10), during outfan action, described driving crank (45) is driven by the outfan of the second motor (10) and swings, described drag hook (41) plectrum (12) on the first bobbin case (2) or the second bobbin case (7) is caught on.

Automatic shuttle changer the most according to claim 7, it is characterised in that: described second motor (10) is a straight-line electric Machine.

Automatic shuttle changer the most according to claim 7, it is characterised in that: also it is cased with a reset in described rotating shaft (44) and turns round Spring (46), the two ends of this reduction torsion spring (46) are connected with driving crank (45) and drag hook (41) respectively.

Automatic shuttle changer the most according to claim 1, it is characterised in that: described storing unit (6) includes the 3rd motor (62), driving pulley (63), driven pulley (64) and be used for connecting driving pulley (63) and the Timing Belt of driven pulley (64) (65), the output shaft of described 3rd motor (62) is fixed in driving pulley (63), solid on the outer surface of described Timing Belt (65) Being provided with multiple baffle plate (66) spaced apart along Timing Belt (65) length direction, baffle plate (66) is along the width of Timing Belt (65) Extend；In multiple baffle plates (66), one of them baffle plate is provided with described idle station on (66), and remaining baffle plate (66) is respectively provided with State and deposit station.

11. automatic shuttle changers according to claim 10, it is characterised in that: described idle station and deposit station and all include The bobbin case mounting sheet (67) being fixed on baffle plate (66), described transfer sky axle (61) is installed in the bobbin case mounting sheet (67) of idle station On, to deposit and on the bobbin case mounting sheet (67) of station, be installed with bobbin case fulcrum (68), described second bobbin case (7) and the second bobbin case exist On bobbin case fulcrum (68)；The end of described rotating shuttle mandrel, transfer sky axle (61) and bobbin case fulcrum (68) is equipped with a circle circumference The draw-in groove (11) extended, the end face of described first bobbin case (2) and the second bobbin case (7) is equipped with plectrum (12) and card article (13), Being provided with a through hole (131) in described card article (13), this through hole (131) includes the arc sections (132) being positioned at inner side and is positioned at outside Shaped as frame portion (133), this shaped as frame portion (133) can hold rotating shuttle mandrel or transfer sky axle (61) or bobbin case fulcrum (68) passes through, described The outer end of card article (13) is additionally provided with a hook portion (134)；When the crawl section of bobbin case pawl (4) is not operating, described arc sections (132) with Draw-in groove (11) fastens；When bobbin case pawl (4) crawl section action, catch on plectrum (12) time, described card article (13) moves inward, institute Stating arc sections (132) to be separated with draw-in groove (11), rotating shuttle mandrel or transfer sky axle (61) or bobbin case fulcrum (68) are positioned at shaped as frame portion (133), in, the hook portion (134) of card article (13) catches on the first peg or spindle or the flange of the second peg or spindle.

12. automatic shuttle changers according to claim 11, it is characterised in that: described idle station and the bobbin case depositing station It is fixedly provided with bobbin case limit on mounting sheet (67) in plate (69), to offer circumference limit to groove (691) to plate (69), this bobbin case limit；When When the crawl section of bobbin case pawl (4) is not operating, the hook portion (134) of described card article (13) is positioned at circumference limit in groove (691).

13. automatic shuttle changers according to claim 10, it is characterised in that: the end of described 3rd motor (62) is arranged Having coding disk, this coding disk is connected with the electronic control module of sewing machine.

14. according to the automatic shuttle changer described in claim 1 or 10, it is characterised in that: described storing unit (6) is arranged on one On installing plate (14), this installing plate (14) is installed with a push and pull bar (15) away from the left end of platen；Described installing plate (14) court Be installed with the line slideway (16) of about one extension to the side of fixing substrate (3), described fixing substrate (3) is towards installing plate (14) side is installed with slide unit (17), this slide unit (17) offers left and right extend and match with line slideway (16) the Two chutes, described line slideway (16) can movably be placed in the second chute of slide unit (17).

15. 1 kinds of automatic shuttle changing methods, it is characterised in that: include the automatic shuttle changing dress as described in any one of claim 1-14 Putting, described automatic shuttle changing method comprises the following steps successively:

At the bottom line surplus detection station that A, bobbin case pawl (4) are positioned on fixing substrate (3), the idle station position on storing unit (6) In the upper underface changing station of fixing substrate (3)；The first peg or spindle in quantity detection sensor (5) detects rotating shuttle more than bottom line On wrapping post during bottom line surplus deficiency, the electric control module controls sewing machine mair motor of sewing machine shuts down and performs following step Rapid B；

B, bobbin case pawl (4) move to capture at station from bottom line surplus detection station, and crawl section action makes bobbin case pawl (4) capture First bobbin case (2) and the first peg or spindle；

C, bobbin case pawl (4) move to change at station from capturing station together with the first bobbin case (2) and the first peg or spindle, then bobbin case pawl (4) the first bobbin case (2) and the first peg or spindle are taken off on rotating shuttle mandrel and are enclosed within transfer sky axle (61) at idle station；

The first bobbin case (2) and the first peg or spindle are unclamped in D, the crawl section of bobbin case pawl (4), and bobbin case pawl (4) moves, away from changing station； Storing unit (6) is mobile, makes the station of depositing on storing unit (6) be positioned at the upper underface changing station of fixing substrate (3)；

E, bobbin case pawl (4) move to change at station again, and crawl section action makes bobbin case pawl (4) capture and deposits second at station Bobbin case (7) and the second peg or spindle；

F, bobbin case pawl (4) move to capture at station from changing station together with the second bobbin case (7) and the second peg or spindle, then bobbin case pawl (4) the second bobbin case (7) and the second peg or spindle are removed at station and are enclosed within rotating shuttle mandrel from depositing；

The second bobbin case (7) and the second peg or spindle are unclamped in G, the crawl section of bobbin case pawl (4), and bobbin case pawl (4) moves to from capturing station Bottom line surplus detection station, makes the bottom line surplus in quantity detection sensor (5) detection rotating shuttle more than bottom line.