CN210621141U - Movable lifting type automatic bobbin changing device - Google Patents

Abstract

The utility model discloses a mobile lifting type automatic shuttle peg replacing device, which comprises a shuttle peg replacing execution end and a feeding end which are arranged at intervals, a lifting type automatic shuttle peg replacing device arranged between the shuttle peg replacing execution end and the feeding end, and a driving mechanism which can lead the lifting type automatic shuttle peg replacing device to move between the shuttle peg replacing execution end and the feeding end; the lifting type automatic bobbin replacing device comprises an execution terminal, wherein the execution terminal comprises mechanical fingers which can grab and release the bobbin case; the feeding end is provided with a material storage disc, the material storage disc is provided with a plurality of bobbin case storage stations, and the bobbin case storage stations can correspond to the mechanical fingers on the execution terminal one by one; the lifting type automatic bobbin replacing device is provided with a rotating mechanism and a lifting mechanism. The utility model discloses apply to template machine, embroidery machine or sewing machine, solved the workman and need bore the problem that the platen below carries out the manual work line change, reduce intensity of labour, improve production efficiency.

Description

Movable lifting type automatic bobbin changing device

Technical Field

The utility model belongs to the technical field of weaving equipment and specifically relates to a remove automatic shuttle peg device that trades of over-and-under type.

Background

At present, the bobbin and the bobbin case of the template machine, the computerized embroidery machine and the sewing machine are replaced when the bobbin thread running in the rotating shuttle is used up. The bobbin is replaced manually, and the bobbin needs to be replaced frequently, so that the labor intensity of operators is high, and the production efficiency is influenced. Particularly, both the template machine and the embroidery machine are provided with a table top with a large area, more downtime is consumed for changing the bobbin case, and meanwhile, an operator needs to bend down to operate and drill below the table plate to the position of the rotating shuttle to change the bobbin case in the rotating shuttle. The working strength is also higher, and the number of operators is correspondingly increased, so that the labor cost is increased, and the economic benefit of enterprises is influenced. And a plurality of reinforcing ribs or crosspieces are arranged below the bedplate of different template machines and computer embroidery machines, so that the replacement efficiency of the bottom line is greatly influenced.

Disclosure of Invention

In order to solve the above problems, the utility model provides a remove over-and-under type and trade shuttle peg device automatically.

The technical scheme of the utility model is that the movable lifting type automatic shuttle peg replacing device comprises a shuttle peg replacing execution end and a feeding end which are arranged at intervals, a lifting type automatic shuttle peg replacing device arranged between the shuttle peg replacing execution end and the feeding end, and a driving mechanism which can make the lifting type automatic shuttle peg replacing device move between the shuttle peg replacing execution end and the feeding end; the lifting type automatic bobbin replacing device comprises an execution terminal, wherein the execution terminal comprises mechanical fingers which can grab and release the bobbin case; the feeding end is provided with a material storage disc, the material storage disc is provided with a plurality of bobbin case storage stations, and the bobbin case storage stations can correspond to the mechanical fingers on the execution terminal one by one; the lifting type automatic bobbin replacing device is provided with a rotating mechanism and a lifting mechanism, the rotating mechanism can enable an execution terminal to rotate, so that a mechanical finger corresponds to the center position of the bobbin case on the bobbin case storage station, and the lifting mechanism can enable the execution terminal to lift up and down, so that the mechanical finger corresponds to the height position of the bobbin case on the bobbin case storage station.

Preferably, the driving mechanism comprises a first sliding block for bearing the movement of the lifting type automatic bobbin replacing device, a moving guide rail for controlling the trend of the first sliding block, a sliding block moving driving motor for driving the first sliding block to move on the moving guide rail, and a moving transmission structure connected with the sliding block moving driving motor.

Preferably, the two ends of the movable guide rail are provided with trigger devices, and the movable transmission structure comprises a screw transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a synchronous belt transmission mechanism, a hydraulic cylinder transmission mechanism or an air cylinder transmission mechanism.

Preferably, the feeding end is provided with a support frame, and the lower end of the support frame is fixedly connected with the movable guide rail; the feed end is provided with a feed platform, the feed platform comprises a storage disc, a storage disc rotation driving motor, and a connecting disc for connecting the storage disc and the storage disc rotation driving motor, the storage disc rotation driving motor is fixed with the support frame, and an output shaft of the storage disc rotation driving motor penetrates through the support frame and then is fixedly connected with the center of a rotating shaft of the connecting disc.

Preferably, when the storage disc rotates, a bobbin case storage station on the storage disc always corresponds to a mechanical finger in an execution terminal of the lifting type automatic bobbin replacing device; the storage disc rotation driving motor is provided with a magnetoelectric encoder.

