CN109537203A

CN109537203A - Embroidery machine intelligently refoots line robot device

Info

Publication number: CN109537203A
Application number: CN201811496223.6A
Authority: CN
Inventors: 徐海苗
Original assignee: Zhuji Light Industry Era Robot Technology Co Ltd
Current assignee: Zhuji Light Industry Era Robot Technology Co Ltd
Priority date: 2018-12-07
Filing date: 2018-12-07
Publication date: 2019-03-29
Also published as: WO2020113769A1

Abstract

The problems such as present invention provides a kind of embroidery machine line robot device that intelligently refoots 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.The equipment includes: carrier；Spare bobbin case storing unit；Bobbin case transfer robot, the freedom degree of the bobbin case transfer robot includes that at least one can do the first rotary freedom close to and far from the spare bobbin case storing unit rotary motion, and several second freedom degrees, the second freedom degree motion profile are located at the rotary freedom rotation axis institute planar；Bobbin case clamping device.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

Embroidery machine intelligently refoots line robot device

Technical field

It intelligently refoots line robot device the present invention relates to field of textile equipment more particularly to a kind of embroidery machine.

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 embroidery machine of degree and production efficiency intelligently refoots line robot device.

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

A kind of embroidery machine of the invention intelligently refoots line robot device, comprising:

Carrier, the carrier are provided with spare bobbin case storing unit and bobbin case transfer robot；

Spare bobbin case storing unit, the spare bobbin case storing unit are provided with several bobbin case storage stations；

Bobbin case transfer robot, the freedom degree of the bobbin case transfer robot include that at least one can do close to and far from institute State spare bobbin case storing unit rotary motion the first rotary freedom and several second freedom degrees, second freedom degree Motion profile is located at the rotary freedom rotation axis institute planar；

Bobbin case clamping device, the bobbin case clamping device are installed on bobbin case transfer robot end.

Carrier is for carrying the structures such as spare bobbin case storing unit and bobbin case transfer robot in each embroidery of work-yard Machine rotating shuttle position is mobile.Spare bobbin case storing unit is for placing spare bobbin case.When needing replacing bobbin case, by walking as follows It is rapid to complete replacement bobbin case:

Step 1: bobbin case transfer robot turns to bobbin case direction to be replaced by the first rotary freedom, certainly by second Bobbin case to be replaced is directed toward in the translation of bobbin case clamping device and lifting moving by spending, bobbin case gripping apparatus grips bobbin case to be replaced will It, which is dismantled, completes demounting procedure.

Step 2: bobbin case transfer robot is turned to by the first rotary freedom towards spare bobbin case storing unit direction, By the second freedom degree by the translation of bobbin case clamping device and lifting moving to a spare bobbin case, bobbin case gripping apparatus grips are spare Bobbin case completes feeding.

Step 3: bobbin case transfer robot turns to bobbin case direction to be replaced by the first rotary freedom, certainly by second The pre-installed position of spare bobbin case is directed toward in the translation of bobbin case clamping device and lifting moving by spending, bobbin case clamping device is by clamping Spare bobbin case is installed in place, and completes installation steps.

Preferably, the carrier includes workbench, translational drive mechanism and anticollision automatic stop system, spare bobbin case storage Device and bobbin case transfer robot are set to the workbench, and the translational drive mechanism includes the work set on carrier bottom Driving wheel group and wheel group driving motor, the anticollision automatic stop system include the ultrasonic distance-measuring sensor set on workbench. Translational drive mechanism drives the carrier to move between bobbin case in embroidery machine each need replacing.Anticollision automatic stop arrangement prevents from carrying Tool hits embroidery machine.

Preferably, the spare bobbin case storing unit includes at least one bobbin case storing plate, on the bobbin case storing plate It is provided with several bobbin case storage stations.Spare bobbin case is placed in bobbin case storage station, and multiple bobbin case storages are arranged in bobbin case storing plate Long time continuous working may be implemented in station.

Preferably, bobbin case storing unit further includes storing plate rotating mechanism, the bobbin case storing plate shape is annulus Shape plate, bobbin case storing plate are rotatablely connected by storing plate rotating mechanism and carrier, and bobbin case storing plate can be rotated around its center of circle, Bobbin case storage station is divided into the identical several groups of quantity, every group of bobbin case storage station along the bobbin case storing plate arranged radially, Angle where adjacent sets bobbin case stores station between radial direction is equal.Bobbin case transfer robot needs registration just to can guarantee shuttle Shell clamping device accurately grabs spare bobbin case.Due to bobbin case transfer robot be by the first rotary freedom and several second from The mobile bobbin case clamping device of three coordinates is realized by degree.Whether the steering of the first rotary freedom deposits with the bobbin case on bobbin case storing plate It is accurate to put station position, can largely influence subsequent positioning.Therefore by the technical solution of rotation bobbin case storing plate, every time Spare bobbin case is all turned to the angle position of the fixation of relatively described first rotary freedom, such bobbin case transfer robot is every It is secondary only to need to turn to fixed position at the first rotary freedom and accurately grab, to reduce bobbin case transmitting mechanical Hand on the first rotary freedom precision controlling requirement, will not because of bobbin case store station put width be separated by it is larger and each Bobbin case transfer robot requires to rotate different angles.And vacancy bobbin case storage station with bobbin case storing plate rotate and Range far from bobbin case transfer robot, prevents from interfering and accidentally grabbing.Bobbin case transfer robot can also be reduced simultaneously Rotational angle improves equipment work efficiency.

Preferably, the bobbin case storing plate rotates the first rotation of bobbin case transfer robot described in axially vertical or platform The rotation axis of freedom degree.Bobbin case transfer robot needs registration just and can guarantee that bobbin case clamping device accurately grabs spare shuttle Shell.Since bobbin case transfer robot is to realize the mobile bobbin case folder of three coordinates by the first rotary freedom and several second freedom degrees Hold device.Second freedom degree effect first is that driving bobbin case clamping device towards bobbin case storing plate level close to and far from mobile And lifting moving.The bobbin case storing plate rotates the rotation of the first rotary freedom of the axially vertical bobbin case transfer robot When shaft axis.Each bobbin case transfer robot is close equal with far from the vertical direction lifting distance of bobbin case storing plate, to subtract The mobile precision controlling demand in this few direction.The of the axial parallel bobbin case transfer robot of bobbin case storing plate rotation When the rotation axis of one rotary freedom.The close and horizontal direction far from bobbin case storing plate of each bobbin case transfer robot is close Or far from being equidistant, to reduce the mobile precision controlling demand in this direction.

