JP3579106B2 - Bobbin changer - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a bobbin changing device for a sewing machine.
[0002]
[Prior art]
2. Description of the Related Art In a sewing machine that performs sewing using an upper thread and a lower thread, particularly an industrial sewing machine that performs high-speed sewing work, it is necessary to frequently replace the bobbin around which the lower thread is wound. Generally, when the bobbin thread is consumed, the operation of the sewing machine is stopped once, the bobbin case is pulled out from the shuttle, and then the bobbin is wound around the bobbin, and the bobbin on which the bobbin thread is newly wound is wound into the bobbin case. A series of operations for housing the bobbin case and mounting the bobbin case in the shuttle are performed manually. However, such manual replacement of the bobbin case is extremely inefficient and causes a decrease in productivity.
[0003]
Therefore, the present applicant has attempted to solve the above-mentioned problem in the bobbin exchanging device of the sewing machine described in Japanese Patent Application Laid-Open No. Hei 6-304369. This bobbin exchanging device is provided with bobbin case gripping means. As shown in FIG. 9, the bobbin case gripping means has distal end portions of both side plates 88a, 88a arranged side by side in a direction perpendicular to the paper surface. The left edge (shown in the figure) is pressed against the outer surface of the bobbin case 2, for example, by operating an air cylinder or the like to convert this operating force into a rotational force, and the rotating shaft bridged between the side plates 88 a, 88 a. The lever 88b is rotated counterclockwise in the figure to rotate the lever claw 88c fixed to the rotating shaft 88b counterclockwise, and the tip of the lever claw 88c is locked to the bobbin case 2 in the closed position. The lock lever 2e is moved inside from the tip of the lever 2e (between the lock lever 2e and the bobbin locking plate 2b) to raise the lock lever 2e from the closed position and open the lock lever 2e. While being received by the base body 88m formed on the inclined surface along the lock lever 2e, the locking hole (window) 2f of the lock lever 2e is inserted into the rectangular trapezoidal projection 88n formed on the base body 88m. It has become.
[0004]
At this time, the locking claw 2d at the tip of the bobbin locking plate 2b bites into and engages with the bobbin, and the bobbin is gripped so as not to be detached from the bobbin case 2. Then, in a state where the lock lever 2e is opened to the open position, the lock lever 2e is pressed against the base body 88m side by the pressing force of the lever claw 88c and nipped. As a result, the bobbin case 2 and the bobbin case are held by the bobbin case gripping means 88. It can be grasped.
[0005]
Further, by rotating the lever claw 88c clockwise in the figure, the lock lever 2e is returned to the original position, and the bobbin case 2 can be released from the bobbin case gripping means 88.
[0006]
Further, the bobbin case gripping means 88 can move forward and backward between the attachment / detachment position of the bobbin case and the retreat position by the operation force of the air cylinder facing the shuttle. The case is gripped by the bobbin case gripping means 88 and pulled out of the hook, and the bobbin case accommodating the bobbin on which the bobbin thread has been wound can be gripped by the bobbin case gripping means 88 and mounted in the hook. ing.
[0007]
[Problems to be solved by the invention]
However, the sewing machine bobbin exchanging device described in Japanese Patent Application Laid-Open No. 6-304369 has the following problems. That is, the center of the shuttle and the bobbin case gripping means 88 are completely aligned (the axis of the shuttle and the axis of the hollow support cylinder of the bobbin case 2 gripped by the bobbin case gripping means 88 exactly match). That is, it is extremely difficult to mount and remove the bobbin case 2 with respect to the shuttle in a state where the core is not aligned. However, if the misalignment is large, the bobbin case 2 cannot be attached and detached with respect to the shuttle. There is a problem.
[0008]
Regardless of such misalignment, in order to attach and detach the bobbin case 2 to and from the shuttle, a large amount of resistance acts when the bobbin case 2 is pushed into the shuttle and when the bobbin case 2 is pulled out from the shuttle. Therefore, it is necessary to sufficiently increase the pushing force and the pulling force. Here, if the air pressure of the air cylinder which moves in the direction opposite to the shuttle is increased, the pushing force and the pulling force are increased, so that it is possible to cope with the air pressure. , The collision force of the bobbin case 2 against the shuttle increases, and therefore, there is a problem that the bobbin case 2, the bobbin case gripping means 88, and the shuttle are damaged and durability is reduced.
[0009]
It is also conceivable to use a large motor simply in place of the air cylinder to move the bobbin case gripping means 88 between the bobbin case attaching / detaching position and the retracted position at high torque and high speed. The problem that the durability of the bobbin case 2, the bobbin case gripping means 88 and the shuttle decreases due to an increase in the force is not solved.
[0010]
In view of the above, the present invention ensures that the bobbin case can be securely attached to and detached from the opposing member regardless of the misalignment between the opposing member and the bobbin case gripping means, and that the bobbin case, the bobbin case gripping means, and the opposing member are durable without damage. It is a first object of the present invention to provide a bobbin exchanging device having improved operability.
[0011]
Further, in addition to the first object, there is provided a bobbin exchanging device in which the moving speed of the bobbin case gripping means between the bobbin case attaching / detaching position and the retracted position is optimally controlled, and the bobbin exchanging time is minimized. As a second object.