Preferably, the material storage disc and the connecting disc are in a detachable connection structure, a connecting column is arranged in the center of the front side of the connecting disc, a connecting column fixing channel is arranged in the center of the material storage disc, and the connecting column is arranged in the connecting column fixing channel for central positioning; the rear side surface of the storage disc is provided with a magnet and a positioning pin at the periphery of the connecting column fixing channel, the corresponding position on the connecting disc is provided with a magnet and a positioning hole, the storage disc and the connecting disc are attracted by the magnet, and the positioning pin is positioned and combined in a detachable connection mode; be located on the connection pad and be equipped with the ball between the magnet, the front end of ball is protruding in the terminal surface of connection pad and is leaned on the storage disc, after storage disc and the mutual actuation of connection pad, leave the clearance between storage disc and the connection pad.

Preferably, a bobbin case positioning block is arranged beside each bobbin case storage station on the storage disc, a notch matched with the bobbin case is formed in the bobbin case positioning block, the bobbin case is matched and fixed with the bobbin case positioning block when being placed in the bobbin case storage station, the poking pieces of the bobbin case are the same with the poking direction of a mechanical finger in the execution terminal, the opening direction of the poking pieces faces the mechanical finger, and a winding clamp is further arranged beside each bobbin case storage station.

Preferably, the lifting type automatic bobbin replacing device comprises an execution terminal, a supporting seat, a rotating mechanism and a lifting mechanism, wherein the lifting mechanism comprises a second slider for bearing the execution terminal to lift, a lifting guide rail for controlling the lifting track of the second slider, a slider lifting driving motor for driving the second slider to lift on the lifting guide rail, and a lifting transmission structure connected with the slider lifting driving motor; the rotary mechanism comprises a connecting base and a base rotation driving motor, the connecting base is directly or indirectly connected with the execution terminal, the base rotation driving motor is fixed with the supporting seat, and an output shaft of the base rotation driving motor penetrates through the supporting seat and is fixedly connected with the connecting base.

As a further preference, the base rotation driving motor is provided with a magnetoelectric encoder; the lifting guide rail is characterized in that trigger devices are arranged at two ends of the lifting guide rail, and the lifting transmission structure comprises a lead screw transmission, a chain transmission, a gear transmission, a synchronous belt transmission, a hydraulic cylinder transmission or an air cylinder transmission.

Still further preferably, the output shaft end of the base rotation driving motor is further provided with a rotation positioning structure, and the rotation positioning structure adopts a structure mode that a positioning pin is matched with an electromagnet, and comprises a positioning pin, an electromagnet and a positioning block extending out of the tail part of the connecting base; the connection part of the connecting base and the positioning block is fixedly connected with an output shaft of a base rotation driving motor, the positioning block and the connecting base are provided with positioning holes, the supporting seat is provided with a through hole, the positioning pin is arranged above the electromagnet, and the positioning pin is positioned in the positioning holes by switching on and off the power supply of the electromagnet; the electromagnet is fixed below the supporting seat through the fixing frame, the positioning pin and the through hole are kept to correspond to each other, the positioning pin is provided with a convex ring, a spring for driving the positioning pin to reset is sleeved outside the positioning pin, and two ends of the spring are respectively abutted against the convex ring and the supporting seat.

Preferably, the execution terminal comprises a base connecting piece, a bobbin case fixing seat, a mechanical finger driving motor and a mechanical finger, the bobbin case fixing seat is attached to the tail of the bobbin case, a linkage piece and a mechanical finger reset mechanism which are linked with the mechanical finger are arranged at the bottom end of the mechanical finger, the output end of the mechanical finger driving motor can drive the tail end of the linkage piece to swing, the mechanical finger is driven to rotate to poke a poking piece of the bobbin case, the mechanical finger reset mechanism drives the mechanical finger to reset, and the mechanical finger is matched with the bobbin case fixing seat to grab or release the bobbin case to drive the operation.

Preferably, the lifting type automatic bobbin replacing device further comprises a self-adaptive balance adjusting device movably connected with the tail of the execution terminal, and the self-adaptive balance adjusting device has a function of freely moving in the front-back direction or the left-right direction or the up-down direction under the action of external force.

Preferably, the trigger device comprises a travel switch or an optical coupler.

The utility model has the advantages that: the utility model discloses a removal track, a lift track, two axis of rotation complex modes realize the change work of shuttle peg, change the artifical mode of changing the bobbin one by one originally into continuous feed to change through mobilizable automatic change bobbin case device, and retrieve empty bobbin case and carry out unified change to the storage disc. The feeding end is arranged at the outermost end of the bedplate, so that the automatic bottom line changing action of the template machine, the embroidery machine or the sewing machine can be realized, and a worker does not need to drill below the bedplate. When the storage tray is replaced by a worker, the whole storage tray can be taken out and replaced only at the outermost end of the bedplate, and the storage tray is very convenient to use. The storage tray adopts the detachable equipment, realizes quick disassembly and quick assembly, and is convenient to operate. And the utility model discloses especially, be suitable for template machine, embroidery machine or the sewing machine that are equipped with a plurality of strengthening ribs, crosspiece between rotating shuttle to the platen, can effectively avoid these strengthening ribs and crosspiece through the orbital cooperation of removal track and lift, realize the work of automatic shuttle peg that trades. The utility model discloses in the use, the time that the bottom line was changed in equipment shut down is short for work efficiency has reduced workman intensity of labour.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is one of the schematic views of the split structure of the feeding table of the present invention.

