CN108950920A - A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine - Google Patents
A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine Download PDFInfo
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- CN108950920A CN108950920A CN201811028706.3A CN201811028706A CN108950920A CN 108950920 A CN108950920 A CN 108950920A CN 201811028706 A CN201811028706 A CN 201811028706A CN 108950920 A CN108950920 A CN 108950920A
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- machine
- forearm
- bobbin case
- wrist
- large arm
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05C—EMBROIDERING; TUFTING
- D05C13/00—Auxiliary devices incorporated in embroidering machines, not otherwise provided for; Ancillary apparatus for use with embroidering machines
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention discloses a kind of intelligently to refoot the bobbin case conveying device of line for embroidery machine, including slewing equipment, with the sequentially connected several secondary mechanical arms of slewing equipment, set on the bobbin case peg or spindle plate grasping mechanism of mechanical arm rear end, the bobbin case peg or spindle plate grasping mechanism includes machine wrist, the palm rotary electric machine in machine wrist, the machine palm connecting with palm rotary electric machine output end.The present invention is that embroidery machine intelligently refoots the important component of line robot, mainly conveying bobbin case.Realize between several computerized emboridering machines, bull and overlength computerized emboridering machine replace bobbin case (peg or spindle) automatically, place spare bobbin case automatically, and empty bobbin case peg or spindle is collected automatically, it is time-consuming and laborious to solve the problems, such as that computerized emboridering machine industry manually replaces bobbin case (peg or spindle).
Description
Technical field
The present invention relates to field of textile equipment, the bobbin case of specifically a kind of line that intelligently refoots for embroidery machine conveys dress
It sets.
Background technique
Currently, be made of in the computerized emboridering machine baseline used bobbin case and peg or spindle, embroidery machine is finished running to baseline
When, replacement bobbin case (peg or spindle) is required, is entirely now using artificial replacement, when doing replacement operation, embroidery machine will shut down
It is completed under state.It has the following problems:
1, single head needs to shut down 12 ~ 20 minutes to replace bobbin case (peg or spindle), for more machines, Multi-head machine to embroidery machine daily
Shuttle changing shell (peg or spindle) will expend a large amount of downtime, reduce production efficiency, embroidery machine yield be reduced, due to the structure of embroidery machine
Special, space is smaller when bobbin case (peg or spindle) is replaced, and needs manually to squat down and be replaced, and labor intensity is high, and production efficiency is low；
2, to solve the above-mentioned problems, applicant has Patent No. 201721182900.8, and patent name is a kind of for electricity
The mechanical device of automatic shuttle changing shell on brain embroidery machine, but the mechanical device of existing automatic shuttle changing shell finish changing after bobbin case there is still a need for
It manually extracts sky bobbin case and puts full bobbin case, personnel can not be further reduced, reduce labor intensity, improve production efficiency.
Because the part of embroidery machine is smaller, existing manipulator head is all bigger, and movement is relatively rough, is not suitable for fine
Thread replacing work.
Summary of the invention
The object of the present invention is to provide a kind of intelligently to refoot the bobbin case conveying device of line for embroidery machine.
The invention solves in existing embroidery production process, embroidery machine automation degree of equipment is low, and production efficiency is low, work
The problems such as people labor intensity is high, and existing manipulator behavior is coarse.
The technical scheme is that a kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine, including revolution dress
Set, with slewing equipment sequentially connected several secondary mechanical arms, the bobbin case peg or spindle plate grasping mechanism set on mechanical arm rear end, it is described
Bobbin case peg or spindle plate grasping mechanism include machine wrist, the palm rotary electric machine in machine wrist, with palm rotary electric machine
The machine palm of output end connection.
Preferably, the quantity of the mechanical arm is mostly secondary, and the mechanical arm junction connecting with slewing equipment is that activity connects
Connect, mechanical arm can be swung up and down around central axis, mechanical arm junction interconnected be flexibly connected, can on central axis the bottom
It is dynamic.
