CN106468002B - Embroidery machine and its baseline replace robot - Google Patents
Embroidery machine and its baseline replace robot Download PDFInfo
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- CN106468002B CN106468002B CN201510501297.4A CN201510501297A CN106468002B CN 106468002 B CN106468002 B CN 106468002B CN 201510501297 A CN201510501297 A CN 201510501297A CN 106468002 B CN106468002 B CN 106468002B
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- baseline
- guide rail
- grasping
- feed bin
- grasping mechanism
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Abstract
The present invention relates to a kind of baselines to replace robot, including guide rail, feed bin mechanism, grasping mechanism and transport mechanism；One end of the guide rail with embroidery machine baseline installing mechanism for being connected；For storing baseline, the feed bin mechanism is set to the other end of the guide rail for the feed bin mechanism；For capturing baseline, the grasping mechanism is slidably disposed on the guide rail grasping mechanism；The transport mechanism is connected with the grasping mechanism, and the transport mechanism can drive the grasping mechanism to be moved on guide rail.Above-mentioned baseline replaces robot can replace the baseline in embroidery machine automatically, realize industrial production automation, improve production efficiency.A kind of embroidery machine for replacing robot using above-mentioned baseline is additionally provided simultaneously.
Description
Technical field
The present invention relates to robot technology, and robot is replaced more particularly to embroidery machine and its baseline.
Background technology
Traditional embroidery machine replaces baseline generally by the way of artificial.Since embroidery machine baseline is installed in embroidery
The lower part of flower machine operating platform needs operating personnel to lie prone below operating platform and goes to replace baseline, replaces relatively complicated, holds
Easily operating personnel is made to suffer from occupational disease.Also, the replacement of the equipment that embroidery machine itself belongs to high production capacity, baseline is more frequent, if
It by the way of artificial, require a great deal of time and carries out, cause to produce frequent interruption, production efficiency is not high.
Invention content
Based on this, a kind of baseline replacement robot that can be realized and replace baseline automation is provided.
A kind of baseline replacement robot, including：
Guide rail, one end of the guide rail with embroidery machine baseline installing mechanism for being connected；
Feed bin mechanism, for storing baseline, the feed bin mechanism is set to the other end of the guide rail；
Grasping mechanism, for capturing baseline, the grasping mechanism is slidably disposed on the guide rail；And
Transport mechanism is connected with the grasping mechanism, and the transport mechanism can drive the grasping mechanism on guide rail
Movement.
The transport mechanism includes in one of the embodiments,：
Two synchronizing wheels, two synchronizing wheels are respectively arranged at the both ends of the guide rail；
First motor is connected with the synchronizing wheel；And
Synchronous belt is sheathed in two synchronizing wheels, and the transport mechanism is connected with the synchronous belt.
The grasping mechanism includes in one of the embodiments,：
Pedestal is connected with the synchronous belt；And
Grabbing assembly, including erecting bed, the second motor and crawl finger, the erecting bed are set on the pedestal, institute
It states crawl finger to be rotatablely arranged on the erecting bed, and second motor is connected with the crawl finger.
Multiple containers for storing baseline are offered in the feed bin mechanism in one of the embodiments,.
Further include the first guiding mechanism in one of the embodiments, first guiding mechanism is set to the guide rail
One end equipped with the feed bin mechanism, and first guiding mechanism is located at the side of the feed bin mechanism, described first is oriented to
Mechanism is for being oriented to the grasping mechanism.
First guiding mechanism includes mounting plate and multiple directive wheels in one of the embodiments, the multiple to lead
It is arranged side by side to wheel on the mounting plate；
The grasping mechanism further includes rotation seat and torsional spring, and the rotation seat is rotatablely arranged on the pedestal, institute
The junction that torsional spring is set to the rotation seat and the pedestal is stated, the erecting bed is fixed on the rotation seat；
Wherein, the grasping mechanism is moved towards the first guiding mechanism, and the directive wheel is in contact simultaneously with the rotation seat
The rotation seat is driven to rotate, so that container described in the crawl finger face.