Fig. 4 is a second schematic view of the feeding table of the present invention.

Fig. 5 is one of the schematic structural views of the automatic bobbin replacing device of the present invention.

Fig. 6 is a second schematic structural view of the automatic bobbin changer according to the present invention.

Fig. 7 is one of the schematic views of the working state of the present invention.

Fig. 8 is a second schematic view of the working state of the present invention.

Fig. 9 is a control block diagram of the present invention.

Detailed Description

The present invention will be further explained with reference to the drawings and the embodiments.

As shown in the figure, the device comprises an under-hook replacing execution end 7 and a feeding end 3 which are arranged at intervals, an under-hook replacing under-hook device 9 arranged between the under-hook replacing execution end 7 and the feeding end 3, and a driving mechanism which can enable the under-hook replacing under-hook device 9 to move between the under-hook replacing execution end 7 and the feeding end 3; the lifting type automatic bobbin replacing device 9 comprises an execution terminal, wherein the execution terminal comprises a mechanical finger 30 with the action of grabbing and releasing a bobbin case 29; the feeding end 3 is provided with a storage tray 18, the storage tray 18 is provided with a plurality of bobbin case storage stations, and the bobbin case storage stations can correspond to the mechanical fingers 30 on the execution terminal one by one; the lifting type automatic bobbin replacing device 9 is provided with a rotating mechanism and a lifting mechanism, the rotating mechanism can enable an execution terminal to rotate, so that a mechanical finger 30 corresponds to the center position of the bobbin case on the bobbin case storage station, and the lifting mechanism can enable the execution terminal to lift up and down, so that the mechanical finger 30 corresponds to the height position of the bobbin case on the bobbin case storage station.

In this embodiment, the driving mechanism includes a first sliding block 8 for bearing the movement of the lifting type automatic bobbin replacing device 9, a moving guide rail 4 for controlling the direction of the first sliding block 8, a sliding block moving driving motor 2 for driving the first sliding block 8 to move on the moving guide rail 4, and a moving transmission structure connected with the sliding block moving driving motor 2.

In this embodiment, the two ends of the movable guide rail 4 are provided with the triggering devices 6, and the movable transmission structure comprises a screw transmission, a chain transmission, a gear transmission, a synchronous belt transmission, a hydraulic cylinder transmission or an air cylinder transmission.

When the device is used for screw transmission, the device comprises a moving guide rail 4, a screw 5, a slide block moving driving motor 2 for driving the screw 5 to rotate and a slide block which is matched with the moving guide rail 4 and the screw 5 and can walk on the moving guide rail 4 and the screw 5; the two ends of the screw 5 are fixed on the movable guide rail 4 through fixing plates, the movable guide rail 4 is provided with a sliding block movable driving motor 2, and an output shaft of the sliding block movable driving motor 2 penetrates through the fixing plates to be connected with the screw 5 to drive the screw 5 to rotate.

When the gear transmission is carried out, the sliding block moving device comprises a moving guide rail, a rack, a gear meshed with the rack, a sliding block fixedly connected with the gear, and a sliding block moving driving motor for driving the gear to rotate, wherein the sliding block moving driving motor drives the gear to rotate, and the gear is meshed with the rack to drive the sliding block to walk on the moving guide rail.

When the synchronous belt type transmission is adopted, the synchronous belt type transmission device comprises a movable guide rail, synchronous belt wheels arranged at two ends of the movable guide rail, and a synchronous belt connected with the synchronous belt wheels, wherein a sliding block movable driving motor for driving one synchronous belt wheel to rotate is arranged, the sliding block is fixedly connected with the synchronous belt, the sliding block movable driving motor drives the synchronous belt wheels to rotate, and the synchronous belt drives the sliding block to walk on the movable guide rail. The principle is the same when the chain is used for transmission.

When the shuttle peg is driven by the hydraulic cylinder or the air cylinder, the sliding block is directly fixed with the piston of the hydraulic cylinder or the air cylinder, and the piston is driven by the hydraulic cylinder or the air cylinder to drive the sliding block to move between the material storage disc and the shuttle peg replacement execution end.

In this embodiment, the feeding end 3 is provided with a support frame 10, and the lower end of the support frame 10 is fixedly connected with the movable guide rail 4; the feeding end is provided with a feeding platform 1, the feeding platform 1 comprises a storage disc 18, a storage disc rotation driving motor 12, and a connecting disc 15 connecting the storage disc 18 and the storage disc rotation driving motor 12, the storage disc rotation driving motor 12 is fixed with the support frame 10, and an output shaft of the storage disc rotation driving motor 12 penetrates through the support frame 10 and then is fixedly connected with a rotating shaft center of the connecting disc 15.

