CN110373826A

CN110373826A - A kind of movable up-down automatic shuttle changing core apparatus and automatic shuttle changing core method

Info

Publication number: CN110373826A
Application number: CN201910632152.6A
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: 2019-07-13
Filing date: 2019-07-13
Publication date: 2019-10-25

Abstract

The invention discloses a kind of movable up-down automatic shuttle changing core apparatus and automatic shuttle changing core method, which includes that spaced apart peg or spindle replacement actuating station and infeed end, the lift between peg or spindle replacement actuating station and infeed end replace spindle device automatically, lift can be made to replace the driving mechanism that spindle device moves between peg or spindle replacement actuating station and infeed end automatically；It includes executing terminal that lift replaces spindle device automatically, and executing terminal includes with the mechanical finger for grabbing and decontroling bobbin case movement；Infeed end is equipped with material storage dish, and material storage dish is equipped with multiple bobbin cases and stores station, and multiple bobbin case storage stations can be corresponded with the mechanical finger executed in terminal；Lift replaces spindle device equipped with rotating mechanism and elevating mechanism automatically.The present invention applies to template machine, embroidery machine either sewing machine, solves the problems, such as that worker needs to get into and carries out artificial thread-changing below platen, reduces labor intensity, improve production efficiency.

Description

A kind of movable up-down automatic shuttle changing core apparatus and automatic shuttle changing core method

Technical field

The present invention relates to field of textile equipment, specifically a kind of movable up-down automatic shuttle changing core apparatus and move certainly Peg or spindle method.

Background technique

Currently, being all the portion by being made of bobbin case and peg or spindle in the template machine, computerized emboridering machine, bobbin thread for sewing machine used For part come what is completed, template machine, computerized emboridering machine, sewing machine require replacement peg or spindle when the baseline run in rotating shuttle is finished And bobbin case.It is in the past entirely to use artificial substitute mode, since coiling amount is less in peg or spindle, equipment operation fast speed need to disappear The baseline amount of consumption is also larger, thus need to frequently replace peg or spindle, leads to operative employee's large labor intensity, influences production efficiency.Especially Template machine and embroidery machine, are all provided with one piece of biggish table top of area, and shuttle changing shell will expend more downtimes, and operate simultaneously Work need to bend over to operate, and get into below platen, more changed jobs to the position of rotating shuttle to the bobbin case in rotating shuttle.Working strength is also more Greatly, operative employee's quantity also needs to increase accordingly, to increase labor cost, influences Business Economic Benefit.And different mould Trigger, computerized emboridering machine platen below can all have many reinforcing ribs either crosspiece, the replacement efficiency to baseline is also to have Very big influence.

Summary of the invention

In order to solve problem above, the present invention is to provide a kind of movable up-down automatic shuttle changing core apparatus and automatic shuttle changing core Method.

The technical scheme is that a kind of movable up-down automatic shuttle changing core apparatus, the device include spaced apart Peg or spindle replacement actuating station and infeed end, the lift between peg or spindle replacement actuating station and infeed end replace peg or spindle dress automatically It sets, lift can be made to replace the driving mechanism that spindle device moves between peg or spindle replacement actuating station and infeed end automatically；It is described It includes executing terminal that lift replaces spindle device automatically, and the terminal that executes includes with the machine for grabbing and decontroling bobbin case movement Tool finger；The infeed end is equipped with material storage dish, and the material storage dish is equipped with multiple bobbin cases and stores station, the multiple bobbin case storage Station can be corresponded with the mechanical finger executed in terminal；The lift replaces spindle device equipped with rotating mechanism automatically And elevating mechanism, the rotating mechanism can make to execute terminal rotation, and mechanical finger and bobbin case is made to store the bobbin case center on station Position is corresponding, and the elevating mechanism can make to execute terminal oscilaltion, and mechanical finger and bobbin case is made to store the bobbin case on station Height and position is corresponding.

Preferably, the driving mechanism includes carrying lift to replace the first mobile sliding block of spindle device, control automatically Make the moving guide rail of the first sliding block trend, the mobile driving motor of the sliding block walked on moving guide rail of the first sliding block of driving and The moving drive structure being connect with the mobile driving motor of sliding block.

As it is further preferred that the moving guide rail both ends are equipped with trigger device, the movement and transmission mechanism packet Include lead screw transmission, chain drive, gear drive, toothed belt transmission, hydraulic cylinder transmission or cylinder-driven.

As it is further preferred that the infeed end is equipped with support frame, which is fixedly connected with moving guide rail； The storing end is equipped with rollway, which includes material storage dish, material storage dish rotational drive motor, connection material storage dish and storing The terminal pad of disk rotational drive motor, the material storage dish rotational drive motor are fixed with the support frame, material storage dish rotation The output shaft of driving motor is fixedly connected after passing through support frame with the spindle central of terminal pad.

As still more preferably, when the described material storage dish rotation, there is a bobbin case storage station always on material storage dish The mechanical finger replaced automatically in the execution terminal of spindle device with lift is corresponding；The material storage dish rotational drive motor Included magnetism encoder.

As still more preferably, being Detachable connection structure, the connection between the material storage dish and terminal pad The front side center of disk is equipped with connecting column, and the storing disk center is equipped with the fixed channel of connecting column, and the connecting column is set to should Connecting column carries out centralized positioning in fixed channel；The periphery that the trailing flank of the material storage dish is located at the fixed channel of connecting column is equipped with Magnet and positioning pin, corresponding position is equipped with magnet and location hole in terminal pad, and material storage dish and terminal pad are attracted using magnet, are positioned The detachable connection method of finger setting combination；Ball is equipped in terminal pad between magnet, the front end of ball is raised in connection The end face of disk is simultaneously resisted against on the material storage dish, after material storage dish and terminal pad are mutually attracted, is stayed between material storage dish and terminal pad There is gap.

