CN109468770A - Chamber-type intelligence shuttle changing robot device - Google Patents

Abstract

The problems such as present invention provides a kind of chamber-type intelligence shuttle changing robot device and is intended to overcome bobbin case replacement in embroidery machine equipment in the prior art to need manual operation, and the degree of automation is low, and production efficiency is low, labor intensity of workers is high.It includes workbench, bobbin case storage device, bobbin case transfer robot and bobbin case clamping device, the bobbin case storage device includes front panel and bobbin case magazine, the front plate shape is that circular arc panel is vertically arranged on workbench, bobbin case magazine is arranged in rectangular array on the one side of the arc surface indent of front panel, and the bobbin case clamping device is installed on bobbin case transfer robot end.The present invention is able to achieve 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 collect empty bobbin case peg or spindle 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

Chamber-type intelligence shuttle changing robot device

Technical field

The present invention relates to field of textile equipment more particularly to a kind of chamber-type intelligence shuttle changing robot devices.

Background technique

Currently, the device for providing baseline to computerized emboridering machine is made of bobbin case and peg or spindle two parts, when embroidery machine is run When being finished to baseline, replacement bobbin case (peg or spindle) is required, is entirely now, when doing replacement operation, to be embroidered using artificial replacement Under shutdown status, operative employee first removes the bobbin case (peg or spindle) for being finished baseline machine from embroidery machines rotating shuttle box, then will fill bottom The bobbin case (peg or spindle) of line is changed, and since bobbin case (peg or spindle) installation site is special, not only bobbin case (peg or spindle) replacement space is smaller, but also Operative employee need to bend over to squat down to platen in the following, thus cause it is inconvenient, extend replacing construction, influence production efficiency, Er Qielao Fatigue resistance is big.

Summary of the invention

The present invention is to automate journey to overcome bobbin case replacement in embroidery machine equipment in the prior art to need manual operation Low, the problems such as production efficiency is low, labor intensity of workers is high is spent, replacement bobbin case can be realized automatically by providing one kind, provide automation The chamber-type intelligence shuttle changing robot device of degree and production efficiency.

To achieve the above object, the invention adopts the following technical scheme:

A kind of chamber-type intelligence shuttle changing robot device of the invention, comprising:

A kind of chamber-type intelligence shuttle changing robot device, including workbench, bobbin case storage device, bobbin case transfer robot With bobbin case clamping device, the bobbin case storage device includes front panel and bobbin case magazine, and the front plate shape is circular arc panel It is vertically arranged on workbench, bobbin case magazine, the shuttle is arranged in rectangular array on the one side of the arc surface indent of front panel For the ejection direction of shell magazine along the normal direction of front panel arc surface structure, bobbin case transfer robot is provided with a rotation connection The circle central axis of the rotation seat of workbench, the pivot center of the rotation seat and the front panel arc surface structure is coaxially set It sets；The bobbin case clamping device is installed on bobbin case transfer robot end；The bobbin case magazine includes playing chamber, mandrel and pop-up machine Structure, described to play the arc surface that chamber shape is front panel and be recessed inwardly along normal direction the cavity to be formed, the mandrel side setting Several annular positioning grooves, the annular positioning groove cooperate bobbin case centre bore, and the ejecting mechanism is set to inside magazine, and mandrel connects Connect ejecting mechanism.

Workbench is for carrying the structures such as spare bobbin case storing unit and bobbin case transfer robot in each of work-yard Embroidery machines rotating shuttle position is mobile.Bobbin case magazine can place multiple spare bobbin cases while string is located on mandrel, clamp in bobbin case After device clamps a bobbin case, next bobbin case is hauled out by ejecting mechanism in case clamp next time.The ejection direction of bobbin case magazine Along the normal direction of front panel arc surface structure, the center of circle of the pivot center of the rotation seat and the front panel arc surface structure Axis coaxle setting, it is identical apart from the distance of rotation seat so as to guarantee to clamp bobbin case every time, so as to reduce bobbin case biography Send manipulator at this apart from upper positioning accuracy.

When needing replacing bobbin case, replacement bobbin case is completed as follows:

Step 1: bobbin case clamping device is turned to bobbin case direction to be replaced, bobbin case clamping device folder by bobbin case transfer robot Bobbin case to be replaced is held, is dismantled and completes demounting procedure.