In this embodiment, when the material storage tray 18 rotates, a bobbin case storage station on the material storage tray 18 always corresponds to the mechanical finger 30 in the execution terminal of the lifting type automatic bobbin replacing device 9; the storage disc rotation driving motor 12 is provided with a magnetoelectric encoder. The material storage disc can be horizontal or vertical, and when the material storage disc is horizontal, the central axis of the material storage disc is in the vertical direction; when the material storage disc is vertical, the central axis of the material storage disc is in the horizontal direction; the magazine may even be inclined; the arrangement of the material storage disc is not limited, and only needs to ensure that the position of a bobbin case storage station is always opposite to the mechanical finger in the rotating process of the material storage disc, and the material storage disc corresponds to the mechanical finger, so that the mechanical finger can put down an empty bobbin case and grab the bobbin case to be loaded.

In this embodiment, a detachable connection structure is provided between the material storage disc 18 and the connection disc 15, a connection column 16 is provided at the center of the front side of the connection disc 15, a connection column fixing channel 19 is provided at the center of the material storage disc 18, and the connection column 16 is provided in the connection column fixing channel 19 for central positioning; the rear side surface of the storage disc 18 is provided with a magnet 11 and a positioning pin 22 at the periphery of the connecting column fixing channel 19, the connecting disc 15 is provided with a magnet 11 and a positioning hole 14 at corresponding positions, the storage disc 18 and the connecting disc 15 adopt a detachable connection mode of attracting the magnet 11 and positioning and combining the positioning pin 22; the ball 13 is arranged between the magnets 11 on the connecting disc 15, the front end of the ball 13 protrudes out of the end face of the connecting disc 15 and is abutted against the material storage disc 18, and a gap is reserved between the material storage disc 18 and the connecting disc 15 after the material storage disc 18 and the connecting disc 15 are mutually attracted. The structure converts the surface contact between the storage disc 18 and the connecting disc 15 into point contact, and avoids the situation that the thread end in the shuttle peg is wound and clamped.

In this embodiment, a bobbin case positioning block 20 is disposed beside each bobbin case storage station on the storage tray 18, a notch matched with the bobbin case is formed in the bobbin case positioning block 20, the bobbin case is fixed in a matched manner with the bobbin case positioning block 20 when being placed in the bobbin case storage station, the poking piece 21 of the bobbin case is the same as the poking direction of the mechanical finger 30 in the execution terminal, and the opening direction of the poking piece 21 faces the mechanical finger 30, the structure is arranged to poke the poking piece 21 on the bobbin case in a matched manner of the mechanical finger 30, a winding clamp 17 is further disposed beside the bobbin case storage station, and in actual work, the winding clamp 17 works to fix and position a thread end at the tail end of the bobbin, so that the problem that the thread end of the bobbin is too long and winding occurs is solved. The bobbin case storage station can be arranged on the periphery of the storage disc and can also be arranged on the disc surface of the storage disc, and only the storage disc is required to be ensured to be in the rotating process, the position of the bobbin case storage station is always opposite to a mechanical finger, the poking piece of the bobbin case is the same as the poking direction of the mechanical finger in the execution terminal, and the opening direction of the poking piece faces the mechanical finger.

In this embodiment, the lifting type automatic bobbin replacing device 9 includes an execution terminal, a support base 33, a rotating mechanism and a lifting mechanism, wherein the lifting mechanism includes a second slider 32 for carrying the execution terminal to lift, a lifting guide rail 23 for controlling the lifting track of the second slider 32, a slider lifting driving motor 24 for driving the second slider 32 to lift on the lifting guide rail 23, and a lifting transmission structure connected with the slider lifting driving motor 24; the rotating mechanism comprises a connecting base 25 and a base rotating driving motor 34, the connecting base 25 is directly or indirectly connected with an execution terminal, the base rotating driving motor 34 is fixed with the supporting base 33, and an output shaft of the base rotating driving motor 34 penetrates through the supporting base 33 and is fixedly connected with the connecting base 25.

In this embodiment, the base rotation driving motor 34 is provided with a magnetoelectric encoder; the two ends of the lifting guide rail 23 are provided with trigger devices 6, and the lifting transmission structure comprises a lead screw 5 transmission, a chain transmission, a gear transmission, a synchronous belt transmission, a hydraulic cylinder transmission or an air cylinder transmission. The lifting transmission structure can refer to the content of the moving transmission structure.

In this embodiment, the output shaft end of the base rotation driving motor 34 is further provided with a rotation positioning structure, and the rotation positioning structure adopts a structure mode that the positioning pin 22 is matched with the electromagnet 35, and comprises the positioning pin 22, the electromagnet 35 and a positioning block 36 extending from the tail of the connecting base 25; the connection part of the connecting base 25 and the positioning block 36 is fixedly connected with an output shaft of a base rotation driving motor 34, the positioning block 36 and the connecting base 25 are provided with positioning holes 14, the supporting seat 33 is provided with a through hole, the positioning pin 22 is arranged above the electromagnet 35, and the positioning of the positioning pin 22 in the positioning hole 14 is realized by the on-off of the power supply of the electromagnet 35; the electromagnet 35 is fixed below the supporting seat 33 through a fixing frame, the positioning pin 22 is kept to correspond to the through hole, a convex ring is arranged on the positioning pin 22, a spring for driving the positioning pin 22 to reset is sleeved outside the positioning pin 22, and two ends of the spring are respectively abutted against the convex ring and the supporting seat 33.