Preferably, the side that each bobbin case storage station is located on the material storage dish is equipped with bobbin case locating piece, the bobbin case It is equipped with the notch cooperated with bobbin case in locating piece, fixes, realizes with the cooperation of bobbin case locating piece when bobbin case is put into bobbin case storage station The plectrum of bobbin case and the mechanical finger that executes in terminal stir that direction is identical and the opening direction of plectrum is towards mechanical finger, shuttle Winding clamp is additionally provided with beside shell storage station.

As it is further preferred that it includes executing terminal, support base, rotation that the lift replaces spindle device automatically Mechanism and elevating mechanism, the elevating mechanism include the second sliding block, the second sliding block of control that carrying executes that terminal is gone up and down Go up and down the riser guide of track, sliding block the lifting driving motor, Yi Jiyu that the second sliding block of driving is gone up and down on riser guide Sliding block goes up and down the lifting transmission mechanism of driving motor connection；The rotating mechanism includes connection pedestal and base rotation driving electricity Machine, the connection pedestal are directly or indirectly connect with execution terminal, the base rotation driving motor and the support base Fixed, the output shaft of base rotation driving motor passes through support base and is fixedly connected with the connection pedestal.

As still more preferably, the base rotation driving motor carries magnetism encoder；The lifting is led The both ends of rail are equipped with trigger device, and the lifting transmission mechanism includes lead screw transmission, chain drive, gear drive, synchronous belt Transmission, hydraulic cylinder transmission or cylinder-driven.

As still further preferably, the output shaft end of the base rotation driving motor is additionally provided with rotational positioning knot Structure, the frame mode that the rotary positioning structure is cooperated using positioning pin and electromagnet, including positioning pin, electromagnet and from even Connect the locating piece that pedestal tail portion is extended；The junction of the connection pedestal and locating piece is defeated with base rotation driving motor Shaft is fixedly connected, and the locating piece and connection pedestal are equipped with location hole, and the support base is equipped with through-hole, positioning pin Set on the top of the electromagnet, the on/off of electromagnet realizes positioning of the positioning pin in location hole；The electromagnetism The lower section that fixed frame is fixed on the support base is crossed by Tie Tong, and is held in position pin and corresponds to each other with through-hole, on the positioning pin Equipped with flange collar, positioning pin outer cover is equipped with the spring that driving positioning pin resets, and both ends of the spring is born against in flange collar and support base On.

Preferably, the execution terminal includes base connector, bobbin case fixing seat, mechanical finger driving motor, machinery The tail portion of finger, the bobbin case fixing seat and bobbin case is bonded to each other, the bottom end of mechanical finger be equipped with the STATEMENT OF FEDERALLY SPONSORED to link therewith, Mechanical finger resetting-mechanism, the output end of mechanical finger driving motor can drive the swing of STATEMENT OF FEDERALLY SPONSORED end, drive mechanical finger It rotates to stir the plectrum of bobbin case, mechanical finger resetting-mechanism driving manipulator refers to reset, realizes that mechanical finger cooperation bobbin case is solid Bobbin case drive movement is decontroled in reservation crawl.

As it is further preferred that the lift replaces spindle device automatically further includes and the execution terminal tail The adaptive equalization regulating device of flexible connection, the adaptive equalization regulating device under external force, have front and back or a left side Direction move freely function under right or up.

As it is further preferred that the trigger device is travel switch or optocoupler.

A kind of movable up-down automatic shuttle changing core method, including the following steps:

A, the execution terminal that lift replaces spindle device automatically replaces actuating station, i.e. bobbin case fixing seat and manipulator towards peg or spindle Finger is partially toward rotating shuttle；The mobile driving motor of sliding block drives the first sliding block to move on moving guide rail, executes close to peg or spindle replacement End, the output of mechanical finger driving motor is in state promptly in elongation state, mechanical finger at this time；

B, when the first sliding block is moved to the replacement actuating station of the peg or spindle on moving guide rail, and touches trigger device, mechanical finger is driven The output end of dynamic motor shortens, and mechanical finger is flared out under the action of mechanical finger resetting-mechanism, mechanical finger driving electricity The output end of machine extends, and drives mechanical finger inwardly to rotate, while the first sliding block is moved on to rotating shuttle, until the tail of empty bobbin case Portion is resisted against in bobbin case fixing seat, and mechanical finger stirs the plectrum on sky bobbin case during this, and empty bobbin case is caught；

C, the mobile driving motor of sliding block drives the first sliding block counter motion, and the first sliding block drives lift to replace spindle device automatically Execution terminal and empty bobbin case retreat, empty bobbin case is taken out from rotating shuttle；

D, sliding block lifting driving motor drives the second sliding block to be declined on fluctuating orbit, and the second sliding block, which touches, is located at lift rail The trigger device of road lower end, sliding block, which goes up and down driving motor, to be stopped, and the second sliding block no longer declines；The height and storage of mechanical finger at this time The height of vacancy position on charging tray is identical；

E, the driving of base rotation driving motor executes terminal and is turned to, and bobbin case fixing seat and mechanical finger are partially toward storing Disk；

The fixation position of sliding block lifting driving motor and the rotation of base rotation driving motor is triggered, to execute terminal decline and rotation Premised on reinforcing rib under Shi Buhui and rotating shuttle and platen is touched；

F, the mobile driving motor of sliding block, which continues to drive the first sliding block that lift is driven to replace spindle device automatically, continues to lead to movement The infeed end of rail retreats；