Preferably, the slewing equipment includes revolving platform and revolving platform driving motor, is equipped with shaft among the revolving platform,
Connect below the shaft with revolving platform driving motor.
As it is further preferred that the mechanical arm includes machine large arm, machine forearm, the mechanical arm is equipped with machine
Tool arm driving mechanism, the mechanical arm driving mechanism include mechanical arm driving motor, connect with mechanical arm driving motor output end
Transmission mechanism, the transmission mechanism includes driving wheel, follower, the driving member connecting with driving wheel and follower, the machine
Tool arm driving motor output shaft end is connected with driving wheel；The mechanical arm driving mechanism includes machine large arm driving mechanism, machine
Device forearm driving mechanism；The revolving platform is connect with machine large arm, and junction is equipped with machine large arm driving mechanism, the machine
The rear end of device large arm is connect with machine forearm, junction be equipped with machine forearm driving mechanism, the rear end of the machine forearm with
The connection of machine wrist, junction are equipped with machine wrist driving mechanism.
As it is further preferred that the machine large arm driving mechanism includes machine large arm driving motor and machine large arm
Driving motor output end connection machine large arm transmission mechanism, the machine large arm transmission mechanism include machine large arm driving wheel,
Machine large arm follower, the machine large arm driving member being connect with machine large arm driving wheel and machine large arm follower, the machine
Large arm driving motor output shaft end is connected with machine large arm driving wheel, the machine large arm driving wheel and the fixed company of machine large arm
It connects；The machine that the machine forearm driving mechanism includes machine forearm driving motor, is connect with machine forearm driving motor output end
Device forearm transmission mechanism, the machine forearm transmission mechanism includes machine forearm driving wheel, machine forearm follower, small with machine
The machine forearm driving member that arm driving wheel is connected with machine forearm follower, the machine forearm driving motor output shaft end and machine
Device forearm driving wheel is connected, and the machine forearm driving wheel is fixedly connected with machine large arm.
As it is further preferred that the front end of the machine forearm is equipped with forearm leading portion, it is equipped in the machine forearm
The output end of forearm leading portion rotating electric machine, the forearm leading portion and forearm leading portion rotating electric machine is connected with each other, before the forearm
Section is equipped with vision probe；The machine wrist driving mechanism includes machine wrist driving motor and machine wrist driving motor
The machine wrist transmission mechanism of output end connection, the machine wrist transmission mechanism includes machine wrist driving wheel, machine wrist
Follower, the machine wrist driving member being connect with machine wrist driving wheel and machine wrist follower, the machine wrist driving
Motor output shaft end is connected with machine wrist driving wheel, and the machine wrist driving wheel is fixedly connected with forearm leading portion.
As it is further preferred that the mechanical hand palm is equipped with magnechuck, the upper end of the magnechuck is set
There is positioning pin, the side of the magnechuck is equipped with laser emitter.
The invention has the benefit that the present invention is that embroidery machine intelligently refoots the important component of line robot, mainly
It is conveying bobbin case.Realize between several computerized emboridering machines, bull and overlength computerized emboridering machine replace bobbin case (peg or spindle) automatically, automatically
Spare bobbin case is placed, and empty bobbin case peg or spindle is collected automatically, computerized emboridering machine industry is solved and manually replaces bobbin case (peg or spindle) expense
When laborious problem.The crawl of peg or spindle plate is carried out using magnechuck and is put down, is positioned using laser emitter, using more
A mechanical arm, mechanical wrist and multiple driving motors realize the high-precision transportation work in all angles.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for being installed on embroidery machine and intelligently refooting in line robot of the invention.
Fig. 2 is structural schematic diagram of the invention.
Fig. 3 is one of the structural schematic diagram of bobbin case peg or spindle plate grasping mechanism of the invention.
Fig. 4 is the second structural representation of bobbin case peg or spindle plate grasping mechanism of the invention.
Fig. 5 is the third structural representation of bobbin case peg or spindle plate grasping mechanism of the invention.
Structural schematic diagram when Fig. 6 is present invention cooperation bobbin case peg or spindle plate mounting base work.