In this embodiment, the execution terminal includes a base connector 26, a bobbin case holder 28, a mechanical finger driving motor 31, and a mechanical finger 30, the bobbin case fixing seat 28 is mutually attached to the tail of the bobbin case, the bottom end of the mechanical finger 30 is provided with a linkage piece linked with the bottom end of the mechanical finger 30 and a mechanical finger 30 resetting mechanism, the output end of the mechanical finger driving motor 31 can drive the tail end of the linkage piece to swing to drive the mechanical finger 30 to rotate so as to toggle the plectrum 21 of the bobbin case, the mechanical finger 30 resetting mechanism drives the mechanical finger 30 to reset, the mechanical finger 30 resetting mechanism is an elastic resetting piece, the output end of the mechanical finger driving motor 31 extends to drive the linkage piece to swing to drive the mechanical finger 30 to toggle inwards, when the output end of the mechanical finger driving motor 31 retracts, the mechanical finger 30 reset mechanism drives the mechanical finger 30 to open outwards, so that the mechanical finger 30 is matched with the bobbin case fixing seat 28 to grab or release the bobbin case to drive the bobbin case to move. A sensing switch is further provided near the robot finger 30 to sense the grasping and releasing actions of the robot finger 30.

In this embodiment, the lifting type automatic bobbin replacing device 9 further includes a self-adaptive balance adjusting device 27 movably connected to the tail of the execution terminal, and the self-adaptive balance adjusting device 27 has a function of freely moving in the front-back direction, or the left-right direction, or the up-down direction under the action of an external force. The adaptive balance adjustment device 27 is specifically disclosed in application No. CN201910218531.0 filed by the applicant on 21/3/2019, entitled automatic bobbin case changing device for performing terminal adaptive balance adjustment. The arrangement of the self-adaptive balance adjusting device 27 plays a role in automatic adjustment and buffering in the butt joint of the execution terminal and the rotating shuttle 37 and the butt joint of the execution terminal and the shuttle shell storage station, because the embodiment adopts motor drive, the movement is rigid, the precision of the action of replacing the shuttle shell is higher, and if the buffering and automatic adjusting device is not arranged, the situation of jamming or failure in replacement is easy to occur in the process of replacing the shuttle shell.

In this embodiment, the triggering device 6 includes a travel switch or an optical coupler.

In this embodiment, the device further includes a controller, and the storage tray rotation driving motor 12, the base rotation driving motor 34, the slider movement driving motor 2, the slider lifting driving motor 24, the mechanical finger driving motor 31, and the electromagnet 35 are all electrically connected to the controller, and the controller controls the start and stop of the storage tray rotation driving motor, the base rotation driving motor, the slider movement driving motor, the mechanical finger driving motor 31, and the electromagnet 35. The storage disc rotation driving motor 12, the base rotation driving motor 34, the sliding block movement driving motor 2 and the sliding block lifting driving motor 24 are stepping motors, and the reference model is a PD45-4H series precision stepping motor or a corresponding product; the storage disc rotation driving motor 12 and the base rotation driving motor 34 are provided with magnetoelectric encoders, and the rotation angle of the positioning stepping motor is accurately controlled in the form of the magnetoelectric encoders; the mechanical finger driving motor 31 is a linear motor, the reference model is LS350-103J series precise linear motor, or equivalent products, the linear motor is adopted, the extension of the output end can be retracted to drive the mechanical finger 30 to make grabbing and releasing actions; the induction switch and the trigger switch are both electrically connected with the controller, and feed back signals to the controller in real time during induction or touch, the reference model of the induction switch is EE-SX670WR series induction switch or equivalent products, the trigger switch is an optical coupler or a travel switch, and the reference model is ZS336M series travel switch or equivalent products.

A moving lifting type automatic shuttle peg changing method comprises the following steps:

taking the stencil machine as an example, the original state is that the utility model is installed below the platen 38 of the stencil machine, the feeding end 3 is close to the edge of the platen 38, the bobbin replacing execution end 7 is close to the lower part of the rotating shuttle 37 of the stencil machine, the bobbin thread in the bobbin case installed on the rotating shuttle 37 is used up, and the bobbin without the bobbin thread is inside, namely the empty bobbin case; at this time, the material storage disc 18 is in a state that one bobbin case storage station on the material storage disc 18 is in a vacant state, the vacant position is over against the lifting type automatic bobbin replacing device 9, bobbin cases with bobbins wound with threads, namely bobbin cases to be installed, are stored on other bobbin case storage stations on the material storage disc 18;

