JPH09192375A - Bobbin thread takeup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To use an alignment takeup process for taking up a bobbin thread around a bobbin shaft to prevent a defective stitch from occurring. SOLUTION: A bobbin 7 driven to rotate and a thread guide means for feeding a bobbin thread 150 to a bobbin shaft 7a from a bobbin feed source are caused to relatively transfer at least, in a parallel direction with the bobbin shaft 7a by a mans for forming a takeup array. In addition, this means for forming a takeup array is controlled by a means for controlling the formation of a takeup array, so that the bobbin thread 15 is allowed to become securely entangled around almost the center of the bobbin shaft 7a by setting almost the center of the bobbin 7a at an opposite position to the bobbin thread feed part 67a of the thread guise means, when the bobbin thread is entangled around the bobbin shaft 7a. When the bobbin thread 150 is entangled around almost the center of the bobbin shaft 7a as described, the end part 7aa side of the bobbin shaft 7a is opposed to the bobbin thread feed part 67a. Further, the bobbin shaft 7a and the bobbin thread feed part 67a are structurally opposed to each other so that the bobbin thread 150 from the bobbin thread feed part 67a can be taken up in alignment to the bobbin shaft 7a.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a bobbin winding device.

[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 which performs high-speed sewing work, it is necessary to frequently replace a bobbin wound with a lower thread. There is. Generally, when the bobbin thread is consumed, the operation of the sewing machine is temporarily stopped, the bobbin case containing the bobbin is removed from the hook, and then the bobbin is wound around the bobbin and reattached to the hook or prepared in advance. The bobbin, which has been wound with the bobbin, is mounted on the hook by hand.

However, the manual operation of winding the bobbin thread around the bobbin and the operation of exchanging the bobbin case are extremely inefficient, which causes a decrease in productivity. Therefore, in the specification of Japanese Patent Application Laid-Open No. 7-68071, Japanese Patent Application No. 6-285932, drawings, etc., the applicant has made a bobbin winding operation in which bobbin winding work and bobbin replacement work are automatically performed. A device and a bobbin changing device are proposed.

The bobbin exchanging device according to such an apparatus is provided with a bobbin case gripping means for gripping a bobbin case accommodating the bobbin, and the bobbin case gripping means is provided with the bobbin position and the bobbin winding device of the bobbin winding device. It is configured to be able to move to the turning position. Then, first, the bobbin case in which the bobbin thread has been consumed is gripped by the bobbin case gripping means and pulled out from the kettle, and then conveyed to the bobbin winding position. Next, the rotation output shaft of the bobbin drive mechanism that constitutes the bobbin winding device is engaged with the bobbin in the bobbin case that has been transported to this bobbin winding position, and the bobbin drive mechanism rotates with respect to the bobbin. Driving force is given. At this time, the lower thread from the lower thread supply source is supplied to the bobbin shaft from the existing bobbin case opening by the thread guiding means, and the lower thread is entangled with the bobbin shaft as the bobbin is rotated by the bobbin drive mechanism. , The bobbin thread is wound.

[0005]

When the bobbin shaft is entwined with the lower thread from the thread guiding means, the lower thread is fed toward one end of the bobbin shaft. Since there is a fear that the bobbin flange continuously provided in the hindrance interferes with the entanglement of the lower thread, for example, as disclosed in Japanese Patent Application Laid-Open No. 7-68071 and Japanese Patent Application No. 6-285932. The lower thread is supplied to the substantially center of the bobbin shaft.

However, when the lower thread is supplied from the lower thread supply source to the substantially center of the bobbin shaft in this manner, the lower thread is entangled well with respect to the bobbin shaft. As it is wound, a portion of the bobbin wound around the bobbin shaft at a substantially central portion becomes thicker, so-called dumpling winding (also called taiko drum winding). In this way, the bobbin thread wound in the form of a dumpling is wound when the bobbin thread wound on the outside is sandwiched between the bobbin threads wound on the inside, and the bobbin thread of that portion is fed out. The tension is partially increased, and accordingly, the sewing tension changes, and there is a fear that thread entanglement may occur and thread breakage may occur at the time of sewing, resulting in poor sewing.

