JPH08280971A - Bobbin exchanging apparatus - Google Patents

Abstract

PURPOSE: To obtain a bobbin exchanging apparatus which can automatically exchange a bobbin for a bobbin thread only when shortage of the amt. of thread being necessary for the next sewing pattern occurs by detecting the remaining amt. of the bobbin thread on every completion of a specified sewing pattern not so as to bring about shortage of the bobbin thread in the midway of sewing. CONSTITUTION: A sewing machine control part 61 continues to output a signal during sewing when it is needed. Then, a CPU 62 in a control device 60 in a bobbin exchanging apparatus 1 gives a control signal to a driver 44 of a solenoid 42 for detecting the remaining amt. of a bobbin thread on every stopping of the signal during sewing to detect the remaining amt. of the bobbin thread. In addition, the CPU 62 continues to transmit a command for making a signal from a sewing stator switch 74 effective except during the CPU 62 gives respectively a control signal for controlling driving to each driver 70, 71 and 44 for an upper and lower delivering motor 14, a front and back delivering motor 19 and the solenoid 42 for detecting the remaining amt. of the bobbin thread. In addition, a sewing motion prohibiting circuit 73 only outputs a signal for requiring to start sewing to the sewing machine control part 61 even when both a sewing start switch signal and a sewing start switch effective signal are input.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bobbin exchanging device for automatically exchanging a bobbin thread bobbin mounted on a hook of a sewing machine.

[0002]

2. Description of the Related Art In a sewing machine that uses a needle thread and a bobbin thread for sewing, particularly in an industrial sewing machine that performs high-speed sewing work, it is necessary to frequently replace a bobbin thread bobbin. Generally, when the bobbin thread is consumed, the sewing machine operation is temporarily stopped, the bobbin thread bobbin together with the bobbin case is removed from the hook, and then the bobbin bobbin is put into the bobbin case and installed in the hook. It is done by hand. However, such a manual bobbin exchanging operation is extremely inefficient and causes a decrease in productivity.

Therefore, a bobbin exchanging device capable of automatically performing the above-described series of bobbin exchanging operations has come into practical use. As a bobbin changing device of this type, a sensor detects the amount of bobbin thread remaining in the bobbin thread bobbin installed in the shuttle every time the sewing machine performs the thread trimming operation, and if the bobbin thread amount becomes less than the predetermined amount, At that time, the exchanging mechanism is operated to exchange the bobbin. Further, there is also one in which the consumption amount of the bobbin thread is constantly monitored after replacing the bobbin thread bobbin, and the exchanging mechanism is operated when the bobbin thread consumption reaches a certain amount.

[0004]

However, in the bobbin exchanging device for detecting the remaining amount of the lower thread and exchanging the lower thread bobbin for each thread trimming, the thread trimming is repeated several times during one sewing operation. If it is determined that the bobbin thread remaining amount is insufficient at the time when the thread trimming is performed, the bobbin is replaced even before the completion of the predetermined sewing pattern. There is a problem that the sewing ends halfway, and the material and labor are wasted.

Further, in the bobbin exchanging device for exchanging the bobbin based on the consumption amount of the bobbin thread, the bobbin exchanging time must be inaccurate due to the variation of the bobbin thread amount wound around each bobbin. There was a problem that the bobbin was replaced while the bobbin thread remained considerably, or the bobbin thread disappeared during sewing.

The present invention was devised under the circumstances described above, and detects the remaining amount of the bobbin thread at each end of a predetermined sewing pattern so that the bobbin thread will not run short during sewing, and the next time An object of the present invention is to provide a bobbin exchanging device capable of automatically exchanging the lower thread bobbin only when the thread amount required for the sewing pattern is insufficient.

[0007]

In order to achieve the above object, a bobbin exchanging device of the present invention is a bobbin case grasping means capable of grasping or rotating a bobbin case accommodating a bobbin, and a sewing machine for the bobbin case grasping means. A first moving means for moving the bobbin case holding means in a direction parallel to the shuttle shaft of the sewing machine, and a second moving means for rotating the bobbin case holding means on a plane orthogonal to the shuttle shaft of the sewing machine.
The moving means, the bobbin case magazine for holding a plurality of replacement bobbin cases accommodating the lower thread bobbins, and the bobbin case for replacement of the bobbin case magazine, the bobbin replacement being opposed to the rotation trajectory of the second moving means. A magazine moving means for moving to a position, a bobbin thread remaining amount detecting means for detecting the bobbin thread amount wound around a bobbin thread bobbin mounted on a shuttle, and a sewing pattern end each time a predetermined sewing pattern is completed. A sewing pattern end signal generating means for generating a signal, the sewing machine starts sewing, a sewing pattern end signal is generated, and the bobbin thread remaining amount detecting means winds the bobbin thread on the bobbin attached to the shuttle. If it is determined that the amount of bobbin thread being sewn is insufficient for the next sewing pattern, a sewing prohibition operation that prohibits the sewing operation of the sewing machine, and the bobbin case containing the bobbin thread bobbin are The bobbin case containing the bobbin thread bobbin, and mounting the replacement bobbin case on the hook. Bobbin replacement operation, sewing prohibition release operation to release the sewing operation prohibition of the sewing machine, and the replacement bobbin case to the bobbin exchange position. A control means for repeatedly performing the bobbin moving operation in this order is provided.

The bobbin exchanging device of the present invention further comprises:
A bobbin case detecting means for detecting whether or not there is a replacement bobbin case at the gripping position by the gripping means, and when the bobbin case is not detected by the bobbin case detecting means, the next replacement bobbin case is detected. It is desirable to provide a magazine moving means for moving the bobbin case magazine so that the bobbin case magazine is moved to the grip position.

[0009]

According to the bobbin exchanging device of the present invention, the bobbin thread amount is not detected while the sewing is being performed, and the bobbin thread remaining amount detecting means causes the bobbin thread remaining amount detecting means to detect the bobbin thread amount every time the sewing pattern end signal is generated. The amount of lower thread wound around the lower thread bobbin that is mounted is detected. When the bobbin thread remaining amount detecting means detects the bobbin thread amount, the bobbin exchange control means causes the bobbin thread winding amount currently wound on the bobbin thread bobbin currently mounted in the hook to sew the next sewing pattern. It is determined whether or not the required bobbin thread amount is sufficient, and when it is determined that the bobbin thread amount is not sufficient, the exchanging mechanism is operated and the bobbin is exchanged.