Fig. 7 be refoot automatically line method A movement structural schematic diagram.
Fig. 8 be refoot automatically line method B movement structural schematic diagram.
Fig. 9 be refoot automatically line method C movement structural schematic diagram.
Figure 10 be refoot automatically line method D movement structural schematic diagram.
Figure 11 be refoot automatically line method E movement structural schematic diagram.
Figure 12 is the P enlarged structure schematic diagram of line method of refooting automatically.
Figure 13 be refoot automatically line method F movement structural schematic diagram.
Figure 14 be refoot automatically line method G movement structural schematic diagram.
Figure 15 be refoot automatically line method H movement structural schematic diagram.
Figure 16 be refoot automatically line method I action structural schematic diagram.
Figure 17 be refoot automatically line method J movement structural schematic diagram.
Figure 18 be refoot automatically line method K movement structural schematic diagram.
Figure 19 be refoot automatically line method L movement structural schematic diagram.
Figure 20 be refoot automatically line method M movement structural schematic diagram.
Figure 21 be refoot automatically line method N movement structural schematic diagram.
Figure 22 be refoot automatically line method O movement structural schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As shown, a kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine, including slewing equipment and revolution fill
Set sequentially connected several secondary mechanical arms, the bobbin case peg or spindle plate grasping mechanism set on mechanical arm rear end, the bobbin case peg or spindle
Plate grasping mechanism includes machine wrist 10, the palm rotary electric machine 11 in machine wrist 10, defeated with palm rotary electric machine 11
The machine palm 12 of outlet connection.The slewing equipment is set on workbench 3.
In the present embodiment, the quantity of the mechanical arm is that mostly pair, the mechanical arm junction connecting with slewing equipment are to live
Dynamic connection, mechanical arm can be swung up and down around central axis, and mechanical arm junction interconnected is to be flexibly connected, can be on central axis
Lower swing.
In the present embodiment, the slewing equipment includes revolving platform 5 and revolving platform driving motor 12, among the revolving platform 5
Equipped with shaft, connect below the shaft with revolving platform driving motor 12.
In the present embodiment, the mechanical arm includes machine large arm 6, machine forearm 7, and the mechanical arm is equipped with mechanical arm
Driving mechanism, the mechanical arm driving mechanism include mechanical arm driving motor, connect with mechanical arm driving motor output shaft end
Transmission mechanism, the transmission mechanism include driving wheel, follower, the transmission device connecting with driving wheel and follower, the machine
Tool arm driving motor output shaft end is connected with driving wheel；The mechanical arm driving mechanism includes machine large arm driving mechanism, machine
Device forearm driving mechanism；The revolving platform 5 is connect with machine large arm 6, and junction is equipped with machine large arm driving mechanism, described
The rear end of machine large arm 6 is connect with machine forearm 7, and junction is equipped with machine forearm driving mechanism, after the machine forearm 7
The connection at end and machine wrist 10, junction are equipped with machine wrist driving mechanism.
In the present embodiment, the machine large arm driving mechanism includes that machine large arm driving motor 19 and machine large arm drive
The machine large arm transmission mechanism of 19 output shaft end of motor connection, the machine large arm transmission mechanism includes machine large arm driving wheel
21, machine large arm follower 20, the machine large arm transmission dress being connect with machine large arm driving wheel 21 and machine large arm follower 20
It sets, 19 output shaft end of machine large arm driving motor is connected with machine large arm driving wheel 21, the machine large arm driving wheel
21 are fixedly connected with machine large arm 6；The machine forearm driving mechanism includes that machine forearm driving motor 18 and machine forearm drive
The machine forearm transmission mechanism of dynamic 18 output shaft end of motor connection, the machine forearm transmission mechanism includes machine forearm driving wheel
22, machine forearm follower 23, the machine forearm transmission dress being connect with machine forearm driving wheel 22 and machine forearm follower 23
It sets, 18 output shaft end of machine forearm driving motor is connected with machine forearm driving wheel 22, the machine forearm driving wheel
22 are fixedly connected with machine large arm 6.