Therefore, an object of the present invention is to provide a bobbin thread winding device capable of preventing defective sewing by winding bobbin threads wound around a bobbin shaft in an aligned manner.

[0008]

In order to achieve the above object, the bobbin thread winding device of the present invention provides a bobbin, which is driven to rotate, with a bobbin thread from a bobbin thread supply source through a thread guiding means. In a lower thread winding device for supplying and winding a lower thread around a bobbin shaft, a winding line forming means for relatively moving the bobbin and the thread guiding means at least in a direction parallel to the bobbin axis, and the winding means. When the bobbin shaft is entwined with the bobbin shaft by controlling the row forming means, the bobbin shaft is substantially entangled with the bobbin shaft, and the bobbin shaft is entangled with the bobbin shaft. One end side of the shaft is opposed to the bobbin thread supplying part, and then the bobbin shaft and the bobbin thread supplying part are opposed to each other so that the bobbin thread from the bobbin thread supplying part is aligned and wound around the bobbin shaft. And a winding train formation control means.

According to the bobbin winding device having such a structure, the bobbin which is rotationally driven and the yarn guiding means for supplying the bobbin thread from the bobbin thread supply source to the bobbin shaft are at least provided by the winding formation means. The winding train forming means is relatively moved in a direction parallel to the bobbin shaft, and is controlled by the winding train forming control means, so that when the bobbin thread is entangled with the bobbin shaft, the bobbin shaft is substantially centered with the thread guiding means. Since the bobbin shaft is opposed to the bobbin shaft, the bobbin thread is surely entangled in the approximate center of the bobbin shaft. Is opposed to the department, and then
Since the bobbin shaft and the bobbin thread supply unit are opposed to each other so that the bobbin thread from the bobbin thread supply unit is wound around the bobbin shaft in an aligned manner, the change in sewing tension and the occurrence of thread entanglement are prevented by this aligned winding. To be done.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings. The automatic bobbin thread feeder of the present embodiment, as shown in FIG.
Is provided in the lower portion of the lower thread winding device (including a thread hooking and thread cutting device) 162, a residual thread removing device 161, a bobbin exchanging device 160, and a lower thread remaining amount detecting device 500. Has been done.

The bobbin exchanging device 160 grips the bobbin case by the bobbin case gripping means and moves the bobbin case to the bobbin thread winding position C of the bobbin thread winding device 162 and the residual thread removing position B of the residual thread removing device 161. It is configured to move to a bobbin case attachment / detachment position A and a dummy shaft (bobbin case holding means) 6 to a bobbin case attachment / detachment position D.

The lower thread winding position C and the residual thread removing position B are
As shown in FIG. 1, a range V below the transport shaft 4 and a range W on the rotation fulcrum 103 side when the sewing machine bed 101 is raised from the upright plane along the coaxial line, and the rotation of the bobbin case gripping means. It is located at the opposite position of the locus. The residual thread removing position B is arranged below the lower thread winding position C. In addition, the residual yarn removing position B is in the transport axis direction (see FIG.
In a direction perpendicular to the paper surface) is a retracted position in which the bobbin case gripping means is retracted, and a position of the lower thread winding position C in the transport axis direction is a position in which the bobbin case gripping means is advanced slightly from the retracted position (see FIG. 1) which is the position advanced toward the paper surface of FIG.

In FIG. 1, reference numeral 102 is a sewing machine table, 106 is an oil pan, 104 and 105 are lower shafts, and X is a rotation locus on the outer peripheral side when the sewing machine head is raised. ing.

First, the bobbin exchanging device 160 will be described below with reference to FIGS. 2 to 6
In FIG. 1, reference numeral 1 is a hook to which the bobbin case 2 is attached,
Reference numeral 1a indicates a shuttle shaft, and reference numeral 3 indicates a base plate as a support body which is erected on a main base attached to the sewing machine main body and is arranged immediately below the shuttle 1. A base end 4a of a carrier shaft 4 having an axis parallel to the shuttle shaft 1a is fixed, and the carrier shaft 4 is cantilevered by the base plate 3.