Preferably, the bobbin case storing plate shape is circular arc panel, the arc surface structure of bobbin case storing plate is towards bobbin case Transfer robot, the rotation axis of the arc surface structure of bobbin case storing plate and bobbin case transfer robot the first rotary freedom Coaxial arrangement, bobbin case storage station rectangular array on the arcwall face of bobbin case storing plate are arranged.Bobbin case transfer robot needs It wants registration just and can guarantee that bobbin case clamping device accurately grabs spare bobbin case.Since bobbin case transfer robot is by the first rotation Turn freedom degree and several second freedom degrees realize the mobile bobbin case clamping device of three coordinates.Second freedom degree effect first is that driving Bobbin case clamping device is close and separate mobile towards bobbin case storing plate level.It therefore is circular arc panel by bobbin case storing plate shape Technical solution can guarantee all spare bobbin cases being equidistant with respect to bobbin case transfer robot the first rotary freedom axial direction, Therefore bobbin case transfer robot being equidistant close to and far from bobbin case storing plate every time, to reduce the mobile essence in this direction Spend demand for control.

Preferably, the bobbin case storing plate shape is fan-shaped panel, plane where the fan-shaped surface structure of bobbin case storing plate Parallel with plane where the first rotary freedom of bobbin case transfer robot, the center of circle of the fan-shaped surface structure of bobbin case storing plate is located at On the rotation axis of first rotary freedom of bobbin case transfer robot, bobbin case storage station is divided into the identical several groups of quantity, Arranged radially of the every group of bobbin case storage station along the fan-shaped surface structure of the bobbin case storing plate, adjacent sets bobbin case storage station institute Angle between radial direction is equal.

Bobbin case transfer robot needs registration just and can guarantee that bobbin case clamping device accurately grabs spare bobbin case.Due to shuttle Shell transfer robot is that the mobile bobbin case clamping device of three coordinates is realized by the first rotary freedom and several second freedom degrees. Whether the first rotary freedom is turned to accurate with the bobbin case storage station position on bobbin case storing plate, after largely influencing Continuous positioning.Therefore by the technical solution of rotation bobbin case storing plate, every group of bobbin case storage station is with respect to the first rotary freedom Rotation angle is fixed, and spare bobbin case is turned to several default fixations of relatively described first rotary freedom every time Angle position, such bobbin case transfer robot only needs to turn to fixed position every time at the first rotary freedom can Accurate crawl, to reduce precision controlling requirement of the bobbin case transfer robot on the first rotary freedom.Second freedom degree Effect first is that driving bobbin case clamping device towards bobbin case storing plate vertical direction lifting moving.Therefore bobbin case storing plate shape Technical solution can guarantee that all spare bobbin cases are equal with respect to the difference in height of the first rotary freedom of bobbin case transfer robot, because This each bobbin case transfer robot lifting bobbin case storing plate is equidistant, to reduce the movement of this direction of this vertical lifting Precision controlling demand.

Preferably, bobbin case storing unit further includes the translation mechanism for being set to carrier, the translation mechanism drives bobbin case Storing plate is arranged along plane translation where the first rotary freedom of bobbin case transfer robot in bobbin case storing plate rectangular array Bobbin case stores station.Bobbin case transfer robot needs registration just and can guarantee that bobbin case clamping device accurately grabs spare bobbin case. Since bobbin case transfer robot is to realize the mobile bobbin case clamping of three coordinates by the first rotary freedom and several second freedom degrees Device.Whether the first rotary freedom is turned to accurate with the bobbin case storage station position on bobbin case storing plate, can largely It is upper to influence subsequent positioning.Therefore by the technical solution of rotation bobbin case storing plate, the position of each bobbin case storage station passes through flat It moves institutional adjustment to the rotation angle relative to the first rotary freedom to fix, spare bobbin case is turned to relatively described the every time The angle position of the default fixation of one rotary freedom, such bobbin case transfer robot only need at the first rotary freedom every time Turning to fixed position can accurately grab, to reduce essence of the bobbin case transfer robot on the first rotary freedom Degree control requires.Second freedom degree effect first is that driving bobbin case clamping device towards bobbin case storing plate vertical direction lifting moving And close and moving horizontally far from bobbin case storing plate.Therefore the technical solution of bobbin case storing plate, bobbin case storing plate parallel the When plane is placed where one rotary freedom, all spare bobbin cases can guaranteed relative to the rotation of bobbin case transfer robot first The difference in height of freedom degree is equal, therefore the lifting distance of each bobbin case transfer robot to bobbin case storing plate is equal, to reduce The mobile precision controlling demand in this direction of this vertical lifting.

And when plane where vertical first rotary freedom of bobbin case storing plate is placed, it is same vertical that can guarantee to be located at Spare bobbin case on column is equal with respect to the horizontal distance of the first rotary freedom of bobbin case transfer robot, therefore bobbin case transmission every time The close and separate bobbin case storing plate horizontal distance of manipulator is equal, so that reducing this moves horizontally the mobile precision in this direction Demand for control.And the bobbin case storage station in vacancy rotates and the range of separate bobbin case transfer robot with bobbin case storing plate, It prevents from interfering and accidentally grabbing.The rotational angle of bobbin case transfer robot can also be reduced simultaneously, improve equipment work efficiency.

Preferably, the translation mechanism includes screw rod translation mechanism, the screw rod of the screw rod translation mechanism is passed along shell Plane setting where sending the first rotary freedom of manipulator, bobbin case storing board bottom portion is provided with the wire hole for engaging the screw rod.

Preferably, the bobbin case storing plate is mostly secondary, more secondary bobbin case storing plates are sequentially arranged in a ring, mostly secondary Bobbin case storing plate can rotate around center axis, and bobbin case storage station is placed equidistant with along the bobbin case storing plate.

Preferably, more secondary bobbin case storing plate upper ends are equipped with upper fixed disc, lower end is equipped with lower fixed disc, institute The upper fixed disc stated and lower fixed disc center are equipped with disk driving mechanism, and the disk driving mechanism includes and upper fixed circle The disk driving motor of disk and lower fixed disc center axis connection, the bobbin case storing plate lower end and lower fixed disc activity connect It connects, the bobbin case storing plate upper end is detachably connected with upper fixed disc.

Bobbin case transfer robot needs registration just and can guarantee that bobbin case clamping device accurately grabs spare bobbin case.Due to shuttle Shell transfer robot is that the mobile bobbin case clamping device of three coordinates is realized by the first rotary freedom and several second freedom degrees. More pair bobbin case storing plates can rotate around center axis on the same straight line of parallel first rotary freedom axial direction, every time will be standby The angle position of the default fixation of relatively described first rotary freedom, and bobbin case transfer robot in this way are turned to bobbin case Only needing to turn to fixed position at the first rotary freedom every time can accurately grab.Guarantee all turn to simultaneously The spare bobbin case of position is axial with respect to the first rotary freedom of bobbin case transfer robot to be equidistant, therefore bobbin case conveyer every time The close and separate bobbin case storing plate of tool hand being equidistant.To reduce the precision controlling requirement of bobbin case transfer robot, together When provide working efficiency.