[0012]
[Means for Solving the Problems]
In order to achieve the first object, the bobbin exchanging device according to claim 1 is provided with bobbin case gripping means capable of gripping or opening a bobbin case so as to be able to face an opposing member, and the bobbin facing the opposing member. By moving and releasing the case gripping means, the bobbin case can be mounted on the opposing member, and the bobbin case mounted on the opposing member is gripped by the bobbin case gripping means and in the opposite direction to the direction. The bobbin case can be taken out of the opposing member by moving the bobbin case.BeforePush the bobbin case into the facing memberPush actionOr beforeNotePull out the bobbin case from the facing memberWithdrawal operationToRather than the approach movement to the opposing member before the pushing operation, or the separation movement from the opposing member after the withdrawal operation, respectively.It is characterized by performing with high torque.
[0013]
In order to achieve the second object, the bobbin changing device according to claim 3 isA bobbin case gripper capable of gripping or opening the bobbin case is provided so as to be able to face the opposing member, and the bobbin case gripping means is moved and opened toward the opposing member, whereby the bobbin case is moved to the opposing member. The bobbin case is detachable by allowing the bobbin case mounted on the opposed member to be removed from the opposed member by holding the bobbin case by the bobbin case holding means and moving the bobbin case in a direction opposite to the direction. In the apparatus, the bobbin case gripping means moves closer to the opposing member before a pushing operation of pushing the bobbin case into the opposing member, or separates from the opposing member after a pull-out operation of pulling out the bobbin case from the opposing member. The movement is more than the pushing or pulling operation described above. Performed at a high speed ReIt is characterized by:
[0014]
In order to achieve the first and second objects, the claims4The bobbin changing device according to claim 1Any one of claims 3 to 3In addition, the bobbin case gripping means is moved in a direction facing the opposing member by driving a motor, and the motor speed is controlled by a motor speed control means.
[0015]
[Action]
According to the bobbin exchanging device according to the first aspect, when the bobbin case gripping means is pushed in.OrMovement when pulling out,Rather than moving before the pushing action or after the pulling action.When performed at high torque, even if the opposing member and the bobbin case gripping means are misaligned and a large amount of resistance acts when the bobbin case is attached to or detached from the opposing member, the pushing force or pulling force is sufficiently increased by the high torque. Be enlarged.
According to the bobbin exchanging device of the second aspect, in addition to the operation of the first aspect, the collision force of the bobbin case against the opposing member is reduced at a low speed.
[0016]
Further, according to the bobbin exchanging device in claim 3,If highPush in bobbin case gripping means, where no torque is requiredmotionTime or drawermotionExcept timeProximity or separationMovement is done including high speed movementThe moving speed of the bobbin case gripping means is controlled optimallyYou.
[0017]
【Example】
Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. Reference numeral 1 denotes a shuttle to which the bobbin case 2 is mounted, 3 denotes an intermediate hook shaft, 6 denotes an upright standing on a main base attached to the sewing machine body, and is provided below the hook 1 and behind the hook 1 (upper in FIG. 2). 3) shows a base plate as a support disposed in the base plate 6. A base end 4a of a transport shaft 4 having an axis parallel to the shuttle shaft is fixed to the base plate 6, and the transport shaft 4 is It is in a state of being cantilevered by the base plate 6.
[0018]
A hollow cylindrical transfer bush 13 is rotatably supported on the tip 4b side (opposite the base plate side) of the transfer shaft 4. A rotary gear 14 is fitted and fixed to the outer periphery of the transfer bush 13 on the side opposite to the base plate. One end is fitted and fixed. A holding unit 11 is fixed to the other end of the transfer arm 12, and a bobbin case gripping unit 50 as shown in FIGS. 3 to 5 is fixed to a surface of the holding unit 11 facing the shuttle. I have. 1 and 2, the bobbin case gripping means 50 is omitted to avoid complicating the drawing. Next, the bobbin case gripping means 50 will be described below with reference to FIGS.
[0019]
A U-shaped support plate 53 as shown in FIGS. 4 and 5 is fixed to the holding portion 11 so as to be opened downward in FIG. 5, and both side plates 53a and 53b are fixed. A nail shaft 54 is rotatably stretched between them. The nail shaft 54 has a nail called a nail that raises the lock lever 2e of the bobbin case 2 from the closed position (see FIG. 5A) and opens the lock lever 2e to the open position (see FIG. 5C). A member 55 is attached. The nail 55 is formed in a curved shape in an arc shape, and the distal end portion 55b of the nail 55 is arranged in a positional relationship such that it can be inserted into an overlapping portion between the lock lever 2e of the bobbin case 2 and the bobbin locking plate 2b. .
[0020]
Part of the nail 55 (the lower part in FIG. 5) protrudes outward from between the side plates 53a and 53b, and a pin 55a protrudes from a surface of the protruding portion on the side plate 53b side. A link shaft 57 is protruded from an outer surface of the side plate 53b, and a substantially U-shaped link 56 is rotatably supported on the link shaft 57. Notches 56a and 56b are formed at both ends of the link 56, respectively. The notch 56a has a pin 55a of the nail 55, and the notch 56b has a pin 51b projecting from a plunger 51a of the solenoid 51. The fitting is arranged. The solenoid 51 is fixed to the holding section 11.