A transport block 12 is rotatably and slidably supported on the transport shaft 4 on the tip 4b side (opposite the base plate side) of the transport shaft 4. As shown in FIG. 2 in particular, the transport block 12 has a shape in which the outer peripheral surface of a cylinder is cut at two locations along the axial direction so that the cut surfaces face each other. To each cut surface of the transport block 12, one plate-shaped portion forming the L-shape of the transport plates 10, 10 bent into an L-shape is fixed, respectively. Further, the other plate-shaped portions forming the L-shape are in a state of facing each other with the axis interposed.

On each of the transport plates 10 and 10, the holding portions 11 and 1 are bent so as to extend toward the shuttle along the axial direction.
One end of each of the holding parts 11 and 11 is fixed, and bobbin case gripping means (not shown) for gripping or releasing the bobbin case is provided at the other end of the holding parts 11 and 11 (end facing the shuttle). Are fixed respectively.

As the bobbin case gripping means, for example, the lower thread automatic feeder of Japanese Patent Application Laid-Open No. 5-192476 and the automatic lower thread supply of the sewing machine of Japanese Patent Application No. 5-121960 previously filed by the present applicant. With a pair of electromagnet adsorption heads described in the apparatus, for example, a lever claw described in the automatic bobbin thread feeder of the sewing machine of Japanese Patent Application No. 5-116363 previously filed by the present applicant. Appropriate ones such as the above can be adopted, and the point is that the bobbin case 2 can be attached to and detached from the facing member (for example, the shuttle 1) as needed.

2 to 6 again, a rotary gear 13 is fixed to the outer periphery of the carrying block 12, and the rotary gear 13 has a hook shaft 1a as shown in FIG. A drive gear 19 having an elongated shape meshes with the direction. One end of the drive gear 19 is rotatably supported by a portion of the motor fixing plate 21 attached to the base plate 3 that protrudes toward the other end of the transport shaft, and the other end is fixed to the motor fixing plate 21. The rotary shaft 20 is directly connected to the output shaft of the rotary motor 20.

Therefore, when the rotation motor 20 rotates, the transfer block 12 is moved through the drive gear 19 and the rotation gear 13.
A rotating arm 70 composed of the carrier plates 10, 10 and the holding portions 11, 11 is adapted to rotate. In the present 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 1 (see FIGS. 3 to 5). It has become.

A not-illustrated stop ring, for example, is fixed to the outer periphery of the transport block 12 on the fixed end side of the transport shaft 4 with respect to the rotary gear 13, and the rotary gear 13 and the stop on the outer periphery of the transport block 12 are fixed. A linear motion collar 14 is rotatably supported between the ring and the ring.

As shown in FIGS. 2 to 4, one end of a rack 16 movably supported in parallel with the shuttle shaft 1a is fixed to the linear movement collar 14, and the rack 16 is fixed.
The pinion 17 meshes with the other end of the. The pinion 17 is fixed to the output shaft of a moving motor 18 attached to the base plate 3.

Therefore, when the moving motor 18 is driven, the linearly moving collar 14 and the rotating arm 70 move along the axial direction of the transport shaft 4 together with the rack 16 via the pinion 17. That is, the rotating arm 70
Can rotate with respect to the transport shaft 4 and can slide along the transport shaft 4.

A sensor fixing plate 33 is attached to the open end side of the conveying shaft 4, and a rotation sensor 31 including a light emitting element 31a and a light receiving element 31b is attached to the sensor fixing plate 33. ing. In addition, as shown in FIGS. 2 and 3, the sensor plate 3 is attached to the rotating arm 70.
2 is fixed, and the rotation sensor 31 and the sensor fixing plate 3 so that the sensor plate 32 can pass between the light emitting element 31a and the light receiving element 31b when the rotation arm 70 rotates.
3 and the position of the sensor plate 32 are adjusted.

As shown in FIGS. 2 and 4, the base plate 3 has a linear motion sensor 41 having the same structure as the rotation sensor 31.
Is attached. Further, the sensor plate 15 is fixed to the rack 16, and when the rotating arm 70 is linearly moved, the sensor plate 15 is a light emitting element 41 a of the linear movement sensor 41.
The positions of the linear motion sensor 41 and the sensor plate 15 are adjusted so that they can pass between the light receiving element 41b and the light receiving element 41b.

That is, when the bobbin case gripping means moves to the retracted position, the sensor plate 15 shields between the light emitting element 41a and the light receiving element 41b of the linear motion sensor 41, whereby the bobbin case gripping means moves. Movement to the retracted position is detected.