Preferably, the bobbin case storage station includes mandrel, the end of a thread location structure and locating plate, mandrel, the end of a thread positioning Structure and locating plate are arranged in parallel, and the end of a thread location structure and locating plate are located at the two sides of mandrel, and the mandrel is for being inserted into bobbin case In axis, locating plate is the arcwall face for cooperating bobbin case side cambered surface mechanism towards the side of mandrel, and locating plate is in the arcwall face End be provided with cooperation bobbin case latching slide part end locating notch, and the arcwall face of locating plate is in locating notch two sides Retention bead is set.

Preferably, the second freedom degree of the bobbin case transfer robot includes three second straight line freedom degrees and one the Two rotary freedoms, second straight line freedom degree be located at the rotary freedom rotation axis planar, described three are straight Line freedom degree is successively mutually perpendicular to, and the second rotary freedom is set to bobbin case transfer robot end close to bobbin case clamping device Position.

Preferably, the bobbin case transfer robot includes three linear guides, an extension arm and a cursor, the One linear guide is rotatablely connected carrier and constitutes first rotary freedom, and second straight line guide rail vertical sliding motion connects first straight line Guide rail constitutes the first straight line freedom degree, and third linear guide vertical sliding motion connects second straight line guide rail and constitutes second straight line certainly By spending, extension arm vertical sliding motion connects third linear guide and constitutes third linear degrees of freedom, the rotation connection rotation of extension arm end Arm constitutes the second rotary freedom, and cursor end connects bobbin case clamping device.

Preferably, the linear guide is provided with driving band, driving pulley, sliding block and servo motor, the driving Belt wheel setting drives band to be tensioned by both ends driving pulley at linear guide both ends, and sliding block is fixedly connected with driving band, and sliding block sliding connects Guide rail is connect, servo motor drives driving pulley to slide by driving band band movable slider along linear guide.The bobbin case transmitting mechanical Hand realizes the mobile bobbin case clamping device of three coordinate settings on workbench, turn of extension arm and cursor through the above scheme Dynamic structure is used to adjust the realizing so as to which crawl bobbin case is accurately positioned towards inclination angle and dismantle, take of mobile bobbin case clamping device Material, the automatic operation installed.

Preferably, the second freedom degree of the bobbin case transfer robot includes that three third being sequentially connected rotations are free Degree, the rotation axis of three third rotary freedoms are parallel to each other.

Preferably, the bobbin case transfer robot includes four sequentially connected mechanical arms, the first mechanical arm turns Dynamic connection carrier constitutes first rotary freedom, and second mechanical arm is rotatablely connected first mechanical arm, the rotation of third mechanical arm Second mechanical arm is connected, the 4th mechanical arm is rotatablely connected third mechanical arm, turns between the first, second, third, fourth mechanical arm It is dynamic to connect and compose three third rotary freedoms.

Preferably, the equipment further includes position control device, the position control device includes the master set on carrier Display screen on control plate, gray scale sensing module, visual identity module, laser emitting module and carrier, the gray scale sensing module, Visual identity module, laser emitting module, display screen are electrically connected with the master control borad, and the carrier bottom is equipped with gray scale Sensor, the gray scale sensing module are electrically connected with gray-scale sensor, and the bobbin case transmitting mechanical is equipped with vision spy on hand Head, the vision probe are electrically connected with visual identity module, and the bobbin case clamping device is equipped with laser emitter, described Laser emitter be electrically connected with laser emitting module.Visual identity module and laser emitting module are installed on bobbin case transmitting mechanical Hand, for accurately identifying and positioning bobbin case position.And gray-scale sensor is to enable carrier in embroidery machine shop On the ground, it is equipped with grey sensing zone along the head arrangement position of embroidery machine, the gray-scale sensor of carrier can identify that grey senses The width and trend of band, realize carrier walk along pre-set track, thus realize fixed embroidery machine it Between work.Human-computer interaction function may be implemented in the display screen, for showing the state and parameter setting work of equipment Make.The distance that every Submount is advanced can be usually set, so that equipment is replacing the peg or spindle plate that spare bobbin case is housed Afterwards, next Handpiece Location for needing replacing bobbin case peg or spindle plate is accurately driven to.

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, hook rotation is dialled in driving motor driving, and described group of hook is L shape structure, folder for stirring bolt-lock handle, the intermediate plate The spacing block set of the bolt-lock handle middle through-hole of cooperation bobbin case is provided on the inside of piece.Bobbin case clamping device close to bobbin case in place after, It dials the driving of hook driving motor and dials hook rotation, stir and open bolt-lock handle, make to receive in latching slide part, thus latching slide part and positioning The positioning of on piece locating notch limits, and bobbin case is taken out from bobbin case storage station, middle through-hole snapping in the bolt-lock handle of opening On spacing block set, to realize that stablizing for bobbin case grabs.

Preferably, bobbin case storage station include mandrel, the end of a thread location structure, locating plate, magazine spring, bottom plate, Magazine, push plate and sliding slot, bottom plate setting is at bobbin case storing plate rear, and setting can accommodate bobbin case between bottom plate and bobbin case storing plate Magazine, is provided on bobbin case mandrel several for positioning the locating slots of bobbin case centre bore, and the mandrel vertically connects push plate, bottom plate Magazine spring is set between push plate, and the parallel mandrel of the end of a thread location structure is arranged in push plate, and the locating plate is arranged in magazine Be open side, and locating plate and the end of a thread location structure are located at the heteropleural of mandrel, and magazine is provided with cooperation in this side inner wall of locating plate The sliding slot of latching slide part end, the parallel mandrel setting of the sliding slot extend on the inside of locating plate and in locating plate top end opening. The bobbin case storage station of the scheme can place multiple bobbin cases simultaneously, and each bobbin case central hole is located in core by locating slot On axis, it is accommodated in magazine.Because sliding slot cooperate latching slide part end, latching slide part end under normal conditions be pop-up can To block sliding slot, to guarantee that bobbin case does not rotate on mandrel and only one bobbin case exposes magazine in bobbin case storing plate table every time The opening in face.And after taking next bobbin case, the elastic force of magazine spring act on push plate by mandrel and the end of a thread location structure will after Continuous bobbin case is released, for taking next time.

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 first structure diagram of the embodiment of the present invention one.

Fig. 2 is the first structure diagram that bobbin case of the invention stores station.

Fig. 3 is the second structural schematic diagram that bobbin case of the invention stores station.

Fig. 4 is the second structural schematic diagram of the embodiment of the present invention one.

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

Fig. 6 is the structural schematic diagram of the clamping bobbin case state of bobbin case clamping device of the invention.

