CN113502616A

CN113502616A - Looping head separation piece transferring mechanical arm with rope locking function and embroidery machine

Info

Publication number: CN113502616A
Application number: CN202110590695.3A
Authority: CN
Inventors: 王海江; 田桂郁; 沈忠伟
Original assignee: Zhejiang Xinsheng Technology Co Ltd
Current assignee: Zhejiang Xinsheng Technology Co Ltd
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2021-10-15
Anticipated expiration: 2041-05-28
Also published as: CN113502616B

Abstract

The invention discloses a looping head separating piece transferring manipulator with a rope locking function and an embroidery machine, wherein the looping head separating piece transferring manipulator comprises a looping head separating piece grabbing mechanism, a rope locking chuck mechanism, a manipulator Y-direction moving mechanism and a manipulator Z-direction moving mechanism; the loop head separating piece grabbing mechanism is used for grabbing and releasing the loop head separating piece, the rope embroidery locking rope chuck mechanism is used for locking a rope penetrating through the loop head separating piece in the loop head separating piece transferring process, the mechanical arm Y-direction moving mechanism is used for driving the loop head separating piece grabbing mechanism and the rope locking chuck mechanism to move along the Y direction, and the mechanical arm Z-direction moving mechanism is used for driving the loop head separating piece and the rope locking chuck mechanism to move along the Z direction. The invention adopts the looper head separating piece grabbing mechanism to grab and release the looper head separating piece, and realizes the transfer of the looper head separating piece and the rope locking chuck mechanism between two positions through the matching of the mechanical arm Y-direction moving mechanism and the mechanical arm Z-direction moving mechanism.

Description

Looping head separation piece transferring mechanical arm with rope locking function and embroidery machine

Technical Field

The invention relates to the technical field of embroidery machines, in particular to a multifunctional rope embroidery device.

Background

The existing rope embroidery in the market can only finish single-color rope embroidery of a single device, and the rope or a combination of multiple devices is needed to finish multicolor rope embroidery production, so that the working procedures are increased, the labor intensity of operators is increased, the processing time is prolonged, and the product yield is reduced.

In order to conveniently carry out multicolor rope embroidery, the applicant develops a combination of a line collecting box and a split type looping head, wherein a looping head separating piece collecting seat is arranged in the line collecting box, the split type looping head comprises a looping head body and looping head separating pieces which can be combined into a whole or separated from the looping head body, threading holes are formed in the looping head separating pieces, and ropes or belts to be used for embroidery are threaded well in advance for standby by each looping head separating piece.

When the embroidery begins, the looping head separating pieces on the looping head collecting seat need to be moved to the looping head body for combination, the embroidery can be carried out, the original looping head separating pieces and the rope are recycled to the looping head separating piece collecting seat of the line concentration box when the color of the rope embroidery is changed, then the looping head separating pieces used after the color change are grabbed from the other looping head collecting seat, and the looping head separating pieces are transferred to the looping head body for combination. Thus, a manipulator is needed to realize the back-and-forth transfer of the separating sheet of the looping head between the looping head collecting seat and the looping head body.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing the looping head separating piece transferring manipulator with the rope locking function, so that the looping head separating piece is transferred back and forth between the looping head body and the looping head collecting seat in the wire collecting box, and the rope is prevented from being separated from the manipulator and the looping head separating piece in the rope transferring process.

In order to solve the technical problems, the invention adopts the following technical scheme: a looping head separating piece transferring manipulator with a rope locking function comprises a looping head separating piece grabbing mechanism, a rope locking chuck mechanism, a manipulator Y-direction moving mechanism and a manipulator Z-direction moving mechanism;

the mechanical arm Y-direction moving mechanism is used for driving the looping head separating piece grabbing mechanism and the rope locking chuck mechanism to move along the Y direction, and the mechanical arm Z-direction moving mechanism is used for driving the looping head separating piece and the rope locking chuck mechanism to move along the Z direction; the loop-making head separating sheet and the rope-locking chuck mechanism are transferred between two positions through the matching of the mechanical arm Y-direction moving mechanism and the mechanical arm Z-direction moving mechanism.

Preferably, the looping head separating piece grabbing mechanism comprises two grabs and a gripper pushing block capable of sliding back and forth, the left side and the right side of the gripper pushing block are symmetrically provided with two arc-shaped grooves, the middle parts of the grabs are hinged to gripper pin shafts, the gripper pin shafts are fixed on a gripper fixing plate, the rear parts of the grabs are connected with gripper linkage pins, the arc-shaped grooves are connected with the gripper linkage pins, and the gripper linkage pins are driven to slide back and forth to drive the two grabs to open and close by driving the gripper linkage pins.

Preferably, the gripper pushing block is provided with a positioning sliding groove, the manipulator fixing seat is connected with a positioning pin, and the positioning sliding groove slides along the positioning pin.

Preferably, the looping head separating piece grabbing mechanism further comprises a first connecting rod pin A and a second connecting rod pin B, the first connecting rod pin A and the second connecting rod pin B are arranged on the gripper pushing block, the front end of the first connecting rod A is hinged to the first connecting rod pin, the front end of the first connecting rod A is provided with a kidney-shaped groove, the rear end of the first connecting rod A is hinged to the second connecting rod pin, and the second connecting rod pin is connected with the kidney-shaped groove.

Preferably, the looping head separating piece grabbing mechanism further comprises a manipulator executing motor, the manipulator executing motor is provided with a driving shaft capable of stretching back and forth, and the driving shaft is hinged to the rear end of the gripper pushing block connecting rod A through a motor connecting block.

Preferably, the manipulator Y-direction movement mechanism comprises a Y support arm, a Y-direction motor arranged on the Y support arm and a Y-direction screw nut component driven by the Y-direction motor, and the Y-direction screw nut component is connected with the looping head separation piece grabbing mechanism.

