JPH08215463A - Bobbin replacing device - Google Patents

Abstract

PURPOSE: To surely fit or remove a bobbin case to or from a mating member regardless of the offcentering between the mating member and a bobbin case holding means, prevent the bobbin case, bobbin case holding means, and mating member from being damaged at the time of fitting, and improve durability. CONSTITUTION: A bobbin case holding means 50 is thrust or extracted to or from a mating member 1 at a low seed with high torque. When the mating member 1 and the bobbin case holding means 50 are offcentered and large resistance is applied at the time of the fitting or removal of a bobbin case 2 to or from the mating member 1, the thrusting force or extracting force is sufficiently increased due to high torque, and the collision force of the bobbin case 2 with the mating member 1 is reduced due to the low speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bobbin changing device for a sewing machine.

[0002]

2. Description of the Related Art In a sewing machine for sewing using an upper thread and a lower thread, particularly for an industrial sewing machine that performs high-speed sewing work, it is necessary to frequently replace a bobbin wound with a lower thread. is there. Generally, when the bobbin thread is consumed, the sewing machine operation is temporarily stopped, the bobbin case is removed from the hook, the bobbin thread is wound around the bobbin, and the bobbin on which this bobbin thread is newly wound is placed in the bobbin case. A series of operations for accommodating and mounting the bobbin case in the shuttle are performed manually. However,
Such manual replacement work of the bobbin case is extremely inefficient and causes a decrease in productivity.

Therefore, the present applicant has attempted to solve the above problems in the bobbin exchanging device of the sewing machine described in Japanese Patent Application Laid-Open No. 6-304369. This bobbin exchanging device is provided with a bobbin case gripping means, and this bobbin case gripping means is, as shown in FIG. 9, a tip edge portion of both side plates 88a, 88a arranged side by side in a direction perpendicular to the paper surface. The left side edge portion in the drawing) is pressure-bonded to the outer surface of the bobbin case 2, and, for example, an air cylinder or the like is actuated to convert this actuating force into a rotating force, and the rotating shaft is stretched between the both side plates 88a, 88a. 88b is rotated counterclockwise in the drawing to rotate the lever claw 88c fixed to the rotary 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 from the closed position to the open position by inserting the lock lever 2e into the inside (between the lock lever 2e and the bobbin locking plate 2b) from the tip end of the lever 2e, and the lock lever 2e is opened to the open position. Together they receive the base body 88m formed on the inclined surface along the locking lever 2e, the locking lever 2
The locking hole (window) 2f of e is made to enter into the rectangular trapezoidal convex portion 88n formed on the base body 88m.

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 separated 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 to sandwich the bobbin case 2 together with the bobbin case gripping means 88. It can be held.

By rotating the lever claw 88c clockwise in the drawing, the lock lever 2e is returned to its original position so that the bobbin case 2 can be released from the bobbin case gripping means 88.

Further, the bobbin case holding means 88 is
The bobbin case inside the hook can be moved forward and backward between the attaching / detaching position and the retracted position of the bobbin case by the operating force of the air cylinder facing the hook. The bobbin case accommodating the bobbin on which the bobbin has been wound can be grasped by the bobbin case grasping means 88 and mounted in the kettle.

[0007]

However, the bobbin exchanging device for a sewing machine described in Japanese Patent Laid-Open No. 6-304369 has the following problems. That is, the center of the shuttle and the bobbin case gripping means 88 should be perfectly aligned (the axis of the shuttle and the axis of the hollow support cylinder of the bobbin case 2 held by the bobbin case gripping means 88 should be exactly aligned. It is extremely difficult, and therefore the bobbin case 2 is attached to and detached from the hook in a state where the cores are not aligned. However, if this misalignment is large, the bobbin case 2 cannot be attached to and removed from the hook. There is such a problem.

In order to attach / detach the bobbin case 2 to / from the hook regardless of such misalignment, the bobbin case 2
When pushing the bobbin case 2 out of the hook when pushing it into the hook, a large amount of resistance acts. Therefore, it is necessary to make the pushing force and the pulling force sufficiently large. here,
If the air pressure of the air cylinder that moves in the direction opposite to the hook is increased, the pushing force and the withdrawal force will be increased, and it will be possible to deal with it. However, if the air pressure is increased in this way, the moving speed will increase. However, there is a problem that the collision force of the bobbin case 2 with respect to the shuttle increases, so that the bobbin case 2, the bobbin case gripping means 88, and the shuttle are damaged and durability deteriorates.

It is also conceivable to use a large motor instead of the air cylinder to move the bobbin case holding means 88 between the bobbin case attaching / detaching position and the retracted position at high torque and high speed. However, the problem that the impact force increases and the durability of the bobbin case 2, the bobbin case gripping means 88, and the hook is lowered cannot be solved.