A. the execution terminal of the lifting type automatic bobbin replacing device 9 faces the bobbin replacing execution terminal 7, namely the bobbin case fixing seat 28 and the mechanical finger 30 partially face the rotating shuttle 37; in the rotating positioning structure, the positioning hole 14 on the positioning block 36 is coaxial with the through hole, the electromagnet 35 is powered off, and the positioning pin 22 extends out of the through hole and the positioning hole 14 under the action of the spring to realize positioning; the slide block moving driving motor 2 drives the first slide block 8 to move on the moving guide rail 4 and is close to the shuttle peg replacement execution end 7, at the moment, the output end of the mechanical finger driving motor 31 is in an extension state, and the mechanical finger 30 is in a grasping state;

B. when the first sliding block 8 moves to the bobbin replacing execution end 7 on the moving guide rail 4 and touches the trigger device 6, the trigger device 6 feeds back a signal to the controller, the controller sends out a signal, the output end of the mechanical finger driving motor 31 is shortened, the mechanical finger 30 is opened outwards under the action of the mechanical finger 30 reset mechanism, the inductive switch beside the mechanical finger 30 senses that the mechanical finger 30 is opened in place, the signal is fed back to the controller, the controller sends out a signal, the output end of the mechanical finger driving motor 31 is extended to drive the mechanical finger 30 to rotate inwards, meanwhile, the first sliding block 8 continues to advance towards the rotating shuttle 37 until the tail of the empty bobbin case abuts against the bobbin case fixing seat, and in the process, the mechanical finger 30 stirs the poking piece 21 on the empty bobbin case to grasp the empty bobbin case;

C. the controller sends a signal, the sliding block moving driving motor 2 drives the first sliding block 8 to move reversely, the first sliding block 8 drives the execution terminal of the lifting type automatic bobbin replacing device 9 and the empty bobbin case to retreat, and the empty bobbin case is taken out of the rotating shuttle 37;

D. the slide block lifting driving motor 24 drives the second slide block 32 to descend on the lifting track, the second slide block 32 touches the trigger device at the lower end of the lifting track, the slide block lifting driving motor 24 stops, and the second slide block 32 does not descend any more; the height of the mechanical finger 30 is the same as the height of the vacant position on the storage tray 18;

E. the controller sends a signal, the base rotation driving motor 34 drives the execution terminal to turn, the bobbin case fixing seat 28 and the mechanical finger 30 partially face the material storage disc 18, at the moment, the electromagnet 35 is electrified, the adsorption positioning pin 22 is withdrawn from the positioning hole 14 and the through hole, the base rotation driving motor 34 rotates, after the rotation is in place, the other positioning hole 14 is coaxial with the through hole, the electromagnet 35 is powered off, the positioning pin 22 is reset under the action of the spring and extends out of the through hole and the positioning hole 14 to realize positioning;

triggering the fixed positions of the slider lifting drive motor 24 and the base rotation drive motor 34 for rotation on the premise that the terminal does not touch the rotating shuttle 37 and the reinforcing ribs below the bedplate 38 when descending and rotating;

F. the sliding block moving driving motor 2 continuously drives the first sliding block 8 to drive the lifting type automatic shuttle peg replacing device 9 to continuously retreat towards the material supplying end 3 of the moving guide rail 4;

G. when the first sliding block 8 retreats to the feeding end 3 on the moving guide rail 4 and touches the trigger device 6, the empty bobbin case in the bobbin case fixing seat 28 in the lifting type automatic bobbin replacing device 9 just aligns to the empty bobbin case storage station on the material storage disc 18 and touches in place; at the moment, a trigger switch feeds back a signal to the controller, the controller sends out a signal, the output end of the mechanical finger driving motor 31 is shortened, the mechanical finger 30 is driven to loosen the poking piece 21 on the empty shuttle shell, and the empty shuttle shell is loosened;

H. the slide block moving driving motor 2 rotates forwards to drive the first slide block 8 to drive the execution terminal of the lifting type automatic bobbin replacing device 9 to move to the bobbin replacing execution terminal, and the empty bobbin case is placed on a bobbin case storage station of the material storage disc 18;

I. after the first sliding block 8 advances to a fixed position, the storage disc rotation driving motor 12 drives the storage disc 18 to rotate for a station, and the bobbin case storage station where the bobbin case to be installed is opposite to the lifting type automatic bobbin replacing device 9;

triggering the material storage disc to rotate and driving the motor 12 to rotate, on the premise that the material storage disc 18 cannot touch the lifting type automatic bobbin replacing device 9 when rotating; the position is preset according to the actual working condition in the actual work;

J. after the material storage disc rotation driving motor 12 finishes rotating, the controller sends a signal, the slider movement driving motor 2 reversely rotates to drive the first slider 8 to retreat to the material supply end 3 on the movement guide rail 4 and touch the trigger device 6, the output end of the mechanical finger driving motor 31 is shortened, the mechanical finger 30 is outwards opened under the action of the mechanical finger reset mechanism, the output end of the mechanical finger driving motor 31 is extended to drive the mechanical finger 30 to rotate inwards, meanwhile, the first slider 8 continuously advances towards the material storage disc 18 until the tail part of the bobbin case to be installed abuts against the bobbin case fixing seat, and in the process, the mechanical finger 30 stirs the poking piece 21 on the empty bobbin case to grasp the bobbin case to be installed;

