CN209456697U - A kind of rotation storing type embroidery machine intelligently refoots line robot device - Google Patents

Abstract

The utility model provides a kind of rotation storing type embroidery machine and intelligently refoots line robot device, it is intended to overcome bobbin case replacement in embroidery machine equipment in the prior art to need manual operation, the problems such as the degree of automation is low, and production efficiency is low, labor intensity of workers is high.It includes workbench, bobbin case storing plate, bobbin case transfer robot and bobbin case clamping device, the bobbin case storing plate is mostly secondary, more secondary bobbin case storing plates are sequentially arranged in a ring, more pair bobbin case storing plates can rotate around center axis, mandrel is placed equidistant with along the bobbin case storing plate, more secondary bobbin case storing plate upper ends are equipped with upper fixed disc, its lower end is equipped with lower fixed disc, the upper fixed disc and lower fixed disc center is equipped with disk driving mechanism, the bobbin case storing plate upper end is detachably connected with upper fixed disc, along bobbin case storing plate, mandrel is set；The bobbin case clamping device is installed on bobbin case transfer robot end.

Description

A kind of rotation storing type embroidery machine intelligently refoots line robot device

Technical field

It intelligently refoots line machine the utility model relates to field of textile equipment more particularly to a kind of rotation storing type embroidery machine People's equipment.

Background technique

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

Utility model content

The utility model is in order to overcome bobbin case replacement in embroidery machine equipment in the prior art to need manual operation, automatically The problems such as change degree is low, and production efficiency is low, labor intensity of workers is high, replacement bobbin case can be realized automatically by providing one kind, be provided certainly The spare bobbin case of the embroidery machine intelligent grabbing of dynamicization degree and production efficiency refoots line equipment.

To achieve the above object, the utility model uses following technical scheme:

A kind of rotation storing type embroidery machine of the utility model intelligently refoots line robot device, including workbench, shuttle Shell storing plate, bobbin case transfer robot and bobbin case clamping device, the bobbin case storing plate are mostly secondary, more secondary bobbin case storings Plate is sequentially arranged in a ring, and more pair bobbin case storing plates can rotate around center axis, and mandrel is placed equidistant with along the bobbin case storing plate, More secondary bobbin case storing plate upper end is equipped with upper fixed disc, and lower end is equipped with lower fixed disc, the upper fixed disc with Lower fixed disc center be equipped with disk driving mechanism, the disk driving mechanism include in upper fixed disc and lower fixed disc The disk driving motor of mandrel connection, the bobbin case storing plate lower end are flexibly connected with lower fixed disc, the bobbin case storing plate Upper end is detachably connected with upper fixed disc, and mandrel is arranged along bobbin case storing plate；The bobbin case clamping device is installed on bobbin case Transfer robot end.

Workbench is for carrying the structures such as spare bobbin case storing unit and bobbin case transfer robot in each of work-yard Embroidery machines rotating shuttle position is mobile.For placing spare bobbin case, bobbin case is fixed on mandrel bobbin case storing plate.Bobbin case storing plate Rotation set-up mode can guarantee to clamp every time bobbin case turn to it is identical apart from the distance of rotation seat, so as to guarantee to press from both sides every time Take distance of the bobbin case apart from rotation seat identical, so as to reduce bobbin case transfer robot at this apart from upper positioning accuracy.

Preferably, the bobbin case storing plate is additionally provided with limit base in mandrel side, the limit base is towards mandrel Side is provided with the arc surface of cooperation bobbin case lateral surface, and the arc surface side of the limit base is provided with cooperation bobbin case bolt on top Lock the locking notch of sliding part end.

Preferably, mandrel end is provided with annular positioning groove.

Spare bobbin case insertion mandrel is fixed, and annular positioning groove is used to position the centre bore of bobbin case, and limit base is for positioning shuttle Shell latching slide part end prevents spare bobbin case from rotating, so as to make bobbin case clamping device accurately clamp bobbin case.

Preferably, mandrel side is provided with the end of a thread location structure, the end of a thread location structure is provided parallel to mandrel and sets The end of a thread winding axis set, described the end of a thread wind and are arranged with winding spring on axis.