[0021]
As shown in FIGS. 3 and 5, the support plate 53 includes a leaf spring 58 as a first elastic member which is provided between the side plates 53a and 53b and stands upright toward the nail 55, and a second spring. A leaf spring 59 as an elastic member is fixed respectively. The tip portion 59a of the leaf spring 59 is bent toward the bobbin case 2 and can enter the window 2f of the lock lever 2e caused by the nail 55 and receive the edge 2i forming the window 2f. Are arranged in a proper positional relationship.
[0022]
The distal end 58a of the leaf spring 58 is bent in a direction opposite to the distal end 59a of the leaf spring 59, and can receive the outer surface 2g of the lock lever 2e caused by the nail 55. Are placed in a relationship. The lock levers 2e received by the leaf springs 58, 59 are clamped and fixed in an open state by the pressing force from the nail 55, whereby the entire bobbin case 2 is gripped. ing.
[0023]
In FIG. 5, reference numeral 1A indicates an outer shuttle, and 1B indicates a middle shuttle accommodated in the outer shuttle 1A.
As shown in FIG. 2, the rotating gear 14 meshes with the rotating gear 14 in a shape elongated in the hook axis direction. It is in a state of being directly connected to the output shaft of a rotating motor 16 as a driving means fixed to the base.
[0025]
Therefore, when the rotation motor 16 rotates, the rotation arm 70 as rotation means including the transport arm 12 and the holding unit 11 rotates via the rotation motor gear 15 and the rotation gear 14. I have. In this embodiment, the rotating operation of the rotating arm 70 is performed when the rotating arm 70 is in the retracted position retracted from the shuttle position A (see FIG. 2). I have. Although the transport shaft 4 is cantilevered, it is guided by the rotating motor gear 15 and has a sufficient supporting strength.
[0026]
For example, a stop ring 30 is fixed to the fixed end of the transfer shaft 4 from the rotary gear 14 on the outer periphery of the transfer bush 13. A linear motion collar 17 is rotatably supported between them.
[0027]
As shown in FIG. 2, a linear gear (rack) 18 is fixed to the outer periphery of the linear motion collar 17 along the axial direction. A linear motor gear (pinion) 19 meshes with the linear gear 18, and the linear motor gear 19 is directly connected to an output shaft of a linear motor 20 as moving means fixed to the main base. It is in a state.
[0028]
Therefore, when the translation motor 20 rotates, the rotation arm 70 moves along with the translation collar 17 along the axial direction of the transport shaft 4 via the translation motor gear 19 and the translation gear 18. . That is, the rotating arm 70 can rotate with respect to the transport shaft 4 and slide along the transport shaft 4.
[0029]
As shown in FIG. 1, a dummy shaft 5 as a bobbin case holding means is fixed at a position opposite to the rotation locus of the bobbin case gripping means on the base plate 6, as shown in FIG. As shown in FIG. 2, the dummy shaft 5 has the same structure as the tip of the intermediate hook shaft 3, and can hold the bobbin case 2 by pushing the bobbin case 2 in which the bobbin is accommodated. I have. The pushed-in bobbin locking claw 2d of the bobbin case 2 is engaged with the locking groove of the detent member 5aa protruding near the dummy shaft 5, as shown in FIG. Have been. That is, the bobbin case 2 is positioned and held at a predetermined position.
[0030]
In addition, as shown in FIG. 1, for example, at a position F, a residual yarn removing device is disposed at a position opposite to the rotation locus of the bobbin case gripping means. As this residual yarn removing device, the bobbin case is delivered to a holding shaft 5a having the same configuration as the dummy shaft 5, and the bobbin case is held. Any structure may be used as long as the bobbin is rotated by the pulling-out operation and the yarn wound on the bobbin is pulled out, and as a configuration other than the dummy shaft holding the bobbin case, for example, Appropriate devices such as the bobbin residual yarn removing device disclosed in Japanese Patent Application No. 5-203610 and Japanese Patent Application No. 6-40351 previously filed by the present applicant can be employed.
[0031]
Further, a bobbin winding device is disposed at a position, for example, at a position C, which is a position opposing the rotation locus of the bobbin case gripping means, as shown in FIG. As the bobbin winding device, any device can be used as long as the bobbin can be wound automatically on a bobbin by, for example, driving a motor, and then the bobbin case 2 can be hooked and bobbin cut. For example, a bobbin changing device disclosed in Japanese Patent Application Laid-Open No. 5-192476, a bobbin changing device of a sewing machine described in Japanese Patent Application No. 5-121960 previously filed by the present applicant, and a Japanese Patent Application No. 5-116363 are disclosed. Appropriate devices such as the lower thread winding device described in the bobbin changing device of the sewing machine in the specification can be adopted.
[0032]
When the remaining yarn removing device and the lower yarn winding device come into contact with the base plate 6, the base plate 6 is appropriately notched.