G, when the first sliding block backs to the infeed end on moving guide rail, and touches trigger device, lift replaces peg or spindle automatically Empty bobbin case in device in bobbin case fixing seat is just aligned the bobbin case storage station of the open position on material storage dish, and touches Position；At this point, the output end of mechanical finger driving motor shortens, mechanical finger is driven to unclamp the plectrum on empty bobbin case, by empty bobbin case It unclamps；

H, the mobile driving motor of sliding block be driven forward the first sliding block drive lift replace automatically the execution terminal of spindle device to Peg or spindle replacement executes terminal movement, and empty bobbin case is placed on the bobbin case storage station of material storage dish；

I, it is postponed when the first sliding block proceeds to fixed bit, material storage dish rotational drive motor drives material storage dish to rotate a station, will The bobbin case storage station face lift for being equipped with bobbin case to be installed replaces spindle device automatically；

The fixation position for triggering the rotation of material storage dish rotational drive motor, will not be with lift more shuttle changing automatically when being rotated with material storage dish Premised on core apparatus touching；According to the presetting position of actual condition in real work；

J, material storage dish rotational drive motor rotation finishes, and controller issues signal, and the mobile driving motor of sliding block is driven reverse first Sliding block backs to the infeed end on moving guide rail, and touches trigger device, and the output end of mechanical finger driving motor shortens, mechanical Finger is flared out under the action of mechanical finger resetting-mechanism, and the output end elongation of mechanical finger driving motor drives mechanical Finger inwardly rotates, while the first sliding block is moved on to material storage dish, consolidates until the tail portion of bobbin case to be installed is resisted against bobbin case In reservation, mechanical finger stirs the plectrum on sky bobbin case during this, and bobbin case to be installed is caught；

K, the mobile driving motor of sliding block be driven forward the first sliding block drive lift replace automatically the execution terminal of spindle device to Peg or spindle replaces actuating station and advances, and bobbin case to be installed is removed from material storage dish；

L, the driving of base rotation driving motor executes terminal and is turned to, and bobbin case fixing seat and mechanical finger are partially toward rotating shuttle；

M, sliding block lifting driving motor drives the second sliding block to rise on fluctuating orbit, and the second sliding block, which touches, to be located on fluctuating orbit The trigger device at end, sliding block, which goes up and down driving motor, to be stopped, and the second sliding block no longer rises；The height of mechanical finger and rotating shuttle at this time Height be identical；

The fixation position of sliding block lifting driving motor and the rotation of base rotation driving motor is triggered, to execute terminal rising and rotation Premised on reinforcing rib under Shi Buhui and rotating shuttle and platen is touched；

N, the mobile driving motor of sliding block continues that the first sliding block is driven to move on moving guide rail, replaces actuating station close to peg or spindle；

O, when the first sliding block is moved to the replacement actuating station of the peg or spindle on moving guide rail, and touches trigger device, lift is automatic The bobbin case fixing seat of replacement spindle device is just moved to rotating shuttle position, bobbin case to be installed is buckled on rotating shuttle, mechanical finger Driving motor shortens, and driving manipulator refers to the plectrum unclamped on bobbin case to be installed, and bobbin case to be installed is unclamped；

P, the mobile driving motor reversion of sliding block, the execution terminal that the first sliding block drives lift to replace spindle device automatically retreat, When executing terminal and rotating shuttle does not contact completely, rotating shuttle is started to work, and the present apparatus is stayed where one is, pending further orders；

Q, when the line in the peg or spindle in bobbin case is finished, A-P step is repeated, realizes that peg or spindle next time more changes jobs.

The invention has the benefit that the present invention uses a moving track, a fluctuating orbit, two rotation axis cooperations Mode, realize more changing jobs for peg or spindle, the artificial mode for replacing bobbin case one by one of script be changed to continuous feeding, and pass through Moveable automatic replacement bobbin case device is replaced, and empty bobbin case is recycled to material storage dish and carries out unified replacement.By infeed end Set on the outermost end of platen, it can be achieved with the line movement that refoots automatically to template machine, embroidery machine or sewing machine, bored without worker Below to platen.And when worker's replacement material storage dish, only entire material storage dish need to be taken out and replaced in the outermost end of platen, It is very convenient.Material storage dish realizes Quick Release fast-assembling, facilitates operation using demountable device.And it is especially applicable to Rotating shuttle passes through moving track and lifting to multiple reinforcing ribs, the template machine of crosspiece, embroidery machine or sewing machine is equipped between platen The cooperation of track can effectively avoid these reinforcing ribs and crosspiece, realize the work of automatic shuttle changing core.In use process of the present invention, if The standby time for shutting down replacement baseline is short, accelerates working efficiency, reduces labor intensity of workers.

Detailed description of the invention

Fig. 1 is overall structure diagram of the invention.

Fig. 2 is main view of the invention.

Fig. 3 is one of the fractionation structural representation of rollway of the invention.

Fig. 4 is the two of the fractionation structural representation of rollway of the invention.

Fig. 5 is one of the structural schematic diagram of automatic replacement spindle device of the invention.

Fig. 6 is the second structural representation of automatic replacement spindle device of the invention.

Fig. 7 is one of working state schematic representation of the invention.

Fig. 8 is the two of working state schematic representation of the invention.

Fig. 9 is control block diagram of the invention.

Specific embodiment

Below in conjunction with the accompanying drawings and embodiment the invention will be further described.