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

Preferably, mandrel side is provided with the end of a thread location structure, the end of a thread location structure is set as the end of a thread locating clip Bulge-structure is arranged close to top in piece, the positioning intermediate plate, and the bulge-structure of two panels positioning intermediate plate is oppositely arranged and mutually abuts against.

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

Preferably, the workbench is set in a moving trolley, the moving trolley is provided with anticollision automatic stop System, the anticollision automatic stop system include the ultrasonic distance-measuring sensor set on moving trolley.

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

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

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

Bobbin case clamping device close to bobbin case in place after, dial hook driving motor driving dial hook rotation, stir open bolt-lock handle, Make to receive in latching slide part, so that the positioning of locating notch limits on latching slide part and locating plate, bobbin case is positioned from bobbin case It is taken out in mechanism, middle through-hole snaps on spacing block set in the bolt-lock handle of opening, to realize that stablizing for bobbin case grabs.

Therefore, the utility model has the advantages that are as follows: the utility model is able to achieve 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 received automatically Collection, it is time-consuming and laborious to solve the problems, such as that computerized emboridering machine industry manually replaces bobbin case (peg or spindle).

Detailed description of the invention

Fig. 1 is the structural schematic diagram that the utility model is implemented.

Fig. 2 is the first structure diagram of the spare bobbin case positioning states of the utility model.

Fig. 3 is the second structural schematic diagram of the spare bobbin case positioning states of the utility model.

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

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

In figure: 1 moving trolley；101 workbenches；2 bobbin case storing plates；Fixed disc on 201；202 lower fixed discs； 301 mandrels；302 annular positioning grooves；303 limit bases；304 locking notches；305 the end of a thread wind axis；306 winding springs；307 lines Head locating clip；4 bobbin case transfer robots；401 rotation seats；402 first mechanical arms；403 second mechanical arms；404 third mechanical arms； 405 the 4th mechanical arms；5 bobbin case clamping devices；501 brackets；502 groups of hooks；503 groups of hook driving motors；504 intermediate plates；505 limits Convex block；6 bobbin cases；601 bolt-lock handles；602 latching slide parts；7 vision probes.

Specific embodiment

The utility model is described further with reference to the accompanying drawings and detailed description.

As shown in Figure 1 and Figure 2, a kind of rotation storing type embroidery machine of the utility model intelligently refoots line robot device, packet Workbench 101, bobbin case storing plate 2, bobbin case transfer robot 4 and bobbin case clamping device 5 are included, the bobbin case storing plate is more Pair, more secondary bobbin case storing plates are sequentially arranged in a ring, and more pair bobbin case storing plates can rotate around center axis, and mandrel is along described Bobbin case storing plate is placed equidistant with, and more secondary bobbin case storing plate upper ends are equipped with upper fixed disc 201, and lower end is equipped with lower fixed circle Disk 202, the upper fixed disc 201 and lower 202 center of fixed disc are equipped with disk driving mechanism, the disk driving machine Structure includes the disk driving motor with 202 center axis connection of upper fixed disc 201 and lower fixed disc, the bobbin case storing plate 2 Lower end is flexibly connected with lower fixed disc 202, and the bobbin case storing plate upper end is detachably connected with upper fixed disc, along bobbin case Mandrel 301 is arranged in storing plate；The bobbin case clamping device 5 is installed on 4 end of bobbin case transfer robot.

The bobbin case storing plate 2 is additionally provided with limit base 303 in 301 side of mandrel, and the limit base 303 is towards mandrel 301 side is provided with the arc surface of cooperation bobbin case lateral surface, and the arc surface side of the limit base 303 is provided on top matches Close the locking notch 304 of 602 end of bobbin case latching slide part.301 end of mandrel is provided with annular positioning groove 302.

Spare bobbin case insertion mandrel 301 is fixed, and annular positioning groove 302 is used to position the centre bore of bobbin case, and limit base 303 is used In positioning 602 end of bobbin case latching slide part, prevent spare bobbin case from rotating, so as to clamp bobbin case clamping device 5 accurately Bobbin case.