[0033]
By the way, in this embodiment, the retreat position (see FIG. 2) of the bobbin case gripping means, for example, facing the shuttle 1 is set as the origin search position. Also, since a pulse motor is used as the rotation motor 16, for example, the number of pulses of the pulse motor is counted, and the bobbin case gripping means 50 is moved to the shuttle position A and the bobbin winding position with reference to the origin position. The rotation can be controlled to C, the remaining yarn removing position F, and the dummy position B.
[0034]
As shown in FIGS. 1 and 2, a motor speed control means 90 for controlling the motor speed is connected to the linear motion motor (stepping motor) 20 via a driver 91. The motor speed control means 90 determines the position of the bobbin case gripping means 50 on the basis of information signals from, for example, a timer, a position sensor, the number of motor rotations, and the like. While the bobbin case is pushed into and pulled out of the bobbin case with respect to the shaft 5, the holding shaft 5a, and the bobbin winding device, a command to perform the movement at low speed and high torque is given to the driver 91, while the movement toward the opposing member before the pushing operation is performed. Move away from the opposing member after operationFastThis is a so-called microcomputer that functions to give a command to be performed to the driver 91.
[0035]
That is, when the bobbin case is taken out of the opposing member, the motor speed control means 90 performs speed control as shown in FIG. The speed is set to be high when moving away from the opposing member. When the bobbin case is mounted on the opposing member, the speed is controlled as shown in FIG. 6B so that the bobbin case is pushed at a low speed when pushed into the opposing member, and faces the opposing member before the pushing operation. High speed when moving.
[0036]
Incidentally, a stepping motor has a speed-torque characteristic as shown in FIG. That is, when the speed is low, the torque is high (around the symbol yy), and when the speed is high, the torque is low (around the symbol xx). Therefore, during the above-described bobbin case pulling-out operation and pushing-in operation, the speed is low and the torque is high, while during other movements, the speed is high and the torque is low. That is, a high torque is obtained when the bobbin case 2 is attached and detached, which exerts a large amount of resistance, and the speed is controlled to be low when the bobbin case 2 contacts the opposing member, and to be high when other high-speed movement is desired. .
[0037]
The motor speed control means 90 is connected to a ROM (not shown) for storing a program representing an operation procedure, and a RAM (not shown) for storing and processing each set value and a data table.
[0038]
Next, the operation procedure of the device configured as described above will be described below. First, for example, in order to cause the bobbin case gripping means 50 to grip the bobbin case 2 accommodating the bobbin on which the bobbin thread has been wound, a hand is inserted from the rotating arm side, and the bobbin case accommodating the bobbin on which the bobbin thread is wound. Of the bobbin case by pushing the bobbin case into the dummy shaft 5 and the holding shaft (having the same configuration as the dummy shaft 5) 5a of the remaining yarn removing device without returning the palm of the hand in the same manner as when the bobbin case is mounted on the inner hook shaft 3. The shaft 5 is mounted on the holding shaft 5a of the residual yarn removing device.
[0039]
Next, when the power switch is turned on, the rotating arm 70 is returned to the home position. At this time, the solenoid 51 is not energized, the tip 55b of the nail 55 is at the retracted position as shown in FIG. 5A, and the lock lever 2e of the bobbin case 2 is at the closed position. Then, when the start switch is turned on, the rotating arm 70 is rotated to make the bobbin case gripping means 50 face the dummy position B or the remaining yarn removing position F (there is a holding shaft 5a capable of holding the bobbin case). Here, in the present embodiment, for convenience of explanation, the bobbin case gripping means 50 is opposed to, for example, the dummy position B. Then, the rotary arm 70 is advanced, and the bobbin case holding the bobbin around which the bobbin thread is wound, which is held by the dummy shaft 5, is held by the bobbin case holding means 50. Although FIG. 5 shows an example in which the bobbin case is taken out from the shuttle shaft 1a, the same applies when the shuttle shaft 1a is replaced with the dummy shaft 5.
[0040]
That is, from the state shown in FIG. 5A, the nail 55 is rotated in the opening direction by the retracting operation of the plunger 51 a of the solenoid 51, and the tip end 55 b of the nail 55 is moved to the closed position of the bobbin case 2. The lock lever 2e is moved inward from the distal end portion to raise the lock lever 2e from the closed position and open the lock lever 2e. At this time, the outer surface 2h of the bobbin case 2 is pressed by the back surface 55c of the nail 55 as shown in FIGS. 3 and 5B. When the released lock lever 2e is opened to the open position, the tip portion 59a of the leaf spring 59 enters the window 2f of the opened lock lever 2e, and the edge portion 2i that forms the window 2f by the tip portion 59a. Is received. Then, the lock lever 2e is pressed in the Y direction shown in FIG. At the same time, the outer surface 2g of the opened lock lever 2e is received by the distal end portion 58a of the leaf spring 58. Then, in a state where the lock lever 2e is opened, the lock lever 2e is pressed and held by the leaf springs 58 and 59 by the pressing force of the nail 55, and as a result, the entire bobbin case 2 is gripped by the bobbin case gripping means 50. You. Further, by maintaining the lock lever 2e in the open state, the bobbin case 2 is set in a free state in which the bobbin case 2 can be detached from the dummy shaft 5, and the bobbin is held so as not to be detached from the inside of the bobbin case 2. Is done.