Step 2: bobbin case transfer robot turns to bobbin case clamping device towards bobbin case storage device direction, and bobbin case is pressed from both sides Device translation and lifting moving are held to a spare bobbin case, the spare bobbin case of bobbin case gripping apparatus grips completes feeding, while bobbin case Next bobbin case pop-up of magazine is in case next feeding.

Step 3: bobbin case clamping device is turned to the pre-installed position of spare bobbin case, bobbin case clamping by bobbin case transfer robot The spare bobbin case of clamping is installed in place by device, completes installation steps.

Preferably, limit film is arranged in magazine opening in front panel, the limit film medial surface is on the outside of cooperation bobbin case The arc surface of face shape plays chamber inner sidewall and is provided with the latching slide part end for accommodating bobbin case in the ipsilateral parallel mandrel of limit film Limit sliding chutes, the limit sliding chutes extend to the medial surface of limit film, and the limit sliding chutes are deep close to the one end on limit film top Degree shoals to form limited step.

Since bobbin case latching slide part end is protrusion, limit film and limit sliding chutes can limit bobbin case and revolve on mandrel Turn, to optimize bobbin case positioning, is clamped convenient for bobbin case clamping device.Limited step can be quiet with the latching slide part end of pop-up Frictional force is larger, to limit the position of each bobbin case pop-up, guarantee will not be popped up from front panel.

Preferably, the ejecting mechanism includes push plate and plays chamber spring, push plate setting play it is intracavitary and can be along The bullet chamber sliding, the mandrel vertically connect push plate, play the setting of chamber spring in push plate and play between the face of bottom of chamber.

Preferably, the push plate is provided with the end of a thread location structure, the end of a thread location structure and limit sliding chutes are located at core The two sides of axis.

Preferably, the end of a thread location structure is provided parallel to the end of a thread winding axis of mandrel setting, the end of a thread winding The end of a thread winding spring is arranged on axis.

The end of a thread of spare bobbin case is pullled out one section and is wrapped on the end of a thread winding axis, prevents the end of a thread on bobbin case from influencing bobbin case The work such as crawl installation, while the end of a thread can more readily be taken in by head when safe bobbin case.

Preferably, the end of a thread location structure is set as the end of a thread locating clip, the end of a thread locating clip includes two panels strip The elastic clip of shape, the parallel mandrel of the elastic clip are arranged in push plate.

The end of a thread of spare bobbin case is pullled out one section and is clamped on the end of a thread locating clip, prevents the end of a thread on bobbin case from influencing bobbin case The work such as crawl installation, while the end of a thread can more readily be taken in by head when safe bobbin case.

The workbench is set in a moving trolley, and the moving trolley is provided with anticollision automatic stop system, described Anticollision automatic stop system include ultrasonic distance-measuring sensor set on moving trolley.

Preferably, the bobbin case transfer robot includes first mechanical arm, second mechanical arm, third mechanical arm and the 4th Mechanical arm, the first mechanical arm parallel rotation connect workbench, and second mechanical arm is rotatablely connected first mechanical arm, third machine Tool arm is rotatablely connected second mechanical arm, and the 4th mechanical arm is rotatablely connected third mechanical arm, and the 4th mechanical arm tail end is rotatablely connected shuttle Shell clamping device.

Preferably, the equipment further includes position control device, the position control device includes being set to moving trolley Master control borad, gray scale sensing module, visual identity module, the display screen in laser emitting module and moving trolley, the gray scale Sensing module, visual identity module, laser emitting module, display screen are electrically connected with the master control borad, and the movement is small Vehicle bottom is equipped with gray-scale sensor, and the gray scale sensing module is electrically connected with gray-scale sensor, the bobbin case transmitting mechanical It is equipped with vision probe on hand, the vision probe is electrically connected with visual identity module, and the bobbin case clamping device is equipped with Laser emitter, the laser emitter are electrically connected with laser emitting module.Visual identity module and laser emitting module peace Loaded on bobbin case transfer robot, for accurately identifying and positioning bobbin case position.And gray-scale sensor is to enable moving trolley Ground in embroidery machine shop is equipped with grey sensing zone, the ash of moving trolley along the head arrangement position of embroidery machine Degree sensor can identify the width and trend of grey sensing zone, realize that moving trolley is gone along pre-set track It walks, works between fixed embroidery machine to realize.Human-computer interaction function may be implemented in the display screen, for showing Show the state and parameter setting work of equipment.The distance that each moving trolley is advanced can be usually set, so that equipment exists After having replaced the peg or spindle plate equipped with spare bobbin case, next head position for needing replacing bobbin case peg or spindle plate is accurately driven to It sets.