Fig. 7 is the first structure diagram of the embodiment of the present invention two.

Fig. 8 is the second structural schematic diagram of the embodiment of the present invention two.

Fig. 9 is the first structure diagram of the embodiment of the present invention three.

Figure 10 is the second structural schematic diagram of the embodiment of the present invention three.

Figure 11 is the first structure diagram of the embodiment of the present invention four.

Figure 12 is the second structural schematic diagram of the embodiment of the present invention four.

Figure 13 is the first structure diagram of the embodiment of the present invention five.

Figure 14 is the second structural schematic diagram of the embodiment of the present invention five.

Figure 15 is the first structure diagram of the embodiment of the present invention six.

Figure 16 is the second structural schematic diagram of the embodiment of the present invention six.

Figure 17 is the first structure diagram of the embodiment of the present invention seven.

Figure 18 is the second structural schematic diagram of the embodiment of the present invention seven.

Figure 19 is the structural schematic diagram of the embodiment of the present invention eight.

Figure 20 is the structural schematic diagram of the embodiment of the present invention nine.

Figure 21 is that the bobbin case of the embodiment of the present invention nine stores the first structure diagram of station.

Figure 22 is that the bobbin case of the embodiment of the present invention nine stores the second structural schematic diagram of station.

Figure 23 is the structural schematic diagram of the embodiment of the present invention ten.

Figure 24 is that the bobbin case of the embodiment of the present invention ten stores the first structure diagram of station.

Figure 25 is that the bobbin case of the embodiment of the present invention ten stores the second structural schematic diagram of station.

In figure: 1 carrier；101 workbenches；102 driving wheel groups；2 spare bobbin case storing units；201 bobbin case storing plates； 202 screw rod translation mechanisms；Fixed disc on 203；204 lower fixed discs；3 bobbin cases store station；301 mandrels；302 the end of a thread twine Around axis；303 locating plates；304 clamp springs；305 arcwall faces；306 locating notches；307 retention beads；308 the end of a thread locating clips； 309 magazine springs；310 bottom plates；311 magazines；312 push plates；313 sliding slots；314 locating slots；315 positioning clamp bars；The transmission of 4 bobbin cases Manipulator；401 first straight line guide rails；402 second straight line guide rails；403 third linear guides；404 extension arms；405 cursors； 406 driving bands；407 driving pulleys；408 sliding blocks；409 servo motors；410 first mechanical arms；411 second mechanical arms；412 thirds Mechanical arm；413 the 4th mechanical arms；414 the 5th linear guides；5 bobbin case clamping devices；501 brackets；502 groups of hooks；503 groups of hooks drive Dynamic motor；504 intermediate plates；505 spacing block sets；6 bobbin cases；601 bolt-lock handles；602 latching slide parts；7 vision probes.

Specific embodiment

Embodiment one:

It intelligently refoots line robot device as shown in Figure 1, the embodiment of the present invention provides a kind of embroidery machine.The equipment packet It includes:

Carrier 1, the carrier 1 are provided with spare bobbin case storing unit 2 and bobbin case transfer robot 4.

Spare bobbin case storing unit 2, the spare bobbin case storing unit 2 are provided with several bobbin case storage stations 3；

Bobbin case transfer robot 4, the freedom degree of the bobbin case transfer robot 4 include at least one can do it is close and separate First rotary freedom of spare 2 rotary motion of bobbin case storing unit and several second freedom degrees, described second freely It spends motion profile and is located at the rotary freedom rotation axis institute planar；

Bobbin case clamping device 5, the bobbin case clamping device 5 are installed on 4 end of bobbin case transfer robot.

The carrier 1 includes workbench 2, hoofing part mechanism and anticollision automatic stop system, spare 2 He of bobbin case storing unit Bobbin case transfer robot 4 is set to the workbench 2, and the translational drive mechanism includes being set to 102 He of task driven wheel group Wheel group driving motor, the anticollision automatic stop system include the ultrasonic distance-measuring sensor set on workbench 2.

6 storing unit 2 of spare bobbin case includes at least one bobbin case storing plate 201, is set on the bobbin case storing plate 201 It is equipped with several bobbin case storage stations 3.

Bobbin case storing unit further includes storing plate rotating mechanism, and 201 shape of bobbin case storing plate is circular ring shape plate, Bobbin case storing plate 201 is rotatablely connected by storing plate rotating mechanism and carrier 1, and bobbin case storing plate 201 can be rotated around its center of circle, Bobbin case storage station 3 divides for the identical several groups of quantity, and every group of bobbin case storage station 3 is radial along the bobbin case storing plate 201 Arrangement, the angle that adjacent sets bobbin case is stored between 3 place radial direction of station are equal.

The bobbin case storing plate 201 rotates the rotation of the first rotary freedom of the axially vertical bobbin case transfer robot 4 Shaft axis.

The bobbin case storage station 3 includes mandrel 301, the end of a thread location structure and locating plate 303.The end of a thread location structure Specific structure can be there are many embodiment, the end of a thread location structure in the present embodiment is set as the end of a thread winding axis 302.

As shown in Fig. 2, mandrel 301, the end of a thread winding axis 302 and locating plate 303 are arranged in parallel, the end of a thread winds axis 302 and determines Bit slice 303 is located at the two sides of mandrel 301, and the mandrel 301 is arranged on the end of a thread winding axis 302 for being inserted into bobbin case axis Clamp springs 304, the clamp springs 304 are for clamping the end of a thread being wrapped in clamp springs 304, and locating plate 303 is towards core The side of axis 301 is the arcwall face 305 for cooperating bobbin case side cambered surface mechanism, and locating plate 303 is set in the end of the arcwall face 305 It is equipped with the locating notch 306 of 602 end of latching slide part of cooperation bobbin case, and the arcwall face 305 of locating plate 303 is in locating notch Retention bead 307 is arranged in 306 two sides.

As shown in figure 3, the end of a thread location structure can be the end of a thread locating clip 308.The end of a thread locating clip 308 is by two panels elasticity Intermediate plate is constituted, and can clamp the end of a thread.

As shown in Figure 1, the second freedom degree of the bobbin case transfer robot 4 includes that three thirds being sequentially connected rotate certainly By spending, the rotation axis of three third rotary freedoms is parallel to each other.

The bobbin case transfer robot 4 includes four sequentially connected mechanical arms, and the first mechanical arm 410 is rotatablely connected Carrier 1 constitutes first rotary freedom, and second mechanical arm 411 is rotatablely connected first mechanical arm 410, third mechanical arm 412 Rotation connection second mechanical arm 411, the 4th mechanical arm 413 rotation connection third mechanical arm 412, first, second, third, fourth Rotation connection between mechanical arm 413 constitutes three third rotary freedoms.