[0041]
At this time, as shown in FIG. 6A, the bobbin case gripping means 50 is moved at a low speed in a direction away from the dummy shaft 5 and pulled out from the dummy shaft 5 with high torque. Then, the bobbin case gripping means 50 is retracted at a high speed thereafter.
[0042]
Therefore, even if there is a misalignment between the dummy shaft 5 and the bobbin case gripping means 50 and the bobbin case is drawn out of the dummy shaft 5 with a large resistance, the pulling force is sufficiently increased by the high torque. Accordingly, the bobbin case can be reliably taken out of the dummy shaft 5 regardless of the misalignment between the dummy shaft 5 and the bobbin case gripping means 50.
[0043]
In addition, since the moving away from the dummy shaft 5 after the bobbin case is pulled out is configured to be performed at a high speed, the moving speed of the bobbin case gripping means between the bobbin case attaching / detaching position and the retracting position is optimized. The bobbin replacement time can be minimized.
[0044]
Further, in the present embodiment, since the bobbin case gripping means 50 has the above configuration, the following effects are further obtained. That is, even if there is a misalignment between the dummy shaft 5 and the bobbin case gripping means 50, the misalignment is caused by three-dimensional elastic deformation of the leaf springs 58 and 59 when the bobbin case 2 is taken out with respect to the dummy shaft 5. And the bobbin case 2 can be taken out of the dummy shaft 5 more reliably. In other words, the alignment between the dummy shaft 5 and the bobbin case gripping means 50 may be rough, and the assembly time required for this alignment can be reduced.
[0045]
Further, even if there is a difference in the opening angle of each lock lever 2e, the difference can be sufficiently absorbed by absorbing the difference by the elastic deformation of the leaf springs 58 and 59 in the opening direction. The stop claw 2d can sufficiently bite into the bobbin, so that the bobbin can be eliminated.
[0046]
Further, even if there is a difference in the position of the window 2f of each lock lever 2e, the distal end portion 59a of the leaf spring 59 is made to enter rather than fit into the window 2f to receive the edge portion 2i, and the lock lever 2e is moved by the leaf spring. Since the difference is absorbed by the elastic deformation of the 58 and 59 in the opening direction so that the bobbin case 2 can be fully opened, the bobbin case 2 can be reliably held.
[0047]
Further, since the lock lever 2 can be sandwiched between the nail 55 and the leaf springs 58 and 59 without a gap by three-dimensional elastic deformation of the leaf springs 58 and 59, the positioning of these members is rough. It is possible to reduce the assembly time required for positioning these members.
[0048]
Now, returning to the description of the operation again, the rotating arm 70 that has retreated to the retracted position is rotated. Then, the bobbin case gripping means 50 gripping the bobbin case is opposed to the shuttle 1 and advanced, and the bobbin case accommodating the bobbin on which the lower thread has been wound is mounted in the shuttle.
[0049]
The attachment of the bobbin case to the shuttle 1 by the bobbin case gripping means 50 is controlled at the speed shown in FIG. 6B while reversing the operation procedure shown in FIG. That is, the bobbin case gripping means 50 is moved at a high speed toward the shuttle 1 as shown in FIG. Is pushed, and at the time of pushing, the energization of the solenoid 51 is released, and the nail 55 of the bobbin case gripping means 50a is opened, whereby the bobbin case 2 is mounted in the shuttle 1.
[0050]
Therefore, even if there is a misalignment between the shuttle 1 and the bobbin case gripping means 50 and the resistance is greatly applied when the bobbin case is pushed into the shuttle 1, the pushing force is sufficiently increased by the high torque. The bobbin case can be securely mounted on the shuttle 1 regardless of the misalignment between the shuttle 1 and the bobbin case gripping means 50. Further, since the bobbin case is configured to reduce the collision force of the bobbin case with the shuttle 1 at a low speed, the durability can be improved without damaging the bobbin case, the bobbin case gripping means 50, and the opposing member. .
[0051]
The three-dimensional elastic deformation of the leaf springs 58, 59 allows the bobbin case 2 to be more securely mounted on the shuttle 1.
[0052]
In addition, the movement of the bobbin case toward the shuttle 1 before the pushing operation is performed at a high speed, so that the bobbin replacing time can be minimized.
[0053]
Then, the rotating arm 70 is retracted, and sewing is started. Here, if a bobbin replacement command is issued, for example, because the remaining thread of the bobbin in the hook has decreased, the sewing operation of the sewing machine is prohibited, and the bobbin case gripping means 50 that does not grip the bobbin case is removed. The bobbin with the remaining thread is reduced is taken out of the hook.
[0054]
The removal of the bobbin case by the bobbin case gripping means 50 is the same as the operation procedure shown in FIG. Therefore, even when the bobbin case is taken out of the shuttle 1 by the bobbin case holding means 50, the same operation and effect as when the bobbin case is taken out from the dummy shaft 5 by the bobbin case holding means 50 can be obtained.