Preferably, the bobbin case clamping device includes clamp bracket, dials hook, dials hook driving motor and intermediate plate, the folder The end that bobbin case transfer robot is arranged in bracket, described group of hook and intermediate plate setting are held in clamp bracket two sides, hook rotation is dialled and connects Clamp bracket is connect, the driving of hook driving motor is dialled and dials hook rotation, described group of hook is L shape knot for stirring bolt-lock handle, the intermediate plate Structure, intermediate plate inside are provided with the spacing block set of the bolt-lock handle middle through-hole of cooperation bobbin case.

Bobbin case clamping device close to bobbin case in place after, dial hook driving motor driving dial hook rotation, stir open bolt-lock handle, Make to receive in latching slide part, thus on latching slide part and locating plate locating notch positioning limitation, by bobbin case from bobbin case magazine Upper taking-up, middle through-hole snaps on spacing block set in the bolt-lock handle of opening, so that realizes bobbin case stablizes crawl.

Therefore, the present invention has the advantages that are as follows: the present invention is able to achieve between several computerized emboridering machines, bull and super Long computerized emboridering machine replaces bobbin case (peg or spindle) automatically, places spare bobbin case automatically, and empty bobbin case peg or spindle is collected automatically, solves Computerized emboridering machine industry manually replaces the time-consuming and laborious problem of bobbin case (peg or spindle).

Detailed description of the invention

Fig. 1 is the structural schematic diagram that the present invention is implemented.

Fig. 2 is the first structure diagram of bobbin case magazine of the invention.

Fig. 3 is the second structural schematic diagram of bobbin case magazine of the invention.

Fig. 4 is the structural schematic diagram of bobbin case clamping device of the invention.

Fig. 5 is the structural schematic diagram of the clamping bobbin case state of bobbin case clamping device of the invention.

In figure: 1 moving trolley；101 workbenches；2 front panels；301 play chamber；302 mandrels；303 annular positioning grooves；304 Limit film；305 limit sliding chutes；306 limited steps；307 push plates；308 play chamber spring；309 the end of a thread wind axis；The winding of 310 the end of a thread Spring；311 the end of a thread locating clips；4 bobbin case transfer robots；401 rotation seats；402 first mechanical arms；403 second mechanical arms；404 Third mechanical arm；405 the 4th mechanical arms；5 bobbin case clamping devices；501 brackets；502 groups of hooks；503 groups of hook driving motors；504 folders Piece；505 spacing block sets；6 bobbin cases；601 bolt-lock handles；602 latching slide parts；7 vision probes.

Specific embodiment

The present invention is described further with reference to the accompanying drawings and detailed description.

It is as shown in Figure 1 and Figure 2: a kind of chamber-type intelligence shuttle changing robot device of the invention, including workbench 101, shuttle Shell storage device, bobbin case transfer robot 4 and bobbin case clamping device 5, the bobbin case storage device include front panel 2 and bobbin case bullet Storehouse, 2 shape of front panel are that circular arc panel is vertically arranged on workbench 101, the side of the arc surface indent of front panel 2 Rectangular array is arranged bobbin case magazine on face, the ejection direction of the bobbin case magazine along 2 arc surface structure of front panel normal direction, Bobbin case transfer robot 4 is provided with the rotation seat 401 of a rotation connection workbench 101, the rotation axis of the rotation seat 401 The circle central axis of 2 arc surface structure of line and the front panel is coaxially disposed；The bobbin case clamping device 5 is installed on bobbin case conveyer 4 end of tool hand；The bobbin case magazine includes playing chamber 301, mandrel 302 and ejecting mechanism, and 301 shape of bullet chamber is front panel 2 Arc surface be recessed inwardly along normal direction the cavity to be formed, several annular positioning grooves 303, institute is arranged in 302 side of mandrel It states annular positioning groove 303 and cooperates bobbin case centre bore, the ejecting mechanism is set to inside magazine, and mandrel 302 connects ejecting mechanism.