As shown in figure 4, another scheme of the bobbin case transfer robot 4 is: the second of the bobbin case transfer robot 4 Freedom degree includes three second straight line freedom degrees and second rotary freedom, and second straight line freedom degree is located at the rotation certainly By degree rotation axis planar, three linear degrees of freedom are successively mutually perpendicular to, the second rotary freedom is set to 4 end of bobbin case transfer robot is close to the position of bobbin case clamping device 5.

The bobbin case transfer robot 4 include three linear guides, an extension arm 404 and a cursor 405, first Linear guide 401 is rotatablely connected carrier 1 and constitutes first rotary freedom, 402 vertical sliding motion of second straight line guide rail connection the One linear guide 401 constitutes the first straight line freedom degree, and 403 vertical sliding motion of third linear guide connects second straight line guide rail 402 constitute second straight line freedom degree, and 404 vertical sliding motion of extension arm connects third linear guide 403 and constitutes third straight line freedom Degree, 404 end of extension arm are rotatablely connected cursor 405 and constitute the second rotary freedom, and 405 end of cursor connects bobbin case clamping Device 5.

The linear guide is provided with driving band 406, driving pulley 407, sliding block and servo motor 409, the driving The setting of belt wheel 407 drives band 406 to be tensioned by both ends driving pulley 407, sliding block is fixedly connected with driving band at linear guide both ends 406, sliding block is slidably connected guide rail, and servo motor 409 drives driving pulley 407 by driving band 406 to lead with movable slider along straight line Rail sliding.

The bobbin case transfer robot 4 realizes the mobile bobbin case of three coordinate settings on workbench 2 through the above scheme The rotational structure of clamping device 5, extension arm 404 and cursor 405 be used to adjust mobile bobbin case clamping device 5 towards inclination angle, So as to which crawl bobbin case is accurately positioned, the automatic operation of disassembly, feeding, installation is realized.

As shown in Figure 5, Figure 6, 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.

The equipment further includes position control device, and the position control device includes the master control borad for being set to carrier 1, gray scale Display screen on sensing module, visual identity module, laser emitting module and workbench, the gray scale sensing module, vision are known Other module, laser emitting module, display screen are electrically connected with the master control borad, and 1 bottom of carrier is sensed equipped with gray scale Device, the gray scale sensing module are electrically connected with gray-scale sensor, and the mechanical arm is equipped with vision probe 7, the view Feel that probe is electrically connected with visual identity module, the bobbin case peg or spindle plate grasping mechanism is equipped with laser emitter, and described swashs Optical transmitting set is electrically connected with laser emitting module.

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 Industry vision probe or suitable product, visual identity module is helped using XG-E700A thinks CCD visual identity module, and laser emitter is adopted With Shenzhen Fa Shi company F3/F6/F10 series laser transmitter, ultrasonic distance-measuring sensor uses the poly- limited public affairs of English electronics in Beijing The RS485 ultrasonic distance measurement of department senses mold.

Carrier 1 is for carrying the structures such as spare bobbin case storing unit 2 and bobbin case transfer robot 4 in each embroidery of work-yard Flower machine rotating shuttle position is mobile.Spare bobbin case storing unit 2 is for placing spare bobbin case.When needing replacing bobbin case, by such as Lower step completes replacement bobbin case:

Step 1: bobbin case transfer robot 4 turns to bobbin case direction to be replaced by the first rotary freedom, passes through second The translation of bobbin case clamping device 5 and lifting moving are directed toward bobbin case to be replaced by freedom degree, and bobbin case clamping device 5 clamps shuttle to be replaced Shell is dismantled and completes demounting procedure.

Step 2: bobbin case transfer robot 4 is turned to by the first rotary freedom towards spare 2 side of bobbin case storing unit To by the second freedom degree by the translation of bobbin case clamping device 5 and lifting moving to a spare bobbin case, bobbin case clamping device 5 is pressed from both sides Spare bobbin case is held, feeding is completed.

Step 3: bobbin case transfer robot 4 turns to bobbin case direction to be replaced by the first rotary freedom, passes through second The pre-installed position of spare bobbin case is directed toward in the translation of bobbin case clamping device 5 and lifting moving by freedom degree, and bobbin case clamping device 5 will press from both sides The spare bobbin case held is installed in place, and completes installation steps.

Bobbin case transfer robot 4 needs registration just and can guarantee that bobbin case clamping device 5 accurately grabs spare bobbin case.Due to Bobbin case transfer robot 4 is that the mobile bobbin case clamping device of three coordinates is realized by the first rotary freedom and several second freedom degrees 5.

More pair bobbin case storing plates 201 can rotate around center axis the same straight line of parallel first rotary freedom axial direction On, spare bobbin case is turned to the angle position of the default fixation of relatively described first rotary freedom every time, and in this way Bobbin case transfer robot 4, which only needs to turn to every time at the first rotary freedom fixed position, accurately to be grabbed.Simultaneously Guarantee that all spare bobbin cases rotateing in place are axial with respect to 4 first rotary freedom of bobbin case transfer robot to be equidistant, Therefore bobbin case transfer robot 4 being equidistant close to and far from bobbin case storing plate 201 every time.To reduce bobbin case conveyer The precision controlling requirement of tool hand 4, while providing working efficiency.

Embodiment two:

As shown in Figure 7, Figure 8, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This implementation Example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the technology of bobbin case storing unit Scheme, specifically:

Bobbin case transfer robot 4 needs registration just and can guarantee that bobbin case clamping device 5 accurately grabs spare bobbin case.Due to Bobbin case transfer robot 4 is that the mobile bobbin case clamping device of three coordinates is realized by the first rotary freedom and several second freedom degrees 5.Whether the first rotary freedom is turned to accurate with bobbin case storage 3 position of station on bobbin case storing plate 201, can largely It is upper to influence subsequent positioning.Therefore by the technical solution of rotation bobbin case storing plate 201, spare bobbin case is turned to relatively every time The angle position of the fixation of first rotary freedom, such bobbin case transfer robot 4 is every time at the first rotary freedom Only needing to turn to fixed position can accurately grab, to reduce bobbin case transfer robot 4 in the first rotary freedom On precision controlling requirement, station 3 will not be stored because of bobbin case and put width and be separated by larger and each bobbin case transfer robot 4 all Need to rotate different angles.And the bobbin case storage station 3 in vacancy is transmitted as bobbin case storing plate 201 is rotated far from bobbin case The range of manipulator 4 prevents from interfering and accidentally grabbing.The rotational angle of bobbin case transfer robot 4 can also be reduced simultaneously, Improve equipment work efficiency.

The bobbin case storing plate 201 rotates the rotation of the first rotary freedom of the axially vertical bobbin case transfer robot 4 When shaft axis.Each bobbin case transfer robot 4 is close equal with far from the vertical direction lifting distance of bobbin case storing plate 201, from And reduce the mobile precision controlling demand in this direction.