[0055]
Then, the rotary arm 70 is retracted and rotated, so that the bobbin case accommodating the bobbin with a reduced remaining yarn is moved forward while being opposed to the dummy shaft 5, and mounted on the dummy shaft 5.
[0056]
The mounting of the bobbin case on the dummy shaft 5 by the bobbin case gripping means 50 is the same as the case where the bobbin case is mounted on the shuttle 1 by the bobbin case gripping means 50, and therefore has the same operation and effect.
[0057]
Then, the rotating arm 70 is rotated after being retracted, and the bobbin case gripping means 50 not gripping the bobbin case is moved forward while being opposed to the holding shaft 5a of the residual yarn removing device, and is held by the holding shaft 5a. The bobbin case holding the bobbin on which the bobbin thread has been wound is held by the bobbin case holding means 50.
[0058]
The removal of the bobbin case from the holding shaft 5a by the bobbin case gripping means 50 is the same as the case of removing the bobbin case from the shuttle 1 by the bobbin case gripping means 50, and therefore has the same operation and effect.
[0059]
Next, the rotating arm 70 is retracted and rotated, so that the bobbin case gripping means 50 gripping the bobbin case faces the shuttle 1 and moves forward, and the bobbin case accommodating the bobbin on which the bobbin thread has been wound is placed in the shuttle. The arm 70 is mounted, and the rotating arm 70 is retracted.
[0060]
Then, when sewing is started, the rotating arm 70 is rotated during the sewing, and the bobbin case gripping means 50 is moved forward while being opposed to the dummy shaft 5, and the remaining thread held by the dummy shaft 5 is removed. The reduced bobbin is taken out from the dummy shaft 5 and retreated.
[0061]
Next, the rotating arm 70 is rotated so that the bobbin case accommodating the bobbin in which the residual yarn has been reduced is opposed to the residual yarn removing device, and the residual yarn of the bobbin accommodated in the bobbin case is removed by the residual yarn removing device. Remove and make the bobbin an empty bobbin without thread.
[0062]
Next, the rotating arm 70 is rotated to cause the empty bobbin to face the bobbin winding device, and the rotating arm 70 is advanced to wind the bobbin around the empty bobbin by the bobbin winding device, and the bobbin case. Threading and bobbin thread cutting are performed.
[0063]
When the bobbin thread is wound on the bobbin in this manner, the rotating arm 70 is retracted and pivoted, and the bobbin case gripping means 50 is moved forward while being opposed to the dummy shaft 5, and the bobbin winding device is used to move the bobbin thread. The bobbin case accommodating the bobbin around which the is wound is temporarily held on the dummy shaft 5, and then the rotating arm 70 is retracted.
[0064]
In this state, a standby state is established, and when a next bobbin replacement command is issued, the sewing operation of the sewing machine is inhibited, the rotating arm 70 is rotated, and the bobbin case gripping means 50 that does not grip the bobbin case is held. The bobbin having a reduced remaining thread is taken out of the hook, and the rotating arm 70 is retracted.
[0065]
Next, the rotating arm 70 is rotated, and the bobbin case gripping means 50 is moved forward while being opposed to the holding shaft 5a of the residual yarn removing device, and the bobbin case accommodating the bobbin with reduced residual yarn is held on the holding shaft 5a. Then, the rotating arm 70 is retracted. Next, the rotating arm 70 is rotated so that the bobbin case gripping means faces the dummy shaft 5. Then, the rotary arm 70 is advanced, and the bobbin case holding the bobbin around which the bobbin thread is wound, which is held by the dummy shaft 5, is held by the bobbin case holding means 50.
[0066]
Next, the rotating arm 70 is retracted and rotated, so that the bobbin case gripping means 50 gripping the bobbin case faces the shuttle 1 and moves forward, and the bobbin case accommodating the bobbin on which the bobbin thread has been wound is placed in the shuttle. The arm 70 is mounted, and the rotating arm 70 is retracted. Thereafter, the above operation is repeated.
[0067]
In the above process, first, the hand is inserted from the rotating arm side, and the bobbin case accommodating the bobbin on which the lower thread has been wound is placed on either the dummy shaft 5 or the holding shaft 5a of the residual thread removing device. During sewing after inserting the bobbin case containing the bobbin where the bobbin is not wound into the other side and pushing the bobbin case containing the bobbin around which the bobbin has been wound into the hook Then, the bobbin case accommodating the bobbin on which the lower thread is not wound is moved to the lower thread winding device to wind the lower thread, and the bobbin case is held on either the dummy shaft 5 or the holding shaft 5a of the residual yarn removing device. And may be in a standby state.
[0068]
By the way, when taking out the bobbin case 2 gripped by the bobbin case gripping means 50 or when temporarily holding the bobbin case 2 on the dummy shaft 5 in order to use a lower thread of a different color, When the bobbin case gripping means 50 gripping the bobbin case 2 faces the dummy shaft 5 and moves forward, the bobbin case 2 gripped by the bobbin case gripping means 50 can be transferred to the dummy shaft 5.