Further include the second guiding mechanism in one of the embodiments, second guiding mechanism is set to the guide rail
One end far from the feed bin mechanism, second guiding mechanism is for being oriented to the grasping mechanism.
Second guiding mechanism includes guide plate in one of the embodiments, and guiding is offered on the guide plate
Slot；
The grasping mechanism further includes guide rod, sliding seat and bearing, and the guide rod is set on the pedestal, described
Sliding seat is slidably disposed on the guide rod, and the rotation seat is set on the sliding seat, so that the crawl hand
Finger is slided with the sliding seat on the guide rod, and the bearing holder (housing, cover) is set to the connection of the sliding seat and the rotation seat
Place；
Wherein, the grasping mechanism is moved towards the second guiding mechanism, and the bearing enters in the guide groove and along institute
Guide groove movement is stated, and then the sliding seat is made to be slided along the guide rod.
The crawl finger is half crescent shape in one of the embodiments,.
A kind of embroidery machine, including：
Above-mentioned baseline replaces robot；And
Embroidery machine baseline installing mechanism, is connected with one end of the guide rail.
Above-mentioned embroidery machine, which employs the baselines of automatically replaceable baseline to replace robot, can reduce cost of labor, avoid
Operating personnel lie prone the risk for suffering from occupational disease into operating platform for a long time, realize industrial production automation, improve production
Efficiency.
In addition, it further includes the first guiding mechanism and the second guiding mechanism that above-mentioned baseline, which is replaced in robot, with to gripper
Structure is oriented to so that crawl finger accurately can capture or put down baseline, improve the accuracy of operation.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The attached drawing of other embodiment is obtained according to these attached drawings.
Fig. 1 is the structure chart of baseline changing machine device people in one embodiment of the invention；
Fig. 2 is the partial enlarged view that baseline replaces robot shown in Fig. 1；
Fig. 3 is the concrete structure diagram that baseline replaces grasping mechanism in robot shown in Fig. 1；And
Fig. 4 is another partial enlarged view that baseline replaces robot shown in Fig. 1.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not offered as being unique embodiment.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant Listed Items.
Referring to Fig. 1, the embroidery machine in one embodiment of the invention, including baseline replace robot 100.Baseline replaces machine
People 100 includes guide rail 110, feed bin mechanism 120, grasping mechanism 130 and transport mechanism 140.
Embroidery machine further includes embroidery machine baseline installing mechanism 200.One end of guide rail 110 is used for and embroidery machine baseline fitting machine
Structure 200 is connected.Feed bin mechanism 120 is set to the other end of guide rail 110.Feed bin mechanism 120 is for storing baseline 300.It please one
And referring to Fig.2, multiple containers 122 for storing baseline 300 are offered in feed bin mechanism 120.
Grasping mechanism 130 is for capturing baseline 300.Grasping mechanism 130 is slidably disposed on guide rail 110.Conveyer
Structure 140 is connected with grasping mechanism 130, and transport mechanism 140 can drive grasping mechanism 130 to be moved on guide rail 110.
Specifically in the present embodiment, transport mechanism 140 includes two synchronizing wheels 142, first motor 144 and synchronous belt 146.
Two synchronizing wheels 142 are respectively arranged at the both ends of guide rail 110；
First motor 144 is connected with synchronizing wheel 142.Synchronous belt 146 is sheathed in two synchronizing wheels 142, transport mechanism
140 are connected with synchronous belt 146.First motor 144 drives synchronizing wheel 142 to rotate, to drive synchronous belt 146 to move, and then band
Dynamic grasping mechanism 130 moves on guide rail 110.
It is appreciated that in other embodiments, transport mechanism 140 can be also the modes such as lead screw transmission, be not limited to above-mentioned knot
Structure.
Specifically in the present embodiment, also referring to Fig. 3, grasping mechanism 130 includes pedestal 132 and grabbing assembly 134.Bottom
Seat 132 is connected with synchronous belt 146.