Embodiment three

As shown in Figure 9, Figure 10, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This reality Applying example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the skill of bobbin case storing unit Art scheme, specifically:

The bobbin case storing plate 201 rotates the rotation of the first rotary freedom of the axial parallel bobbin case transfer robot 4 Shaft axis.

The bobbin case storing plate 201 rotates the rotation of the first rotary freedom of the axial parallel bobbin case transfer robot 4 When shaft axis.The close and horizontal direction far from bobbin case storing plate 201 of each bobbin case transfer robot 4 is close to or far from apart from phase Deng to reduce the mobile precision controlling demand in this direction.

Example IV:

As shown in Figure 11, Figure 12, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This reality Applying example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the skill of bobbin case storing unit Art scheme, specifically:

201 shape of bobbin case storing plate is circular arc panel, and the arc surface structure of bobbin case storing plate 201 is transmitted towards bobbin case Manipulator 4, the rotary shaft of the arc surface structure of bobbin case storing plate 201 and bobbin case transfer robot 4 the first rotary freedom Line coaxial arrangement, bobbin case storage station 3 rectangular array on the arcwall face 305 of bobbin case storing plate 201 are arranged.

Bobbin case transfer robot 4 needs registration just and can guarantee that bobbin case clamping device 5 accurately grabs spare bobbin case.Due to Bobbin case transfer robot 4 is that the mobile bobbin case clamping device of three coordinates is realized by the first rotary freedom and several second freedom degrees 5.Second freedom degree effect first is that driving bobbin case clamping device 5 is horizontal close to and far from mobile towards bobbin case storing plate 201. Therefore the technical solution that 201 shape of bobbin case storing plate is circular arc panel can be guaranteed that all spare bobbin cases are transmitted with respect to bobbin case 4 first rotary freedom of manipulator is axial to be equidistant, therefore bobbin case transfer robot 4 is close every time and stores up far from bobbin case Flitch 201 is equidistant, to reduce the mobile precision controlling demand in this direction.

Embodiment five:

As shown in Figure 13,14, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This implementation Example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the technology of bobbin case storing unit Scheme, specifically:

201 shape of bobbin case storing plate is fan-shaped panel, plane and shuttle where the fan-shaped surface structure of bobbin case storing plate 201 Plane where first rotary freedom of shell transfer robot 4 is parallel, and the center of circle of the fan-shaped surface structure of bobbin case storing plate 201 is located at On the rotation axis of first rotary freedom of bobbin case transfer robot 4, bobbin case storage station 3 divide for quantity it is identical several Group, every group of bobbin case store station 3 along the arranged radially of the fan-shaped surface structure of the bobbin case storing plate 201, and adjacent sets bobbin case is deposited The angle put between 3 place radial direction of station is equal.

Whether the first rotary freedom is turned to accurate with bobbin case storage 3 position of station on bobbin case storing plate 201, can be very big Subsequent positioning is influenced in degree.Therefore by the technical solution of rotation bobbin case storing plate 201, every group of bobbin case storage station 3 is opposite The rotation angle of first rotary freedom is fixed, and every time turns to spare bobbin case relative to first rotation freely The angle position of several default fixations of degree, such bobbin case transfer robot 4 only need to turn every time at the first rotary freedom Moving fixed position can accurately grab, to reduce precision of the bobbin case transfer robot 4 on the first rotary freedom Control requires.

Second freedom degree effect moves first is that bobbin case clamping device 5 is driven to go up and down towards 201 vertical direction of bobbin case storing plate It is dynamic.Therefore the technical solution of 201 shape of bobbin case storing plate can guarantee all spare bobbin cases with respect to bobbin case transfer robot 4 the The difference in height of one rotary freedom is equal, therefore bobbin case transfer robot 4 goes up and down being equidistant for bobbin case storing plate 201 every time, To reduce the mobile precision controlling demand in this direction of this vertical lifting.

Embodiment six:

As shown in Figure 15,16, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This implementation Example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the technology of bobbin case storing unit Scheme, specifically:

Bobbin case storing unit further includes the translation mechanism for being set to carrier 1, and the translation mechanism drives bobbin case storing plate 201 Along plane translation where the first rotary freedom of bobbin case transfer robot 4, in the parallel bobbin case conveyer of bobbin case storing plate 201 The face rectangular array setting bobbin case of plane where first rotary freedom of tool hand 4 stores station 3.

The translation mechanism includes screw rod translation mechanism 202, and the screw rod of the screw rod translation mechanism 202 is along shell conveyer Plane setting where first rotary freedom of tool hand, 201 bottom of bobbin case storing plate is provided with the wire hole for engaging the screw rod.

Whether the first rotary freedom is turned to accurate with bobbin case storage 3 position of station on bobbin case storing plate 201, can be very big Subsequent positioning is influenced in degree.Therefore pass through the technical solution of rotation bobbin case storing plate 201, the position of each bobbin case storage station 3 It sets to adjust by translation mechanism to the rotation angle relative to the first rotary freedom and fix, spare bobbin case is turned into phase every time To the angle position of the default fixation of first rotary freedom, such bobbin case transfer robot 4 rotates certainly first every time Only needing to turn to fixed position by degree can accurately grab, to reduce bobbin case transfer robot 4 in the first rotation Precision controlling requirement in freedom degree.

And the bobbin case storage station 3 in vacancy rotates and the model of separate bobbin case transfer robot 4 with bobbin case storing plate 201 It encloses, prevents from interfering and accidentally grabbing.The rotational angle of bobbin case transfer robot 4 can also be reduced simultaneously, improve equipment work Efficiency.

Embodiment seven

As shown in Figure 17,18, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This implementation Example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the technology of bobbin case storing unit Scheme, specifically:

Bobbin case storing unit further includes the translation mechanism for being set to carrier 1, and the translation mechanism drives bobbin case storing plate 201 Along plane translation where the first rotary freedom of bobbin case transfer robot 4, rotated certainly in bobbin case storing plate 201 vertical first The plane where degree is placed and rectangular array setting bobbin case stores station 3.

Second freedom degree effect first is that driving bobbin case clamping device 5 is horizontal close and separate towards bobbin case storing plate 201 It is mobile.And when plane where vertical first rotary freedom of bobbin case storing plate 201 is placed, it is same vertical that can guarantee to be located at Spare bobbin case on column is equal with respect to the horizontal distance of 4 first rotary freedom of bobbin case transfer robot, therefore bobbin case passes every time Bobbin case storing 201 horizontal distances of plate for sending manipulator 4 close and separate are equal, so that reducing this moves horizontally the movement of this direction Precision controlling demand.