[0069]
When the bobbin case 2 held on the dummy shaft 5 is taken out, as in the case of taking out the bobbin case 2 from the shuttle shaft 1a, if the hand is inserted from the rotating arm side, the dummy shaft 5 can be returned without returning the palm. Can be taken out of the bobbin case. It is very easy to remove the bobbin case from the dummy shafts 5, 5a by this manual operation.
[0070]
As described above, in the present embodiment, the bobbin case gripping means 50 is moved at the time of pushing or pulling out at low speed and high torque, and the opposing members (the shuttle 1, the dummy shaft 5, the holding shaft 5a, the bobbin winding device) ) And the bobbin case gripping means 50 are misaligned and a great deal of resistance is exerted when the bobbin case 2 is attached to and detached from the opposing member. Since the collision force of the bobbin case 2 with respect to the opposing member is reduced, the bobbin case can be securely attached to and detached from the opposing member regardless of the misalignment between the opposing member and the bobbin case gripping means 50. In addition, the bobbin case 2, the bobbin case gripping means 50, and the opposing member can be improved in durability without being damaged.
[0071]
Further, since the movement of the bobbin case gripping means 50, which does not require low speed and high torque, toward the opposing member before the pushing operation and the movement away from the opposing member after the pulling operation are performed at a high speed, the bobbin case attaching / detaching is performed. The moving speed of the bobbin case gripping means 50 between the position and the retracted position can be optimally controlled, and the bobbin replacing time can be minimized.
[0072]
Note that the bobbin can be automatically replaced even if the above device does not include, for example, a residual yarn removing device and a lower yarn winding device. That is, when the bobbin case gripping means 50 is a single unit, in order to automatically perform bobbin exchange, for example, a dummy shaft for holding a bobbin case attached to the shuttle 1 and a bobbin case taken out from the shuttle 1 are held. At least two dummy shafts are required, but if the two dummy shafts 5 and 5a are arranged at positions opposite to the rotation locus of the bobbin case gripping means as described above, The replacement can be performed automatically (however, the bobbin winding operation and the residual yarn removing operation are performed manually, for example).
[0073]
FIG. 8 shows another embodiment of the present invention, in which the movement speed and torque of the bobbin case gripping means 50 are mechanically controlled by a motor speed control mechanism. That is, the motor speed control mechanism 95 includes a DC motor that rotates at a constant speed, a disk 67 fixed to an output shaft of the DC motor, and one end pivotally connected to the peripheral end of the disk 67 and the other end to the above-described straight line. And a link 66 pivotally attached to the moving collar 17, and when the DC motor rotates, the linear moving collar 17 moves in the horizontal direction in the figure.
[0074]
Further, the movement of the bobbin case gripping means 50 from the retreat position toward the bobbin case attaching / detaching position is performed by rotating the disk 67 clockwise in the figure and moving the pivoting portion from the position aa in the figure to the position cc via the position bb in the figure. The movement of the bobbin case gripping means 50 from the bobbin case attaching / detaching position to the retreat position is performed by moving the pivoting portion from the cc position in the drawing to the aa position via the dd position. Have been.
[0075]
Accordingly, the moving speed of the bobbin case gripping means 50 becomes a sinusoidal wave with the edges of the diagram shown in FIG. 6 smoothed, and becomes low speed and high torque at positions near aa and at positions near cc. , Bb and near dd, high speed and low torque. That is, when the bobbin case is attached to and detached from the opposing member by the bobbin case gripping means 50, the pivot portion is near the position of cc, so that the speed is low and the torque is high. Therefore, it goes without saying that the same effect as that of the above embodiment can be obtained.
[0076]
Although the invention made by the inventor has been specifically described based on the embodiments, the present invention is not limited to the above embodiments, and it can be said that various modifications can be made without departing from the gist of the invention. Until now, for example, in the above-described embodiment, the means for holding the bobbin case is the dummy shafts 5 and 5a. It is also possible to substitute means or the like.
[0077]
Further, in the above embodiment, even if the bobbin case gripping means is misaligned with the opposing member, the bobbin case gripping means is three-dimensionally mounted so that the bobbin case can be more reliably attached to and detached from the opposing member. Although it is constituted by the leaf springs 58 and 59 which are elastically deformed, it is not always necessary to use the bobbin case gripping means 50. The bobbin case gripping means 50 may be replaced with the bobbin case gripping means 88 described in the prior art, For example, a pair of electromagnet suction heads described in Japanese Patent Application Laid-Open No. 5-192476 and a bobbin changing device of a sewing machine disclosed in Japanese Patent Application No. 5-121960 previously filed by the present applicant. It is also possible to replace the bobbin case holding means.
[0078]
When two large and small air cylinders having different air cylinder diameters are connected and the bobbin case gripping means is moved, the same speed / torque control as in the above embodiment can be performed. That is, when pushing or pulling out the bobbin case gripping means, it is easy to adopt a configuration in which the bobbin case gripping means is moved by an air cylinder having a small cylinder diameter, and other movements are performed by an air cylinder having a large cylinder diameter. Can be
[0079]
Further, in the above embodiment, the number of the bobbin case gripping means is two, but may be two or more, and may not be shared with the holding shaft 5a of the residual yarn removing device. In addition, the dummy position B, the bobbin winding position C, and the residual yarn removing position F are not limited to the positions in the above-described embodiment, and the point is that these positions only need to be at positions facing the movement locus of the bobbin case gripping means. .