Grabbing assembly 134 includes erecting bed 134a, the second motor 134b and crawl finger 134c.Erecting bed 134a is set to
On pedestal 132.Crawl finger 134c is rotatablely arranged on erecting bed 134a, and the second motor 134b and crawl finger 134c
It is connected.
Capture finger 134c concretely half crescent shape structures.Second motor 134b can drive the 134c rotations of crawl finger,
To hook tight by baseline 300 or unclamp.It should be pointed out that crawl finger 134c can be also other structures, only it need to meet and can grab
Baseline 300 is taken, and is not limited to half above-mentioned crescent shape.
Specifically at work, first, grasping mechanism 130 moves at embroidery machine baseline installing mechanism 200, first motor
144 driving crawl finger 134c rotations, the baseline 300 needed to change is taken to hook.Then, grasping mechanism 130 moves to feed bin mechanism
At 120.Finger 134c rotations are captured to unclamp baseline 300, it is vacant that the baseline 300 needed to change is positioned over feed bin mechanism 120
In container 122, and capture the new baseline 300 stored in feed bin mechanism 120.Finally, grasping mechanism 130 moves to embroidery again
At flower machine baseline installing mechanism 200, and new baseline 300 is loaded on embroidery machine baseline installing mechanism 200.
Above-mentioned embroidery machine, which employs the baseline of automatically replaceable baseline 300 replace robot 100, can reduce manually at
This, avoids operating personnel and lies prone the risk for suffering from occupational disease into operating platform for a long time, realize industrial production automation, improve
Production efficiency.
Referring to Fig. 2, above-mentioned baseline replaces robot 100 and may also include the first guiding mechanism 150.First Guiding machine
Structure 150 is set to one end that guide rail 110 is equipped with feed bin mechanism 120, and the first guiding mechanism 150 is located at the one of feed bin mechanism 120
Side.First guiding mechanism 150 for being oriented to grasping mechanism 130 so that grasping mechanism 130 move to feed bin mechanism
When at 120, crawl finger 134c can be docked accurately with feed bin mechanism 120.
Specifically in the present embodiment, the first guiding mechanism 150 includes mounting plate 152 and multiple directive wheels 154, multiple guiding
Wheel 154 is arranged side by side on mounting plate 152.
Also referring to Fig. 3, grasping mechanism 130 further includes rotation seat 136 and torsional spring (figure is not marked), and rotation seat 136 can turn
It is set to dynamicly on pedestal 132, torsional spring is set to the junction of rotation seat 136 and pedestal 132, and erecting bed 134a is fixed on rotation
Seat 136.
When grasping mechanism 130 is moved towards the first guiding mechanism 150, directive wheel 154 is in contact with rotation seat 136.
Rotation seat 136 itself can rotate under the extruding of directive wheel 154, so that the receipts of crawl finger 134c face feed bins mechanism 120
Tank 122.After crawl finger 134c has placed the baseline 300 needed replacing and has captured baseline 300 new in feed bin mechanism 120,
Grasping mechanism 130 is moved towards the direction of embroidery machine baseline installing mechanism 200, and rotation seat 136 is separated with directive wheel 154, is turned
Dynamic seat 136 rotates back to initial position under the action of torsional spring.
Also referring to Fig. 4, baseline replaces robot 100 and may also include the second guiding mechanism 160.Second guiding mechanism
160 are set to the one end of guide rail 110 far from feed bin mechanism 120.Second guiding mechanism 160 is for leading grasping mechanism 130
To so that grasping mechanism 130 when moving at feed bin mechanism 120, crawl finger 134c can accurately with feed bin mechanism
120 are docked.
Specifically in the present embodiment, the second guiding mechanism 160 includes guide plate 162.Guide groove is offered on guide plate 162
162a.Guide groove 162a is substantially open the groove body internally gradually zoomed in.