Workbench 101 is for carrying the structures such as spare bobbin case storing unit and bobbin case transfer robot 4 in work-yard Each embroidery machines rotating shuttle position it is mobile.Bobbin case magazine can place multiple spare bobbin cases while string is located on mandrel 302, in shuttle After shell clamping device 5 clamps a bobbin case, next bobbin case is hauled out by ejecting mechanism in case clamp next time.Bobbin case magazine Normal direction of the ejection direction along 2 arc surface structure of front panel, pivot center and the front panel 2 circle of the rotation seat 401 The circle central axis of globoidal structure is coaxially disposed, identical apart from the distance of rotation seat 401 so as to guarantee to clamp bobbin case every time, from And it can reduce bobbin case transfer robot 4 at this apart from upper positioning accuracy.

Limit film 304 is arranged in magazine opening in front panel 2, and 304 medial surface of limit film is cooperation bobbin case lateral surface The arc surface of shape plays 301 inner sidewall of chamber and is provided with the latching slide for accommodating bobbin case in the ipsilateral parallel mandrel 302 of limit film 304 The limit sliding chutes 305 of 602 end of part, the limit sliding chutes 305 extend to the medial surface of limit film 304, the limit sliding chutes 305 one end depth shallower close to 304 top of limit film forms limited step 306.

Since 602 end of bobbin case latching slide part is protrusion, limit film 304 and limit sliding chutes 305 can limit bobbin case It rotates on mandrel 302, to optimize bobbin case positioning, is clamped convenient for bobbin case clamping device 5.Limited step 306 can and pop up 602 end stiction of latching slide part it is larger, to limit the position of each bobbin case pop-up, guarantee will not be from front panel 2 Upper pop-up.

The ejecting mechanism includes push plate 307 and plays chamber spring 308, and the push plate 307 is arranged in bullet chamber 301 and can edge The bullet chamber 301 slide, the vertically connection push plate 307 of mandrel 302 plays the setting of chamber spring 308 in push plate 307 and plays chamber Between 301 bottom surfaces.

As shown in Fig. 2, the push plate 307 is provided with the end of a thread location structure, the end of a thread location structure and limit sliding chutes 305 Positioned at the two sides of mandrel 302.The end of a thread location structure is provided parallel to the end of a thread winding axis 309 of the setting of mandrel 302, the line The end of a thread winding spring 310 is arranged on head winding axis 309.The end of a thread of spare bobbin case pulls out one section and is wrapped in the end of a thread winding axis On 309, prevent the end of a thread on bobbin case from influencing the work such as bobbin case crawl installation, while the end of a thread can more hold when safe bobbin case Easy is taken in by head.

As shown in figure 3, the end of a thread location structure may be arranged as the end of a thread locating clip 311, the end of a thread locating clip 311 Elastic clip 504 including two panels strip, the parallel mandrel 302 of the elastic clip 504 are arranged in push plate 307.Spare shuttle The end of a thread of shell is pullled out one section and is clamped on the end of a thread locating clip 311, prevents the end of a thread on bobbin case from influencing bobbin case crawl installation etc. Work, while the end of a thread can more readily be taken in by head when safe bobbin case.

The workbench 101 is set in a moving trolley 1, and the moving trolley 1 is provided with anticollision automatic stop system, The anticollision automatic stop system includes the ultrasonic distance-measuring sensor set on moving trolley 1.

The bobbin case transfer robot 4 includes first mechanical arm 402, second mechanical arm 403, third mechanical arm 404 and the Four mechanical arms 405,402 parallel rotation of first mechanical arm connect workbench 101, the rotation connection of second mechanical arm 403 the One mechanical arm 402, third mechanical arm 404 are rotatablely connected second mechanical arm 403, and it is mechanical that the 4th mechanical arm 405 is rotatablely connected third Arm 404,405 end of the 4th mechanical arm are rotatablely connected bobbin case clamping device 5.