A kind of preferred embodiment as shown in Figure 2,301 side of mandrel are provided with the end of a thread location structure, the end of a thread positioning knot Structure is provided parallel to the end of a thread winding axis 305 of the setting of mandrel 301, is arranged with winding spring 306 on the end of a thread winding axis 305. The end of a thread of spare bobbin case is pullled out one section and is wrapped on the end of a thread winding axis 305, prevents the end of a thread on bobbin case from influencing bobbin case crawl The work such as installation, while the end of a thread can more readily be taken in by head when safe bobbin case.

Another preferred embodiment as shown in Figure 3,301 side of mandrel are provided with the end of a thread location structure, the end of a thread positioning Structure setting is the end of a thread locating clip 307, and bulge-structure is arranged close to top in the positioning intermediate plate 504, and two panels positions intermediate plate 504 Bulge-structure be oppositely arranged and mutually abut against.

The end of a thread of spare bobbin case is pullled out one section and is clamped on the end of a thread locating clip 307, prevents the end of a thread on bobbin case from influencing The work such as bobbin case crawl installation, while the end of a thread can more readily be taken in by head when safe bobbin case.

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

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

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

In the present embodiment, gray scale sensing module uses 12 tunnel gray scale tracking sensor SEN1660-F of Fang Yu, visual identity mould Block uses the C0602 laser of 3irobotics company using think of CCD visual identity module XG-E700A, laser emitting module is helped Feel module, display screen uses Shenzhen Zhen Hua company SUEI74 using the industrial display screens such as Song Zuo or Omron, vision probe 77 Industrial vision probe 77 or suitable product, visual identity module is helped using XG-E700A thinks CCD visual identity module, Laser emission Device uses Shenzhen Fa Shi company F3/F6/F10 series laser transmitter, and ultrasonic distance-measuring sensor is had using the poly- English electronics in Beijing The RS485 ultrasonic distance measurement of limit company senses mold.

The bobbin case clamping device 5 includes clamp bracket 501, dials hook 502, dials hook driving motor 503 and intermediate plate 504, institute The end that bobbin case transfer robot 4 is arranged in clamp bracket 501 is stated, described group of hook 502 and intermediate plate 504 are arranged in clamp bracket 501 two sides dial hook 502 and are rotatablely connected clamp bracket 501, dial the driving group hook 502 of hook driving motor 503 and rotate, described group of hook 502 for stirring bolt-lock handle 601, and the intermediate plate 504 is L shape structure, and the bolt-lock of cooperation bobbin case is provided on the inside of intermediate plate 504 The spacing block set 505 of 601 middle through-hole of handle.

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

Workbench 101 is for carrying the structures such as spare bobbin case storing unit and bobbin case transfer robot 4 in work-yard Each embroidery machines rotating shuttle position it is mobile.Bobbin case storing plate 2 is for placing spare bobbin case.The pivot center of the rotation seat 401 It is coaxially disposed with the circle central axis of the 2 arc surface structure of bobbin case storing plate, turns so as to guarantee to clamp bobbin case distance every time The distance of dynamic seat 401 is identical, so as to reduce bobbin case transfer robot 4 at this apart from upper positioning accuracy.

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

Step 1: bobbin case clamping device 55 is turned to bobbin case direction to be replaced, bobbin case clamping dress by bobbin case transfer robot 44 55 clampings bobbin case to be replaced is set, is dismantled and completes demounting procedure.

Step 2: bobbin case transfer robot 44 turns to bobbin case clamping device 55 towards bobbin case storage device direction, by shuttle To a spare bobbin case, bobbin case clamping device 55 clamps spare bobbin case for the translation of shell clamping device 55 and lifting moving, completes feeding.

Step 3: bobbin case clamping device 55 is turned to the pre-installed position of spare bobbin case, bobbin case by bobbin case transfer robot 44 The spare bobbin case of clamping is installed in place by clamping device 55, completes installation steps.