[0080]
Further, in the above embodiment, an example of application to a bobbin exchanging device in which one end of the rotating arm 70 is supported and a bobbin case gripping means is provided at the other end is described. The present invention is also applicable to a bobbin exchanging apparatus having bobbin case gripping means at both ends and a bobbin exchanging apparatus having a bobbin case gripping means at each end by supporting the center of a plurality of branches of a rotating arm. It goes without saying that you can.
[0081]
【The invention's effect】
As described above, according to the bobbin exchanging device of the first aspect, the movement of the bobbin case gripping means at the time of pushing or pulling out.The highEven if the opposing member and the bobbin case gripping means are misaligned with each other and a large resistance is exerted when the bobbin case is attached to and detached from the opposing member, the pushing force or the pulling force is sufficiently increased by the high torque.I'llWith this configuration, the bobbin case can be securely attached to and detached from the opposing member regardless of the misalignment between the opposing member and the bobbin case gripping means.You.
According to the bobbin exchanging device of the second aspect, in addition to the first aspect, the high-torque movement is performed at a low speed, and the pushing force or the pulling force of the bobbin case gripping means is sufficiently increased.Impact force of bobbin case against opposing memberToReductionThe bobbin case is securely attached to and detached from the opposing member.At the same time, the durability can be improved without damaging the bobbin case, the bobbin case gripping means, and the opposing member.
[0082]
Claims3The bobbin changerIf highPush in bobbin case gripping means that does not require torquemotionTime or drawermotionExcept whenProximity or separationSince the moving is performed at a high speed, the moving speed of the bobbin case gripping means between the bobbin case attaching / detaching position and the retreat position can be optimally controlled, and the bobbin replacing time can be minimized. .
[Brief description of the drawings]
FIG. 1 is a front view of a bobbin changing device according to an embodiment of the present invention.
FIG. 2 is a plan view of the bobbin changing device.
FIG. 3 is a perspective view showing a bobbin case gripping means of the bobbin changing device.
FIG. 4 is a view of the bobbin case gripping means of FIG. 3 as viewed from an X direction.
FIG. 5 is an operation explanatory view showing the operation of the bobbin case gripping means.
6A and 6B are speed control diagrams for the bobbin case gripping means between a bobbin case attaching / detaching position with respect to an opposing member and a retracted position, wherein FIG. Is a case where the bobbin case is mounted on the facing member.
FIG. 7 is a speed-torque characteristic diagram of a stepping motor.
FIG. 8 is an extraction diagram showing a motor speed control mechanism of a bobbin changing device according to another embodiment of the present invention.
FIG. 9 is a side view showing a bobbin case gripping means of the bobbin exchanging device according to the related art.
[Explanation of symbols]
1,5,5a Opposing member
2 bobbin case
20 Linear motor
50 bobbin case gripping means
70 Rotating arm
90 Motor speed control means
95 Motor speed control mechanism

Claims (4)

A bobbin case gripper capable of gripping or opening the bobbin case is provided so as to be able to face the opposing member, and the bobbin case gripping means is moved and opened toward the opposing member, whereby the bobbin case is moved to the opposing member. Can be mounted,
In the bobbin changing device, the bobbin case attached to the facing member is gripped by the bobbin case gripping means and moved in a direction opposite to the direction, so that the bobbin case can be removed from the facing member.
Pressing action pushes the bobbin case before Symbol opposing member is the bobbin case holding means, or approach movement from the previous SL pairs countercurrent member withdrawal operation to withdraw the bobbin case, to the opposite member before the pushing operation, or after the withdrawal operation A bobbin changing device characterized in that the bobbin changing device performs each of the operations with a higher torque than the separation movement from the opposing member . The bobbin exchange device according to claim 1,
The bobbin exchanging device according to claim 2, wherein the control means performs the high-torque movement in the pushing operation or the withdrawing operation at a lower speed than the approach movement or the separation movement, respectively . A bobbin case gripper capable of gripping or opening the bobbin case is provided so as to be able to face the opposing member, and the bobbin case gripping means is moved and opened toward the opposing member, whereby the bobbin case is moved to the opposing member. Can be mounted,
In the bobbin changing device, the bobbin case attached to the facing member is gripped by the bobbin case gripping means and moved in a direction opposite to the direction, so that the bobbin case can be removed from the facing member.
The bobbin case gripping means moves closer to the opposing member before the pushing operation of pushing the bobbin case into the opposing member, or moves away from the opposing member after the withdrawal operation of pulling out the bobbin case from the opposing member, A bobbin exchanging device, wherein the bobbin exchanging operation is performed at a higher speed than the pushing operation or the pulling operation . In the bobbin exchange device according to any one of claims 1 to 3,
The approach movement or the separation movement in the direction facing the facing member of the bobbin case gripping means, and the pushing operation or the pulling operation is performed by driving a motor,
The motor speed is controlled by motor speed control means.

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