In the present embodiment, the front end of the machine forearm 7 is equipped with forearm leading portion 9, is equipped with forearm in the machine forearm 7
Leading portion rotating electric machine 17, the forearm leading portion 9 and 17 output shaft end of forearm leading portion rotating electric machine are connected with each other, before the forearm
Section 9 is equipped with vision probe 8；The machine wrist driving mechanism includes that machine wrist driving motor 16 and machine wrist drive
10 transmission mechanism of machine wrist of 16 output shaft end of motor connection, 10 transmission mechanism of machine wrist include machine wrist active
Wheel 27, machine wrist follower 26, the machine wrist transmission being connect with machine wrist driving wheel 27 and machine wrist follower 26
Device, 16 output shaft end of machine wrist driving motor are connected with machine wrist driving wheel 27, and the machine wrist is actively
Wheel 27 is fixedly connected with forearm leading portion 9.
Between machine large arm driving wheel 21 and machine large arm follower 20, machine forearm driving wheel 22 it is passive with machine forearm
It can be for belt connection, chain connects or gear between wheel 23, between machine wrist driving wheel 27 and machine wrist follower 26
Connection；Between forearm leading portion rotating electric machine 17 and forearm leading portion 9, between palm rotary electric machine 11 and machine palm 12 can be straight
Motor shaft is connect to connect, connect using shaft coupling mode or gear manner.Revolving platform driving motor 12 controls turning for revolving platform 5
Dynamic, large arm oscillating motor is used to control the swing of machine large arm 6, and forearm oscillating motor is used to control the swing of machine forearm 7, small
Arm leading portion rotating electric machine 17 is used to control the rotation of forearm leading portion 9, and wrist driving motor 16 is used to control the pendulum of machine wrist 10
Dynamic, that machine palm rotary electric machine 11 is used to control machine palm 12 and rotate, it is each that the above motor part realizes mechanical arm
Movement on direction, to realize accurately motion profile.
In the present embodiment, the machine palm 12 is equipped with magnechuck 28, and the upper end of the magnechuck 28 is set
There is positioning pin 25, the side of the magnechuck 28 is equipped with laser emitter 29.In the present embodiment, used Laser emission
Device 29 is existing off-the-shelf hardware, model RJGIRF.Magnechuck 28 on machine palm 12 is for drawing bobbin case peg or spindle plate, institute
The positioning pin 25 stated is positioned for fixing bobbin case peg or spindle plate, the laser emitter 29 for finding laser positioning hole 32
Work.
A kind of line method that refoots automatically for the line robot realization that intelligently refooted by embroidery machine, it is characterised in that including following step
It is rapid:
1), open can replacement and fixation hook device, put down bobbin case storing plate, spare bobbin case passed through into shuttle from the back side of bobbin case storing plate
Shell installation through-hole is successively installed on peg or spindle plate, reserves the peg or spindle plate installation position 34 of at least one vacancy；
2) after, installing spare bobbin case on bobbin case storing plate, dig bobbin case storing plate, upper end with can replacement and fixation hook device it is solid
It is fixed, spare bobbin case storage device 1 is installed on fixed disc pedestal；
3), walking dolly 5 is mobile, under the action of walking guidance system, precisely reaches first embroidery for needing replacing peg or spindle plate
At flower machine head, carry out that sky peg or spindle plate 33 is taken to act.The mechanical device 13 of automatic shuttle changing shell is already installed on shuttle original at this time
In spare bobbin case replacement to embroidery machine on the peg or spindle plate 35 equipped with spare bobbin case in shell peg or spindle plate mounting base 31, bobbin case peg or spindle
An empty peg or spindle plate 33 without spare bobbin case is left in plate mounting base 31, taking sky peg or spindle plate 33 includes following movement:
A: revolving platform driving motor 12 drives revolving platform 5 to rotate, and machine palm 12 is transplanted on bobbin case peg or spindle plate and installed by mechanical arm