As shown, a kind of movable up-down automatic shuttle changing core apparatus, which includes that spaced apart peg or spindle replacement is held Row end 7 and infeed end 3, the lift between peg or spindle replacement actuating station 7 and infeed end 3 are replaced spindle device 9 automatically, can be made Lift replaces spindle device 9 automatically and replaces the driving mechanism moved between actuating station 7 and infeed end 3 in peg or spindle；The lifting It includes executing terminal that formula replaces spindle device 9 automatically, and the terminal that executes includes having to grab and decontrol the machine that bobbin case 29 acts Tool finger 30；The infeed end 3 is equipped with material storage dish 18, and the material storage dish 18 is equipped with multiple bobbin cases and stores station, the multiple Bobbin case is stored station and can be corresponded with the mechanical finger 30 executed in terminal；The lift is replaced automatically on spindle device 9 Equipped with rotating mechanism and elevating mechanism, the rotating mechanism can make to execute terminal rotation, make mechanical finger 30 and bobbin case storing name Bobbin case center on position is corresponding, and the elevating mechanism can make to execute terminal oscilaltion, makes mechanical finger 30 and bobbin case The bobbin case height and position stored on station is corresponding.

In the present embodiment, the driving mechanism includes carrying lift to replace the first cunning that spindle device 9 moves automatically The mobile driving of sliding block that block 8, the moving guide rail 4 of control the first sliding block 8 trend, the first sliding block 8 of driving are walked on moving guide rail 4 Motor 2 and the moving drive structure being connect with the mobile driving motor 2 of sliding block.

In the present embodiment, 4 both ends of moving guide rail are equipped with trigger device 6, and the movement and transmission mechanism includes silk Thick stick transmission, chain drive, gear drive, toothed belt transmission, hydraulic cylinder transmission or cylinder-driven.

When for lead screw transmission, the mobile driving motor 2 of sliding block that is rotated including moving guide rail 4, lead screw 5, driving lead screw 5 and The sliding block that cooperates and can walk on moving guide rail 4 and lead screw 5 with moving guide rail 4, lead screw 5；The both ends of the lead screw 5 It is fixed on by fixed plate on the moving guide rail 4, moving guide rail 4 is equipped with the mobile driving motor 2 of sliding block, and the sliding block moves The output shaft of dynamic driving motor 2 passes through fixed plate and connect with the lead screw 5, and driving lead screw 5 is rotated.

When for gear drive, including mobile moving guide rail, rack gear, the gear being engaged with rack are fixedly connected with gear Sliding block and the mobile driving motor of the sliding block of sliding tooth wheel rotation, the mobile driving motor sliding tooth wheel rotation of sliding block, gear and tooth Item engagement band movable slider is walked on moving guide rail.

When being driven for synchronous band forms, including moving guide rail, the synchronous pulley set on moving guide rail both ends, connection synchronous belt The synchronous belt of wheel drives the mobile driving motor of sliding block of one of synchronous pulley rotation, and sliding block is fixedly connected with synchronous belt, sliding The mobile driving motor driving synchronous pulley rotation of block, is walked on moving guide rail by synchronous belt band movable slider.When for chain drive, Principle is identical with this.

For hydraulic cylinder transmission or when cylinder-driven, directly the piston of sliding block and hydraulic cylinder or cylinder is fixed, by hydraulic Cylinder or cylinder driving piston driving sliding block move between material storage dish and peg or spindle replacement actuating station.

In the present embodiment, the infeed end 3 is equipped with support frame 10, which is fixedly connected with moving guide rail 4； The storing end is equipped with rollway 1, which includes material storage dish 18, material storage dish rotational drive motor 12, connection material storage dish 18 and material storage dish rotational drive motor 12 terminal pad 15, the material storage dish rotational drive motor 12 and the support frame 10 Fixed, the output shaft of material storage dish rotational drive motor 12 is fixedly connected after passing through support frame 10 with the spindle central of terminal pad 15.

In the present embodiment, when the material storage dish 18 rotates, there is a bobbin case storage station on material storage dish 18 always and rise It is corresponding that drop formula replaces the mechanical finger 30 in the execution terminal of spindle device 9 automatically；The material storage dish rotational drive motor 12 included magnetism encoders.Material storage dish can be to be horizontal or vertical, when being horizontal, and the central axis of material storage dish is vertical direction；For When vertical, the central axis of material storage dish is horizontal direction；Material storage dish can even is that inclined；The setting of material storage dish is unrestricted, only Need to ensure material storage dish in the course of rotation, there is the position face mechanical finger of bobbin case storage station always, and with machinery Finger is corresponding, puts down sky bobbin case for mechanical finger, grabs bobbin case to be installed.

It is Detachable connection structure, the terminal pad 15 between the material storage dish 18 and terminal pad 15 in the present embodiment Front side center be equipped with connecting column 16,18 center of material storage dish is equipped with the fixed channel 19 of connecting column, the connecting column 16 Centralized positioning is carried out in the fixed channel 19 of the connecting column；The trailing flank of the material storage dish 18 is located at the fixed channel of connecting column 19 periphery is equipped with magnet 11 and positioning pin 22, and corresponding position is equipped with magnet 11 and location hole 14, material storage dish 18 in terminal pad 15 It is attracted with terminal pad 15 using magnet 11, the detachable connection method of 22 bit combination of positioning pin；It is located at magnet in terminal pad 15 Ball 13 is equipped between 11, the front end of ball 13 is raised in the end face of terminal pad 15 and is resisted against on the material storage dish 18, storage After charging tray 18 and terminal pad 15 are mutually attracted, there are gaps between material storage dish 18 and terminal pad 15.The structure is by material storage dish 18 Face contact between terminal pad 15 is converted into point contact, and the end of a thread in peg or spindle is avoided to be wound the case where clamping.