K. the slide block moving driving motor 2 rotates forwards to drive the first slide block 8 to drive the execution terminal of the lifting type automatic bobbin replacing device 9 to move forwards to the bobbin replacing execution terminal 7, and the bobbin case to be installed is taken down from the material storage disc 18;

l, the controller sends a signal, the base rotation driving motor 34 drives the execution terminal to turn, the bobbin case fixing seat 28 and the mechanical finger 30 partially face the rotating shuttle 37, at the moment, the electromagnet 35 is electrified, the adsorption positioning pin 22 is withdrawn from the positioning hole 14 and the through hole, the base rotation driving motor 34 rotates, after the rotation is in place, the other positioning hole 14 is coaxial with the through hole, the electromagnet 35 is powered off, the positioning pin 22 is reset under the action of the spring and extends out of the through hole and the positioning hole 14 to realize positioning;

m, the slide block lifting driving motor 24 drives the second slide block 32 to ascend on the lifting track, the second slide block 32 touches the trigger device positioned at the upper end of the lifting track, the slide block lifting driving motor 24 stops, and the second slide block 32 does not ascend any more; the height of the mechanical finger 30 is the same as that of the rotating shuttle 37 at this time;

triggering the fixed positions of the slider lifting drive motor 24 and the base rotation drive motor 34 for rotation on the premise that the terminal does not touch the reinforcing ribs below the rotating shuttle 37 and the bedplate 38 when the terminal is lifted and rotated;

n, the sliding block moving driving motor 2 continues to drive the first sliding block 8 to move on the moving guide rail 4 and is close to the shuttle peg replacing execution end 7;

o, when the first sliding block 8 moves to the bobbin replacing execution end 7 on the moving guide rail 4 and touches the trigger device 6, the bobbin case fixing seat 28 of the lifting type automatic bobbin replacing device 9 just moves to the position of the rotating shuttle 37, the bobbin case to be installed is buckled on the rotating shuttle 37, the mechanical finger driving motor 31 is shortened, the mechanical finger 30 is driven to loosen the poking piece 21 on the bobbin case to be installed, and the bobbin case to be installed is loosened;

p, the sliding block movement driving motor 2 rotates reversely, the first sliding block 8 drives an execution terminal of the lifting type automatic bobbin replacing device 9 to retreat, when the execution terminal is not in contact with the rotating shuttle 37 completely, the rotating shuttle 37 starts to work, and the device stands by in situ;

and Q, when the thread in the bobbin case is used up, repeating the steps A-P to realize the next bobbin replacing work.

In the description of the present invention, it should be understood that the terms "forward", "backward", "up", "down", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the present invention, unless otherwise expressly stated or limited, the term "connected" or the like is to be construed broadly, e.g., as meaning a fixed connection, a detachable connection, or an integral part; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (13)

1. A movable lifting type automatic bobbin changing device is characterized by comprising a bobbin changing execution end and a feeding end which are arranged at intervals, a lifting type automatic bobbin changing device arranged between the bobbin changing execution end and the feeding end, and a driving mechanism capable of enabling the lifting type automatic bobbin changing device to move between the bobbin changing execution end and the feeding end; the lifting type automatic bobbin replacing device comprises an execution terminal, wherein the execution terminal comprises mechanical fingers which can grab and release the bobbin case; the feeding end is provided with a material storage disc, the material storage disc is provided with a plurality of bobbin case storage stations, and the bobbin case storage stations can correspond to the mechanical fingers on the execution terminal one by one; the lifting type automatic bobbin replacing device is provided with a rotating mechanism and a lifting mechanism, the rotating mechanism can enable an execution terminal to rotate, so that a mechanical finger corresponds to the center position of the bobbin case on the bobbin case storage station, and the lifting mechanism can enable the execution terminal to lift up and down, so that the mechanical finger corresponds to the height position of the bobbin case on the bobbin case storage station.

2. The device of claim 1, wherein the driving mechanism comprises a first sliding block for carrying the movement of the lifting type automatic bobbin changing device, a moving guide for controlling the direction of the first sliding block, a sliding block moving driving motor for driving the first sliding block to move on the moving guide, and a moving transmission structure connected with the sliding block moving driving motor.

3. The device of claim 2, wherein the two ends of the moving guide rail are provided with triggering devices, and the moving transmission structure comprises a screw transmission, a chain transmission, a gear transmission, a synchronous belt transmission, a hydraulic cylinder transmission or an air cylinder transmission.

4. The device for automatically changing the shuttle core in a movable lifting type according to claim 2, wherein the feeding end is provided with a support frame, and the lower end of the support frame is fixedly connected with the movable guide rail; the feed end is provided with a feed platform, the feed platform comprises a storage disc, a storage disc rotation driving motor, and a connecting disc for connecting the storage disc and the storage disc rotation driving motor, the storage disc rotation driving motor is fixed with the support frame, and an output shaft of the storage disc rotation driving motor penetrates through the support frame and then is fixedly connected with the center of a rotating shaft of the connecting disc.