Therefore, according to the present invention, the bobbin case is surely attached to and detached from the facing member regardless of the misalignment between the facing member and the bobbin case holding means, and the bobbin case, the bobbin case holding means, and the facing member are damaged at the time of mounting. A first object of the present invention is to provide a bobbin exchanging device which is improved in durability.

In addition to the first object, there is provided a bobbin changing device in which the moving speed of the bobbin case holding means between the bobbin case attaching / detaching position and the retracted position is optimally controlled, and the bobbin changing time is minimized. The second purpose is to provide.

[0012]

In order to achieve the above-mentioned first object, the bobbin exchanging device according to the first aspect of the present invention enables a bobbin case gripping means capable of gripping or releasing a bobbin case to face a facing member. When the bobbin case gripping means grips the bobbin case, the bobbin case gripping means is moved toward the facing member to push the bobbin case against the facing member and open the bobbin case to the facing member. When the bobbin case gripping means is mountable, and the bobbin case gripping means does not grip the bobbin case, the bobbin case gripping means is moved toward the facing member to grip the bobbin case mounted on the facing member, and in the opposite direction. Direction to move the bobbin case out, and move the bobbin case in the opposite direction to take out the bobbin case from the facing member. In location, the movement of the push up or pull-out when the bobbin case holding means, a low speed, and characterized by performing a high torque.

In order to achieve the above-mentioned second object, the bobbin changing device according to a second aspect of the present invention is the same as the first aspect, in addition to the first aspect, the bobbin case holding means moves toward the facing member before the pushing operation and the facing after the pulling operation. The feature is that the movement away from the member is performed at high speed.

In order to achieve the above first and second objects,
In addition to the first or second aspect, the bobbin changing device of the third aspect moves the bobbin case holding means in a direction facing the facing member by driving a motor, and the motor speed is
It is characterized by being controlled by the motor speed control means.

[0015]

According to the bobbin changing device of the present invention, when the bobbin case gripping means is pushed or pulled out at a low speed and with a high torque, the opposing member and the bobbin case gripping means are centered. Even if the bobbin case is misaligned and has a large resistance when the bobbin case is attached to or detached from the facing member, the high torque sufficiently increases the pushing force or the pulling force, and the low speed reduces the collision force of the bobbin case against the facing member. To be done.

According to the bobbin exchanging device of the second aspect, the movement of the bobbin case holding means which does not require low speed and high torque toward the facing member before the pushing operation or the moving away from the facing member after the pulling operation is performed. Done at high speed.

[0017]

Embodiments of the present invention will be described in detail below with reference to FIGS. 1 and 2. Reference numeral 1 stands for a shuttle to which the bobbin case 2 is mounted, 3 for an intermediate shuttle shaft, 6 for standing upright on a main base attached to the sewing machine main body, below the shuttle 1 and behind the shuttle 1 (upper side in FIG. 2). ) Are each shown as a base plate as a support body, and a base end 4a of a carrier shaft 4 having an axis parallel to the shuttle shaft is fixed to the base plate 6, and the carrier shaft 4 is It is in a state of being cantilevered by the base plate 6.

A hollow cylindrical carrier bush 13 is rotatably supported on the end 4b side (opposite to the base plate) of the carrier shaft 4. A rotating gear 14 is fitted and fixed to the outer periphery of the end portion of the conveying bush 13 on the side opposite to the base plate. One end is fitted and fixed. A holding portion 11 is fixed to the other end of the transfer arm 12, and the surface of the holding portion 11 facing the shuttle is shown in FIGS.
The bobbin case gripping means 50 as shown in FIG. 1 and 2, the bobbin case holding means 50 is omitted in order to avoid complication of the drawings. Next, the bobbin case gripping means 50 will be described below with reference to FIGS. 3 to 5.

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.
A nail shaft 54 is rotatably provided between a and 53b. On this nail shaft 54, a claw called a nail that causes the lock lever 2e of the bobbin case 2 to be raised from the closed position (see FIG. 5A) to be opened to the open position (see FIG. 5C). A member 55 is attached. The nail 55 is curved in an arc shape, and the tip portion 55b of the nail 55 is arranged in such a position that it can be inserted into the overlapping portion of the lock lever 2e of the bobbin case 2 and the bobbin locking plate 2b. .

A part of the nail 55 (the lower part in FIG. 5) projects outward from between the side plates 53a and 53b, and a pin 55a is projected on the surface of the projecting portion on the side plate 53b side. . A link shaft 57 is provided on the outer surface of the side plate 53b so as to project therefrom. A substantially square V-shaped link 56 is rotatably supported on the link shaft 57. Notches 56a and 56b are formed at both ends of the link 56, and the pin 55 of the nail 55 is formed in the notch 56a.
a is the plunger 51 of the solenoid 51 in the notch 56b.
Pins 51b projecting from a are loosely fitted and arranged. The solenoid 51 is fixed to the holder 11.