The side for being located at each bobbin case storage station in the present embodiment, on the material storage dish 18 is equipped with bobbin case locating piece 20, notch cooperate with bobbin case is equipped in the bobbin case locating piece 20, when bobbin case is put into bobbin case storage station and bobbin case locating piece 20 Cooperation is fixed, and that realizes the plectrum 21 of bobbin case and the mechanical finger 30 in execution terminal stirs that direction is identical and the opening of plectrum 21 Towards mechanical finger 30, such structure setting is the plectrum 21 stirred on bobbin case for cooperative mechanical finger 30, bobbin case in direction Be additionally provided with winding clamp 17 beside storage station, in real work, the work of winding clamp 17 be by the end of a thread of end in peg or spindle into Row stationary positioned prevents peg or spindle the end of a thread too long, the problem of winding.Bobbin case storage station can be set in the outer of material storage dish It also can be set in the disk of material storage dish in week, only need to ensure material storage dish in the course of rotation, there is a bobbin case storage always The position face mechanical finger of station, and the plectrum of bobbin case and the mechanical finger that executes in terminal stir that direction is identical and plectrum Opening direction towards mechanical finger.

In the present embodiment, it includes executing terminal, support base 33, whirler that the lift replaces spindle device 9 automatically Structure and elevating mechanism, the elevating mechanism include the second sliding block 32, the second sliding block of control that carrying executes that terminal is gone up and down The sliding block lifting driving motor that riser guide 23, the second sliding block 32 of driving of 32 lifting tracks are gone up and down on riser guide 23 24 and with the lifting transmission mechanism that connect of sliding block lifting driving motor 24；The rotating mechanism includes connection 25 He of pedestal Base rotation driving motor 34, the connection pedestal 25 are directly or indirectly connect with execution terminal, the base rotation driving Motor 34 and the support base 33 are fixed, and the output shaft of base rotation driving motor 34 passes through support base 33 and the connection Pedestal 25 is fixedly connected.

In the present embodiment, the base rotation driving motor 34 carries magnetism encoder；The riser guide 23 Both ends are equipped with trigger device 6, and the lifting transmission mechanism includes 5 transmission of lead screw, chain drive, gear drive, synchronous belt biography Dynamic, hydraulic cylinder transmission or cylinder-driven.Lifting transmission mechanism can refer to the content of aforementioned moving drive structure.

In the present embodiment, the output shaft end of the base rotation driving motor 34 is additionally provided with rotary positioning structure, described The frame mode that is cooperated using positioning pin 22 and electromagnet 35 of rotary positioning structure, including positioning pin 22, electromagnet 35 and from The locating piece 36 that connection 25 tail portion of pedestal is extended；The junction of the connection pedestal 25 and locating piece 36 and base rotation drive The output shaft of dynamic motor 34 is fixedly connected, and the locating piece 36 and connection pedestal 25 are equipped with location hole 14, the support Seat 33 is equipped with through-hole, and positioning pin 22 is set to the top of the electromagnet 35, and the on/off of electromagnet 35 realizes positioning pin 22 positioning in location hole 14；The electromagnet 35 is fixed on the lower section of the support base 33 by fixed frame, and keeps Positioning pin 22 is corresponded to each other with through-hole, and the positioning pin 22 is equipped with flange collar, and 22 outer cover of positioning pin is equipped with driving positioning pin 22 springs resetted, both ends of the spring are born against in flange collar and support base 33.

In the present embodiment, the execution terminal includes base connector 26, bobbin case fixing seat 28, mechanical finger driving electricity The tail portion of machine 31, mechanical finger 30, the bobbin case fixing seat 28 and bobbin case is bonded to each other, the bottom end of mechanical finger 30 be equipped with The STATEMENT OF FEDERALLY SPONSORED of linkage, 30 resetting-mechanism of mechanical finger, the output end of mechanical finger driving motor 31 can drive STATEMENT OF FEDERALLY SPONSORED end Swing, drive the rotation of mechanical finger 30 to stir the plectrum 21 of bobbin case, 30 resetting-mechanism driving manipulator of mechanical finger refers to 30 It resets, 30 resetting-mechanism of mechanical finger is dynamic clamping head and quiet clamping head, and the output end elongation of mechanical finger driving motor 31 can drive connection Moving part is swung, and mechanical finger 30 is driven inwardly to be stirred, and when the output end of mechanical finger driving motor 31 is retracted, mechanical finger 30 is multiple Position mechanism drives mechanical finger 30 to be flared out, and realizes that mechanical finger 30 cooperates the crawl of bobbin case fixing seat 28 or decontrols bobbin case and drives Movement.It is additionally provided with inductive switch near mechanical finger 30, to incude the movement of crawl and the relieving of mechanical finger 30.

In the present embodiment, the lift replaces spindle device 9 automatically and further includes and the execution terminal tail activity The adaptive equalization regulating device 27 of connection, the adaptive equalization regulating device 27 under external force, have front and back or a left side Direction move freely function under right or up.The particular content of the adaptive equalization regulating device 27 is the applicant in 2019 3 Application No. is CN201910218531.0 filed in months 21 days, patent name be a kind of execution terminal adaptive equalization adjust from Move bobbin case device.The setting of adaptive equalization regulating device 27 docks with rotating shuttle 37 executing terminal, executes terminal and bobbin case It stores in the docking of station and plays the role of automatic adjustment and buffering, since the present embodiment is using motor driven, movement is all It is rigid, and the movement precision for replacing bobbin case is relatively high, if being not provided with buffering and self-checking device, more The case where stuck or replacement failure is easy to happen during shuttle changing shell.

In the present embodiment, the trigger device 6 is travel switch or optocoupler.