5. The device of claim 4, wherein when the magazine is rotated, a bobbin case storage station on the magazine always corresponds to a mechanical finger in an execution terminal of the lifting type automatic bobbin changing device; the storage disc rotation driving motor is provided with a magnetoelectric encoder.

6. The moving lifting type automatic shuttle peg replacing device is characterized in that a detachable connecting structure is arranged between the storage disc and the connecting disc, a connecting column is arranged in the center of the front side of the connecting disc, a connecting column fixing channel is arranged in the center of the storage disc, and the connecting column is arranged in the connecting column fixing channel for central positioning; the rear side surface of the storage disc is provided with a magnet and a positioning pin at the periphery of the connecting column fixing channel, the corresponding position on the connecting disc is provided with a magnet and a positioning hole, the storage disc and the connecting disc are attracted by the magnet, and the positioning pin is positioned and combined in a detachable connection mode; be located on the connection pad and be equipped with the ball between the magnet, the front end of ball is protruding in the terminal surface of connection pad and is leaned on the storage disc, after storage disc and the mutual actuation of connection pad, leave the clearance between storage disc and the connection pad.

7. The device for automatically changing the bobbin of the moving and lifting type as claimed in claim 1, 4 or 5, wherein a bobbin case locating block is arranged on the storage disc beside each bobbin case storage station, a gap matched with the bobbin case is formed in the bobbin case locating block, the bobbin case is matched and fixed with the bobbin case locating block when being placed in the bobbin case storage station, the poking direction of the bobbin case is the same as the poking direction of a mechanical finger in the execution terminal, the opening direction of the poking piece faces the mechanical finger, and a winding clamp is arranged beside the bobbin case storage station.

8. The movable lifting type automatic bobbin changing device according to claim 2, wherein the lifting type automatic bobbin changing device comprises an execution terminal, a support base, a rotating mechanism and a lifting mechanism, the lifting mechanism comprises a second slide block for carrying the execution terminal to lift, a lifting guide rail for controlling the lifting track of the second slide block, a slide block lifting driving motor for driving the second slide block to lift on the lifting guide rail, and a lifting transmission structure connected with the slide block lifting driving motor; the rotary mechanism comprises a connecting base and a base rotation driving motor, the connecting base is directly or indirectly connected with the execution terminal, the base rotation driving motor is fixed with the supporting seat, and an output shaft of the base rotation driving motor penetrates through the supporting seat and is fixedly connected with the connecting base.

9. The moving lifting type automatic shuttle core changing device according to claim 8, wherein the base rotation driving motor is provided with a magnetoelectric encoder; the lifting guide rail is characterized in that trigger devices are arranged at two ends of the lifting guide rail, and the lifting transmission structure comprises a lead screw transmission, a chain transmission, a gear transmission, a synchronous belt transmission, a hydraulic cylinder transmission or an air cylinder transmission.

10. The device for automatically changing the bobbin as claimed in claim 9, wherein the output shaft of the base rotation driving motor is further provided with a rotation positioning structure, and the rotation positioning structure adopts a structure mode that a positioning pin is matched with an electromagnet and comprises a positioning pin, an electromagnet and a positioning block extending from the tail of the connecting base; the connection part of the connecting base and the positioning block is fixedly connected with an output shaft of a base rotation driving motor, the positioning block and the connecting base are provided with positioning holes, the supporting seat is provided with a through hole, the positioning pin is arranged above the electromagnet, and the positioning pin is positioned in the positioning holes by switching on and off the power supply of the electromagnet; the electromagnet is fixed below the supporting seat through the fixing frame, the positioning pin and the through hole are kept to correspond to each other, the positioning pin is provided with a convex ring, a spring for driving the positioning pin to reset is sleeved outside the positioning pin, and two ends of the spring are respectively abutted against the convex ring and the supporting seat.

11. The device of claim 1, wherein the execution terminal comprises a base connector, a bobbin case holder, a mechanical finger driving motor, and a mechanical finger, the bobbin case holder and the bobbin case are attached to each other at the tail portion, a linkage member and a mechanical finger reset mechanism are provided at the bottom end of the mechanical finger, the linkage member and the mechanical finger reset mechanism are linked with the mechanical finger, the output end of the mechanical finger driving motor can drive the end of the linkage member to swing to drive the mechanical finger to rotate to toggle the pick of the bobbin case, and the mechanical finger reset mechanism drives the mechanical finger to reset, so that the mechanical finger cooperates with the bobbin case holder to grab or release the bobbin case to drive the operation.

12. The device of claim 11, further comprising an adaptive balance adjusting device movably connected to the tail of the execution terminal, wherein the adaptive balance adjusting device is capable of moving freely in a forward and backward direction, a left and right direction, or an up and down direction under the action of an external force.

13. A moving lift type automatic shuttle core changing device according to claim 3 or 9, wherein said triggering device comprises a travel switch or an optical coupler.

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