Preferably, the robot arm Z-direction movement mechanism comprises a Z-direction guide rail, a Z-direction motor and a Z-direction lead screw nut assembly driven by the Z-direction motor, and the Z-direction lead screw nut assembly is connected with the robot arm Y-direction movement mechanism.

Preferably, the rope locking chuck mechanism comprises a fixed rope locking chuck, a movable rope locking chuck and a rope locking chuck actuating motor for driving the movable rope locking chuck to relatively fix the rope locking chuck so as to clamp or loosen the rope.

Preferably, the movable rope locking chuck is connected to a transmission shaft of a rope locking transmission gear, the movable rope locking chuck is provided with transmission teeth, the rope locking chuck mechanism further comprises a rope locking transmission gear meshed with the transmission teeth to drive the movable rope locking chuck to rotate, the rope locking transmission gear is fixed to the transmission shaft of the rope locking transmission gear, and the movable rope locking chuck is driven to rotate by driving the transmission shaft of the rope locking transmission gear.

The invention also provides an embroidery machine which comprises the looping head separating piece transferring manipulator with the rope locking function.

According to the technical scheme, the loop head separating piece grabbing mechanism is used for grabbing and releasing the loop head separating piece, and the loop head separating piece and the rope locking chuck mechanism are transferred between two positions through the matching of the mechanical arm Y-direction moving mechanism and the mechanical arm Z-direction moving mechanism.

Moreover, due to the fact that the mechanical arm is integrated with the functions of grabbing the separating piece of the looping head and locking the rope, the color of the rope is changed more stably and reliably.

The rope is fixed with the mechanical arm through the rope locking chuck mechanism, the rope and the looping head separation piece are fixed together through the auxiliary rope locking push rod mechanism, and the rope cannot be separated from the mechanical arm and the looping head separation piece in the transferring process of the looping head separation piece along with the mechanical arm.

The following detailed description and the accompanying drawings are included to provide a further understanding of the invention.

Drawings

The invention is further described with reference to the accompanying drawings and the detailed description below:

FIG. 1 is a schematic structural view of a multifunctional rope embroidery device;

FIG. 2 is an exploded view of a split-type looper head;

FIG. 3 is a schematic structural view of the split-type looper head after assembly;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a schematic structural view of the looping head body;

FIG. 6 is a schematic structural view of a looper head separator;

FIG. 7 is a schematic view showing a state in which the looper head is lifted upward and the top of a separating sheet of the looper head is abutted against a bearing retainer ring;

FIG. 8 is a schematic view showing the clutch sleeve moving downward when the looper head is lifted upward;

FIG. 9 is a schematic view showing the separation of the looper head separation piece and the looper head body when the looper head is lifted upwards to the proper position;

FIG. 10 is a schematic view of the looper head release tab being removed from the looper head body;

FIG. 11 is a schematic view of a hand structure of a looping head separator transfer robot;

FIG. 12 is a bottom hand view of the looper head separator transfer robot;

FIG. 13 is a schematic structural view of a cord embroidery auxiliary cord locking push rod mechanism;

FIG. 14 is a schematic diagram of an adaptive servo-structure of a robot;

FIG. 15 is a schematic view of a modular cluster block configuration;

FIG. 16 is a schematic view of a rope passing through a modular cluster box;

FIG. 17 is a schematic view of the operation of the stringing separation paddle;

FIG. 18 is a schematic structural view of a looper head separator collection base;

FIG. 19 is a schematic view of the overall structure of the rope feeding sensing mechanism;

FIG. 20 is an exploded view of the cord feeding sensing mechanism;

in the figure:

1-looping head, 10-looping head support, 101-horizontal extension part, 102-driving pulley, 103-belt tensioning pulley, 104-looping head mounting hole, 11-looping head body, 111-vertical convex rib, 112-driven pulley, 113-positioning step, 114-inner ring flange, 12-looping head separation sheet, 121-arc part, 122-convex part, 1221-rope threading hole, 1222-step surface, 123-lock hole, 13-clutch sleeve, 131-vertical groove, 132-positioning flange, 133-locking pin, 14-clutch spring, 15-support bearing and 16-bearing retainer ring;

2-looping head separation piece transferring manipulator, 20-manipulator fixing seat, 201-U-shaped groove, 202-fixing rotating shaft and 203-follow-up elastic body; 21-looping head separation piece grabbing mechanism, 211-grab, 2111-grab pin shaft, 2112-grab linkage pin, 212-grab fixing plate, 213-grab pushing block, 2131-arc groove, 2132-positioning chute, 214-positioning pin, 215-grab pushing block connecting rod B, 2151-connecting rod pin I, 2152-connecting rod pin II, 216-grab pushing block connecting rod A, 2161-kidney groove and 217-manipulator execution motor; 22-locking cord gripper mechanism, 221-movable locking cord gripper, 222-locking cord drive gear, 223-locking cord drive gear drive shaft, 224-return torsion spring, 225-locking cord gripper push link B, 226-locking cord gripper push link A, 227-locking cord gripper actuator motor, 23-secondary locking cord pusher mechanism, 231-secondary locking cord pusher, 2311-pusher guide slot, 2311-pusher guide pin, 2312-guide pin, 232-secondary locking cord pusher link B, 2321-secondary locking cord link pin, 2322-secondary locking cord link slide pin, 233-secondary locking cord pusher link A, 234-secondary locking cord actuator motor, 24-manipulator Z-direction movement mechanism, 241-Z-direction guide rail, 242-Z-direction motor, 25-manipulator Y-direction movement mechanism, 251-Y-arm, 252-Y direction motor, 253-Y direction moving piece, 254-follow-up connecting piece, 2541-follow-up groove, 2542-waist-shaped adjusting groove, 26-M shaft motor, 261-M shaft and 262-transmission belt component;

3-wire collecting box module, 30-box body, 301-rope, 31-rope feeding mechanism, 310-rope feeding box, 3101-pressing wheel shaft sliding groove, 311-rope feeding wheel, 312-rope feeding pressing wheel, 3121-rope feeding pressing wheel shaft, 313-rope threading separation poking piece, 314-guide rod, 315-rope guide piece, 316-rope feeding auxiliary gear and 317-rope feeding driving gear; 32-rope feeding induction mechanism, 321-rope induction swing rod, 3211-swing block, 3212-rope passing hole, 3213-swing rod induction sheet, 3214-swing rod bearing, 322-swing rod shaft, 323-tension spring, 324-swing rod tension adjusting wheel, 3241-tooth form, 325-rope collecting inductor and 326-rope feeding inductor; 33-looping head separation piece collecting seat, 331-lower supporting frame, 3311-U-shaped groove, 332-rope locking piece, 3321-lower inclined plane, 333-rear retaining piece, 3331-arc column, 334-upper retaining piece and 3341-upper conical surface;

4-needle bar frame, 41-top stop block and 5-color changing guide rail of line concentration box.

Detailed Description

The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.

It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Words such as "front," "rear," "left," "right," "upper," "lower," and the like, which indicate orientation or positional relationship, are based only on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the referenced devices/elements must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 20, the multifunctional rope embroidery device comprises a split looping head 1, a looping head separating piece transferring manipulator 2 and a modular wire collecting box combined structure.

As shown in fig. 2 to 10, the split-type looping head 1 includes a looping head body 11 and a looping head separation sheet 12 that can be combined with or separated from the looping head body 11, and the looping head separation sheet 12 is provided with a rope passing hole 1221. The looper head of present rope embroidery device is a body structure, and the looper head is split type modularized design in this embodiment, and every looper head separator 12 wears rope or the belt that the embroidery will be used for reserve in advance, as long as change looper head separator 12 alright change rope or belt, trade the look, realize multiple function combination, need not trade the rope alone moreover, consequently, improved trade look efficiency, conveniently realize polychrome rope embroidery, the time of having practiced thrift, efficiency has been improved.

In order to realize the combination and separation of the looping head body 11 and the looping head separation sheet 12, the looping head clutch is further included, and is used for combining the looping head separation sheet 12 and the looping head body 11 together and realizing the synchronous rotation of the looping head separation sheet 12 and the looping head body 11.

Specifically, in this embodiment, the looping head clutch includes a clutch sleeve 13 and a clutch spring 14, wherein the looping head body 11 is a cylindrical body that is slidably nested outside the clutch sleeve 13. The inner wall of the ring head body 11 is provided with a vertical convex rib 111, and the clutch sleeve 13 is provided with a vertical groove 131 matched with the vertical convex rib 111, so that the ring head body 11 and the clutch sleeve 13 can rotate together.

Further, an inner ring flange 114 is arranged at the bottom of the inner hole of the looping head body 11, a positioning step 113 is arranged at the middle part of the clutch sleeve 13, the upper part of the clutch spring 14 is sleeved outside the looping head body, the upper end of the clutch spring abuts against the positioning step 113, and the lower end of the clutch spring abuts against the inner ring flange 114. Because the looper head body 11 is fixed, when no external force is applied, the engaging sleeve 13 extends upwards out of the looper head body 11 under the action of the clutch spring 14.

It will be appreciated that, in order to facilitate the assembly of the clutch sleeve 13 to the looper head body 11, the inner ring flange 114 is mounted later, for example by welding, after the clutch sleeve 13 and the clutch spring 14 have been assembled.

After the ring beating head body 11 and the ring beating head separation sheet 12 are combined, the ring beating head body and the ring beating head separation sheet need to rotate together to realize the function of the ring beating head. Here, the clutch sleeve 13 is locked to the loop head separating piece 12. The bottom of clutch sleeve 13 is equipped with the location flange 132 of the first spacer bottom surface of location looper, be equipped with the vertical bellied lock round pin 133 that makes progress on the flange 132 of location, the first spacer 12 of looper is equipped with the lockhole 123 with lock round pin 133 complex. Because the looper head body 11 and the clutch sleeve 13 can rotate together, after the clutch sleeve 13 is locked with the looper head separation piece 12, the looper head body 11, the clutch sleeve 13 and the looper head separation piece 12 can also rotate together. To achieve the basic function of the looping head.

As shown in fig. 2, the looper head body 11 is mounted on a looper head support 10, the looper head support 10 is provided with a horizontal extension portion 101, the horizontal extension portion 101 is provided with a looper head mounting hole 104, a support bearing 15 and a bearing retainer ring 16 are mounted in the looper head mounting hole 104, the support bearing 15 is located above the bearing retainer ring 16. The horizontal extension part is provided with a driving belt wheel 102, the looping head body 11 is provided with a driven belt wheel 112, and a synchronous belt is connected between the driving belt wheel 102 and the driven belt wheel 112. The looping head body 11 is mounted on the support bearing 15, and the end face of the driven pulley 112 is close to the end face of the support bearing 15.

The working principle of the looper head clutch will be described with reference to fig. 7 to 10, when the looper head body 11 and the looper head separation plate 12 are combined into a whole, the clutch spring 14 elastically pushes up the clutch sleeve 13, so that the top of the clutch sleeve 13 extends out of the looper head body 11, and the positioning flange 132 drives the looper head separation plate 12 to push up together, and the top of the looper head separation plate 12 abuts against the bearing retainer 16, and the locking pin 133 is locked with the locking hole 123, so that the looper head body 11 and the looper head separation plate 12 are combined into a whole and can rotate together. When the looping head body 11 is separated from the looping head separation piece 12, the looping head 1 moves upwards integrally, the top of the clutch sleeve 13 abuts against the top stop block 41 above, the top stop block 41 is fixedly mounted on the needle bar frame 4, when the looping head 1 continues to be lifted upwards, the clutch sleeve 13 moves downwards relative to the looping head body 11 under the limiting effect of the top stop block 41, the locking pin 133 can be separated from the locking hole 123, at the moment, the looping head separation piece 12 can be separated from the looping head body 11, and the looping head separation piece 12 can be moved away from the looping head body 11.

In addition, the looping head separating piece 12 is provided with an arc portion 121 engaged with the outer circumference of the looping head body 11 and a protruding portion 122 protruding radially outward from the side surface of the arc portion 121, and the inner arc surface of the arc portion 121 is attached to the outer circumference of the looping head body 11 in a combined state. The stringing hole 1221 is disposed on the protruding portion 122.

Further, the positioning flange 132 is provided with a notch, and two locking pins 133 are correspondingly located at two sides of the notch. The protrusion 122 has a step surface 1222 overlapping the positioning flange 132 and making the bottom surface of the positioning flange flush with the bottom surface of the protrusion, and the locking hole 123 is disposed on the step surface 1222 and has a side surface penetrating the inner wall of the arc portion 121. Therefore, the bottom surface of the separating sheet 12 can be flush with the bottom surface of the ring head body 11, and the circular arc portion 121 can also be completely attached to the outer circle of the ring head body 11 and is tightly matched with the outer circle of the ring head body to form a whole.

As shown in fig. 1, the drive pulley 102 is mounted on a drive pulley shaft that is driven by an M-shaft 261, a belt assembly 262 is provided between the M-shaft 261 and the drive pulley shaft, and the M-shaft 261 is driven by an M-shaft motor 26. Of course, the belt assembly 262 could be replaced with other drive means.

When changing colors, the looping head separation piece 12 which is originally separated needs to be transferred away and replaced by another looping head separation piece 12, and the process can be completed by the looping head separation piece transfer manipulator 2.

The looping head separating piece transferring manipulator 2 shown in fig. 11 to 14 includes a manipulator fixing seat 20, a manipulator Y-direction moving mechanism 25, a manipulator Z-direction moving mechanism 24, and a looping head separating piece grabbing mechanism 21 arranged on the manipulator fixing seat 20; the looper head separation piece grabbing mechanism 21 is used for grabbing and releasing the looper head separation piece 12; the manipulator Y-direction moving mechanism 25 is used for driving the manipulator fixing seat 20 and the looping head separating sheet grabbing mechanism 21 on the manipulator fixing seat to move along the Y direction; the manipulator Z-direction movement mechanism 24 is used for driving the manipulator Y-direction movement mechanism 25, the manipulator fixing seat 20 and the upper looping head separating piece grabbing mechanism 21 to move along the Z direction; the transfer of the looping head separating piece 12 between the two positions is realized through the cooperation of the mechanical arm Y-direction moving mechanism 25 and the mechanical arm Z-direction moving mechanism 24. In the present embodiment, the position of the looper head body 11 is shifted between the position and the modular cluster block structure.

The looping head separating piece grabbing mechanism 21 comprises two grabs 211 and a grabs pushing block 213 capable of sliding back and forth, the left side and the right side of the grabs pushing block 213 are symmetrically provided with two arc-shaped grooves 2131, the middle of each grab 211 is hinged to a grabs pin shaft 2111, the grabs pin shaft 2111 is fixed to a grabs fixing plate 212, and the grabs fixing plate 212 is connected with the manipulator fixing base 20 through the grabs pin shaft 2111. The rear part of the gripper 211 is connected with a gripper linkage pin 2112, the arc-shaped groove 2131 is connected with the gripper linkage pin 2112, and the two grippers 211 are driven to open and close by driving the gripper linkage pin 2112 to slide back and forth.

Further, the gripper pushing block 213 is provided with a positioning sliding groove 2132, the manipulator fixing base 20 is connected with a positioning pin 214, and the positioning sliding groove 2132 slides along the positioning pin 214.

Further, the looping head separating piece grabbing mechanism 21 further comprises a hand grip pushing block connecting rod A216 and a hand grip pushing block connecting rod B215, the front end of the hand grip pushing block connecting rod A216 is hinged to a connecting rod pin I2151, the connecting rod pin I2151 is connected to the hand grip pushing block 213, a waist-shaped groove 2161 is formed in the front end of the hand grip pushing block connecting rod A216, the rear end of the hand grip pushing block connecting rod A216 is hinged to a connecting rod pin II 2152, and the connecting rod pin II 2152 is connected with the waist-shaped groove 2161. The gripper pushing block connecting rod A216 is connected with a return spring. The looper head separation piece grabbing mechanism 21 further comprises a manipulator execution motor 217, the manipulator execution motor 217 is provided with a driving shaft capable of stretching back and forth, and the driving shaft is hinged with the rear end of the gripper pushing block connecting rod A216 through a motor connecting block.

In one embodiment, the Y-direction moving mechanism 25 of the robot comprises a Y-arm 251, a Y-direction motor 252 mounted on the Y-arm, and a Y-direction screw nut assembly driven by the Y-direction motor, and the Y-direction screw nut assembly is connected to the looping head separator grabbing mechanism. Specifically, the Y-direction lead screw nut assembly includes a Y-direction moving member 253 movable in the Y-direction. The manipulator Z-direction movement mechanism 24 comprises a Z-direction guide rail 241, a Z-direction motor 242 and a Z-direction lead screw nut component driven by the Z-direction motor, and the Z-direction lead screw nut component is connected with the manipulator Y-direction movement mechanism.

At the in-process that the manipulator 2 shifted the first separator of looper and beat first separator 12 of looper, because every first separator 12 of looper wears the rope or the belt that will embroider the use in advance for use, if the first separator 12 of looper removes, and the rope does not pin, appears in disorder and winding scheduling problem easily. Therefore, in order to prevent the rope or the belt from being messed and wound, a rope locking structure which is synchronously transferred with the looping head separating piece grabbing mechanism 21 is further included and is used for locking the rope or the belt which is threaded on the looping head separating piece 12.

Wherein, the locking rope structure includes locking rope chuck mechanism 22, and locking rope chuck mechanism 22 installs in manipulator fixing base 20, snatchs mechanism 21 and snatchs the first separator 12 back of beating the ring at the first separator of beating the ring, through the rope closure that locking rope chuck mechanism 22 will beat the first separator of ring and pass, thereby locking rope chuck mechanism is including the fixed locking rope chuck that is fixed in the manipulator fixing base, can be at the activity locking rope chuck 221 of manipulator fixing base activity and drive activity locking rope chuck 221 and the locking rope chuck actuating motor 227 of tight or the loose rope of fixed locking rope chuck relatively.

The movable rope locking chuck 221 is connected to a rope locking transmission gear transmission shaft 223, the movable rope locking chuck is provided with transmission teeth, the rope locking chuck mechanism 22 further comprises a rope locking transmission gear 222 meshed with the transmission teeth to drive the rope locking chuck to rotate, the rope locking transmission gear 222 is fixed to the rope locking transmission gear transmission shaft, and the movable rope locking chuck is driven to rotate by driving the rope locking transmission gear transmission shaft to rotate.

Further, the rope locking chuck mechanism 22 further includes a rope locking chuck pushing connecting rod a226 and a rope locking chuck pushing connecting rod B225, the rope locking chuck actuating motor 227 is hinged to the tail end of the rope locking chuck pushing connecting rod a through a motor connecting block, the head end of the rope locking chuck pushing connecting rod a is hinged to the tail end of the rope locking chuck pushing connecting rod B, the head end of the rope locking chuck pushing connecting rod B is fixed to the rope locking transmission gear transmission shaft, and the rope locking chuck pushing connecting rod a and the rope locking chuck pushing connecting rod B are driven to be linked through linear movement of the motor connecting block, so that the rope locking transmission gear transmission shaft and the rope locking transmission gear are driven to rotate.

Further, the transmission shaft of the locking rope transmission gear is connected with a return torsion spring 224, the first end of the return torsion spring is connected with the pushing connecting rod B of the locking rope chuck, the second end of the return torsion spring is connected with the transmission shaft of the locking rope transmission gear, and the return of the transmission shaft of the locking rope transmission gear can be achieved.

Furthermore, the rope locking chuck pushes the connecting rod B to be provided with an L-shaped supporting leg, and the first end of the return spring is connected with the L-shaped supporting leg. The locking rope transmission gear transmission shaft is provided with a hoop, the hoop is provided with a fixing hole, and the second end of the return spring is connected with the fixing hole. Preferably, the lock rope transmission gear is a sector gear.

In order to ensure the reliability of the locking rope, as shown in fig. 11 to 13, the locking rope structure further includes an auxiliary locking rope pushing rod mechanism 23, the auxiliary locking rope pushing rod mechanism 23 includes an auxiliary locking rope pushing rod 231 and an auxiliary locking rope actuating motor 234 for driving the auxiliary locking rope pushing rod 231 to move linearly, and a head end of the auxiliary locking rope pushing rod is provided with a locking rope opening. The rope locking opening is arc-shaped and can be matched with the outer arc surface of the arc part 121 on the looping head separating piece 12 to tightly press and fix the rope on the looping head separating piece 12.

Further, the auxiliary locking rope push rod mechanism 23 further includes an auxiliary locking rope push rod connecting rod a233 and an auxiliary locking rope push rod connecting rod B232, the auxiliary locking rope actuating motor 234 is hinged to the tail end of the auxiliary locking rope push rod connecting rod a233 through a motor connecting block, a sliding groove 2331 is formed in the middle of the auxiliary locking rope push rod connecting rod a233, the sliding groove 2331 is connected with an auxiliary locking rope connecting rod sliding pin 2332, the auxiliary locking rope connecting rod sliding pin 2332 is fixed to the tail end of the auxiliary locking rope push rod connecting rod B232, the middle of the auxiliary locking rope push rod connecting rod B232 is hinged to an auxiliary locking rope connecting rod pin 2321, the head end of the auxiliary locking rope push rod connecting rod B232 is hinged to the auxiliary locking rope push rod 231, the auxiliary locking rope push rod 231 is provided with a push rod guiding groove 2311, and the push rod guiding groove 2311 is matched with the guiding pin 2312 to guide the auxiliary locking rope push rod 231. With the above structure, the sub-lock cord push rod 231 can be linearly moved along the horizontal plane.

Therefore, the rope is fixed with the mechanical arm through the rope locking chuck mechanism 22, the rope is fixed with the looping head separation piece 12 through the auxiliary rope locking push rod mechanism 23, and the rope cannot be separated from the mechanical arm and the looping head separation piece in the transferring process of the looping head separation piece 12 along with the mechanical arm.

In conclusion, the design of the mechanical arm integrates the functions of grabbing the separating piece of the looping head and locking the rope, so that the color changing of the rope is more stable and reliable.

Because the looping head separating piece 12 is arc-shaped, if the looping head separating piece grabbing mechanism 21 cannot be aligned with the looping head separating piece 12, it is difficult to reliably grab the looping head separating piece 12. If the looper head separation piece grabbing mechanism 21 can swing in a self-adaptive mode in the process of grabbing the looper head separation piece 12, reliable grabbing of the looper head separation piece 12 is guaranteed. Therefore, a self-adaptive follow-up structure of the looping head separation piece transfer manipulator is further provided, as shown in fig. 14, specifically, a follow-up connection assembly is provided between a manipulator arm (including a manipulator Y-direction movement mechanism 25 and a manipulator Z-direction movement mechanism 24) and a manipulator fixing seat 20, and the manipulator fixing seat swings in a self-adaptive manner relative to the manipulator arm through the follow-up connection assembly.

Because it drives the action of manipulator fixing base 20 to moving member 253 through Y, follow-up coupling assembling sets up between Y and manipulator fixing base 20 to moving member 253. The follow-up connecting component comprises a follow-up connecting piece 254, a fixed rotating shaft 202 and a follow-up elastic body 203. Wherein, follow-up connecting piece 254 one end is fixed, and the other end rotates to be connected in fixed pivot 202, and fixed pivot 202 is fixed in manipulator fixing base or manipulator arm, accomplishes the self-adaptation swing back at the manipulator fixing base, realizes reseing through follow-up elastomer 203.

In this embodiment, the manipulator fixing base 20 is provided with a U-shaped groove 201, and the fixing shaft 202 is disposed in the U-shaped groove. The follow-up elastic body 203 is arranged in the U-shaped groove 201, and the follow-up connecting piece 254 is provided with a follow-up groove 2541 matched with the follow-up elastic body.

Further, the U-shaped groove 201 is provided with a flared end allowing the follower link 254 to swing. The groove bottom of the U-shaped groove is an arc bottom, and the follow-up connecting piece is provided with an arc head corresponding to the arc bottom in shape. Thus, the follower link 254 can angularly swing within the U-shaped slot 201, and the angle of allowed swing is limited by the angular size of the flare.

In order to adjust the distance between the manipulator fixing seat 20 and the manipulator arm, the follower connector 254 is provided with a waist-shaped adjusting groove 2542, the waist-shaped adjusting groove 2542 is connected with a fixing screw, and the fixing screw is fixed on the manipulator arm through threads. After the set screw is loosened, the follower link 254 may be moved and adjusted in place and the set screw may be re-secured.

As shown in fig. 15 to 20, the modular cable concentrator assembly structure includes at least two cable concentrator modules 3 arranged side by side, and each cable concentrator module 3 includes a box body 30, and a cable feeding mechanism 31, a cable feeding sensing mechanism 32 and a looping head separating piece collecting seat 33 arranged in the box body.

The rope feeding mechanism 31 includes a rope feeding wheel 311 and a rope feeding pressure wheel 312, which are used for clamping and feeding the rope, and the rope feeding wheel 311 and the rope feeding pressure wheel 312 are installed in the rope feeding box 310.

At least two concentrator modules 3 are combined together, can be fastened together through bolts, and can slide along a concentrator color changing guide rail 5 for color changing. At least two line concentration box modules are connected with a color changing slide block, and the color changing slide block is connected with a line concentration box color changing guide rail in a sliding manner. Furthermore, it will be appreciated that the number of concentrator modules 3 in the modular concentrator assembly may vary.

The looping head separating piece collecting seat 33 is positioned below the rope feeding box 310 and used for placing the looping head separating piece 12. When the color of the rope embroidery is changed, the manipulator 2 is transferred to grab the looping head separating piece 12 and together with the rope 301 is recycled into the wire collecting box, so that the problem that the ropes are mutually wound and the front space of the machine head is vacated is solved, and the front space of the machine head is simple and not messy.

Each looping head separating piece 12 is previously threaded with a string 301 or a lace to be embroidered for standby. The looping head separation piece 12 is arranged on a looping head separation piece collecting seat 33 in the wire collecting box. When the embroidery is started, the looping head separating piece 12 on the looping head collecting seat 33 is moved to the looping head body 11 to be combined, the looping head separating piece 12 and the rope 301 are combined into a whole, the embroidery can be carried out after the manipulator is moved away, and the looping head separating piece 12 and the rope 301 are recovered to the looping head separating piece collecting seat 33 of the thread collecting box together when the color of the rope embroidery is changed. Therefore, the number of looper head separating sheet collecting seats 33 corresponding to the number of cluster block modules 3 determines the number of replaceable colors.

Further, the rope feeding mechanism 31 further comprises a rope feeding driving gear 317 and a rope feeding pinion 316 which are in meshing transmission, the rope feeding motor drives the rope feeding driving gear 317, the rope feeding pinion 316 and the rope feeding wheel 311 are mounted on a rope feeding wheel shaft, and the rotation of the rope feeding wheel 311 is realized through the transmission of the rope feeding driving gear 317, the rope feeding pinion 316 and the rope feeding wheel shaft.

Because the rope or the belt that will embroider and use are worn well in advance for use to the first separator 12 of looper, and the first separator 12 of looper shifts the in-process along with the manipulator, and the rope locks with the first separator 12 of looper, if send the rope mechanism not to move, the rope is in disorder easily and twines, and the influence is continued to send the rope smoothly after trading the look, consequently, has set up and has sent rope induction mechanism. Send rope induction mechanism 32 and include rope response pendulum rod 321 that rotates to be connected on the box body and receive rope inductor 325, rope release inductor 326 with rope response pendulum rod 321 complex, receive rope inductor 325, rope release inductor 326 and send rope motor communication to be connected. Rope induction swing rod 321 is equipped with rope hole 3212, and when the rope pulling force diminishes, rope induction swing rod 321 clockwise motion when the angle reaches a certain position, triggers receipts rope inductor 325, and the control is sent the rope motor and is retrieved the rope, collects the line concentration box in, and when rope pulling force grow, makes rope induction swing rod 321 counter-clockwise motion, triggers to put rope inductor 326, and the control is sent the rope motor and is put the rope action, makes the rope down move. Therefore, in the transferring process of the looping head separation piece 12, the rope can be wound and unwound, the rope is unwound downwards in the transferring process from the looping head separation piece collecting seat 33 to the looping head body 11, and the rope is wound upwards in the transferring process from the looping head body 11 to the looping head separation piece collecting seat 33.

Further, the rope feeding pinch roller 312 is mounted on a rope feeding pinch roller shaft 3121. The rope feeding pinch roller 312 is connected with a sliding rail mechanism and further comprises a rope threading separation poking sheet 313, the rope feeding pinch roller shaft 3121 is pushed to slide through the rope threading separation poking sheet 313, so that the rope feeding pinch roller 312 can be separated from the rope feeding wheel 311, and a pinch roller shaft sliding groove 3101 is formed in the side wall of the rope feeding box 310 corresponding to the rope feeding pinch roller shaft 3121.

Specifically, the sliding rail mechanism comprises a guide rod 314, and the rope feeding pinch roller shaft 3121 is provided with a guide hole matched with the guide rod. The guide rod 314 is provided with a spring elastically supported with the rope feeding pinch roller shaft, so that the rope feeding pinch roller 312 is upwards close to the rope feeding wheel 311, the rope threading separation poking piece 313 can slide up and down, and when the rope threading separation poking piece 313 slides downwards, the spring is compressed, so that the rope feeding pinch roller 312 is downwards far away from the rope feeding wheel 311.

Further, send the front and back side of rope case 310 to be equipped with rope guide 315, be equipped with the rope guide slot on the rope guide 315, rope 301 gets into and pulls out from sending rope case 310 through the rope guide slot.

Rope response pendulum rod 321 can the seesaw, rope response pendulum rod 321 includes the body of rod and the swing piece 3211 of being connected with body of rod bottom, swing piece 3211 is equipped with the side portion that extends to the side, cross rope hole 3212 and locate side portion, because rope 301 has passed rope hole 3212, when rope 301 is too tight or too loose, can drive sub-response pendulum rod 321 and swing.

Specifically, the swing block 3211 is provided with a vertical extending portion perpendicular to the side extending portion, the vertical extending portion is provided with a groove embedded with the rod body, and the vertical extending portion and the rod body are fixed by screws.

Further, a rear-side extension portion extending towards the rear side is arranged at the top end of the rod body, the rear-side extension portion is connected with the swing rod sensing piece 3213, a rope collecting sensor 325 is arranged at a position corresponding to the upward swing position of the swing rod sensing piece 3213, and a rope feeding sensor 326 is arranged at a position corresponding to the downward swing position of the swing rod sensing piece. The swing rod induction piece 3213 is a fan-shaped structure corresponding to the swing radian of the rope induction swing rod 321.

In order to adjust the tension of the rope sensing swing link 321, the rope feeding sensing mechanism 32 further includes a swing link tension adjusting wheel 324, a swing link shaft 322, and a tension spring 323, wherein the swing link tension adjusting wheel 324 and the tension spring 323 are rotatably connected to the swing link shaft 322, one end of the tension spring 323 is connected to the swing link tension adjusting wheel 324, and the other end of the tension spring 323 is connected to the rope sensing swing link 321. The outer circle of the swing rod tension adjusting wheel 324 is provided with a tooth shape 3241, and after the swing rod tension adjusting wheel 324 is rotated to adjust, the swing rod tension adjusting wheel 324 is locked through spring steel balls, so that the tension of the rope induction swing rod 321 is fixed. The rope induction swing rod 321 is provided with a swing rod bearing 3214 matched with the swing rod shaft 322.

As shown in fig. 18, the looping head separating sheet collecting seat 33 is provided with an embedding concave part which is matched with the shape of the looping head separating sheet 12. In order to form the insertion recess, the looping head separating piece collecting base 33 is provided with a rear blocking piece 333, an upper blocking piece 334 positioned above the rear blocking piece, and a locking rope piece 332 positioned below the rear blocking piece, and the looping head separating piece 12 is placed among the rear blocking piece 333, the upper blocking piece 334 and the locking rope piece 332. Of course, the fitting recess is not limited to the above-described configuration, and may be, for example, a fitting cavity having an opening into which the loop head separation piece can be inserted and which can be easily taken out.

Because the looping head separating piece 12 is provided with the arc part 121, correspondingly, the front side of the rear blocking piece 333 is provided with the arc column 3331 matched with the arc part 121 of the looping head separating piece. Thus, the insertion recess formed by the rear blocking piece 333, the upper blocking piece 334, the locking rope piece 332 and the arc-shaped column 3331 is well matched with the appearance of the looping head separating piece.

After the first separator 12 of looper is put into the first separator of looper and is collected seat 33, the effect of locking rope piece 332 is to wear to establish the rope pinning on the first separator 12 of looper, and is reliable in order to guarantee the locking rope, locking rope piece 332 movable mounting is on lower carriage 331 to be connected with the locking rope spring, upwards top locking rope piece 332 through the locking rope spring makes locking rope piece 332 and the bottom laminating of the first separator 12 of looper pin the rope.

Specifically, in this embodiment, the lower support frame 331 is provided with a U-shaped slot 3311, the locking rope piece 332 is hinged in the U-shaped slot, and the locking rope spring is a torsion spring acting between the locking rope piece 332 and the lower support frame 331.

Further, a spacing space is arranged between the bottom surface of the arc-shaped column 3331 and the rope locking sheet 332 to ensure an upward moving space of the rope locking sheet 332, so as to be attached to the bottom of the looping head separation sheet 12. In order to facilitate the insertion and removal of the looping head separating piece 12, a lower inclined surface 3321 is provided on the upper side of the front portion of the locking rope piece, and the upper blocking piece 334 is arc-shaped and has an upper tapered surface 3341 on the periphery.

In order to prevent the looping head separation piece 12 from being separated from the embedding concave part, the looping head separation piece collecting seat 33 is provided with a magnet for adsorbing the looping head separation piece 12, and can be specifically arranged inside the arc-shaped column 3331 or other parts.

As described above, the respective part action processes are as follows:

the looping head 1 moves upwards integrally, so that the top of the clutch sleeve 13 abuts against the top stop block 41 to be lifted upwards continuously, the clutch sleeve 13 moves downwards relative to the looping head body 11, the locking pin 133 can be separated from the locking hole 123, and at the moment, the looping head separating sheet 12 can be separated from the looping head body 11.

After the looper head separation piece 12 breaks away from the looper head body 11, the manipulator snatchs the looper head separation piece 12, and the action of locking rope structure pins the rope simultaneously, prevents that the rope from dropping from the looper head separation piece 12.

The mechanical arm Y-direction movement mechanism 25 works to enable the looping head separation piece 12 grabbed by the mechanical arm to move towards the Y negative direction, and the looping head separation piece 12 is moved out of the needle bar frame.

The mechanical arm Z-direction movement mechanism 24 works to enable the mechanical arm to grab the loop head separation piece 12 to move upwards until the mechanical arm is parallel to the loop head separation piece collecting seat 33.

The manipulator Y moves to the movement mechanism 25, so that the looping head separating piece 12 grabbed by the manipulator moves in the Y positive direction, the looping head separating piece 12 is moved to the looping head separating piece collecting seat 33, the looping head separating piece 12 can be attracted due to the fact that the looping head separating piece collecting seat 33 is provided with the magnet, the looping head separating piece 12 cannot fall off, meanwhile, the rope is clamped by the rope locking piece 332, and the rope is prevented from being separated from the looping head separating piece 12.

When the embroidery is started, the mechanical arm moves to the looping head separating piece collecting seat 33, picks the looping head separating piece 12, moves the looping head separating piece 12 to the looping head body 11 and combines the looping head separating piece 12 and the looping head body into a whole. After the mechanical arm is removed, embroidery can be performed.

It will be appreciated by those skilled in the art that the embroidery machine provided by the present invention may include any of the above-described embodiments and combinations thereof.

As will be appreciated by those skilled in the art, the above-described cord embroidery refers broadly to conventional cord embroidery as well as belt and press embroidery.

While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.

Claims

1. The utility model provides a make first separator transfer manipulator of ring with lock rope function which characterized in that: the mechanical arm grabbing mechanism comprises a looping head separating piece grabbing mechanism, a rope locking chuck mechanism, a mechanical arm Y-direction moving mechanism and a mechanical arm Z-direction moving mechanism; the mechanical arm Y-direction moving mechanism is used for driving the looping head separating piece grabbing mechanism and the rope locking chuck mechanism to move along the Y direction, and the mechanical arm Z-direction moving mechanism is used for driving the looping head separating piece and the rope locking chuck mechanism to move along the Z direction; the transfer of the looping head separating sheet and the rope locking chuck mechanism is realized through the matching of the mechanical arm Y-direction moving mechanism and the mechanical arm Z-direction moving mechanism.

2. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 1, wherein: the grabbing mechanism for the looping head separating piece comprises two grabs and a gripper pushing block capable of sliding back and forth, wherein the left side and the right side of the gripper pushing block are symmetrically provided with two arc-shaped grooves, the middle parts of the grippers are hinged to gripper hinge pins, the gripper hinge pins are fixed on a gripper fixing plate, the rear parts of the grippers are connected with gripper linkage pins, the arc-shaped grooves are connected with the gripper linkage pins, and the gripper linkage pins are driven to open and close by driving the gripper linkage pins to slide back and forth.

3. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 2, wherein: the gripper pushing block is provided with a positioning sliding groove, the manipulator fixing seat is connected with a positioning pin, and the positioning sliding groove slides along the positioning pin.

4. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 3, wherein: the ring-beating head separating piece grabbing mechanism further comprises a first connecting rod A and a second connecting rod B, a first connecting rod pin is arranged on the first connecting rod A, the front end of the first connecting rod A is hinged to the first connecting rod pin, a kidney-shaped groove is formed in the front end of the first connecting rod A, the rear end of the first connecting rod A is hinged to a second connecting rod pin, and the second connecting rod pin is connected with the kidney-shaped groove.

5. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 4, wherein: the ring beating head separation sheet grabbing mechanism further comprises a manipulator execution motor, the manipulator execution motor is provided with a driving shaft capable of stretching back and forth, and the driving shaft is hinged with the rear end of the gripper pushing block connecting rod A through a motor connecting block.

6. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 1, wherein: the manipulator Y-direction movement mechanism comprises a Y support arm, a Y-direction motor arranged on the Y support arm and a Y-direction lead screw nut component driven by the Y-direction motor, and the Y-direction lead screw nut component is connected with the looping head separation sheet grabbing mechanism.

7. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 1, wherein: the Z-direction movement mechanism of the manipulator comprises a Z-direction guide rail, a Z-direction motor and a Z-direction lead screw nut component driven by the Z-direction motor, and the Z-direction lead screw nut component is connected with the Y-direction movement mechanism of the manipulator.

8. The looping head separating piece transferring mechanical arm with the rope locking function as claimed in claim 1, wherein: the rope locking chuck mechanism comprises a fixed rope locking chuck, a movable rope locking chuck and a rope locking chuck actuating motor for driving the movable rope locking chuck to relatively fix the rope locking chuck so as to clamp or loosen a rope.

9. The looping head separator transfer manipulator with rope locking function as claimed in claim 8, wherein: the movable rope locking chuck is connected to a transmission shaft of the rope locking transmission gear, the movable rope locking chuck is provided with transmission teeth, the rope locking chuck mechanism further comprises a rope locking transmission gear meshed with the transmission teeth to drive the movable rope locking chuck to rotate, the rope locking transmission gear is fixed to the transmission shaft of the rope locking transmission gear, and the movable rope locking chuck is driven to rotate by driving the transmission shaft of the rope locking transmission gear.

10. An embroidery machine characterized in that: the looping head separating piece transferring mechanical arm with the rope locking function is arranged in the mechanical arm, and the looping head separating piece transferring mechanical arm with the rope locking function is arranged in the mechanical arm.