The sewing operation prohibiting means prohibits the sewing operation of the sewing machine during the operation of the exchanging mechanism.
Interference between the exchange mechanism and the sewing machine side mechanism is prevented.

[0011]

EXAMPLE An example of the bobbin changing device of the present invention will be described below.

First, the structure of the mechanical portion of the bobbin changing apparatus of this embodiment will be described with reference to FIGS.

FIG. 1 is a front view of the entire bobbin changing device 1.
FIG. 2 is a partial plan view, in which reference numeral 2 holds a shuttle in which a bobbin case 3 accommodating a bobbin thread bobbin is mounted, 4 an intermediate shuttle shaft, and 5 a replacement bobbin case 3. A bobbin case magazine, a replacement mechanism 6 and a support substrate of the bobbin replacement device 1 are shown.

The support substrate 7 is positioned below the shuttle 2 and rearward (upper side in FIG. 2) so as to stand on the sewing machine main body. A base end portion 8a of a transport shaft 8 having an axis parallel to the inner shaft 4 is fixed to the support substrate 7, and the transport shaft 8 is cantilevered by the support substrate 7.

The exchanging mechanism 6 is provided with a transfer arm 9 on the tip end 8b side of the transfer shaft 8 (opposite to the supporting substrate) so as to be rotatable about the axis and reciprocally movable in the axial direction. A hollow cylindrical transport bush 10 is rotatably supported on the tip 8b side of the transport shaft 8, and a rotating gear 11 is fitted and fixed to the outer periphery of the end of the transport bush 10 on the side opposite to the support substrate. Further, one end of the transfer arm 9 is fitted and fixed to the outer periphery of the end portion on the side opposite to the supporting substrate from the rotating gear 11. A holding portion 12 is fixed to the other end of the transfer arm 9, and a bobbin case holding means 50 as shown in FIGS. 5 to 7 is provided on a surface of the holding portion 12 facing the shuttle. . 1 and 2, the bobbin case holding means 50 is omitted in order to avoid making the drawings complicated. Therefore, the bobbin case gripping means 50 will be described below with reference to FIGS.

A U-shaped support plate 53 as shown in FIGS. 4 and 5 is fixed to the holding portion 12 so as to open upward in FIG. 5, and both side plates 53a, 5a.
A nail shaft 54 is rotatably provided between 3b. On this nail shaft 54, a claw called a nail that causes the lock lever 3e of the bobbin case 3 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 its tip portion 55b is arranged in such a positional relationship that it can be inserted into an overlapping portion of the lock lever 3e of the bobbin case 3 and the bobbin locking plate 3b.

A part (upper part in FIG. 5) of the nail 55 is projected outward from between both side plates 53a and 53b, and a pin 55a is projectingly provided on a 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. A substantially V-shaped link 56 is rotatably supported on the link shaft 57. Cutouts 56a and 56b are formed at both ends of the link 56, and the pin 5 of the nail 55 is formed in the cutout 56a.
5a has a plunger 5 of the solenoid 51 in the notch 56b.
Pins 51b protruding from 1a are loosely fitted and arranged. The solenoid 51 is fixed to the holder 12.

As shown in FIGS. 3 and 5, the support plate 53 has a first plate spring 58 standing between the side plates 53a and 53b and standing toward the nail 55 side, and a second plate spring 58. The leaf spring 59 is fixed to each. A tip portion 59a of the second leaf spring 59 is bent toward the bobbin case 3 side, and enters the window 3f of the lock lever 3e caused by the nail 55 to enter the edge portion 3 of the window 3f.
It is arranged in a positional relationship capable of receiving i.

The tip portion 58a of the first leaf spring 58 is also
Is bent on the side opposite to the tip end 59a of the leaf spring 59, and is arranged in a positional relationship capable of receiving the outer surface 3g of the lock lever 3e caused by the nail 55. The lock lever 3e 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 3 is gripped. ing.

In FIG. 5, reference numeral 2A indicates an outer pot,
Reference numerals 2B respectively denote inner pots housed in the outer pot 2A.

As shown in FIG. 2, the rotary gear 11 is a rotary motor gear 1 having a shape elongated along the shuttle shaft direction.
3 are meshed with each other, and the rotation motor gear 13 is a rotation motor (stepping motor) 1 fixed to the support substrate 7.
It is directly connected to the 4th output shaft.

Therefore, when the rotation motor 14 rotates,
A rotating arm 80, which is a rotating unit composed of the transport arm 9 and the holding portion 12, rotates via the rotating motor gear 13 and the rotating gear 11. In the present embodiment, the rotating operation of the rotating arm 80 is performed when the rotating arm 80 is in the retracted position retracted from the shuttle position A (see FIG. 2). .

A stop ring 15 is fixed on the outer periphery of the conveying bush 10 on the fixed end 8a side of the conveying shaft 8 with respect to the rotating gear 11 and the rotating gear 11 and the stop ring 15 on the outer periphery of the conveying bush 10. A translation collar 16 is rotatably supported between and.

As shown in FIGS. 1 and 7, a linear motion gear (rack) 17 is fixed to the outer periphery of the linear motion collar 16 along the longitudinal axis. A linear motor gear (pinion) 18 is meshed with the linear gear 17, and the linear motor gear 18 is directly connected to an output shaft of a linear motor (stepping motor) 19 fixed to the support substrate 7. It is in a state of

Accordingly, when the linear motion motor 19 rotates, the rotary arm 80 moves along with the linear motion collar 16 along the axial direction of the transport shaft 8 via the linear motion motor gear 18 and the linear motion gear 17. Has become. That is, the rotating arm 80 can rotate up and down with respect to the transport shaft 8 and can slide back and forth along the transport shaft 8.