Referring to Fig. 3, grasping mechanism 130 may also include guide rod 138a, sliding seat 138b and bearing 138c.It is oriented to
Bar 138a is set on pedestal 132, and sliding seat 138b is slidably disposed on guide rod 138a.Rotation seat 136 is set to cunning
On dynamic seat 138b, so that crawl finger 134c is slided with sliding seat 138b on guide rod 138a.Bearing 138c is sheathed on sliding
The junction of seat 138b and rotation seat.
Grasping mechanism 130 may also include resetting spring 138d.The one end resetting spring 138d is connected with pedestal 132, another
End is connected with sliding seat 138b.
When grasping mechanism 130 is moved towards the second guiding mechanism 160, bearing 138c enters in guide groove 162a and edge is led
It is moved to slot 162a, by the guiding of guide groove 162a, sliding seat 138b is made to be slided along guide rod 138a, and then adjust crawl hand
Refer to the height of 134c.Specifically in the present embodiment, under the guiding of guide groove 162a, sliding seat 138b is slided along guide rod 138a
It is dynamic, it is final so that crawl finger 134c is opposite with embroidery machine baseline installing mechanism 200 to improve the height of crawl finger 134c
It connects.After taking out the baseline 300 needed to change or having placed new baseline 300, bearing 138c deviates from from guide groove 162a,
Under the action of resetting spring 138d, sliding seat 138b resets again.
Above-mentioned embroidery machine, which employs the baseline of automatically replaceable baseline 300 replace robot 100, can reduce manually at
This, avoids operating personnel and lies prone the risk for suffering from occupational disease into operating platform for a long time, realize industrial production automation, improve
Production efficiency.
In addition, it further includes the first guiding mechanism 150 and the second guiding mechanism 160 that above-mentioned baseline, which is replaced in robot 100, with
Grasping mechanism 130 is oriented to so that crawl finger 134c accurately can capture or put down baseline 300, improve operation
Accuracy.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (3)
1. a kind of baseline replaces robot, which is characterized in that including：
Guide rail, one end of the guide rail with embroidery machine baseline installing mechanism for being connected；
Feed bin mechanism, for storing baseline, the feed bin mechanism is set to the other end of the guide rail；
Grasping mechanism, for capturing baseline, the grasping mechanism is slidably disposed on the guide rail；And
Transport mechanism is connected with the grasping mechanism, and the transport mechanism can drive the grasping mechanism to be moved on guide rail；
The transport mechanism includes：
Two synchronizing wheels, two synchronizing wheels are respectively arranged at the both ends of the guide rail；
First motor is connected with the synchronizing wheel；And
Synchronous belt is sheathed in two synchronizing wheels, and the transport mechanism is connected with the synchronous belt；
The grasping mechanism includes：
Pedestal is connected with the synchronous belt；And
Grabbing assembly, including erecting bed, the second motor and crawl finger, the erecting bed is set on the pedestal, described to grab
Finger is taken to be rotatablely arranged on the erecting bed, and second motor is connected with the crawl finger；
Multiple containers for storing baseline are offered in the feed bin mechanism；
Further include the first guiding mechanism, first guiding mechanism is set to one end that the guide rail is equipped with the feed bin mechanism,
And first guiding mechanism is located at the side of the feed bin mechanism, first guiding mechanism be used for the grasping mechanism into
Row is oriented to；
First guiding mechanism includes mounting plate and multiple directive wheels, and the multiple directive wheel is arranged side by side in the mounting plate
On；
The grasping mechanism further includes rotation seat and torsional spring, and the rotation seat is rotatablely arranged on the pedestal, the torsion
Spring is set to the junction of the rotation seat and the pedestal, and the erecting bed is fixed on the rotation seat；
Wherein, the grasping mechanism is moved towards the first guiding mechanism, and the directive wheel is in contact and drives with the rotation seat
The rotation seat rotation, so that container described in the crawl finger face；
Further include the second guiding mechanism, second guiding mechanism is set to the one end of the guide rail far from the feed bin mechanism,
Second guiding mechanism is for being oriented to the grasping mechanism；
Second guiding mechanism includes guide plate, and guide groove is offered on the guide plate；
The grasping mechanism further includes guide rod, sliding seat and bearing, and the guide rod is set on the pedestal, the sliding
Seat be slidably disposed on the guide rod, the rotation seat is set on the sliding seat so that the crawl finger with
The sliding seat slides on the guide rod, and the bearing holder (housing, cover) is set to the junction of the sliding seat and the rotation seat；
Wherein, the grasping mechanism is moved towards the second guiding mechanism, and the bearing enters in the guide groove and led along described
It is moved to slot, and then the sliding seat is made to be slided along the guide rod.