In the present embodiment, which further includes a controller, the material storage dish rotational drive motor 12, base rotation The mobile driving motor 2 of driving motor 34, sliding block, sliding block lifting driving motor 24, mechanical finger driving motor 31, electromagnet 35 are equal It is electrically connected with controller, their start and stop is controlled by controller.Wherein, material storage dish rotational drive motor 12, base rotation drive The mobile driving motor 2 of dynamic motor 34, sliding block, sliding block lifting driving motor 24 are stepper motor, with reference to model PD45-4H system Column precision stepper motor or suitable product；Material storage dish rotational drive motor 12, base rotation driving motor 34 carry magnetoelectricity coding Device, the form of included magnetism encoder is to accurately control the rotational angle for positioning stepper motor；Mechanical finger driving motor 31 is Linear motor, with reference to model LS350-103J Series Precision linear motor or suitable product, using linear motor, output The stretching at end can be retracted can refer to 30 movements for making crawl and relieving with driving manipulator；Inductive switch, trigger switch with control Device processed is electrically connected, and Real-time Feedback signal is to controller, the reference model EE- of inductive switch when incuding or touching SX670WR series inductive switch or suitable product, trigger switch is optocoupler either travel switch, with reference to model ZS336M Serial travel switch or suitable product.

It is illustrated as an example with template machine, reset condition is that the present invention is installed on 38 lower section of platen of template machine, infeed end 3 close to the edge of platen 38, and peg or spindle replaces rotating shuttle 37 lower section of the actuating station 7 close to template machine, the bobbin case being installed on rotating shuttle 37 Interior baseline has run out, and the inside is the peg or spindle of not baseline, that is, empty bobbin case；The state of material storage dish 18 is to store up at this time Having a bobbin case storage station on charging tray 18 is open position, which replaces spindle device 9, storing automatically What is stored on other bobbin case storage stations on disk 18 is all the bobbin case with the peg or spindle for winding line, that is, shuttle to be installed Shell；

A, the execution terminal that lift replaces spindle device 9 automatically replaces actuating station 7, i.e. bobbin case fixing seat 28 and machine towards peg or spindle Tool finger 30 is partially toward rotating shuttle 37；At this time in rotary positioning structure, the location hole 14 and through-hole on locating piece 36 are coaxial, electromagnetism Iron 35 powers off, and positioning pin 22 is stretched out under the action of the spring in through-hole and location hole 14, realizes positioning；The mobile driving electricity of sliding block Machine 2 drives the first sliding block 8 to move on moving guide rail 4, replaces actuating station 7 close to peg or spindle, at this time mechanical finger driving motor 31 Output in elongation state, mechanical finger 30 is in state promptly；

B, when the first sliding block 8 is moved to the replacement actuating station 7 of the peg or spindle on moving guide rail 4, and touches trigger device 6, triggering dress 6 feedback signals are set to controller, controller issues signal, and the output end of mechanical finger driving motor 31 shortens, mechanical finger 30 It is flared out under the action of 30 resetting-mechanism of mechanical finger, the inductive switch on 30 side of mechanical finger senses that mechanical finger 30 is opened After reaching position, for feedback signal to controller, controller issues signal, and the output end elongation of mechanical finger driving motor 31 drives Mechanical finger 30 inwardly rotates, while the first sliding block 8 is moved on to rotating shuttle 37, consolidates until the tail portion of empty bobbin case is resisted against bobbin case In reservation, mechanical finger 30 stirs the plectrum 21 on sky bobbin case during this, and empty bobbin case is caught；

C, controller issues signal, and the mobile driving motor 2 of sliding block drives 8 counter motion of the first sliding block, and the first sliding block 8 drives lifting Formula replaces the execution terminal of spindle device 9 automatically and empty bobbin case retreats, and empty bobbin case is taken out from rotating shuttle 37；

D, sliding block lifting driving motor 24 drives the second sliding block 32 to be declined on fluctuating orbit, and the touch of the second sliding block 32 is located at The trigger device of fluctuating orbit lower end, sliding block, which goes up and down driving motor 24, to be stopped, and the second sliding block 32 no longer declines；Mechanical finger at this time 30 height and the height of the vacancy position on material storage dish 18 are identical；

E, controller issues signal, and the driving of base rotation driving motor 34 executes terminal and turned to, bobbin case fixing seat 28 and machine Tool finger 30 is partially toward material storage dish 18, at this point, electromagnet 35 is powered, absorption positioning pin 22 is removed from location hole 14 and through-hole Out, base rotation driving motor 34 rotates, and after rotateing in place, another location hole 14 and through-hole are coaxial, and electromagnet 35 powers off, fixed Position pin 22 resets under the action of the spring, extend out in through-hole and location hole 14 and realizes positioning；

Trigger sliding block lifting driving motor 24 and base rotation driving motor 34 rotate fixation position, with execute terminal decline and Premised on will not being touched with the reinforcing rib under rotating shuttle 37 and platen 38 when rotation；

F, the mobile driving motor 2 of sliding block, which continues to drive the first sliding block 8 that lift is driven to replace spindle device 9 automatically, continues to movement The infeed end 3 of guide rail 4 retreats；

G, when the first sliding block 8 backs to the infeed end 3 on moving guide rail 4, and touches trigger device 6, lift is replaced automatically Empty bobbin case in spindle device 9 in bobbin case fixing seat 28 is just aligned the bobbin case storage station of the open position on material storage dish 18, And it contacts in place；At this point, trigger switch feedback signal, to controller, controller issues signal, mechanical finger driving motor 31 Output end shortens, and drives mechanical finger 30 to unclamp the plectrum 21 on empty bobbin case, empty bobbin case is unclamped；

H, the mobile driving motor 2 of sliding block is driven forward the execution terminal that the first sliding block 8 drives lift to replace spindle device 9 automatically It is replaced to peg or spindle and executes terminal movement, empty bobbin case is placed on the bobbin case storage station of material storage dish 18；

I, it is postponed when the first sliding block 8 proceeds to fixed bit, material storage dish rotational drive motor 12 drives material storage dish 18 to rotate a work The bobbin case for being equipped with bobbin case to be installed storage station face lift is replaced spindle device 9 by position automatically；