By the way, in the present embodiment, at the position opposite to the rotation locus of the bobbin case gripping means 50,
As shown in FIG. 1, a position which is almost immediately below the shuttle position A is a gripping position B of the replacement bobbin 3. And
The rotating arm 80 can rotate up and down within a range from the shuttle position A to the gripping position B, and can slide back and forth at each of the rotating positions A and B.

Further, in this embodiment, the position (see FIG. 2) of the bobbin case gripping means 50 facing the shuttle 2 is set as the origin search position, and the exchanging mechanism 6 rotates the rotating arm 80. An origin detecting means for detecting the origin in the direction (upper limit direction) and an origin detecting means for detecting the origin in the front-rear direction are provided.

As shown in FIG. 2 and FIG. 6, the vertical origin detection means of the rotary arm 80 has one end fixed to the tip of the transport shaft 8 and the other end extending in the radial direction of the rotary gear 11. The support member 20 is fixed, the vertical conveyance origin detection sensor 21 fixed to the surface of the extended end of the support member 20 on the rotating gear 11 side, and the shield plate 22 fixed to the rotating gear 11. . The vertical conveyance origin detection sensor 21 is a shield type optical sensor in which a light emitting element and a light receiving element are arranged to face each other via a slit 21a opened so as to face the rotating gear 11, and the bobbin case gripping means is provided. The shield plate 22 enters into the slit 21a of the vertical conveyance origin detection sensor 21 when 50 rotates to a position facing the shuttle position A, so that the light emitting element and the light receiving element are shielded. The received light signal of the vertical conveyance origin detection sensor 21 is sent to the control device 60 (see FIG. 12).
When the received light signal is cut off, the rotation arm 80 is determined to be at the origin position in the rotation direction. The bobbin case gripping means 50 is moved to the shuttle position A and the gripping position B by step-driving the rotary motor 14 with the origin position as the reference by the control device 60.

Further, as shown in FIG. 7, the origin detecting means in the front-rear direction of the rotating arm 80 is a front-rear conveying member fixed to the side surface of the supporting bracket 23 for fixing the rotating motor 14 to the supporting substrate 7 on the conveying shaft side. Origin detection sensor 24 and linear motion collar 1
6 and an L-shaped shield plate 25 having one end fixed and the other end bent and extending to the support bracket 23 side.
The front-rear transport origin detection sensor 24 is a shield type optical sensor in which a light emitting element and a light receiving element are vertically opposed to each other via a slit 24a opened parallel to the transport shaft 8.
When the bobbin case gripping means 50 is in the retracted position (see FIG. 2), the shield plate 25 enters the slit 24a of the forward / backward transport origin detection sensor 24 so that the light emitting element and the light receiving element are shielded. There is. The received light signal from the front-back conveyance origin detection sensor 24 is sent to the control device 60 (see FIG. 12).
Input) and the light reception signal is cut off, it is determined that the rotating arm 80 is at the origin position in the front-rear direction. Then, the bobbin case gripping means 50 can be swung to the hook position A and the gripping position B by drivingly controlling the rotary motor 14 with the control device 60 based on the origin position. The bobbin case gripping means 50 is moved to the shuttle position A and the retracted position (see FIG. 2) by stepwise driving the direct motor 19 with the origin position as a reference by the control device 60.

As shown in FIGS. 1, 8 and 9, the bobbin case magazine 5 has a plurality of bobbin case holding shafts 5b (in this example, five bobbin case holding shafts 5b) on the lower front surface of a horizontally elongated rectangular plate-shaped magazine body 5a. ) Each of the holding shafts 5b is provided with a replacement bobbin case 3 that is fixed in parallel at equal intervals and that accommodates a lower thread bobbin.
It can be detachably held. On the upper front part of the bobbin case magazine 5, there is a replacement bobbin case 3
Of the bobbin case 3 is fixed so that the positioning member 5c that engages with the corner 3i (the yarn outlet 3h is formed at the tip) of the bobbin case 3 has the same positional relationship with each holding shaft 5b. By engaging 3i with the notch 5d of the positioning member 5c (see FIG. 10) and mounting it on the bobbin case holding shaft 5b, the five bobbin cases 3 for replacement are attached to the magazine body 5a.
All of them are held in the same posture.
The bobbin case magazine 5 is detachably attached to a magazine moving mechanism 30 (see FIG. 1) which is located below the transport mechanism 6 and attached to the support substrate 7.

The magazine moving mechanism 30 includes the transport mechanism 6
And a guide rail 30A horizontally fixed to the support substrate 7 and a magazine carrier 30B slidably provided on the guide rail 30A. As shown in FIG. 10, a pair of gripped pieces 27L and 27R, each of which has a tip 27a bulging in a spherical shape, are projectingly provided at both upper ends of the front surface of the magazine carrier 30B. On the other hand, ball catch mechanisms 26L, 26
R is provided and the ball catch mechanism 26L on the left side
The left gripping piece 27L is gripped by the right ball catch mechanism 26R and the right gripping piece 27R is gripped by the right ball catch mechanism 26R, whereby the bobbin case magazine 5 can be accurately positioned and mounted on the magazine carrier 30B. . Each ball catch mechanism 26L, 26R can adjust the spring force of the ball pressing spring 29 by turning the gripping force adjusting screw 28 provided on the upper and lower sides, whereby the gripping piece 27L by the pair of upper and lower balls 31. , 27
The gripping force for R can be adjusted appropriately.

A left and right moving gear (rack) 32 is fixed to the lower edge of the magazine carrier 30B as shown in FIGS. A left / right moving motor gear (pinion) 33 is meshed with the left / right moving gear 32, and the left / right moving motor gear 33 is attached to an output shaft of a left / right moving motor (stepping motor) 35 fixed to a guide rail support plate 34. It is in a directly connected state.

Therefore, when the left / right moving motor gear 35 rotates, the magazine carrier 30 is moved through the left / right moving motor gear (pinion) 33 and the left / right moving gear (rack) 32.
Bobbin case magazine 5 together with B guide rail 30
It is designed to move left and right along A.