The lower section of seat 31, by carrying out position monitor by 29 two devices of vision probe 8 and laser emitter, vision probe 8 is aligned
Bobbin case peg or spindle plate mounting base 31, detects the positioning device on extension edge, and mechanical arm and machine palm 12 carry out position adjustment, machine
Laser emitter 29 on device palm 12 issues laser and is detected, and detects on the next frame and bobbin case peg or spindle plate mounting base 31
Laser positioning hole 32, two devices are accurately positioned；
B: after the completion of positioning, mechanical arm is moved up, and the positioning pin 25 on machine palm 12 is made to be inserted into peg or spindle plate hole position, and electromagnetism is inhaled
Disk 28 is powered, and sky peg or spindle plate 33 is sucked；
C: mechanical arm moves up, and sky peg or spindle plate 33 is made to be detached from the blowing positioning pin 25 in bobbin case peg or spindle plate mounting base 31；
D: mechanical arm moves back, and so that sky peg or spindle plate 33 is detached from fixed position, when moving back, wrist list by 12 access way of machine palm
To the unilateral gate of door collection hopper 24, under the action of the lower plate of V-arrangement removable cover, open, and smoothly move back, after removal, in bullet
Property returning device under the action of unilateral gate reset；
4), empty peg or spindle plate 33 is sent back to spare bobbin case storage device 1, including following movement:
E: revolving platform driving motor 12 drives revolving platform 5 to rotate, and mechanical arm goes to the reserved vacancy of spare bobbin case storage device 1
At peg or spindle plate installation position 34, position monitor is carried out by 29 two devices of vision probe 8 and laser emitter, vision probe 8 is right
Prepare to use bobbin case storage device 1, be directed at the peg or spindle plate installation position 34 of vacancy, laser emitter 29 issues laser and detected, machine
Tool arm and machine palm 12 carry out position adjustment, detect the laser positioning hole 32 in peg or spindle plate installation position 34, two devices into
Row is accurately positioned；
F: a full set of positioning system full-time on mechanical arm, mechanical arm travel forward, and sky peg or spindle plate 33 is made to be accurately placed to shuttle
On the peg or spindle plate installation position 34 of vacancy on shell storing plate；
G: after placing safely, the magnechuck 28 on machine palm 12 is powered off, and empty peg or spindle plate 33 is embedded in the installation of peg or spindle plate
Permanent magnet absorption in position 34；
5), crawl is equipped with the peg or spindle plate 35 of spare bobbin case, including following movement:
H: mechanical arm moves to 35 installation position 34 of peg or spindle plate equipped with spare bobbin case, passes through vision probe 8 and 29 liang of laser emitter
A device carries out position monitor, and the alignment of vision probe 8 is equipped with 35 installation position 34 of peg or spindle plate of spare bobbin case, and laser emitter 29 is sent out
Laser is detected out, and mechanical arm and machine palm 12 carry out position adjustment, is detected on the peg or spindle plate 35 equipped with spare bobbin case
Laser positioning hole 32, two devices are accurately positioned；
I: a full set of positioning system full-time on mechanical arm, mechanical arm travel forward, and make the positioning pin 25 on machine palm 12
In hole location of the insertion equipped with the peg or spindle plate 35 of spare bobbin case, magnechuck 28 is powered, and inhales the peg or spindle plate 35 equipped with spare bobbin case
It is attached secured；
J: being greater than the suction of the permanent magnet in peg or spindle plate installation position 34 using 28 suction of magnechuck, extracts equipped with spare bobbin case
Peg or spindle plate 35；
6), the peg or spindle plate 35 equipped with spare bobbin case is installed to bobbin case peg or spindle plate mounting base 31, and recycles empty bobbin case 36, including
It acts below:
K: revolving platform driving motor 12 drives revolving platform 5 to rotate, and machine palm 12 is transplanted on bobbin case peg or spindle plate and installed by mechanical arm
The front of seat 31, by carrying out detection and localization by vision probe 8, vision probe 8 is directed at bobbin case peg or spindle plate mounting base 31, detection