The fixation position that material storage dish rotational drive motor 12 rotates is triggered, with will not be with lift automatically more when the rotation of material storage dish 18 Premised on shuttle changing core apparatus 9 is touched；According to the presetting position of actual condition in real work；

J, the rotation of material storage dish rotational drive motor 12 finishes, and controller issues signal, and the mobile driving motor 2 of sliding block is driven reverse the One sliding block 8 backs to the infeed end 3 on moving guide rail 4, and touches trigger device 6, the output end of mechanical finger driving motor 31 Shorten, mechanical finger 30 is flared out under the action of mechanical finger resetting-mechanism, the output end of mechanical finger driving motor 31 Elongation drives mechanical finger 30 inwardly to rotate, while the first sliding block 8 is moved on to material storage dish 18, until bobbin case to be installed Tail portion be resisted against in bobbin case fixing seat, mechanical finger 30 stirs the plectrum 21 on sky bobbin case during this, will be to be installed Bobbin case is caught；

K, the mobile driving motor 2 of sliding block is driven forward the execution terminal that the first sliding block 8 drives lift to replace spindle device 9 automatically Advance to peg or spindle replacement actuating station 7, bobbin case to be installed is removed from material storage dish 18；

L, controller issues signal, and the driving of base rotation driving motor 34 executes terminal and turned to, bobbin case fixing seat 28 and machine Tool finger 30 is partially toward rotating shuttle 37, at this point, electromagnet 35 is powered, absorption positioning pin 22 is withdrawn from from location hole 14 and through-hole, Base rotation driving motor 34 rotates, and after rotateing in place, another location hole 14 and through-hole are coaxial, and electromagnet 35 powers off, positioning Pin 22 resets under the action of the spring, extend out in through-hole and location hole 14 and realizes positioning；

M, sliding block lifting driving motor 24 drives the second sliding block 32 to rise on fluctuating orbit, and the second sliding block 32, which touches, is located at lifting The trigger device of track upper end, sliding block, which goes up and down driving motor 24, to be stopped, and the second sliding block 32 no longer rises；Mechanical finger 30 at this time Height and the height of rotating shuttle 37 are identical；

Trigger sliding block lifting driving motor 24 and base rotation driving motor 34 rotate fixation position, with execute terminal rise and Premised on will not being touched with the reinforcing rib under rotating shuttle 37 and platen 38 when rotation；

N, the mobile driving motor 2 of sliding block continues that the first sliding block 8 is driven to move on moving guide rail 4, replaces actuating station close to peg or spindle 7；

O, when the first sliding block 8 is moved to the replacement actuating station 7 of the peg or spindle on moving guide rail 4, and touches trigger device 6, lift The bobbin case fixing seat 28 of automatic replacement spindle device 9 is just moved to 37 position of rotating shuttle, and bobbin case to be installed is buckled in rotating shuttle 37 On, mechanical finger driving motor 31 shortens, and driving manipulator refers to the plectrum 21 on 30 releases bobbin case to be installed, will be to be installed Bobbin case unclamps；

P, the mobile driving motor 2 of sliding block inverts, after the execution terminal that the first sliding block 8 drives lift to replace spindle device 9 automatically It moves back, when executing terminal and rotating shuttle 37 does not contact completely, rotating shuttle 37 is started to work, and the present apparatus is stayed where one is, pending further orders；

In the description of description of the invention, it is to be understood that term " advance ", " retrogressing ", "upper", "lower", etc. refer to The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation Make, therefore is not considered as limiting the invention.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden It include one or more of the features containing ground.

In the present invention unless specifically defined or limited otherwise, the terms such as term " connection " shall be understood in a broad sense, example Such as, it may be a fixed connection, may be a detachable connection, or is integral；Can be mechanical connection, be also possible to electrical connection or It can communicate with each other；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary Logical or two elements interaction relationship.For the ordinary skill in the art, can understand as the case may be The concrete meaning of above-mentioned term in the present invention.

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 is still It is possible to modify the technical solutions described in the foregoing embodiments, or some or all of the technical features is carried out Equivalent replacement；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side The range of case.

Claims

1. a kind of movable up-down automatic shuttle changing core apparatus, it is characterised in that the device includes that spaced apart peg or spindle replacement executes End and infeed end, the lift between peg or spindle replacement actuating station and infeed end replace spindle device automatically, can make lift Automatic replacement spindle device replaces the driving mechanism moved between actuating station and infeed end in peg or spindle；The lift is replaced automatically Spindle device includes executing terminal, and the terminal that executes includes with the mechanical finger for grabbing and decontroling bobbin case movement；The confession Expect that end is equipped with material storage dish, the material storage dish is equipped with multiple bobbin cases and stores station, and the multiple bobbin case storage station can be with execution Mechanical finger in terminal corresponds；The lift replaces spindle device automatically and is equipped with rotating mechanism and elevating mechanism, The rotating mechanism can make to execute terminal rotation, and the bobbin case center for storing mechanical finger with bobbin case on station is corresponding, The elevating mechanism can make to execute terminal oscilaltion, and the bobbin case height and position for storing mechanical finger with bobbin case on station is opposite It answers.

2. a kind of movable up-down automatic shuttle changing core apparatus according to claim 1, it is characterised in that the driving machine Structure includes carrying lift to replace the first mobile sliding block of spindle device, the moving guide rail of control the first sliding block trend, drive automatically The mobile driving motor of the sliding block that dynamic first sliding block is walked on moving guide rail and the movement being connect with the mobile driving motor of sliding block Drive mechanism.

3. a kind of movable up-down automatic shuttle changing core apparatus according to claim 2, it is characterised in that the movement is led Rail both ends are equipped with trigger device, and the movement and transmission mechanism includes lead screw transmission, chain drive, gear drive, synchronous belt biography Dynamic, hydraulic cylinder transmission or cylinder-driven.