As shown in FIGS. 3 and 5, the support plate 53 is provided with a leaf spring 58 as a first elastic member which is provided between both side plates 53a and 53b and stands up toward the nail 55 side. The leaf spring 59 as the second elastic member is fixed. Tip 59a of leaf spring 59
Is bent to the bobbin case 2 side, and the window 2f of the lock lever 2e caused by the nail 55 is generated.
Is arranged in such a positional relationship that it can enter into and receive the edge portion 2i forming the window 2f.

The tip 58a of the leaf spring 58 is bent in the opposite direction to the tip 59a of the leaf spring 59, and can receive the outer surface 2g of the lock lever 2e caused by the nail 55. It is arranged in a possible positional relationship. The lock lever 2e received by the leaf springs 58 and 59 is clamped and fixed in an open state by the pressing force from the nail 55, so that the entire bobbin case 2 is gripped. ing.

In FIG. 5, reference numeral 1A indicates an outer pot,
1B has shown the inner pot accommodated in 1 A of outer pots, respectively.

As shown in FIG. 2, a rotary motor gear 15 having a shape elongated along the hook shaft direction meshes with the rotary gear 14, and the rotary motor gear 15 is a main motor gear. Rotation motor 16 as drive means fixed to the base
It is directly connected to the output shaft of.

Therefore, when the rotation motor 16 rotates, the rotation arm 70, which is a rotation means composed of the transfer arm 12 and the holding portion 11, rotates via the rotation motor gear 15 and the rotation gear 14. It has become. 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). There is. Also,
The transport shaft 4 is cantilevered, but the rotation motor gear 1 is
Since it is guided by No. 5, its supporting strength is sufficient.

A stop ring 30, for example, is fixed to the outer periphery of the transfer bush 13 on the fixed end side of the transfer shaft 4 with respect to the rotary gear 14, and the transfer bush 13 is fixed.
A linear motion collar 17 is rotatably supported between the rotary gear 14 and the stop ring 30 on the outer periphery of the.

As shown in FIG. 2, the linear motion gear (rack) 1 is provided on the outer periphery of the linear motion collar 17 along the axial direction.
8 is fixed. A linear motor gear (pinion) 19 is meshed with the linear gear 18, and the linear motor gear 19 is directly connected to an output shaft of a linear motor 20 as a moving means fixed to the main base. It is in a state.

Therefore, when the linear motion motor 20 rotates, the rotary arm 70 moves along with the linear motion collar 17 along the axial direction of the transport shaft 4 via the linear motion motor gear 19 and the linear motion gear 18. Has become. That is, the rotating arm 7
0 can rotate with respect to the transport shaft 4 and can slide along the transport shaft 4.

A dummy shaft 5 as a bobbin case holding means is fixed at a position on the base plate 6 opposite to the rotation locus of the bobbin case holding means, for example, at a position B, as shown in FIG. . As shown in FIG. 2, the dummy shaft 5 has the same structure as the tip of the inner hook shaft 3, and if the bobbin case 2 containing the bobbin is pushed in,
The bobbin case 2 can be held. Then, as shown in FIG. 1, the existing bobbin locking claws 2d of the bobbin case 2 that have been pushed in are configured to engage with the locking grooves of the detent member 5aa projecting near the dummy shaft 5, as shown in FIG. Has been done. That is, the bobbin case 2 is positioned and held at a predetermined position.

A residual yarn removing device is provided at a position opposite to the rotation locus of the bobbin case holding means, for example, at a position F, as shown in FIG. As the residual thread removing device, the thread of the pulling-out means that draws out the thread wound around the bobbin in a state where the bobbin case is transferred to the holding shaft 5a having the same structure as the dummy shaft 5 and holds the bobbin case. As long as the bobbin is rotated by the pulling-out operation and the yarn wound around the bobbin is pulled out, any structure may be used, and as the configuration other than the dummy shaft that holds the bobbin case, for example, Appropriate ones can be adopted, including the bobbin residual yarn removing device disclosed in Japanese Patent Application No. 5-203610 and Japanese Patent Application No. 6-40351, which the applicant previously applied.

A bobbin winding device is arranged at a position opposite to the rotation locus of the bobbin case holding means, for example, at a position C as shown in FIG. As this bobbin winding device, any device can be used as long as the bobbin can be automatically wound around a bobbin by driving a motor or the like, and then the bobbin case 2 can be hooked and the bobbin can be cut. For example, the bobbin exchanging device of Japanese Unexamined Patent Publication No. 5-192476 or the bobbin exchanging device of the sewing machine and Japanese Patent Application No. 5-116363 of Japanese Patent Application No. 5-121960 previously filed by the present applicant. Appropriate ones can be adopted, including the lower thread winding device described in the bobbin changing device of the sewing machine in the specification.