Visual detection positioning device on to extension edge；
L: mechanical arm travels forward, and is moved in bobbin case peg or spindle plate mounting base 31 by 12 access way of machine palm, passes through view
Feel that 29 two devices of probe 8 and laser emitter carry out position monitor, vision probe 8 is directed at prolonging for bobbin case peg or spindle plate mounting base 31
The visual detection positioning device on side is stretched, laser emitter 29 issues laser and detected, and mechanical arm and machine palm 12 carry out
Position adjustment, detects the laser positioning hole 32 on the next frame and bobbin case peg or spindle plate mounting base 31, makes bobbin case peg or spindle plate mounting base
31 blowing positioning pin 25 is aligned with the hole location on the peg or spindle plate 35 equipped with spare bobbin case；Before the step, empty bobbin case recycling
There is the empty bobbin case 36 changed from embroidery machine in box 30, in mechanical arm forward movement, wrist unilateral gate has been utilized to receive
The unilateral gate of hopper 24 pushes the V-arrangement removable cover of sky bobbin case recycling box 30 open, and the empty bobbin case 36 changed is made to fall into wrist unilateral gate
In collection hopper 24；
M: after the completion of positioning, mechanical arm is moved down, and the blowing positioning pin 25 in bobbin case peg or spindle plate mounting base 31 is made to be inserted into dress
There is the hole location of the peg or spindle plate 35 of spare bobbin case, and is sucked by the permanent magnet in bobbin case peg or spindle plate mounting base 31 equipped with spare bobbin case
Peg or spindle plate 35；
N: after 35 safety of peg or spindle plate equipped with spare bobbin case is placed on blowing positioning pin 25, the electromagnetism on machine palm 12 is inhaled
Disk 28 powers off, and moves still further below, is detached from bobbin case peg or spindle plate mounting base 31；During moving down, V-arrangement removable cover exists
Under the action of elastic position rebounding device, close naturally；
O: revolving platform driving motor 12 drives revolving platform 5 to rotate, and mechanical arm goes to spare bobbin case storage device 1, rotary machine hand
Wrist 10, wrist unilateral gate collection hopper 24 are overturn, and sky bobbin case 36 is made to fall into sky bobbin case material collecting tank 2；
7), 5 advance a distance of walking dolly, reaches at next machine head of embroidery machine, repetitive operation A-O, working in reciprocating mode, realizes
Automatically the peg or spindle plate 35 equipped with spare bobbin case is placed on 31 position of bobbin case peg or spindle plate mounting base of each head and completes empty shuttle
The recycling of shell 36 and empty peg or spindle plate 33, realizes the line function that automatically refoots under the cooperation of the mechanical device 13 of automatic shuttle changing shell.
8), when the spare bobbin case on a bobbin case storing plate after the installation is completed, disk driving motor drive fixed disc bottom
Seat rotation, after turning an angle, takes the spare bobbin case on next block of bobbin case storing plate.
Claims (7)
1. a kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine, it is characterised in that filled including slewing equipment, with revolution
Set sequentially connected several secondary mechanical arms, the bobbin case peg or spindle plate grasping mechanism set on mechanical arm rear end, the bobbin case peg or spindle
Plate grasping mechanism includes machine wrist, the palm rotary electric machine in machine wrist, connect with palm rotary electric machine output end
Machine palm.
2. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 1, it is characterised in that institute
The quantity for the mechanical arm stated is that mostly pair, the mechanical arm junction connecting with slewing equipment are to be flexibly connected, and mechanical arm can be around center
Axis is swung up and down, and mechanical arm junction interconnected is to be flexibly connected, and can be swung up and down around central axis.
3. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 1, it is characterised in that institute
Stating slewing equipment includes revolving platform and revolving platform driving motor, is equipped with shaft among the revolving platform, below the shaft with return
Turntable driving motor connects.
4. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 2, it is characterised in that institute
The mechanical arm stated includes machine large arm, machine forearm, and the mechanical arm is equipped with mechanical arm driving mechanism, the mechanical arm driving
The transmission mechanism that mechanism includes mechanical arm driving motor, is connect with mechanical arm driving motor output end, the transmission mechanism include
Driving wheel, follower, the driving member being connect with driving wheel and follower, mechanical arm driving motor output shaft end and driving wheel
It is connected；The mechanical arm driving mechanism includes machine large arm driving mechanism, machine forearm driving mechanism；The revolving platform with
The connection of machine large arm, junction are equipped with machine large arm driving mechanism, and the rear end of the machine large arm is connect with machine forearm, even
It meets place and is equipped with machine forearm driving mechanism, the rear end of the machine forearm and the connection of machine wrist, junction is equipped with machine
Wrist driving mechanism.
5. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 4, it is characterised in that institute
State the machine large arm that machine large arm driving mechanism includes machine large arm driving motor, connect with machine large arm driving motor output end
Transmission mechanism, the machine large arm transmission mechanism include machine large arm driving wheel, machine large arm follower and the active of machine large arm
Take turns the machine large arm driving member connected with machine large arm follower, the machine large arm driving motor output shaft end and machine large arm
Driving wheel is connected, and the machine large arm driving wheel is fixedly connected with machine large arm；The machine forearm driving mechanism includes machine
Device forearm driving motor, the machine forearm transmission mechanism connecting with machine forearm driving motor output end, the machine forearm pass
Motivation structure includes machine forearm driving wheel, machine forearm follower, connect with machine forearm driving wheel and machine forearm follower
Machine forearm driving member, the machine forearm driving motor output shaft end is connected with machine forearm driving wheel, the machine
Forearm driving wheel is fixedly connected with machine large arm.
6. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 4, it is characterised in that institute
The front end for stating machine forearm is equipped with forearm leading portion, is equipped with forearm leading portion rotating electric machine, the forearm in the machine forearm
The output end of leading portion and forearm leading portion rotating electric machine is connected with each other, and the forearm leading portion is equipped with vision probe；The mechanical hand
The machine wrist driver that wrist driving mechanism includes machine wrist driving motor, is connect with machine wrist driving motor output end
Structure, the machine wrist transmission mechanism include machine wrist driving wheel, machine wrist follower and machine wrist driving wheel and machine
The machine wrist driving member of device wrist follower connection, the machine wrist driving motor output shaft end and machine wrist driving wheel
It is connected, the machine wrist driving wheel is fixedly connected with forearm leading portion.
7. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to any one of claims 1 to 6, special
Sign is that the mechanical hand palm is equipped with magnechuck, and the upper end of the magnechuck is equipped with positioning pin, the electromagnetism
The side of sucker is equipped with laser emitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811028706.3A CN108950920A (en) | 2018-09-01 | 2018-09-01 | A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811028706.3A CN108950920A (en) | 2018-09-01 | 2018-09-01 | A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108950920A true CN108950920A (en) | 2018-12-07 |
Family
ID=64475973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811028706.3A Withdrawn CN108950920A (en) | 2018-09-01 | 2018-09-01 | A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108950920A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020042210A1 (en) * | 2018-09-01 | 2020-03-05 | 诸暨轻工时代机器人科技有限公司 | Intelligent embroidery machine bobbin thread replacing robot and automatic bobbin thread replacing method |
-
2018
- 2018-09-01 CN CN201811028706.3A patent/CN108950920A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020042210A1 (en) * | 2018-09-01 | 2020-03-05 | 诸暨轻工时代机器人科技有限公司 | Intelligent embroidery machine bobbin thread replacing robot and automatic bobbin thread replacing method |
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Effective date of registration: 20190123 Address after: 311800 No. 68 Dalian Road, Jiyang Street, Zhuji City, Shaoxing City, Zhejiang Province Applicant after: Zhuji Light Industry Era Robot Technology Co., Ltd. Address before: 311813 No. 878 East Road, Jiyang Street, Zhuji City, Shaoxing City, Zhejiang Province Applicant before: Zhuji Shangpai Automation Technology Co., Ltd. |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181207 |