2. baseline according to claim 1 replaces robot, which is characterized in that the crawl finger is half crescent shape.
3. a kind of embroidery machine, which is characterized in that including：
The baseline of claims 1 or 2 replaces robot；And
Embroidery machine baseline installing mechanism, is connected with one end of the guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510501297.4A CN106468002B (en) | 2015-08-14 | 2015-08-14 | Embroidery machine and its baseline replace robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510501297.4A CN106468002B (en) | 2015-08-14 | 2015-08-14 | Embroidery machine and its baseline replace robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106468002A CN106468002A (en) | 2017-03-01 |
| CN106468002B true CN106468002B (en) | 2018-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510501297.4A Active CN106468002B (en) | 2015-08-14 | 2015-08-14 | Embroidery machine and its baseline replace robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110273234B (en) * | 2019-07-15 | 2024-01-12 | 丹阳德顺刺绣机械有限公司 | Automatic bottom line replacing device with shifting mechanism |
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|---|---|---|---|---|
| US6170417B1 (en) * | 1997-10-06 | 2001-01-09 | Kinoshita Precision Industrial | Remote control bobbin case exchanger device |
| WO2005047586A1 (en) * | 2003-11-17 | 2005-05-26 | Tokai Kogyo Mishin Kabushiki Kaisha | Bobbin-changing apparatus for sewing machine |
| CN101979747A (en) * | 2010-11-03 | 2011-02-23 | 佛山市启创科技发展有限公司 | Automatic bottom line changing device of computer embroidery machine |
| CN201842963U (en) * | 2010-11-03 | 2011-05-25 | 佛山市启创科技发展有限公司 | Automatic bobbin thread-replacing mechanism for computerized embroidery machines |
| CN103541165A (en) * | 2013-11-11 | 2014-01-29 | 佛山市启创科技发展有限公司 | Automatic replacement device for multi-color bottom lines for computerized embroidery machine |
| CN105671819A (en) * | 2016-01-08 | 2016-06-15 | 惠州神田精密机械有限公司 | Stabilizing structure of automatic grabbing and bottom thread replacement equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5094060B2 (en) * | 2006-07-11 | 2012-12-12 | 東海工業ミシン株式会社 | Sewing machine bobbin changer |
-
2015
- 2015-08-14 CN CN201510501297.4A patent/CN106468002B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6170417B1 (en) * | 1997-10-06 | 2001-01-09 | Kinoshita Precision Industrial | Remote control bobbin case exchanger device |
| WO2005047586A1 (en) * | 2003-11-17 | 2005-05-26 | Tokai Kogyo Mishin Kabushiki Kaisha | Bobbin-changing apparatus for sewing machine |
| CN101979747A (en) * | 2010-11-03 | 2011-02-23 | 佛山市启创科技发展有限公司 | Automatic bottom line changing device of computer embroidery machine |
| CN201842963U (en) * | 2010-11-03 | 2011-05-25 | 佛山市启创科技发展有限公司 | Automatic bobbin thread-replacing mechanism for computerized embroidery machines |
| CN103541165A (en) * | 2013-11-11 | 2014-01-29 | 佛山市启创科技发展有限公司 | Automatic replacement device for multi-color bottom lines for computerized embroidery machine |
| CN105671819A (en) * | 2016-01-08 | 2016-06-15 | 惠州神田精密机械有限公司 | Stabilizing structure of automatic grabbing and bottom thread replacement equipment |
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| CN106468002A (en) | 2017-03-01 |
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