Claims (9)

1. The line robot device 1. a kind of rotation storing type embroidery machine intelligently refoots, characterized in that including workbench, bobbin case storing Plate, bobbin case transfer robot and bobbin case clamping device, for the bobbin case storing plate to be mostly secondary, more secondary bobbin case storing plates are in ring Shape is sequentially arranged, and more pair bobbin case storing plates can rotate around center axis, and mandrel is placed equidistant with along the bobbin case storing plate, described more Secondary bobbin case storing plate upper end is equipped with upper fixed disc, and lower end is equipped with lower fixed disc, the upper fixed disc and lower fixation Disc centre is equipped with disk driving mechanism, and the disk driving mechanism includes connecting with upper fixed disc and lower fixed disc central axis The disk driving motor connect, the bobbin case storing plate lower end are flexibly connected with lower fixed disc, the bobbin case storing plate upper end with Upper fixed disc is detachably connected, and mandrel is arranged along bobbin case storing plate；The bobbin case clamping device is installed on bobbin case conveyer Tool hand end.
2. The line robot device 2. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that institute It states bobbin case storing plate and is additionally provided with limit base in mandrel side, the side of the limit base towards mandrel is provided with outside cooperation bobbin case The arc surface side of the arc surface of side, the limit base is lacked in the locking that top is provided with cooperation bobbin case latching slide part end Mouthful.
3. The line robot device 3. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that core Shaft end is provided with annular positioning groove.
4. The line robot device 4. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that core Axis side is provided with the end of a thread location structure, and the end of a thread location structure is provided parallel to the end of a thread winding axis of mandrel setting, described Winding spring is arranged on the end of a thread winding axis.
5. The line robot device 5. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that core Axis side is provided with the end of a thread location structure, and the end of a thread location structure is set as the end of a thread positioning intermediate plate, and the positioning intermediate plate is close Bulge-structure is arranged in top, and the bulge-structure of two panels positioning intermediate plate is oppositely arranged and mutually abuts against.
6. The line robot device 6. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that institute It states workbench to be set in a moving trolley, the moving trolley is provided with anticollision automatic stop system, the anticollision automatic stop System includes the ultrasonic distance-measuring sensor set on moving trolley.
7. The line robot device 7. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that institute Stating bobbin case transfer robot includes first mechanical arm, second mechanical arm, third mechanical arm and the 4th mechanical arm, and described first is mechanical Arm parallel rotation connects workbench, and second mechanical arm is rotatablely connected first mechanical arm, and third mechanical arm is rotatablely connected the second machine Tool arm, the 4th mechanical arm are rotatablely connected third mechanical arm, and the 4th mechanical arm tail end is rotatablely connected bobbin case clamping device.
8. The line robot device 8. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that institute Stating equipment further includes position control device, and the position control device includes master control borad, the gray scale sensing mould set on moving trolley Display screen in block, visual identity module, laser emitting module and moving trolley, the gray scale sensing module, visual identity mould Block, laser emitting module, display screen are electrically connected with the master control borad, and the moving trolley bottom is sensed equipped with gray scale Device, the gray scale sensing module are electrically connected with gray-scale sensor, and the bobbin case transmitting mechanical is equipped with vision probe on hand, institute The vision probe stated is electrically connected with visual identity module, and the bobbin case clamping device is equipped with laser emitter, and described swashs Optical transmitting set is electrically connected with laser emitting module.
9. The line robot device 9. a kind of rotation storing type embroidery machine according to claim 1 intelligently refoots, characterized in that institute It states bobbin case clamping device to include clamp bracket, dial hook, dial hook driving motor and intermediate plate, the clamp bracket setting is transmitted in bobbin case The end of manipulator, described group of hook and intermediate plate setting dial hook and are rotatablely connected clamp bracket in clamp bracket two sides, dial hook driving electricity Hook rotation is dialled in machine driving, and described group of hook is L shape structure for stirring bolt-lock handle, the intermediate plate, is provided with cooperation on the inside of intermediate plate The spacing block set of the bolt-lock handle middle through-hole of bobbin case.