The equipment further includes position control device, the position control device include set on moving trolley 1 master control borad, Display screen in gray scale sensing module, visual identity module, laser emitting module and moving trolley 1, the gray scale sensing module, Visual identity module, laser emitting module, display screen are electrically connected with the master control borad, and 1 bottom of moving trolley is set There is gray-scale sensor, the gray scale sensing module is electrically connected with gray-scale sensor, and the bobbin case transfer robot 4 is equipped with Vision probe 7, the vision probe 7 are electrically connected with visual identity module, and the bobbin case clamping device 5 is sent out equipped with laser Emitter, the laser emitter are electrically connected with laser emitting module.Visual identity module and laser emitting module are installed on shuttle Shell transfer robot 4, for accurately identifying and positioning bobbin case position.And gray-scale sensor is that moving trolley 1 is being embroidered Ground in flower machine shop is equipped with grey sensing zone along the head arrangement position of embroidery machine, and the gray scale of moving trolley 1 passes Sensor can identify the width and trend of grey sensing zone, realize that moving trolley 1 is walked along pre-set track, It works between fixed embroidery machine to realize.Human-computer interaction function may be implemented in the display screen, for showing The state and parameter setting of equipment work.The distance that each moving trolley 1 is advanced can be usually set, so that equipment is more After having changed the peg or spindle plate equipped with spare bobbin case, next Handpiece Location for needing replacing bobbin case peg or spindle plate is accurately driven to.

In the present embodiment, gray scale sensing module uses 12 tunnel gray scale tracking sensor SEN1660-F of Fang Yu, visual identity mould Block uses the C0602 laser of 3irobotics company using think of CCD visual identity module XG-E700A, laser emitting module is helped Feel module, display screen uses Shenzhen Zhen Hua company SUEI74 work using the industrial display screens such as Song Zuo or Omron, vision probe 7 Industry vision probe 7 or suitable product, visual identity module is helped using XG-E700A thinks CCD visual identity module, laser emitter Using Shenzhen Fa Shi company F3/F6/F10 series laser transmitter, ultrasonic distance-measuring sensor is limited using the poly- English electronics in Beijing The RS485 ultrasonic distance measurement of company senses mold.

As shown in Figure 4, Figure 5, the bobbin case clamping device 5 includes clamp bracket 501, dials hook 502, dials hook driving motor 503 and intermediate plate 504, the clamp bracket 501 end of bobbin case transfer robot 4, described group of hook 502 and intermediate plate 504 are set Setting dials hook 502 and is rotatablely connected clamp bracket 501 in 501 two sides of clamp bracket, dials the driving of hook driving motor 503 and dials hook 502 Rotation, described group of hook 502 are L shape structure for stirring bolt-lock handle 601, the intermediate plate 504, are provided with and match on the inside of intermediate plate 504 Close the spacing block set 505 of 601 middle through-hole of bolt-lock handle of bobbin case.

Bobbin case clamping device 5 close to bobbin case in place after, dial hook driving motor 503 driving dial hook 502 rotate, stir opening Bolt-lock handle 601 makes to receive in latching slide part 602, so that the positioning of locating notch limits on latching slide part 602 and locating plate, Bobbin case is taken out from bobbin case magazine, middle through-hole snaps on spacing block set 505 in the bolt-lock handle 601 of opening, to realize Bobbin case stablizes crawl.

When needing replacing bobbin case 6, replacement bobbin case is completed as follows:

Step 1: bobbin case clamping device 5 is turned to bobbin case direction to be replaced, bobbin case clamping device by bobbin case transfer robot 4 5 clamping bobbin cases to be replaced, are dismantled and complete demounting procedure.

Step 2: bobbin case transfer robot 4 turns to bobbin case clamping device 5 towards bobbin case storage device direction, by bobbin case To a spare bobbin case, bobbin case clamping device 5 clamps spare bobbin case for the translation of clamping device 5 and lifting moving, completes feeding, simultaneously Next bobbin case pop-up of bobbin case magazine is in case next feeding.

Step 3: bobbin case clamping device 5 is turned to the pre-installed position of spare bobbin case, bobbin case folder by bobbin case transfer robot 4 It holds device 5 to be installed in place the spare bobbin case of clamping, completes installation steps.

The present invention is able to achieve between several computerized emboridering machines, bull and overlength computerized emboridering machine replace bobbin case (shuttle automatically Core), spare bobbin case is placed automatically, and empty bobbin case peg or spindle is collected automatically, solve computerized emboridering machine industry and manually replace bobbin case (peg or spindle) time-consuming and laborious problem.