Embodiment eight

As shown in figure 19, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.The present embodiment It is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the technical side of bobbin case storing unit Case, specifically:

Bobbin case storing plate 201 is vertically arranged on carrier 1, where vertical first rotary freedom of bobbin case storing plate 201 Plane is placed and rectangular array setting bobbin case stores station 3.

Second freedom degree of the bobbin case transfer robot 4 includes three third rotary freedoms being sequentially connected, described The rotation axis of three third rotary freedoms is parallel to each other.

The first mechanical arm is slidably connected carrier 1 by the 5th linear guide 414, and the 5th linear guide 414 is flat Row bobbin case storing plate 201 is arranged.

Embodiment nine

As shown in Figure 20,21, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This implementation Example is the scheme updated on the basis of embodiment one, the difference between this embodiment and the first embodiment lies in the technology of bobbin case storing unit Scheme, specifically:

The bobbin case storage station 3 includes mandrel 301, the end of a thread location structure, locating plate 303, magazine spring 309, bottom plate 310, magazine 311, push plate 312 and sliding slot 313, bottom plate are arranged at bobbin case storing plate rear, set between bottom plate and bobbin case storing plate The magazine that can accommodate bobbin case is set, is provided on bobbin case mandrel several for positioning the locating slot 314 of bobbin case centre bore, the mandrel Magazine spring is arranged in vertical connection push plate between bottom plate and push plate, the parallel mandrel of the end of a thread location structure is arranged in push plate, described Locating plate setting is open side in magazine, and locating plate and the end of a thread location structure are located at the heteropleural of mandrel, magazine locating plate this Side inner wall is provided with the sliding slot of cooperation latching slide part end, the parallel mandrel setting of the sliding slot extend on the inside of locating plate and Locating plate top end opening.

The bobbin case storage station of the scheme can place multiple bobbin cases simultaneously, and each bobbin case central hole passes through locating slot It is located on mandrel, is accommodated in magazine.Because sliding slot cooperates latching slide part end, it is in latching slide part end under normal conditions Pop-up can block sliding slot, to guarantee that bobbin case does not rotate on mandrel and only one bobbin case exposes magazine in bobbin case every time The opening of storing plate surface.And after taking next bobbin case, the elastic force of magazine spring acts on push plate and positions mandrel and the end of a thread Structure releases subsequent bobbin case, for taking next time.

As shown in figure 21, the end of a thread location structure can wind axis 302 for the end of a thread, and the end of a thread winds the parallel mandrel of axis 302 301 are arranged in push plate 312.Clamp springs 304 are arranged on the end of a thread winding axis 302, the clamp springs 304 are used for Clamp the end of a thread being wrapped in clamp springs 304.

As shown in figure 22, the end of a thread location structure is also possible to position clamp bar 315.The positioning clamp bar 315 is by two Piece elastic clip is constituted, and parallel mandrel 301 is arranged in push plate 312, can clamp the end of a thread.

Embodiment ten

As shown in Figure 23,24, the embodiment of the present invention provides another embroidery machine and intelligently refoots line robot device.This implementation Example is the scheme updated on the basis of example IV, and the difference of the present embodiment and example IV is the technology of bobbin case storing unit Scheme, specifically:

As shown in figure 24, the end of a thread location structure can wind axis 302 for the end of a thread, and the end of a thread winds the parallel mandrel of axis 302 301 are arranged in push plate 312.Clamp springs 304 are arranged on the end of a thread winding axis 302, the clamp springs 304 are used for Clamp the end of a thread being wrapped in clamp springs 304.

As shown in figure 25, the end of a thread location structure is also possible to position clamp bar 315.The positioning clamp bar 315 is by two Piece elastic clip is constituted, and parallel mandrel 301 is arranged in push plate 312, can clamp the end of a thread.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims

The line robot device 1. a kind of embroidery machine intelligently refoots, characterized in that include:

Carrier, the carrier are provided with spare bobbin case storing unit and bobbin case transfer robot；

Spare bobbin case storing unit, the spare bobbin case storing unit are provided with several bobbin case storage stations；

Bobbin case transfer robot, the freedom degree of the bobbin case transfer robot include that at least one can do close to and far from described standby The first rotary freedom and several second freedom degrees with bobbin case storing unit rotary motion, the two degree-of-freedom motion Track is located at the rotary freedom rotation axis institute planar；