When the residual yarn removing device and the bobbin winding device contact the base plate 6, the base plate 6 is appropriately cut.

By the way, in this embodiment, the retracted position (see FIG. 2) of the bobbin case gripping means facing the shuttle 1 is set as the origin search position. Also, the rotation motor 1
Since, for example, a pulse motor is used as 6, the bobbin case gripping means 50 is moved to the bobbin position A, the bobbin thread winding position C, and the residual thread removal by counting the number of pulses of the pulse motor. The rotation can be controlled to the position F and the dummy position B.

Further, in the linear motor (stepping motor) 20, as shown in FIGS. 1 and 2, a motor speed control means 90 for controlling the motor speed is provided in a driver 91.
Connected through. This 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, a motor rotation speed, and the like, and opposes the bobbin case gripping means 50 (a hook 1, a dummy shaft 5, a holding shaft 5a). , Lower bobbin winding device), when moving the bobbin case
While giving a high torque command to the driver 91, it functions to give a high speed, low torque command to the driver 91 to move toward the facing member before the pushing operation and move away from the facing member after the pulling operation. This is a so-called microcomputer.

That is, the motor speed control means 90 is shown in FIG. 6 (a) when the bobbin case is taken out from the facing member.
The speed control is performed as shown in (1) to reduce the speed when the bobbin case is pulled out from the facing member, and increase the speed when moving away from the facing member after the pulling operation. In addition, when the bobbin case is attached to the facing member, as shown in FIG.
The speed control is performed as shown in (1), and the bobbin case is pushed into the facing member at a low speed, and the bobbin case is moved to the facing member before the pushing operation at a high speed.

By the way, the stepping motor has a speed-torque characteristic as shown in FIG. That is, when the speed is low, the torque is high (around yy), and when the speed is high, the torque is low (around xx). Therefore, during the above-mentioned bobbin case pull-out operation and push-in operation, low speed and high torque are obtained, while on the other hand, high speed and low torque are obtained. That is, a high torque is obtained when the bobbin case with a large amount of resistance is attached and detached, and a low speed is obtained when the bobbin case 2 is in contact with the facing member, and a high speed is obtained when other high speed movement is desired. .

The motor speed control means 90 has a ROM (not shown) in which a program representing an operation procedure is stored, and a RAM for storing and processing each set value and data table.
(Not shown) is connected.

Next, the operation procedure of the thus constructed apparatus will be described below. First, for example, in order to allow the bobbin case gripping means 50 to grip the bobbin case 2 containing the bobbin wound bobbin, a hand is inserted from the rotating arm side to accommodate the bobbin wound bobbin. Similarly to the case where the bobbin case is mounted on the inner hook shaft 3, the dummy shaft 5 is pushed into the holding shaft (having the same structure as the dummy shaft 5) 5a of the residual thread removing device without turning the palm, and the bobbin case is dummized. The shaft 5 and the retaining shaft 5a of the residual yarn removing device are mounted respectively.

Then, when the power switch is turned on, the rotary arm 70 is returned to the original position. At this time, the solenoid 51 is not energized, the tip 55b of the nail 55 is in the retracted position as shown in FIG. 5 (a), and the lock lever 2e of the bobbin case 2 is in the closed position. Then, when the start switch is turned on, the rotating arm 70 is rotated so that the bobbin case holding means 50 faces the dummy position B or the residual thread removing position F (the holding shaft 5a capable of holding the bobbin case is present). Here, in the present embodiment, for convenience of explanation, the bobbin case holding means 5 is provided.
0 is opposed to the dummy position B, for example. Then, the rotating arm 70 is moved forward so that the bobbin case holding means 50 holds the bobbin case that holds the bobbin wound on the dummy shaft 5. Although FIG. 5 shows an example in which the bobbin case is taken out from the shuttle shaft 1a, the same is true even if the shuttle shaft 1a is replaced with the dummy shaft 5.

That is, from the state shown in FIG. 5 (a), the nail 55 is rotated toward the opening direction by the retracting operation of the plunger 51a of the solenoid 51, and the tip portion 55b of the nail 55 is moved to the bobbin at the closed position. The lock lever 2e of the case 2 is caused to enter the inside from the front end portion thereof, and the lock lever 2e is raised from the closed position and released. At this time, the back surface 55c of the nail 55 causes
As shown in (b), the outer surface 2h of the bobbin case 2
Is pressed. 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 forming the window 2f by the tip portion 59a. Can be received. Then, the lock lever 2e is pressed in the Y direction shown in FIG. At the same time, the outer surface 2 of the lock lever 2e released by the tip portion 58a of the leaf spring 58.
g can be received. Then, with the lock lever 2e opened, the lock lever 2e is pressed against the leaf springs 58 and 59 and clamped by the pressing force of the nail 55, and as a result, the entire bobbin case 2 is held by the bobbin case gripping means 5.
It is grasped at 0. Further, by maintaining the lock lever 2e in the open state in this way, the bobbin case 2 is set in a free state in which it can be detached from the dummy shaft 5, and the bobbin is held so as not to be detached from the bobbin case 2. To be done.