Claims (10)

1. a kind of chamber-type intelligence shuttle changing robot device, characterized in that passed including workbench, bobbin case storage device, bobbin case Manipulator and bobbin case clamping device are sent, the bobbin case storage device includes front panel and bobbin case magazine, and the front plate shape is Circular arc panel is vertically arranged on workbench, and bobbin case bullet is arranged in rectangular array on the one side of the arc surface indent of front panel Storehouse, along the normal direction of front panel arc surface structure, bobbin case transfer robot is provided with one for the ejection direction of the bobbin case magazine The rotation seat of a rotation connection workbench, the circle core shaft of the pivot center of the rotation seat and the front panel arc surface structure Line coaxial arrangement；The bobbin case clamping device is installed on bobbin case transfer robot end；The bobbin case magazine includes playing chamber, mandrel And ejecting mechanism, described to play the arc surface that chamber shape is front panel and be recessed inwardly along normal direction the cavity to be formed, the mandrel Several annular positioning grooves are arranged in side, and the annular positioning groove cooperates bobbin case centre bore, and the ejecting mechanism is set in magazine Portion, mandrel connect ejecting mechanism.

2. chamber-type intelligence shuttle changing robot device according to claim 1, characterized in that front panel is in magazine opening Limit film is set, and the limit film medial surface is the arc surface for cooperating bobbin case lateral surface shape, and it is same in limit film to play chamber inner sidewall The parallel mandrel in side is provided with the limit sliding chutes for accommodating the latching slide part end of bobbin case, and the limit sliding chutes extend to limit film Medial surface, one end depth shallower of the limit sliding chutes close to limit film top form limited step.

3. chamber-type intelligence shuttle changing robot device according to claim 1, characterized in that the ejecting mechanism includes pushing away Plate and bullet chamber spring, the push plate setting are being played intracavitary and can slided along the bullet chamber, and the mandrel vertically connects push plate, bullet The setting of chamber spring is in push plate and plays between the face of bottom of chamber.

4. chamber-type intelligence shuttle changing robot device according to claim 1, characterized in that the push plate is provided with the end of a thread Location structure, the end of a thread location structure and limit sliding chutes are located at the two sides of mandrel.

5. chamber-type intelligence shuttle changing robot device according to claim 4, characterized in that the end of a thread location structure is set It is set to the end of a thread winding axis of parallel mandrel setting, is arranged with the end of a thread winding spring on the end of a thread winding axis.

6. chamber-type intelligence shuttle changing robot device according to claim 4, characterized in that the end of a thread location structure is set It is set to the end of a thread locating clip, the end of a thread locating clip includes the elastic clip of two panels strip, and the parallel mandrel of the elastic clip is set It sets in push plate.

7. chamber-type intelligence shuttle changing robot device according to claim 1, characterized in that the workbench is set to In one moving trolley, the moving trolley is provided with anticollision automatic stop system, and the anticollision automatic stop system includes being set to movement The ultrasonic distance-measuring sensor of trolley.

8. chamber-type intelligence shuttle changing robot device according to claim 1, characterized in that the bobbin case transfer robot Including first mechanical arm, second mechanical arm, third mechanical arm and the 4th mechanical arm, the first mechanical arm parallel rotation connects work Make platform, second mechanical arm is rotatablely connected first mechanical arm, and third mechanical arm is rotatablely connected second mechanical arm, and the 4th mechanical arm turns Dynamic connection third mechanical arm, the 4th mechanical arm tail end are rotatablely connected bobbin case clamping device.

9. chamber-type intelligence shuttle changing robot device according to claim 7, characterized in that the equipment further includes positioning Control device, the position control device include set on the master control borad of moving trolley, gray scale sensing module, visual identity module, Display screen on laser emitting module and moving trolley, the gray scale sensing module, visual identity module, laser emitting module, Display screen is electrically connected with the master control borad, and the moving trolley bottom is equipped with gray-scale sensor, the gray scale sensing Module is electrically connected with gray-scale sensor, and the bobbin case transmitting mechanical is equipped with vision probe, the vision probe and view on hand Feel identification module electrical connection, the bobbin case clamping device is equipped with laser emitter, and the laser emitter and laser are sent out Penetrate module electrical connection.

10. chamber-type intelligence shuttle changing robot device according to claim 1, characterized in that the bobbin case clamping device Including clamp bracket, hook, group hook driving motor and intermediate plate are dialled, the end of bobbin case transfer robot is arranged in the clamp bracket, Described group of hook and intermediate plate setting dial hook and are rotatablely connected clamp bracket in clamp bracket two sides, dial the driving of hook driving motor and dial hook rotation Turn, described group of hook is L shape structure for stirring bolt-lock handle, the intermediate plate, and the bolt-lock handle of cooperation bobbin case is provided on the inside of intermediate plate The spacing block set of middle through-hole.