Bobbin case clamping device, the bobbin case clamping device are installed on bobbin case transfer robot end.
The line robot device 2. embroidery machine according to claim 1 intelligently refoots, characterized in that the carrier includes work Platform, translational drive mechanism and anticollision automatic stop system, spare bobbin case storing unit and bobbin case transfer robot are set to the work Make platform, the translational drive mechanism includes the task driven wheel group and wheel group driving motor set on carrier bottom, and described is anti- Hitting automatic stop system includes the ultrasonic distance-measuring sensor set on workbench.
The line robot device 3. embroidery machine according to claim 1 intelligently refoots, characterized in that the spare bobbin case storage Device includes at least one bobbin case storing plate, and several bobbin case storage stations are provided on the bobbin case storing plate.
The line robot device 4. embroidery machine according to claim 1 intelligently refoots, characterized in that bobbin case storing unit also wraps Storing plate rotating mechanism is included, the bobbin case storing plate shape is circular ring shape plate, and bobbin case storing plate passes through storing plate rotating machine Structure and carrier are rotatablely connected, and bobbin case storing plate can be rotated around its center of circle, and bobbin case storage station is divided into the identical several groups of quantity, Folder of the every group of bobbin case storage station along the bobbin case storing plate arranged radially, where adjacent sets bobbin case stores station between radial direction Angle is equal.
The line robot device 5. embroidery machine according to claim 4 intelligently refoots, characterized in that the bobbin case storing plate turns The first rotary freedom from moving axis to the perpendicular or parallel bobbin case transfer robot rotation axis.
The line robot device 6. embroidery machine according to claim 3 intelligently refoots, characterized in that the bobbin case storing plate shape Shape is circular arc panel, and the arc surface structure of bobbin case storing plate is towards bobbin case transfer robot, the arc surface structure of bobbin case storing plate And bobbin case transfer robot the first rotary freedom rotation axis coaxial arrangement, bobbin case storage station stores up in bobbin case Rectangular array is arranged on the arcwall face of flitch.
The line robot device 7. embroidery machine according to claim 3 intelligently refoots, characterized in that the bobbin case storing plate shape Shape is fan-shaped panel, the first rotary freedom institute of plane and bobbin case transfer robot where the fan-shaped surface structure of bobbin case storing plate Parallel in plane, the center of circle of the fan-shaped surface structure of bobbin case storing plate is located at the rotation of the first rotary freedom of bobbin case transfer robot On shaft axis, bobbin case storage station is divided into the identical several groups of quantity, and every group of bobbin case storage station is along the bobbin case storing plate Fan-shaped surface structure arranged radially, the angle that adjacent sets bobbin case is stored where station between radial direction is equal.
The line robot device 8. embroidery machine according to claim 1 intelligently refoots, characterized in that spare bobbin case storing unit It further include the translation mechanism for being set to carrier, the translation mechanism driving bobbin case storing plate is along the first of bobbin case transfer robot Plane translation where rotary freedom stores station in bobbin case storing plate rectangular array setting bobbin case.
The line robot device 9. embroidery machine according to claim 8 intelligently refoots, characterized in that the translation mechanism includes The screw rod of screw rod translation mechanism, the screw rod translation mechanism is set along plane where the first rotary freedom of shell transfer robot It sets, bobbin case storing board bottom portion is provided with the wire hole for engaging the screw rod.
The line robot device 10. embroidery machine according to claim 8 intelligently refoots, characterized in that the bobbin case storing Plate is that mostly pair, more secondary bobbin case storing plates are sequentially arranged in a ring, and more pair bobbin case storing plates can rotate around center axis, and bobbin case is deposited Station is put to be placed equidistant with along the bobbin case storing plate.
The line robot device 11. embroidery machine according to claim 9 intelligently refoots, characterized in that more secondary bobbin case storages Flitch upper end is equipped with upper fixed disc, and lower end is equipped with lower fixed disc, the upper fixed disc and lower fixed disc center Equipped with disk driving mechanism, the disk driving mechanism includes the disk with upper fixed disc and lower fixed disc center axis connection Driving motor, the bobbin case storing plate lower end are flexibly connected with lower fixed disc, the bobbin case storing plate upper end and upper fixed circle Disk is detachably connected.
The line robot device 12. embroidery machine according to claim 8 intelligently refoots, characterized in that the bobbin case storing name Position includes mandrel, the end of a thread location structure and locating plate, and mandrel, the end of a thread location structure and locating plate are arranged in parallel, the end of a thread positioning knot Structure and locating plate are located at the two sides of mandrel, the mandrel for being inserted into bobbin case axis, locating plate towards the side of mandrel be with The arcwall face of bobbin case side cambered surface mechanism is closed, locating plate is provided with the latching slide part of cooperation bobbin case in the end of the arcwall face The locating notch of end, and retention bead is arranged in locating notch two sides in the arcwall face of locating plate.
The line robot device 13. embroidery machine according to claim 1 intelligently refoots, characterized in that the bobbin case conveyer Second freedom degree of tool hand includes that three second straight line freedom degrees and second rotary freedom, second straight line freedom degree are located at The first rotary freedom rotation axis planar, three linear degrees of freedom are successively mutually perpendicular to, the second rotation Turn freedom degree and is set to bobbin case transfer robot end close to the position of bobbin case clamping device.
The line robot device 14. embroidery machine according to claim 13 intelligently refoots, characterized in that the bobbin case conveyer Tool hand includes three linear guides, an extension arm and a cursor, and first straight line guide rail is rotatablely connected described in carrier composition First rotary freedom, second straight line guide rail vertical sliding motion connect first straight line guide rail and constitute the first straight line freedom degree, the Three linear guide vertical sliding motions connect second straight line guide rail and constitute second straight line freedom degree, and it is straight that extension arm vertical sliding motion connects third Line guide rail constitutes third linear degrees of freedom, and extension arm end is rotatablely connected cursor and constitutes the second rotary freedom, cursor end End connection bobbin case clamping device.
The line robot device 15. embroidery machine according to claim 14 intelligently refoots, characterized in that the linear guide is equal Be provided with driving band, driving pulley, sliding block and servo motor, the driving pulley setting at linear guide both ends, driving band by The tensioning of both ends driving pulley, sliding block are fixedly connected with driving band, and sliding block is slidably connected guide rail, and servo motor driving driving pulley passes through Driving band band movable slider is slided along linear guide.
The line robot device 16. embroidery machine according to claim 1 intelligently refoots, characterized in that the bobbin case conveyer Second freedom degree of tool hand includes three third rotary freedoms being sequentially connected, the rotation of three third rotary freedoms Axis is parallel to each other.
The line robot device 17. embroidery machine according to claim 16 intelligently refoots, characterized in that the bobbin case conveyer Tool hand includes four sequentially connected mechanical arms, and the first mechanical arm rotation connection carrier constitutes first rotation freely Degree, second mechanical arm are rotatablely connected first mechanical arm, and third mechanical arm is rotatablely connected second mechanical arm, and the rotation of the 4th mechanical arm connects Third mechanical arm is connect, the rotation connection between the first, second, third, fourth mechanical arm constitutes three thirds rotation freely Degree.
The line robot device 18. embroidery machine according to claim 1 intelligently refoots, characterized in that the equipment further includes Position control device, the position control device include set on the master control borad of carrier, gray scale sensing module, visual identity module, Display screen on laser emitting module and carrier, the gray scale sensing module, visual identity module, laser emitting module, display Screen is electrically connected with the master control borad, and the carrier bottom is equipped with gray-scale sensor, the gray scale sensing module and ash Sensor electrical connection is spent, the bobbin case transmitting mechanical is equipped with vision probe, the vision probe and visual identity mould on hand Block electrical connection, the bobbin case clamping device are equipped with laser emitter, the laser emitter and laser emitting module electricity Connection.
The line robot device 19. embroidery machine according to claim 1 intelligently refoots, characterized in that the bobbin case clamping dress It sets including clamp bracket, dial hook, group hook driving motor and intermediate plate, the end of bobbin case transfer robot is arranged in the clamp bracket End, 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, described group of hook are L shape structure for stirring bolt-lock handle, the intermediate plate, and the bolt-lock of cooperation bobbin case is provided on the inside of intermediate plate The spacing block set of handle middle through-hole.
The line robot device 20. embroidery machine according to claim 8 intelligently refoots, characterized in that the bobbin case storing name Position includes mandrel, the end of a thread location structure, locating plate, magazine spring, bottom plate, magazine, push plate and sliding slot, and bottom plate setting is stored up in bobbin case Flitch rear, setting can accommodate the magazine of bobbin case between bottom plate and bobbin case storing plate, be provided on bobbin case mandrel several for fixed The locating slot of position bobbin case centre bore, the mandrel vertically connect push plate, and magazine spring, the end of a thread positioning are arranged between bottom plate and push plate Parallelism structural mandrel is arranged in push plate, and the locating plate setting is in magazine opening side, locating plate and the end of a thread location structure position In the heteropleural of mandrel, magazine is provided with the sliding slot of cooperation latching slide part end in locating plate this side inner wall, and the sliding slot is flat The setting of row mandrel extends on the inside of locating plate and in locating plate top end opening.