4. a kind of movable up-down automatic shuttle changing core apparatus according to claim 2, it is characterised in that the infeed end is set There is support frame, which is fixedly connected with moving guide rail；The storing end is equipped with rollway, which includes storage Charging tray, material storage dish rotational drive motor, the terminal pad for connecting material storage dish and material storage dish rotational drive motor, the material storage dish turn Dynamic driving motor is fixed with the support frame, the output shaft of material storage dish rotational drive motor after support frame with terminal pad Spindle central is fixedly connected.

5. a kind of movable up-down automatic shuttle changing core apparatus according to claim 4, it is characterised in that the material storage dish There are a bobbin case storage station and lift to replace the machine in the execution terminal of spindle device automatically when rotation, on material storage dish always Tool finger is corresponding；The material storage dish rotational drive motor carries magnetism encoder.

6. a kind of movable up-down automatic shuttle changing core apparatus according to claim 4, it is characterised in that the material storage dish It is Detachable connection structure between terminal pad, the front side center of the terminal pad is equipped with connecting column, the storing disk center Equipped with the fixed channel of connecting column, the connecting column is set in the fixed channel of the connecting column and carries out centralized positioning；The storing The periphery that the trailing flank of disk is located at the fixed channel of connecting column is equipped with magnet and positioning pin, in terminal pad corresponding position be equipped with magnet and Location hole, material storage dish and terminal pad are attracted using magnet, the detachable connection method of positioning pin bit combination；It is located in terminal pad Ball is equipped between magnet, the front end of ball is raised in the end face of terminal pad and is resisted against on the material storage dish, material storage dish and After terminal pad is mutually attracted, there are gaps between material storage dish and terminal pad.

7. a kind of movable up-down automatic shuttle changing core apparatus according to claim 1 or 4 or 5, it is characterised in that described The side for being located at each bobbin case storage station on material storage dish is equipped with bobbin case locating piece, is equipped in the bobbin case locating piece and cooperates with bobbin case Notch, bobbin case be put into bobbin case storage station when with bobbin case locating piece cooperation fix, realize bobbin case plectrum and execute terminal in Mechanical finger stir that direction is identical and the opening direction of plectrum is towards mechanical finger, is additionally provided with beside bobbin case storage station Winding clamp.

8. a kind of movable up-down automatic shuttle changing core apparatus according to claim 2, it is characterised in that the lift Automatic replacement spindle device includes executing terminal, support base, rotating mechanism and elevating mechanism, and the elevating mechanism includes carrying The second sliding block, the second sliding block of control that terminal is gone up and down is executed to go up and down the riser guide of track, the second sliding block is driven to go up and down The sliding block lifting driving motor gone up and down on guide rail and the lifting transmission mechanism being connect with sliding block lifting driving motor；Institute The rotating mechanism stated includes connection pedestal and base rotation driving motor, the connection pedestal directly or indirectly with execute terminal Connection, the base rotation driving motor are fixed with the support base, and the output shaft of base rotation driving motor passes through support Seat is fixedly connected with the connection pedestal.

9. a kind of movable up-down automatic shuttle changing core apparatus according to claim 8, it is characterised in that the pedestal turns Dynamic driving motor carries magnetism encoder；The both ends of the riser guide are equipped with trigger device, the lifting transmission mechanism Including lead screw transmission, chain drive, gear drive, toothed belt transmission, hydraulic cylinder transmission or cylinder-driven.

10. a kind of movable up-down automatic shuttle changing core apparatus according to claim 9, it is characterised in that the pedestal turns The output shaft end of dynamic driving motor is additionally provided with rotary positioning structure, and the rotary positioning structure is matched using positioning pin and electromagnet The frame mode of conjunction, including positioning pin, electromagnet and the locating piece extended from connection pedestal tail portion；The connection pedestal and The junction of locating piece is fixedly connected with the output shaft of base rotation driving motor, and the locating piece and connection pedestal are equipped with Location hole, the support base are equipped with through-hole, and positioning pin is set to the top of the electromagnet, and the on/off of electromagnet is real Existing positioning of the positioning pin in location hole；The electromagnet is fixed on the lower section of the support base by fixed frame, and keeps Positioning pin is corresponded to each other with through-hole, and the positioning pin is equipped with flange collar, and positioning pin outer cover is equipped with what driving positioning pin resetted Spring, both ends of the spring are born against in flange collar and support base.

11. a kind of movable up-down automatic shuttle changing core apparatus according to claim 1, it is characterised in that described executes end End includes base connector, bobbin case fixing seat, mechanical finger driving motor, mechanical finger, the bobbin case fixing seat and bobbin case Tail portion be bonded to each other, the bottom end of mechanical finger is equipped with the STATEMENT OF FEDERALLY SPONSORED to link therewith, mechanical finger resetting-mechanism, and mechanical finger drives The output end of dynamic motor can drive the swing of STATEMENT OF FEDERALLY SPONSORED end, drive mechanical finger rotation to stir the plectrum of bobbin case, manipulator Refer to that resetting-mechanism driving manipulator refers to reset, realize mechanical finger cooperation bobbin case fixing seat crawl or decontrols bobbin case drive movement.

12. a kind of movable up-down automatic shuttle changing core apparatus according to claim 11, it is characterised in that the lifting Formula replace automatically spindle device further include with the adaptive equalization regulating device that is flexibly connected of execution terminal tail, it is described oneself It adapts to balance regulator under external force, has the function of that back and forth or left and right or up and down direction are move freely.

13. a kind of movable up-down automatic shuttle changing core apparatus according to claim 3 or 9, it is characterised in that the touching Transmitting apparatus is travel switch or optocoupler.

14. a kind of movable up-down automatic shuttle changing core method, it is characterised in that including the following steps: