CN209024773U - A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine - Google Patents
A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine Download PDFInfo
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- CN209024773U CN209024773U CN201821429025.3U CN201821429025U CN209024773U CN 209024773 U CN209024773 U CN 209024773U CN 201821429025 U CN201821429025 U CN 201821429025U CN 209024773 U CN209024773 U CN 209024773U
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- wrist
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Abstract
The utility model discloses a kind of intelligently to refoot the bobbin case conveying device of line for embroidery machine, including slewing equipment, with the sequentially connected several secondary mechanical arms of slewing equipment, set on the bobbin case peg or spindle plate grasping mechanism of mechanical arm rear end, the bobbin case peg or spindle plate grasping mechanism includes machine wrist, the palm rotary electric machine in machine wrist, the machine palm connecting with palm rotary electric machine output end.The utility model is that embroidery machine intelligently refoots the important component of line robot, mainly conveying bobbin case.Realize between several computerized emboridering machines, bull and overlength computerized emboridering machine replace bobbin case (peg or spindle) automatically, place spare bobbin case automatically, and empty bobbin case peg or spindle is collected automatically, it is time-consuming and laborious to solve the problems, such as that computerized emboridering machine industry manually replaces bobbin case (peg or spindle).
Description
Technical field
The utility model relates to field of textile equipment, the bobbin case of specifically a kind of line that intelligently refoots for embroidery machine is defeated
Send device.
Background technique
Currently, be made of in the computerized emboridering machine baseline used bobbin case and peg or spindle, embroidery machine is finished running to baseline
When, replacement bobbin case (peg or spindle) is required, is entirely now using artificial replacement, when doing replacement operation, embroidery machine will shut down
It is completed under state.It has the following problems:
1, single head needs to shut down 12 ~ 20 minutes to replace bobbin case (peg or spindle) to embroidery machine daily, more for more machines
Head machine shuttle changing shell (peg or spindle) will expend a large amount of downtime, reduce production efficiency, embroidery machine yield be reduced, due to embroidery machine
Structure is special, and space is smaller when bobbin case (peg or spindle) is replaced, and needs manually to squat down and be replaced, and labor intensity is high, and production efficiency is low；
2, to solve the above-mentioned problems, applicant has Patent No. 201721182900.8, and patent name is a kind of use
It is finished changing after bobbin case still in the mechanical device of the mechanical device of automatic shuttle changing shell on computerized emboridering machine, but existing automatic shuttle changing shell
It needs manually to extract sky bobbin case and puts full bobbin case, personnel can not be further reduced, reduce labor intensity, improve production effect
Rate.
Because the part of embroidery machine is smaller, existing manipulator head is all bigger, and movement is relatively rough, is not suitable for fine
Thread replacing work.
Summary of the invention
The purpose of the utility model is to provide a kind of intelligently to refoot the bobbin case conveying device of line for embroidery machine.
The utility model will solve in existing embroidery production process, and embroidery machine automation degree of equipment is low, production efficiency
Low, the problems such as labor intensity of workers is high, and existing manipulator behavior is coarse.
The technical solution of the utility model is: a kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine, including returns
Rotary device and slewing equipment sequentially connected several secondary mechanical arms, the bobbin case peg or spindle plate grasping mechanism set on mechanical arm rear end,
The bobbin case peg or spindle plate grasping mechanism includes that machine wrist, the palm rotary electric machine in machine wrist and palm rotate
The machine palm of motor output end connection.
Preferably, the quantity of the mechanical arm is mostly secondary, and the mechanical arm junction connecting with slewing equipment is that activity connects
Connect, mechanical arm can be swung up and down around central axis, mechanical arm junction interconnected be flexibly connected, can on central axis the bottom
It is dynamic.
Preferably, the slewing equipment includes revolving platform and revolving platform driving motor, is equipped with shaft among the revolving platform,
Connect below the shaft with revolving platform driving motor.
As it is further preferred that the mechanical arm includes machine large arm, machine forearm, the mechanical arm is equipped with machine
Tool arm driving mechanism, the mechanical arm driving mechanism include mechanical arm driving motor, connect with mechanical arm driving motor output end
Transmission mechanism, the transmission mechanism includes driving wheel, follower, the driving member connecting with driving wheel and follower, the machine
Tool arm driving motor output shaft end is connected with driving wheel；The mechanical arm driving mechanism includes machine large arm driving mechanism, machine
Device forearm driving mechanism；The revolving platform is connect with machine large arm, and junction is equipped with machine large arm driving mechanism, the machine
The rear end of device large arm is connect with machine forearm, junction be equipped with machine forearm driving mechanism, the rear end of the machine forearm with
The connection of machine wrist, junction are equipped with machine wrist driving mechanism.
As it is further preferred that the machine large arm driving mechanism includes machine large arm driving motor and machine large arm
Driving motor output end connection machine large arm transmission mechanism, the machine large arm transmission mechanism include machine large arm driving wheel,
Machine large arm follower, the machine large arm driving member being connect with machine large arm driving wheel and machine large arm follower, the machine
Large arm driving motor output shaft end is connected with machine large arm driving wheel, the machine large arm driving wheel and the fixed company of machine large arm
It connects；The machine that the machine forearm driving mechanism includes machine forearm driving motor, is connect with machine forearm driving motor output end
Device forearm transmission mechanism, the machine forearm transmission mechanism includes machine forearm driving wheel, machine forearm follower, small with machine
The machine forearm driving member that arm driving wheel is connected with machine forearm follower, the machine forearm driving motor output shaft end and machine
Device forearm driving wheel is connected, and the machine forearm driving wheel is fixedly connected with machine large arm.
As it is further preferred that the front end of the machine forearm is equipped with forearm leading portion, it is equipped in the machine forearm
The output end of forearm leading portion rotating electric machine, the forearm leading portion and forearm leading portion rotating electric machine is connected with each other, before the forearm
Section is equipped with vision probe；The machine wrist driving mechanism includes machine wrist driving motor and machine wrist driving motor
The machine wrist transmission mechanism of output end connection, the machine wrist transmission mechanism includes machine wrist driving wheel, machine wrist
Follower, the machine wrist driving member being connect with machine wrist driving wheel and machine wrist follower, the machine wrist driving
Motor output shaft end is connected with machine wrist driving wheel, and the machine wrist driving wheel is fixedly connected with forearm leading portion.
As it is further preferred that the mechanical hand palm is equipped with magnechuck, the upper end of the magnechuck is set
There is positioning pin, the side of the magnechuck is equipped with laser emitter.
The utility model has the following beneficial effects: the utility model is that embroidery machine intelligently refoots the important composition portion of line robot
Point, mainly convey bobbin case.It realizes between several computerized emboridering machines, bull and overlength computerized emboridering machine replace bobbin case (shuttle automatically
Core), spare bobbin case is placed automatically, and empty bobbin case peg or spindle is collected automatically, solve computerized emboridering machine industry and manually replace bobbin case
(peg or spindle) time-consuming and laborious problem.The crawl of peg or spindle plate is carried out using magnechuck and is put down, is determined using laser emitter
Position the high-precision transportation work in all angles is realized using multiple mechanical arms, mechanical wrist and multiple driving motors.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the utility model is installed on that embroidery machine intelligently refoots in line robot.
Fig. 2 is the structural schematic diagram of the utility model.
Fig. 3 is one of the structural schematic diagram of the bobbin case peg or spindle plate grasping mechanism of the utility model.
Fig. 4 is the second structural representation of the bobbin case peg or spindle plate grasping mechanism of the utility model.
Fig. 5 is the third structural representation of the bobbin case peg or spindle plate grasping mechanism of the utility model.
Structural schematic diagram when Fig. 6 is the utility model cooperation bobbin case peg or spindle plate mounting base work.
Fig. 7 be refoot automatically line method A movement structural schematic diagram.
Fig. 8 be refoot automatically line method B movement structural schematic diagram.
Fig. 9 be refoot automatically line method C movement structural schematic diagram.
Figure 10 be refoot automatically line method D movement structural schematic diagram.
Figure 11 be refoot automatically line method E movement structural schematic diagram.
Figure 12 is the P enlarged structure schematic diagram of line method of refooting automatically.
Figure 13 be refoot automatically line method F movement structural schematic diagram.
Figure 14 be refoot automatically line method G movement structural schematic diagram.
Figure 15 be refoot automatically line method H movement structural schematic diagram.
Figure 16 be refoot automatically line method I action structural schematic diagram.
Figure 17 be refoot automatically line method J movement structural schematic diagram.
Figure 18 be refoot automatically line method K movement structural schematic diagram.
Figure 19 be refoot automatically line method L movement structural schematic diagram.
Figure 20 be refoot automatically line method M movement structural schematic diagram.
Figure 21 be refoot automatically line method N movement structural schematic diagram.
Figure 22 be refoot automatically line method O movement structural schematic diagram.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
As shown, a kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine, including slewing equipment and revolution fill
Set sequentially connected several secondary mechanical arms, the bobbin case peg or spindle plate grasping mechanism set on mechanical arm rear end, the bobbin case peg or spindle
Plate grasping mechanism includes machine wrist 10, the palm rotary electric machine 11 in machine wrist 10, defeated with palm rotary electric machine 11
The machine palm 12 of outlet connection.The slewing equipment is set on workbench 3.
In the present embodiment, the quantity of the mechanical arm is that mostly pair, the mechanical arm junction connecting with slewing equipment are to live
Dynamic connection, mechanical arm can be swung up and down around central axis, and mechanical arm junction interconnected is to be flexibly connected, can be on central axis
Lower swing.
In the present embodiment, the slewing equipment includes revolving platform 5 and revolving platform driving motor 12, among the revolving platform 5
Equipped with shaft, connect below the shaft with revolving platform driving motor 12.
In the present embodiment, the mechanical arm includes machine large arm 6, machine forearm 7, and the mechanical arm is equipped with mechanical arm
Driving mechanism, the mechanical arm driving mechanism include mechanical arm driving motor, connect with mechanical arm driving motor output shaft end
Transmission mechanism, the transmission mechanism include driving wheel, follower, the transmission device connecting with driving wheel and follower, the machine
Tool arm driving motor output shaft end is connected with driving wheel；The mechanical arm driving mechanism includes machine large arm driving mechanism, machine
Device forearm driving mechanism；The revolving platform 5 is connect with machine large arm 6, and junction is equipped with machine large arm driving mechanism, described
The rear end of machine large arm 6 is connect with machine forearm 7, and junction is equipped with machine forearm driving mechanism, after the machine forearm 7
The connection at end and machine wrist 10, junction are equipped with machine wrist driving mechanism.
In the present embodiment, the machine large arm driving mechanism includes that machine large arm driving motor 19 and machine large arm drive
The machine large arm transmission mechanism of 19 output shaft end of motor connection, the machine large arm transmission mechanism includes machine large arm driving wheel
21, machine large arm follower 20, the machine large arm transmission dress being connect with machine large arm driving wheel 21 and machine large arm follower 20
It sets, 19 output shaft end of machine large arm driving motor is connected with machine large arm driving wheel 21, the machine large arm driving wheel
21 are fixedly connected with machine large arm 6；The machine forearm driving mechanism includes that machine forearm driving motor 18 and machine forearm drive
The machine forearm transmission mechanism of dynamic 18 output shaft end of motor connection, the machine forearm transmission mechanism includes machine forearm driving wheel
22, machine forearm follower 23, the machine forearm transmission dress being connect with machine forearm driving wheel 22 and machine forearm follower 23
It sets, 18 output shaft end of machine forearm driving motor is connected with machine forearm driving wheel 22, the machine forearm driving wheel
22 are fixedly connected with machine large arm 6.
In the present embodiment, the front end of the machine forearm 7 is equipped with forearm leading portion 9, is equipped with forearm in the machine forearm 7
Leading portion rotating electric machine 17, the forearm leading portion 9 and 17 output shaft end of forearm leading portion rotating electric machine are connected with each other, before the forearm
Section 9 is equipped with vision probe 8；The machine wrist driving mechanism includes that machine wrist driving motor 16 and machine wrist drive
10 transmission mechanism of machine wrist of 16 output shaft end of motor connection, 10 transmission mechanism of machine wrist include machine wrist active
Wheel 27, machine wrist follower 26, the machine wrist transmission being connect with machine wrist driving wheel 27 and machine wrist follower 26
Device, 16 output shaft end of machine wrist driving motor are connected with machine wrist driving wheel 27, and the machine wrist is actively
Wheel 27 is fixedly connected with forearm leading portion 9.
Between machine large arm driving wheel 21 and machine large arm follower 20, machine forearm driving wheel 22 it is passive with machine forearm
It can be for belt connection, chain connects or gear between wheel 23, between machine wrist driving wheel 27 and machine wrist follower 26
Connection；Between forearm leading portion rotating electric machine 17 and forearm leading portion 9, between palm rotary electric machine 11 and machine palm 12 can be straight
Motor shaft is connect to connect, connect using shaft coupling mode or gear manner.Revolving platform driving motor 12 controls turning for revolving platform 5
Dynamic, large arm oscillating motor is used to control the swing of machine large arm 6, and forearm oscillating motor is used to control the swing of machine forearm 7, small
Arm leading portion rotating electric machine 17 is used to control the rotation of forearm leading portion 9, and wrist driving motor 16 is used to control the pendulum of machine wrist 10
Dynamic, that machine palm rotary electric machine 11 is used to control machine palm 12 and rotate, it is each that the above motor part realizes mechanical arm
Movement on direction, to realize accurately motion profile.
In the present embodiment, the machine palm 12 is equipped with magnechuck 28, and the upper end of the magnechuck 28 is set
There is positioning pin 25, the side of the magnechuck 28 is equipped with laser emitter 29.In the present embodiment, used Laser emission
Device 29 is existing off-the-shelf hardware, model RJGIRF.Magnechuck 28 on machine palm 12 is for drawing bobbin case peg or spindle plate, institute
The positioning pin 25 stated is positioned for fixing bobbin case peg or spindle plate, the laser emitter 29 for finding laser positioning hole 32
Work.
A kind of line method that refoots automatically for the line robot realization that intelligently refooted by embroidery machine, it is characterised in that including following step
It is rapid:
1), open can replacement and fixation hook device, put down bobbin case storing plate, lead to spare bobbin case from the back side of bobbin case storing plate
It crosses bobbin case installation through-hole to be successively installed on peg or spindle plate, reserves the peg or spindle plate installation position 34 of at least one vacancy；
2) after, installing spare bobbin case on bobbin case storing plate, bobbin case storing plate is dug, upper end is used can replacement and fixation hook dress
Fixation is set, spare bobbin case storage device 1 is installed on fixed disc pedestal；
3), walking dolly 5 is mobile, under the action of walking guidance system, precisely reaches first and needs replacing peg or spindle plate
Machine head of embroidery machine at, take sky peg or spindle plate 33 to act.The mechanical device of automatic shuttle changing shell 13 has originally been installed at this time
In the spare bobbin case replacement to embroidery machine on the peg or spindle plate 35 equipped with spare bobbin case in bobbin case peg or spindle plate mounting base 31, bobbin case
An empty peg or spindle plate 33 without spare bobbin case is left in peg or spindle plate mounting base 31, taking sky peg or spindle plate 33 includes following movement:
A: revolving platform driving motor 12 drives revolving platform 5 to rotate, and machine palm 12 is transplanted on bobbin case peg or spindle plate by mechanical arm
The lower section of mounting base 31, by carrying out position monitor, vision probe 8 by 29 two devices of vision probe 8 and laser emitter
It is directed at bobbin case peg or spindle plate mounting base 31, detects the positioning device on extension edge, mechanical arm and machine palm 12 carry out position tune
Whole, the laser emitter 29 on machine palm 12 issues laser and is detected, and detects the next frame and bobbin case peg or spindle plate mounting base
Laser positioning hole 32 on 31, two devices are accurately positioned；
B: after the completion of positioning, mechanical arm is moved up, and the positioning pin 25 on machine palm 12 is made to be inserted into peg or spindle plate hole position, electricity
Magnetic-disc 28 is powered, and sky peg or spindle plate 33 is sucked；
C: mechanical arm moves up, and sky peg or spindle plate 33 is made to be detached from the blowing positioning pin 25 in bobbin case peg or spindle plate mounting base 31；
D: mechanical arm moves back, and so that sky peg or spindle plate 33 is detached from fixed position, when moving back, hand by 12 access way of machine palm
The unilateral gate of wrist unilateral gate collection hopper 24 is opened, and smoothly move back under the action of the lower plate of V-arrangement removable cover, after removal,
Unilateral gate resets under the action of elastic position rebounding device；
4), empty peg or spindle plate 33 is sent back to spare bobbin case storage device 1, including following movement:
E: revolving platform driving motor 12 drives revolving platform 5 to rotate, and mechanical arm goes to the reserved sky of spare bobbin case storage device 1
At scarce peg or spindle plate installation position 34, position monitor, vision probe are carried out by 29 two devices of vision probe 8 and laser emitter
The 8 spare bobbin case storage devices 1 of alignment, are directed at the peg or spindle plate installation position 34 of vacancy, and laser emitter 29 issues laser and detected,
Mechanical arm and machine palm 12 carry out position adjustment, detect the laser positioning hole 32 in peg or spindle plate installation position 34, two devices
It is accurately positioned；
F: a full set of positioning system full-time on mechanical arm, mechanical arm travel forward, and place sky peg or spindle plate 33 accurately
On the peg or spindle plate installation position 34 of vacancy on to bobbin case storing plate；
G: after placing safely, the magnechuck 28 on machine palm 12 is powered off, and empty peg or spindle plate 33 is embedded in peg or spindle plate
Permanent magnet absorption in installation position 34；
5), crawl is equipped with the peg or spindle plate 35 of spare bobbin case, including following movement:
H: mechanical arm moves to 35 installation position 34 of peg or spindle plate equipped with spare bobbin case, passes through vision probe 8 and laser emitter
29 two devices carry out position monitor, and the alignment of vision probe 8 is equipped with 35 installation position 34 of peg or spindle plate of spare bobbin case, laser emitter
29 sending laser are detected, and mechanical arm and machine palm 12 carry out position adjustment, detect the peg or spindle plate equipped with spare bobbin case
Laser positioning hole 32 on 35, two devices are accurately positioned；
I: a full set of positioning system full-time on mechanical arm, mechanical arm travel forward, and make the positioning on machine palm 12
In hole location of the insertion of pin 25 equipped with the peg or spindle plate 35 of spare bobbin case, magnechuck 28 is powered, and makes the peg or spindle plate equipped with spare bobbin case
35 absorption are secured；
J: being greater than the suction of the permanent magnet in peg or spindle plate installation position 34 using 28 suction of magnechuck, extracts and spare shuttle is housed
The peg or spindle plate 35 of shell；
6), the peg or spindle plate 35 equipped with spare bobbin case is installed to bobbin case peg or spindle plate mounting base 31, and recycles empty bobbin case 36,
Including following movement:
K: revolving platform driving motor 12 drives revolving platform 5 to rotate, and machine palm 12 is transplanted on bobbin case peg or spindle plate by mechanical arm
The front of mounting base 31, by carrying out detection and localization by vision probe 8, vision probe 8 is directed at bobbin case peg or spindle plate mounting base 31,
Detect the visual detection positioning device on extension edge；
L: mechanical arm travels forward, and is moved in bobbin case peg or spindle plate mounting base 31 by 12 access way of machine palm, leads to
It crosses 29 two devices of vision probe 8 and laser emitter and carries out position monitor, vision probe 8 is directed at bobbin case peg or spindle plate mounting base 31
Extension edge on visual detection positioning device, laser emitter 29 issue laser detected, mechanical arm and machine palm 12
Position adjustment is carried out, the laser positioning hole 32 on the next frame and bobbin case peg or spindle plate mounting base 31 is detected, pacifies bobbin case peg or spindle plate
The blowing positioning pin 25 for filling seat 31 is aligned with the hole location on the peg or spindle plate 35 equipped with spare bobbin case；Before the step, empty bobbin case
There is the empty bobbin case 36 changed from embroidery machine in recycling box 30, it is unidirectional using wrist in mechanical arm forward movement
The unilateral gate of door collection hopper 24 pushes the V-arrangement removable cover of sky bobbin case recycling box 30 open, and the empty bobbin case 36 changed is made to fall into wrist list
Into door collection hopper 24；
M: after the completion of positioning, mechanical arm is moved down, and inserts the blowing positioning pin 25 in bobbin case peg or spindle plate mounting base 31
Enter the hole location of the peg or spindle plate 35 equipped with spare bobbin case, and is sucked by the permanent magnet in bobbin case peg or spindle plate mounting base 31 equipped with spare
The peg or spindle plate 35 of bobbin case；
N: after 35 safety of peg or spindle plate equipped with spare bobbin case is placed on blowing positioning pin 25, the electricity on machine palm 12
Magnetic-disc 28 powers off, and moves still further below, is detached from bobbin case peg or spindle plate mounting base 31；During moving down, V-arrangement removable cover
Plate is closed naturally under the action of elastic position rebounding device；
O: revolving platform driving motor 12 drives revolving platform 5 to rotate, and mechanical arm goes to spare bobbin case storage device 1, rotating machine
Device wrist 10, wrist unilateral gate collection hopper 24 are overturn, and sky bobbin case 36 is made to fall into sky bobbin case material collecting tank 2；
7), 5 advance a distance of walking dolly, reaches at next machine head of embroidery machine, repetitive operation A-O, working in reciprocating mode,
It realizes and places the peg or spindle plate 35 equipped with spare bobbin case on 31 position of bobbin case peg or spindle plate mounting base of each head automatically and complete
The recycling of empty bobbin case 36 and empty peg or spindle plate 33, realizes the line function that automatically refoots under the cooperation of the mechanical device 13 of automatic shuttle changing shell
Energy.
8), when the spare bobbin case on a bobbin case storing plate after the installation is completed, disk driving motor drive fixed disc bottom
Seat rotation, after turning an angle, takes the spare bobbin case on next block of bobbin case storing plate.
Claims (6)
1. a kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine, it is characterised in that filled including slewing equipment, with revolution
Set sequentially connected several secondary mechanical arms, the bobbin case peg or spindle plate grasping mechanism set on mechanical arm rear end, the bobbin case peg or spindle
Plate grasping mechanism includes machine wrist, the palm rotary electric machine in machine wrist, connect with palm rotary electric machine output end
Machine palm.
2. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 1, it is characterised in that institute
The quantity for the mechanical arm stated is that mostly pair, the mechanical arm junction connecting with slewing equipment are to be flexibly connected, and mechanical arm can be around center
Axis is swung up and down, and mechanical arm junction interconnected is to be flexibly connected, and can be swung up and down around central axis.
3. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 1, it is characterised in that institute
Stating slewing equipment includes revolving platform and revolving platform driving motor, is equipped with shaft among the revolving platform, below the shaft with return
Turntable driving motor connects；The mechanical arm includes machine large arm, machine forearm, and the mechanical arm drives equipped with mechanical arm
Mechanism, the mechanical arm driving mechanism includes mechanical arm driving motor, the driver that connect with mechanical arm driving motor output end
Structure, the transmission mechanism include driving wheel, follower, the driving member connecting with driving wheel and follower, the mechanical arm driving
Motor output shaft end is connected with driving wheel；The mechanical arm driving mechanism includes machine large arm driving mechanism, the drive of machine forearm
Motivation structure；The revolving platform is connect with machine large arm, and junction is equipped with machine large arm driving mechanism, the machine large arm
Rear end is connect with machine forearm, and junction is equipped with machine forearm driving mechanism, the rear end of the machine forearm and machine wrist
Connection, junction be equipped with machine wrist driving mechanism.
4. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 3, it is characterised in that institute
State the machine large arm that machine large arm driving mechanism includes machine large arm driving motor, connect with machine large arm driving motor output end
Transmission mechanism, the machine large arm transmission mechanism include machine large arm driving wheel, machine large arm follower and the active of machine large arm
Take turns the machine large arm driving member connected with machine large arm follower, the machine large arm driving motor output shaft end and machine large arm
Driving wheel is connected, and the machine large arm driving wheel is fixedly connected with machine large arm；The machine forearm driving mechanism includes machine
Device forearm driving motor, the machine forearm transmission mechanism connecting with machine forearm driving motor output end, the machine forearm pass
Motivation structure includes machine forearm driving wheel, machine forearm follower, connect with machine forearm driving wheel and machine forearm follower
Machine forearm driving member, the machine forearm driving motor output shaft end is connected with machine forearm driving wheel, the machine
Forearm driving wheel is fixedly connected with machine large arm.
5. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to claim 3, it is characterised in that institute
The front end for stating machine forearm is equipped with forearm leading portion, is equipped with forearm leading portion rotating electric machine, the forearm in the machine forearm
The output end of leading portion and forearm leading portion rotating electric machine is connected with each other, and the forearm leading portion is equipped with vision probe；The mechanical hand
The machine wrist driver that wrist driving mechanism includes machine wrist driving motor, is connect with machine wrist driving motor output end
Structure, the machine wrist transmission mechanism include machine wrist driving wheel, machine wrist follower and machine wrist driving wheel and machine
The machine wrist driving member of device wrist follower connection, the machine wrist driving motor output shaft end and machine wrist driving wheel
It is connected, the machine wrist driving wheel is fixedly connected with forearm leading portion.
6. a kind of bobbin case conveying device of line that intelligently refoots for embroidery machine according to any one of claims 1 to 5, special
Sign is that the mechanical hand palm is equipped with magnechuck, and the upper end of the magnechuck is equipped with positioning pin, the electromagnetism
The side of sucker is equipped with laser emitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821429025.3U CN209024773U (en) | 2018-09-01 | 2018-09-01 | A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821429025.3U CN209024773U (en) | 2018-09-01 | 2018-09-01 | A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209024773U true CN209024773U (en) | 2019-06-25 |
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ID=66876913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821429025.3U Active CN209024773U (en) | 2018-09-01 | 2018-09-01 | A kind of bobbin case conveying device for the line that intelligently refoots for embroidery machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209024773U (en) |
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2018
- 2018-09-01 CN CN201821429025.3U patent/CN209024773U/en active Active
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