At this time, the bobbin case holding means 50
Is moved at a low speed in the direction away from the dummy shaft 5 and is pulled out from the dummy shaft 5 with high torque, as shown in FIG. After that, the bobbin case gripping means 50 is retracted at high speed.

Therefore, even if the dummy shaft 5 and the bobbin case gripping means 50 are misaligned with each other and a great resistance is exerted when the bobbin case is pulled out from the dummy shaft 5, the pulling force is sufficiently increased by the high torque. Therefore, the bobbin case can be reliably taken out from the dummy shaft 5 regardless of the misalignment between the dummy shaft 5 and the bobbin case gripping means 50.

Further, since the bobbin case is moved away from the dummy shaft 5 at a high speed after the bobbin case is pulled out, the moving speed of the bobbin case gripping means between the bobbin case attaching / detaching position and the retreat position is increased. It is optimized and the bobbin exchange time can be minimized.

Further, in the present embodiment, since the bobbin case holding means 50 has the above-mentioned structure, the following effects are further obtained. That is, even if the dummy shaft 5 and the bobbin case gripping means 50 are misaligned, this misalignment causes the leaf spring 5 when the bobbin case 2 is taken out from the dummy shaft 5.
This is eliminated by the three-dimensional elastic deformation of Nos. 8 and 59, so that the bobbin case 2 can be taken out from 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.

Further, even if there is a difference in the opening angle of each lock lever 2e, the lock lever 2e is set to the leaf springs 58, 5
By elastically deforming 9 in the opening direction, the difference can be absorbed and fully opened, so that the engaging claw 2d of the bobbin case 2 can be sufficiently bited into the bobbin, and the bobbin can be left unremoved. It can be resolved.

Even if there is a difference in the position of the window 2f of each lock lever 2e, the tip end 59a of the leaf spring 59 is not inserted into the window 2f but is advanced to receive the edge portion 2i and receive the lock lever 2e. Since the leaf springs 58 and 59 are elastically deformed in the opening direction to absorb the difference and can be sufficiently opened, the bobbin case 2 can be reliably gripped.

Further, the lock lever 2 is attached to the leaf springs 58, 59.
By the three-dimensional elastic deformation of the nail 55 and the leaf spring 5
Since it can be sandwiched between the members 8 and 59 without any gap, the members can be roughly aligned, and the assembly time required to align the members can be reduced.

Now, returning to the explanation of the operation, the rotating arm 70 retracted to the retracted position is rotated. Then, the bobbin case holding means 50 holding the bobbin case is opposed to the shuttle 1 and moved forward, and the bobbin case accommodating the bobbin on which the lower thread has been wound is installed in the shuttle.

The mounting of the bobbin case on the shuttle 1 by the bobbin case gripping means 50 is controlled at the speed shown in FIG. 6B while the operation procedure shown in FIG. 5 is reversed.
That is, the bobbin case gripping means 50 is replaced with the one shown in FIG.
As shown in (b), the bobbin case is moved at a high speed toward the shuttle 1 and dropped at a low speed in front of the shuttle 1, and the bobbin case is pushed into the shuttle 1 with a high torque. At the time when the bobbin case is pushed in, the solenoid 51 is energized. The nail 55 of the bobbin case gripping means 50a is released and the bobbin case 2 is mounted in the shuttle 1.

Therefore, the hook 1 and the bobbin case holding means 50
Even if there is a misalignment between the and and the bobbin case is pushed into the hook 1 by a large amount of resistance, since the pushing force is sufficiently increased by the high torque, the hook 1 and the bobbin case gripping means 50 are configured. The bobbin case can be reliably attached to the shuttle 1 regardless of the misalignment of the core. Further, since the collision force of the bobbin case against the shuttle 1 is reduced at a low speed, the durability can be improved without damaging the bobbin case, the bobbin case gripping means 50, and the facing member. .

Further, the three-dimensional elastic deformation of the leaf springs 58 and 59 enables the bobbin case 2 to be mounted on the hook 1 more reliably.

Further, since the bobbin case is configured to move at high speed before the pushing operation, the bobbin case is moved.
The bobbin replacement time can be minimized.