The mounting position of the bobbin case magazine 5 with respect to the magazine carrier 30B is such that the replacement bobbin case 3 held by the bobbin case magazine 5 when the magazine carrier 30B is moved left and right along the guide rail 30A.
Is set to a position where it sequentially passes through the gripping position B (bobbin replacement position).

Further, in this embodiment, the bobbin case holding shaft 5 located on the leftmost side of the bobbin case magazine 5 is located.
The position b is retracted slightly to the right of the gripping position B (see FIG. 1).
In the middle, C) is the origin search position, and the magazine moving mechanism 30 is provided with origin detecting means 36 for detecting the origin in the lateral movement direction of the magazine carrier 30B (see FIG. 1). The origin detecting means 36 is located in the vicinity of the lower end of the magazine carrier 30B and is fixed to the front surface of the guide rail supporting plate 34.
And one end thereof is fixed to the lower left corner of the magazine carrier 30B and extends downward, and the extending end portion 38a is an L-shaped shield plate 38 in which the guide rail support plate 34 is bent toward the side. . The left and right transport origin detection sensor 37 is a shield type optical sensor in which a light emitting element and a light receiving element are arranged to face each other via a slit 37a formed along the moving direction of the magazine carrier 30B, and the bobbin case is used. When the leftmost bobbin case holding shaft 5b of the magazine 5 is moved to the retracted position (C in FIG. 1), the bent end of the shield plate 38 has the slit 37a of the left and right transport origin detection sensor 37.
The light emitting element and the light receiving element are shielded by entering the inside. The light reception signal of the left and right conveyance origin detection sensor 36 is input to a control device 60 (see FIG. 12) described later, and when the light reception signal is cut off, the magazine conveyance table 30
It is determined that B is at the origin position in the horizontal movement direction. Then, the controller 60 drives the left and right moving motors (stepping motors) 35 to step with reference to the origin position, so that the magazine carrier 30B is guided by the guide rails 30.
Moved left and right along A.

Further, the magazine moving mechanism 30 is provided with a bobbin case detection sensor 39 for detecting whether or not there is a replacement bobbin case 3 at the gripping position B. A micro switch is used for the bobbin case detection sensor 39, for example. When the bobbin case 3 is at the gripping position B, the contact portion of the micro switch is pushed by the bobbin case 3 to turn on the switch. The signal of the bobbin case detection sensor 39 is input to the control device 60 (see FIG. 12) described later,
When the switch is on, it is determined that there is a bobbin case, and when the switch is off, it is determined that there is no bobbin case. The bobbin case detection sensor 39 is fixed to the guide rail support plate 34 via a support member (not shown).

In the vicinity of the position directly below the shuttle position A,
A bobbin thread remaining amount detection sensor 40 for detecting the bobbin thread amount wound around the bobbin thread bobbin mounted on the shuttle 2 is provided. As shown in FIG. 11, the bobbin thread remaining amount detecting sensor 40 includes a bobbin thread remaining amount detecting solenoid 41 which is located immediately below the shuttle position A and is fixed to the support substrate 7, and a bobbin thread remaining amount detecting solenoid 41. A detection rod 45 made of iron that is movably provided up and down through the solenoid driver 44, a solenoid driver 44 that turns on / off a switch 43 connected to the solenoid coil 42, and a protrusion 45b of the detection rod 45 that is engaged and disengaged. And a microphone switch 49 for turning off / on. The solenoid driver 44 responds to a control signal from a control circuit 60 (see FIG. 12), which will be described later, with the lower thread remaining amount detecting solenoid 4
1 is turned on / off. The detection rod 45 is biased downward by a coil spring 46 provided on the outer circumference of the lower portion thereof, and normally stands by at the lowest position in its movement range. When the lower thread remaining amount detection solenoid 41 is turned on, the detection rod 45 projects upward against the urging force of the coil spring 46, enters the bobbin case 3 through the lower thread detection window 3j, and enters the lower thread bobbin 47. The rod tip 45a contacts the surface of the wound bobbin thread 48. A predetermined distance D from the rod tip 45a is provided at a portion above the lower thread remaining amount detecting solenoid 41 of the detecting rod 45.
When the protrusion 45b is formed at a position separated by a distance and the amount of the lower thread 48 wound around the lower thread bobbin 47 is small, the switch lever 49a of the microphone switch 49 provided beside the detection rod 45 is provided. Is rotated by the protrusion 45b, and the microphone switch 49 is turned on at that time. The signal from the lower thread remaining amount detection sensor 40, that is, the signal from the microphone switch 49 is used as a control device 60 (see FIG. 12) described later.
When the microphone switch 49 is turned on, it is determined that the bobbin thread amount is insufficient.

Therefore, by adjusting the distance D from the rod tip 45a of the detection rod 45 to the protrusion 45b, it is possible to appropriately change the setting of the residual thread amount which is judged to be insufficient. In this embodiment, the microphone switch 49 is set to turn on when the amount of bobbin thread wound around the bobbin thread bobbin 47 is less than the thread amount required for sewing the next sewing pattern.

This sewing pattern does not depend on the thread trimming completion signal as shown in FIG. 22, and the drive of the sewing machine main body is controlled by a predetermined sewing pattern.

FIG. 12 shows a control block diagram in the bobbin changing apparatus of this embodiment. In the figure,
Reference numeral 60 is a control device that controls the operation of the bobbin exchanging device 1, and 61 is a sewing machine control unit that controls the operation of a sewing machine equipped with the bobbin exchanging device 1.

The control unit 60 is a central processing unit (CPU).
62, a random access memory (RAM) 63, a read only memory (ROM) 64, a timer 65,
The input port 66 and the output port 67 make up a main part. Further, the control device 60 includes the various motors 14,
Motor drive circuit (driver) 69 for driving 19, 35
To 71, solenoid drive circuits (drivers) 44 and 72 for driving the solenoids 42 and 51, and a sewing operation prohibition circuit 73 are provided.

A program (microprogram) executed by the CPU 62 is stored in the ROM 64 in advance. The RAM 63 temporarily stores each setting value and data table necessary for the processing in the CPU 62. The timer 65 generates time data for clocking in the CPU 62.

The input port 66 is used for the various sensors 21,
The signals from 24, 37, 39, 40, the reset switch 68, and the sewing machine controller 61 are relayed and input to the CPU 62.

The reset switch 68 is a switch that is operated when the bobbin case magazine 5 is replaced. When this is operated, the CPU 62 resets the bobbin case count value (the number of searches) (returns to 0). .

The sewing machine control section 61 keeps issuing a sewing signal during sewing while a predetermined sewing pattern is being sewn. The CPU 62 determines whether or not the sewing machine is in the sewing operation by monitoring the sewing signal, and sends a control signal to the driver 44 of the lower thread remaining amount detecting solenoid 42 every time the sewing signal is interrupted. It is given to detect the remaining amount of lower thread.

Further, the CPU 62 controls the vertical transport motor 14,
A sewing start switch from the sewing start switch 74 provided in the pedal of the sewing machine except when the control signals for driving these drivers 70, 71, 44 of the front and rear transport motor 19 and the bobbin thread remaining amount detection solenoid 42 are being given. Continues to oscillate the sewing start switch valid signal that indicates that the signal is valid.

The sewing operation prohibiting circuit 73 is composed of a two-input AND circuit, and receives the sewing start switch signal from the sewing start switch 74 and the sewing start switch valid signal from the CPU 62. Then, the sewing start request signal is output to the sewing machine controller 61 only when both the sewing start switch signal and the sewing start switch valid signal are input.

Next, the operation of the bobbin exchanging device 1 of the present embodiment configured as described above will be described with reference to the flow charts of FIGS. The series of operations shown here is performed by the CPU 62 reading the program stored in the ROM 64 and sequentially executing the instructions.

FIG. 13 shows the entire operation of the bobbin exchanging apparatus 1, and when the power switch is turned on, the RAM 63
Data is cleared (erased) (step S10
0), after the output port 67 is set to the initial value (step S101), the front-rear transport origin search processing routine shown in FIG. 14 is executed (step S102).

In the front-rear transportation origin search processing routine, it is first determined whether or not the front-rear transportation origin sensor 24 is turned on (step S113). When it is determined that the front-rear transportation origin detection sensor 24 is turned on, it is stored in the RAM 63. The number n1 of steps for retracting the front and rear transport origin is set based on the data thus obtained (step S114). After that, the linear motor 19 is driven step by step in the direction opposite to the origin (step S115), and the set step number n1 is decremented by 1 each time (step S116). Then, in step S117, it is determined whether or not the step setting number n1 has become 0, and if it is determined that it has become 0, the linear motor 19 is driven step by step toward the origin (step S118). Then, it is determined whether or not the front-rear transport origin sensor 24 is turned on (step S119), and when it is determined that it is turned on, the drive of the front-rear transport motor 19 is stopped.

If it is determined in step S113 that the front-rear transport origin detection sensor 24 is not turned on, the process proceeds to step S118, and the linear motor 19 is driven step by step toward the origin. Then, it is determined whether or not the front-rear transport origin sensor 24 is turned on (step S11).
9), when it is judged that it is turned on, the front and rear transport motor 19
To stop driving.

By the above operation, the rotating arm 80 is arranged at the origin position in the front-rear direction.

Then, in step S103 of FIG. 13, the vertical transport origin search processing routine shown in FIG. 15 is executed.

In the vertical conveyance origin search processing routine, it is first determined whether or not the vertical conveyance origin sensor 21 is turned on (step S120), and the vertical conveyance origin sensor 21 is determined.
If it is determined that the switch has turned on, the number n1 of steps for retreating the origin of vertical conveyance is set based on the data stored in the RAM 63 (step S121). Then, the rotation motor 14
Is driven step by step in the direction opposite to the origin (step S122), and the set step number n1 is decremented by 1 each time (step S123). Then, in step S124, it is determined whether or not the step setting number n1 has become 0. When it is determined that the set number n1 has become 0, the rotation motor 14 is driven step by step toward the origin (step S125). Then, it is determined whether or not the vertical transport origin sensor 21 is turned on (step S126), and when it is determined that it is turned on, the driving of the turning motor 14 is stopped.

If it is determined in step S120 that the vertical conveyance origin detection sensor 21 is not turned on, the process proceeds to step S125, and the rotation motor 14 is driven step by step in the origin direction. Then, it is determined whether or not the vertical conveyance origin sensor 21 is turned on (step S12).
6) The drive of the rotary motor 14 is stopped when it is determined that the switch is turned on.

By the above operation, the rotating arm 80 is arranged at the origin position (see FIG. 2) in the rotating direction.

Then, in step S104 of FIG. 13, the left and right transport origin search processing routine shown in FIG. 16 is executed.

In the left / right conveyance origin search processing routine, it is first determined whether the left / right conveyance origin sensor 37 is turned on (step S127), and the left / right conveyance origin sensor 37 is determined.
If it is determined that the ON state is turned on, the number n1 of steps for retracting the left and right transport origins is set based on the data stored in the RAM 63 (step S128). After that, the horizontal movement motor 35 is driven step by step in the direction opposite to the origin (step S129), and the step setting number n1 is decremented by 1 each time (step S130). Then, in step S131, it is determined whether or not the step setting number n1 has become 0. When it is determined that the step setting number n1 has become 0, the horizontal movement motor 35 is driven step by step toward the origin (step S132). The left and right transport origin sensor 37
Is determined whether or not (step S133), ON
The drive of the left-right movement motor 35 is stopped at the time when it is determined that the movement has been performed.

If it is determined in step S127 that the left / right transport origin sensor 37 is not turned on,
In step S132, the horizontal movement motor 35 is driven step by step toward the origin. Then, it is determined whether or not the left and right transport origin sensor 37 is turned on (step S13).
3), the horizontal movement motor 35 at the time when it is determined to be ON
To stop driving.

With the above operation, the bobbin case magazine 5 is arranged at the origin position.

Then, in step S105 of FIG. 13, the bobbin case search count BC is set based on the data stored in the RAM 63. In this embodiment, since five bobbin cases 3 are mounted in the bobbin case magazine 5, the search count BC is set to 5.

Then, in step S106, as shown in FIG.
The bobbin case search processing routine shown in 7 is executed.

In the bobbin case search processing routine, first, it is determined whether or not the bobbin case search count BC is 0 (step S134), and the bobbin case search count BC is determined.
If is determined to be 0, then it is determined whether the reset switch 68 is turned on (step S135). When it is determined that the reset switch 68 has been turned on, in step 36, the left and right origin search processing routine shown in FIG. 16 is executed again, and the bobbin case magazine 5
Is placed at the origin position.

Thereafter, the number of searches BC is set to 5 (step S137), and then the number of bobbin case search steps (the distance between the bobbin cases 3 held in the bobbin case magazine 5 is determined based on the data stored in the RAM 63). N2 is set (step S138).

After that, the horizontal movement motor 35 is moved to the left by 1
Each step is driven (step S139), and the set step number n2 is decremented by 1 each time (step S40). Then, in step S141, it is determined whether or not the step setting number n2 has become 0, and when it is determined that it has become 0, the bobbin case search count BC is decremented by 1 (step S142). Then, in the next step S143, it is determined whether or not the bobbin case detection sensor 39 is turned on, and when it is determined that it is turned on, the process proceeds to step S107 in FIG.

If it is not determined in step 143 that the bobbin case detection sensor 39 is turned on, that is, there is no replacement bobbin case 3 at the gripping position B (see FIG. 1) by the bobbin case gripping means 50. In that case, the processes of steps S134 to S142 are executed again.

As a result, when there is no replacement bobbin case 3 at the gripping position B, the bobbin case magazine 5 is moved by the magazine moving mechanism 30 and the next replacement bobbin case is sequentially located at the gripping position B. Will be placed.

In step S107 of FIG. 13, it is determined whether the sewing center number from the sewing machine control section 61 is OFF. When it is determined that the signal during sewing is OFF, that is, the signal is lost, step S10
In 8, the lower thread detection processing routine shown in FIG. 18 is executed.

In the thread detection processing routine, after the lower bobbin thread remaining amount flag F1 is reset (step S14).
4) The lower thread remaining amount detecting solenoid 42 is energized (step S145), and it is determined whether the lower thread remaining amount detecting sensor 40, that is, the micro switch 49 is turned on (step S146). When it is determined in step S146 that the sensor is turned on, the lower thread remaining amount flag F1 is set (step S147), and the energization of the lower thread remaining amount detecting solenoid 42 is cut off (step S147).
148).

If it is not determined that the sensor is turned on in step S146, the lower bobbin thread remaining amount flag F1
Remaining state of bobbin thread remaining amount detection solenoid 4
The power supply to No. 2 is cut off (step S148). Then, in step S109 of FIG. 13, it is determined whether the lower bobbin thread remaining amount flag F1 is set. If it is determined that the lower bobbin thread remaining amount flag F1 is set, the sewing start switch valid signal is turned off (step S110), and then step S11.
1, the bobbin case replacement work processing routine shown in FIG. 19 is executed.

In the bobbin case replacement work routine, first, the front-rear transport front direction drive flag F3 is set in step S151 of FIG.
In FIG. 21, the front-rear transport drive processing routine shown in FIG. 21 is executed.
Based on the data stored in No. 3, the front-rear transport driving step number n4 is set (step S181), and then it is determined whether the front-rear transport front driving flag F3 is set (step S182).

In this case, it is determined in step S182 that the front-rear transport front drive flag F3 is set, and the linear motor 19 is driven step by step in the direction of moving the rotary arm 80 forward, that is, to the shuttle side ( In step S183), the set step number n4 is decremented by 1 each time (step S184). Then, in step S185, it is determined whether or not the step setting number n4 has become 0, and when it is determined that it has become 0, the drive of the linear motion motor 19 is stopped. Thereby, the bobbin case gripping means 50 of the rotating arm 80 is arranged at a position where the bobbin case 3 mounted on the shuttle 2 can be gripped.

Next, in step S153 of FIG. 19, the solenoid 51 of the bobbin case gripping means 50 is energized, and the bobbin case 3 mounted on the shuttle 2 is gripped by the bobbin case gripping means 50.

Then, after the front-rear transport front direction drive flag F3 is reset, in step S155, as shown in FIG.
The front-rear transport drive processing routine shown in FIG.
Based on the data stored in No. 3, the front-rear transport driving step number n4 is set (step S181), and then it is determined whether the front-rear transport front driving flag F3 is set (step S182).

In this case, the front-rear transport front drive flag F3 is not set in step S182 (F3
= 0), the linear motor 19 causes the rotary arm 8 to move.
It is driven step by step in the direction of moving 0 to the rear side, that is, the counterclockwise side (step S186), and the set step number n4 is decremented by 1 each time (step S18).
7). Then, in step S188, it is determined whether or not the step setting number n4 has become 0, and when it is determined that it has become 0, the drive of the linear motion motor 19 is stopped. As a result, the bobbin case 3 accommodating the lower thread bobbin 47 is pulled out from the shuttle 2 while being held by the bobbin case holding means 50.

Next, after the vertical transport upper drive flag F2 is reset in step S156 of FIG. 19, the vertical transport drive processing routine shown in FIG. 20 is executed in step S157.

In the vertical transport drive processing routine, first, the vertical transport drive step number n3 is set based on the data stored in the RAM 63 (step S173).
Next, it is determined whether or not the up / down conveyance upper drive flag F2 is set (step S174).

In this case, the upper / lower conveyance upper drive flag F2 is not set in step S174 (F2 =
0), the rotation motor 14 is rotated by the rotation arm 80.
Is driven one step at a time in the direction of rotating downward (step S178), and the set number n3 of steps is 1 each time.
It is subtracted one by one (step S179). Then, in step S180, it is determined whether or not the step setting number n3 has become 0, and when it is determined that it has become 0, the drive of the rotation motor 14 is stopped.

As a result, the bobbin case 3 taken out of the shuttle 2 is conveyed to a position facing the gripping position B while being held by the bobbin case gripping means 50.

Then, in step S158 of FIG. 19, the energization of the solenoid 51 of the bobbin case holding means 50 is cut off. As a result, the bobbin case 3 held by the bobbin case holding means 50 falls and is accommodated in a bobbin case collection container (not shown).

Next, after the front / rear transport front direction drive flag F3 is set again (step S159), in the next step S160, the front / rear transport drive processing routine shown in FIG. 21 is executed. First, RAM6
Based on the data stored in No. 3, the front-rear transport driving step number n4 is set (step S181), and then it is determined whether the front-rear transport front driving flag F3 is set (step S182).

In this case, it is determined in step S182 that the front-rear transport front drive flag F3 is set, and the linear motor 19 moves step by step in the direction in which the rotary arm 80 is moved forward, that is, toward the bobbin case magazine 5. It is driven (step S183), and the set step number n4 is decremented by 1 each time (step S1).
84). Then, in step S185, it is determined whether or not the step setting number n4 has become 0, and when it is determined that it has become 0, the drive of the linear motion motor 19 is stopped.
Thereby, the bobbin case gripping means 5 of the rotating arm 80
0 is arranged at the bobbin case holding position B for replacement.

Then, in step S161 of FIG. 19, the solenoid 51 of the bobbin case holding means 50 is energized, and the replacement bobbin case 3 held in the bobbin case magazine 5 is held by the bobbin case holding means 50.

Next, after the front / rear transport front direction drive flag F3 is reset, in step S163, as shown in FIG.
Then, the front-rear transport driving step number n4 is set based on the data stored in the RAM 63 (step S4).
181), and then it is determined whether or not the front-rear transport front drive flag F3 is set (step S18).
2).

In this case, the front / rear transport front drive flag F3 is not set in step S182 (F3
= 0), the linear motor 19 causes the rotary arm 8 to move.
It is driven step by step in the direction of moving 0 to the rear, that is, the side opposite to the bobbin case magazine (step S18).
6) Each time, the set step number n4 is decremented by 1 (step S187). Then, step S188
At, it is determined whether or not the step setting number n4 has become 0, and when it is determined that it has become 0, the drive of the linear motion motor 19 is stopped. As a result, the replacement bobbin case 3 is gripped by the bobbin case gripping means 50 and removed from the bobbin case magazine 5.

Next, in step S164, after the vertical transport upper drive flag F2 is set, step S1
At 65, the vertical transport drive processing routine shown in FIG. 20 is executed.

In the vertical transport drive processing routine, first, the vertical transport drive step number n3 is set based on the data stored in the RAM 63 (step S173).
Next, it is determined whether or not the up / down conveyance upper drive flag F2 is set (step S174).

In this case, the up / down conveyance upper drive flag F2 is set in step S174 (F2 =
1), the rotation motor 14 is rotated by the rotation arm 80.
Is driven one step at a time in the direction of rotating (step S175), and the set number n3 of steps is incremented by 1 each time.
It is subtracted one by one (step S176). Then, in step S177, it is determined whether or not the step setting number n3 has become 0, and when it is determined that it has become 0, the drive of the rotation motor 14 is stopped.

As a result, the replacement bobbin case 3 is conveyed to a position facing the shuttle 2 while being held by the bobbin case holding means 50.

Next, in step S166 of FIG. 19, the front-rear transport front direction drive flag F3 is set, and then in step S167, the front-rear transport drive processing routine shown in FIG. 21 is executed. , RAM6
Based on the data stored in No. 3, the front-rear transport driving step number n4 is set (step S181), and then it is determined whether the front-rear transport front driving flag F3 is set (step S182).

In this case, it is determined in step S182 that the front-rear transport front drive flag F3 is set, and the linear motor 19 is driven step by step in the direction of moving the rotary arm 80 forward, that is, to the shuttle side ( In step S183), the set step number n4 is decremented by 1 each time (step S184). Then, in step S185, it is determined whether or not the step setting number n4 has become 0, and when it is determined that it has become 0, the drive of the linear motion motor 19 is stopped. As a result, the replacement bobbin case 3 is accommodated in the shuttle 2 while being held by the bobbin case holding means 50 of the rotating arm 80.

Next, after the front-rear transport front direction drive flag F3 is reset in step S169 of FIG.
In step S170, the front-rear transport drive processing routine shown in FIG. 21 is executed, and a standby state for the next replacement operation is set.

This completes the bobbin case replacement work in step S111.

Then, in step S112 of FIG. 13, the sewing start switch valid signal is turned on. As a result, the sewing start switch signal from the sewing start switch 74 becomes valid and the next sewing can be started.

As described above, according to the bobbin changing device 1 of this embodiment, the bobbin thread remaining amount detecting sensor 40 detects the bobbin thread amount each time the sewing signal from the sewing machine control section 61 is interrupted. When the bobbin thread amount is not enough to sew the next object to be sewn, the bobbin case exchanging mechanism 6 performs bobbin exchanging work. Therefore, it is possible to always start sewing the next material to be sewn with the required amount of bobbin thread secured, and even if thread cutting is performed several times during sewing, the sewing of the material to be sewn can be performed. It does not end halfway, and waste of materials and labor can be prevented.

Further, a plurality of replacement bobbin cases 3 are held in the bobbin case magazine 5 and mounted on the bobbin exchanging device 1, and each time the bobbin thread remaining on the bobbin bobbin mounted on the hook 2 becomes insufficient. Since the replacement bobbin case 3 mounted on the bobbin case magazine 5 is sequentially transferred to and mounted on the shuttle 2, it is possible to save the trouble of frequently replenishing the replacement bobbin case 3 and improve workability. Can be improved.

While the bobbin case replacing mechanism 6 is driven, the sewing start switch signal from the sewing start switch 74 is invalid and the sewing operation of the sewing machine is prohibited. The bobbin exchange operation can be smoothly performed and the occurrence of a failure can be prevented without interfering with the side mechanism.

The bobbin exchanging device of the present invention is not limited to the above embodiment.

For example, in the above embodiment, the sewing machine controller 6
Although the bobbin thread amount is detected every time the sewing signal from the sewing machine 1 is cut off, the sewing control signal is generated by the sewing machine control section 61 each time the sewing is completed, and the sewing completion signal is generated. Even if the bobbin thread amount is detected every time, the same effect as described above can be obtained.

Further, the bobbin case exchange mechanism 6 includes the rotating arm 8 having the bobbin case holding means 50 as described above.
The bobbin case is not limited to being rotated by 0 to convey the bobbin case, but the bobbin case may be conveyed by linearly moving the bobbin case holding means 50 in the XY direction and the Z direction.

Further, five or more (for example, ten) replacement bobbin cases 3 may be mounted on the bobbin case magazine 5.

[0102]

In summary, according to the present invention, the bobbin thread amount remaining in the bobbin thread bobbin attached to the shuttle is detected every time a predetermined sewing pattern is completed, and the bobbin thread amount is detected as follows. When it is determined that the amount of bobbin thread required for sewing the sewing pattern of 1 is insufficient, the bobbin thread bobbin is replaced. Therefore, it is possible to always start sewing the next material to be sewn with the required amount of bobbin thread secured, even if thread trimming is performed several times during sewing, the sewing of the material to be sewn can be performed. Does not end halfway, and waste of materials and labor can be prevented.

Since the sewing operation of the sewing machine is prohibited while the bobbin is being replaced, the mechanism on the bobbin changing device and the mechanism on the sewing machine side do not interfere with each other when the bobbin is replaced, so that the bobbin can be replaced. The operation can be performed smoothly and the occurrence of failure can be prevented.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a bobbin changing device of the present invention.

FIG. 2 is a partial 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 an operation of the bobbin case gripping means of the above.

FIG. 6 is a partial bottom view showing the upper and lower conveyance origin detecting means provided in the bobbin case exchange mechanism.

FIG. 7 is a partial front view showing the front-rear transport origin detecting means provided in the bobbin case exchanging mechanism.

FIG. 8 is a front view showing a bobbin case magazine holding a plurality (five) of bobbin cases.

FIG. 9 is a partial bottom view showing the same bobbin case magazine and a magazine transporting mechanism for attaching and detaching the same.

FIG. 10 is a side sectional view showing a state in which the bobbin case magazine of the above is attached to the magazine transport mechanism of the above.

FIG. 11 is a schematic view showing a lower thread remaining amount detecting means.

FIG. 12 is a control block diagram showing an embodiment of the bobbin changing device of the present invention.

FIG. 13 is a flowchart showing an overall control operation by a control device provided in the bobbin exchanging device.

FIG. 14 is a flowchart showing a part of the control operation by the control device provided in the bobbin changing device of the same as above (front and rear transport origin search processing routine).

FIG. 15 is a flowchart showing a part of a control operation by a control device provided in the bobbin exchange device (upper and lower conveyance origin search processing routine).

FIG. 16 is a flowchart showing a part of the control operation by the control device provided in the bobbin changing device of the above (left and right transport origin search processing routine).

FIG. 17 is a flowchart showing a part of control operation by the control device provided in the bobbin exchange device (bobbin case search processing routine).

FIG. 18 is a flowchart showing a part of the control operation by the control device provided in the bobbin exchanging device (bobbin thread remaining amount detection processing routine).

FIG. 19 is a flowchart showing a part of the control operation by the control device provided in the bobbin exchanging device (bobbin case exchanging work processing routine).

FIG. 20 is a flowchart showing a part of a control operation by a control device provided in the bobbin changing device (upper and lower conveyance drive processing routine).

FIG. 21 is a flowchart showing a part of the control operation by the control device provided in the bobbin changing device of the same as above (forward / backward conveyance drive processing routine).

FIG. 22 is a diagram showing a sewing pattern consisting of three patterns, and a thread trimming completion signal and a sewing pattern end signal which are generated when sewing the sewing pattern.

[Explanation of symbols]

1 bobbin changing device 2 hook 3 bobbin case 5 bobbin case magazine 6 changing mechanism 30 magazine moving mechanism (magazine moving means) 39 bobbin case detecting sensor (bobbin case detecting means) 40 bobbin thread remaining amount detecting sensor (bottom thread remaining amount detecting means) ) 47 bobbin thread bobbin 50 gripping means 60 control means 61 sewing signal generating means (sewing machine control section) 73 sewing operation prohibiting means 80 rotating arm A retracted position B gripping position

Claims (1)

[Claims] 1. A bobbin case gripping means capable of gripping or releasing a bobbin case accommodating a bobbin, first moving means for moving the bobbin case gripping means in a direction parallel to a hook shaft of a sewing machine, and this bobbin case gripping Second moving means for rotating the means on a plane orthogonal to the shuttle shaft of the sewing machine, a bobbin case magazine for holding a plurality of replacement bobbin cases accommodating the bobbin bobbins, and a bobbin for replacement of the bobbin case magazine. The case
Magazine moving means for moving the bobbin to a bobbin exchange position opposite to the rotation locus of the second moving means, and lower thread remaining amount detecting means for detecting the amount of lower thread wound around the lower thread bobbin attached to the shuttle. , A sewing pattern end signal generating means for generating a sewing pattern end signal each time a predetermined sewing pattern is completed, the sewing machine starts sewing, and a sewing pattern end signal is generated to detect the remaining amount of the lower thread. If it is determined by the means that the amount of bobbin thread wound around the bobbin thread bobbin mounted on the shuttle is insufficient for the thread amount required for the next sewing pattern, sewing prohibition that prohibits the sewing operation of the sewing machine is performed. Operation, take out the bobbin case containing the bobbin bobbin from the hook,
Bobbin replacement operation to attach the replacement bobbin case containing the bobbin bobbin to the hook, sewing prohibition release operation to release the sewing operation prohibition of the sewing machine, replacement bobbin movement operation to move the replacement bobbin case to the bobbin exchange position A bobbin exchanging device, characterized in that the bobbin exchanging device is provided with a control means for repeatedly performing the above steps.