Then, the rotating arm 70 is retracted, and sewing is started. Here, if a bobbin replacement command is issued, for example, because the bobbin in the hook has run out of yarn, the sewing operation of the sewing machine is prohibited, and the bobbin case gripping means 50 not gripping the bobbin case is operated. Move the bobbin forward to the hook 1 and take out the bobbin with less residual thread from the hook.

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 from the shuttle 1 by the bobbin case holding means 50, the same action and effect as when the bobbin case is taken out from the dummy shaft 5 by the bobbin case holding means 50 are obtained.

Then, the rotating arm 70 is retracted and rotated, and the bobbin case accommodating the bobbin in which the remaining yarn is reduced is opposed to the dummy shaft 5 and moved forward, and is mounted on the dummy shaft 5.

The mounting of the bobbin case on the dummy shaft 5 by the bobbin case gripping means 50 is similar to the case of mounting the bobbin case on the hook 1 by the bobbin case gripping means 50, and therefore the same action and effect are obtained. Play.

Then, the rotating arm 70 is retracted and then rotated so that the bobbin case holding means 50 not holding the bobbin case faces the holding shaft 5a of the residual thread removing device and is moved forward to move the holding shaft 5a. The bobbin case holding the bobbin wound with the bobbin thread held by is held by the bobbin case holding means 50.

The removal of the bobbin case from the holding shaft 5a by the bobbin case gripping means 50 is similar to the case of taking out the bobbin case from the shuttle 1 by the bobbin case gripping means 50, and therefore the same action and effect are obtained.

Then, the rotating arm 70 is moved backward and rotated to make the bobbin case holding means 50 holding the bobbin case face the hook 1 and move forward to move the bobbin case containing the bobbin already wound. It is mounted in the shuttle and the rotary arm 70 is retracted.

When the sewing is started, the rotating arm 70 is rotated during the sewing so that the bobbin case holding means 50 faces the dummy shaft 5 and is advanced, and is held by the dummy shaft 5. The bobbin with less remaining thread is taken out from the dummy shaft 5 and retracted.

Next, the rotating arm 70 is rotated to make the bobbin case containing the bobbin with less residual thread face the residual thread removing device, and the bobbin accommodated in the bobbin case by the residual thread removing device. The residual thread is removed and the bobbin is used as an empty bobbin with no thread.

Then, the rotating arm 70 is rotated so that the empty bobbin faces the bobbin winding device, and the rotating arm 7 is rotated.
0 is advanced, the lower thread is wound around the empty bobbin by the lower thread winding device, and the thread is hooked on the bobbin case and the lower thread is cut.

When the bobbin is wound around the bobbin in this manner, the rotating arm 70 is retracted and rotated to make the bobbin case holding means 50 face the dummy shaft 5 and move forward to move the bobbin winding device. Thus, the bobbin case accommodating the bobbin wound with the lower thread is once held on the dummy shaft 5, and then the rotating arm 70 is retracted.

Then, in this state, when the bobbin case in which the bobbin case is not gripped, when the next bobbin replacement command is issued, the sewing operation of the sewing machine is prohibited and the rotating arm 70 is rotated. The gripping means 50 is made to face the shuttle 1 and is moved forward, the bobbin with less remaining yarn is taken out from the shuttle, and the rotating arm 70 is retracted.

Then, the rotating arm 70 is rotated to move the bobbin case gripping means 50 so as to face the holding shaft 5a of the residual thread removing device and to move the bobbin case holding means 50 forward so that the bobbin case containing the bobbin with less residual thread is retained. 5a, and then the rotating arm 70 is retracted. Then, the rotating arm 70
Is rotated so that the bobbin case holding means faces the dummy shaft 5. Then, the rotating arm 70 is moved forward so that the bobbin case holding means 50 holds the bobbin case that holds the bobbin wound on the dummy shaft 5.

Then, the rotating arm 70 is moved backward and rotated so that the bobbin case holding means 50 holding the bobbin case faces the hook 1 and is moved forward to move the bobbin case in which the bobbin wound bobbin is accommodated. It is mounted in the shuttle and the rotary arm 70 is retracted. After that, the above operation is repeated.

In the above process, the bobbin case containing the bobbin on which the bobbin thread has been wound is first inserted by inserting a hand from the rotating arm side and the dummy shaft 5 or the holding shaft 5a of the residual thread removing device is inserted. The bobbin case containing the bobbin in which the bobbin thread is not wound on the other side and push it into each, and after mounting the bobbin case containing the bobbin with the bobbin thread wound into the hook During sewing,
The bobbin case accommodating the bobbin in which the bobbin thread is not wound is moved to the bobbin thread winding device to wind the bobbin thread, and the dummy shaft 5
Alternatively, the holding shaft 5a of the residual thread removing device may be held by either one of them to be in a standby state.

By the way, there is a case where the bobbin case 2 held by the bobbin case holding means 50 is taken out, or when the bobbin case 2 is temporarily held on the dummy shaft 5 in order to use different color bobbins. The bobbin case holding means 50 holding the bobbin case 2 faces the dummy shaft 5 and is moved forward to transfer the bobbin case 2 held by the bobbin case holding means 50 to the dummy shaft 5. You can

When the bobbin case 2 held by the dummy shaft 5 is to be taken out, the hand is inserted from the rotating arm side in the same way as the bobbin case 2 is taken out from the shuttle shaft 1a, and the palm is not returned. The bobbin case held by the dummy shaft 5 can be taken out. It is very easy to take out the bobbin case from the dummy shafts 5 and 5a by this manual work.

As described above, in this embodiment, the bobbin case holding means 50 is moved at the time of pushing in or pulling out at a low speed and a high torque, and the opposing members (the hook 1, the dummy shaft 5, the holding shaft 5a, the lower member) are moved. Even if the bobbin case 2 and the bobbin case gripping means 50 are misaligned with each other and a great resistance is exerted when the bobbin case 2 is attached to or detached from the facing member, the pushing force or the pulling force is sufficiently increased by the high torque. , Bobbin case 2 for facing member due to low speed
Since it is configured to reduce the collision force of the bobbin case, the bobbin case can be surely attached to and detached from the opposed member regardless of the misalignment between the opposed member and the bobbin case gripping means 50. 2. It is possible to improve durability without damaging the bobbin case gripping means 50 and the facing member.

Further, since the bobbin case holding means 50, which does not require low speed and high torque, is moved at a high speed toward the facing member before the pushing operation and away from the facing member after the pulling operation. The moving speed of the bobbin case gripping means 50 between the bobbin case attaching / detaching position and the retracted position can be optimally controlled, and the bobbin replacement time can be minimized.

It should be noted that, in the above-mentioned device, for example, a residual yarn removing device,
The bobbin can be automatically replaced without the bobbin winding device. That is, if the bobbin case gripping means 50 is single, in order to automatically perform bobbin exchange, for example, a dummy shaft for holding the bobbin case mounted on the shuttle 1 and the bobbin case taken out from the shuttle 1 are held. At least two dummy shafts are required as dummy shafts for the bobbin. If the two dummy shafts 5 and 5a are arranged at the positions opposite to the rotation locus of the bobbin case gripping means, as described above, the bobbin is required. The replacement can be performed automatically (however, the bobbin thread winding operation and the residual thread removing operation are performed manually, for example).

FIG. 8 shows another embodiment of the present invention, in which the motor speed control mechanism mechanically controls the moving speed and torque of the bobbin case gripping means 50. That is, the motor speed control mechanism 95 includes a DC motor that rotates at a constant speed, a disc 67 fixed to the output shaft of the DC motor, one end pivotally attached to a peripheral end portion of the disc 67, and the other end directly connected to the straight line. Link 66 pivotally attached to moving collar 17
, And when the DC motor rotates,
The linear motion collar 17 is adapted to move in the left-right direction in the drawing.

Further, the movement of the bobbin case gripping means 50 from the retracted position to the bobbin case attaching / detaching position is performed by the disc 67.
Is rotated clockwise in the drawing to move the pivot portion from the position aa in the drawing to the position cc via the position bb, and the bobbin case gripping means 50 is moved from the bobbin case attaching / detaching position to the retracted position. , Pivot joint shown cc
It is configured to be carried out by moving from the position of to the position of aa via the position of dd.

Therefore, the moving speed of the bobbin case gripping means 50 has a sinusoidal shape in which the edges of the diagram shown in FIG. 6 are smoothed, and is low at a position near aa and a position near cc. High torque, near bb,
High speed and low torque are provided in the vicinity of dd. That is, when the bobbin case is attached / detached to / from the facing member by the bobbin case gripping means 50, the pivoting portion is in the vicinity of the position cc, resulting in low speed and high torque. Therefore, it goes without saying that it is possible to obtain the same effect as that of the previous embodiment.

Although the invention made by the present inventor has been specifically described based on the embodiments, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. Needless to say, for example, in the above embodiment, the means for holding the bobbin case is the dummy shafts 5 and 5a. However, for example, the bobbin case 2 is magnetically attracted by a magnet to be housed and held in the holder. The bobbin case holding means may be replaced.

Further, in the above embodiment, the bobbin case gripping means is provided so that the bobbin case can be more surely attached to and detached from the facing member even if there is a misalignment between the bobbin case gripping means and the facing member. Although the leaf springs 58 and 59 are elastically deformed three-dimensionally, the bobbin case gripping means 50 does not necessarily have to be used, and the bobbin case gripping means 50 is the bobbin case gripping means described in the prior art. 88 or, for example, JP-A-5-19247.
No. 6 gazette automatic bobbin thread feeder and a pair of electromagnet adsorption head type bobbin case gripping means described in the bobbin exchanging device of the sewing machine of Japanese Patent Application No. 5-121960 previously filed by the present applicant. It is also possible to replace.

In addition, two large and small air cylinders with different diameters are used.
If the air cylinders of the book 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 holding means, it is easy to think of a configuration in which the bobbin case holding means is moved by an air cylinder having a small cylinder diameter, and the movement other than the above is performed by an air cylinder having a large cylinder diameter. To be

Further, in the above embodiment, two bobbin case holding means are used, but two or more bobbin case holding means may be used, and the bobbin case holding means may not be used also as the holding shaft 5a of the residual thread removing device. Further, the dummy position B, the bobbin thread winding position C, and the residual thread removing position F are not limited to the positions in the above-described embodiment, and in short, these positions may be located opposite to the moving path of the bobbin case gripping means. .

Further, in the above-mentioned embodiment, the application example to the bobbin exchanging device in which one end of the rotating arm 70 is supported and the bobbin case holding means is provided at the other end is described. For a bobbin exchanging device that is supported and provided with bobbin case gripping means at both ends, or a bobbin exchanging device that is provided with bobbin case gripping means at each end by supporting the center of a rotating arm that is divided into a number of branches However, it goes without saying that it can be applied.

[0081]

As described above, according to the bobbin exchanging device of the first aspect, the bobbin case gripping means is moved at the time of pushing or pulling out at a low speed and a high torque, so that the facing member and the bobbin case gripping means can be moved. Even if there is a misalignment between the and and there is a large resistance when the bobbin case is attached to or detached from the facing member, the pushing force or the pulling force is sufficiently increased by the high torque, and the collision force of the bobbin case against the facing member due to the low speed. Therefore, the bobbin case can be surely attached to and detached from the facing member regardless of the misalignment between the facing member and the bobbin case holding means, and the bobbin case and the bobbin case holding means can be reliably attached and detached. The durability can be improved without damaging the facing member.

According to the bobbin changing device of the second aspect, in addition to the first aspect, the bobbin case holding means, which does not require low speed and high torque, moves toward the facing member before the pushing operation or the facing after the pulling operation. Since the moving away from the member is configured to be performed at high speed, the moving speed of the bobbin case gripping means between the bobbin case attaching / detaching position and the retracted position can be optimally controlled, and the bobbin replacement time can be minimized. Is possible.

[Brief description of 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 above bobbin changing device.

FIG. 3 is a perspective view showing a bobbin case holding means of the above bobbin changing device.

FIG. 4 is a view of the bobbin case holding means of FIG. 3 viewed from the X direction.

FIG. 5 is an operation explanatory view showing the operation of the bobbin case gripping means of the above.

6A and 6B are speed control diagrams for the bobbin case gripping means between the bobbin case attaching / detaching position and the retracted position with respect to the facing member, FIG. 6A shows a case where the bobbin case is taken out from the facing member, and FIG. Shows the case where the bobbin case is attached to the facing member.

FIG. 7 is a speed-torque characteristic diagram of a stepping motor.

FIG. 8 is an extracted 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 a bobbin exchanging device according to a conventional technique.

[Explanation of symbols]

 1, 5, 5a Opposing member 2 Bobbin case 20 Direct drive motor 50 Bobbin case gripping means 70 Rotating arm 90 Motor speed control means 95 Motor speed control mechanism

Claims (3)

[Claims] 1. A bobbin case gripping means capable of gripping or releasing a bobbin case can face a facing member, and when the bobbin case gripping means grips the bobbin case,
The bobbin case gripping means is moved toward the facing member to push the bobbin case against the facing member and to open the bobbin case so that the bobbin case can be mounted on the facing member. When not gripping, the bobbin case gripping means is moved toward the facing member to grip the bobbin case mounted on the facing member, and is moved in the direction opposite to the direction to pull out the bobbin case. In the bobbin exchanging device which is capable of moving the bobbin case out of the facing member by moving the bobbin case to the opposite member, the bobbin case holding means moves the bobbin case holding means at the time of pushing or pulling at a low speed and a high torque. apparatus. 2. The bobbin exchanging device according to claim 1, wherein the bobbin case gripping means moves at high speed toward the facing member before the pushing operation and moves away from the facing member after the pulling operation. Bobbin changing device. 3. The bobbin changing device according to claim 1 or 2, wherein the movement of the bobbin case gripping means in a direction facing the facing member is driven by a motor, and the motor speed is controlled by the motor speed control means. A bobbin changing device characterized in that