Then, the origin position is searched at this retracted position. That is, if the bobbin case gripping means is rotated at the retracted position and the position where the sensor plate 32 shields the light emitting element 31a and the light receiving element 31b is set as the origin position, for example, the bobbin case gripping means is rotated to this position. Then, it returns to the origin position. When a pulse motor, for example, is used as the rotation motor 20, by counting the number of pulses of this pulse motor,
The bobbin case gripping means can be rotationally controlled to the shuttle position A, the bobbin thread winding position C, the residual thread removing position B, and the dummy position D.

Here, in the present embodiment, the turning arm 70 is in the retracted position and the position where the bobbin case 2 held by the bobbin case holding means faces the shuttle 1 is set at the turning arm 70 (bobbin case holding). Means) as the origin position.

A dummy shaft 6 as a bobbin case holding means is provided at a position opposite to the rotation locus of the bobbin case holding means on the base plate 3 and directly below the shuttle 1 as shown in FIG. Is fixed. As shown in FIG. 6 in particular, the dummy shaft 6 has the same structure as the inner hook shaft 5, and the bobbin case 2 in which the bobbin is housed.
The bobbin case 2 can be held by pushing. Then, the existing bobbin locking claw 2d of the bobbin case 2 that has been pushed in is configured to engage with the locking groove of the detent member 5aa projecting near the dummy shaft 6, as shown in FIG. Has been done. That is, the bobbin case 2 is positioned and held at a predetermined position.

At the residual yarn removing position B, a residual yarn removing device 161 is arranged. The residual yarn removing device 161 has, for example, a holding member capable of holding or releasing the tip end of the yarn wound on the bobbin, and is held by the holding member by rotating about one axis by, for example, driving a motor. A bobbin thread that can be automatically wound is used. The point is that the bobbin case 2 is handed over to the bobbin case 2 by a state in which the bobbin case 2 is held by the bobbin case holding means or a means capable of holding the bobbin case 2. While the bobbin case 2 is held, the bobbin is rotated by the thread drawing operation of the drawing means for drawing the thread wound around the bobbin and drawn (dripping) from the bobbin case, and the thread wound around the bobbin is drawn out. Or the bobbin separated from the bobbin case 2 is acted on by the thread drawing operation of the drawing means. Hei 5-20 may Whatever long as such yarn is pulled out, for example, by the present applicant previously filed by the
Appropriate devices can be adopted, including the bobbin residual yarn removing device described in Japanese Patent Application No. 3610, Japanese Patent Application No. 6-40351 and Japanese Patent Application No. 7-30027.

At the lower thread winding position C, the lower thread winding device 16 is provided.
2 are provided. As the lower thread winding device 162, for example, an apparatus that can automatically wind the lower thread around the bobbin by rotating the bobbin by driving a motor or the like is adopted. The lower thread winding device 162 includes a bobbin drive mechanism E, an air guide mechanism G as a yarn guide means, and a yarn supply detection mechanism F, as shown in a simplified manner in FIG. First, the bobbin drive mechanism E will be described below.

In FIGS. 7, 8 and 13, reference numeral 50 indicates a winding shaft, which is rotatably supported by the base plate 3. A plurality of holes 7X formed in the bobbin 7 at one end of the winding shaft 50 (see FIG. 17).
A clutch mechanism 50a that can be clutched (engaged) is fixed to the other end, and a pulley 50b is fixed to the other end. A bobbin drive motor M2 is also fixed to the base plate 3. A pulley 52 is fixed to the output shaft of the bobbin drive motor M2, and a belt 51 is stretched between the pulley 52 and the pulley 50b.

That is, the bobbin case 2 which has reached the bobbin winding position C by the operation of the rotating arm 70 is moved by the rotating arm 7.
When the bobbin driving motor M2 is driven, the winding shaft 50 is rotated and the clutch mechanism 50a and the bobbin 7 are connected together. Note that the clutch mechanism is not limited to the structure that engages with the hole as described above, and may have another structure.

Further, the lower thread winding device 162 includes a thread supply detecting mechanism F for detecting the entanglement of the lower thread with the bobbin shaft and the amount of the lower thread wound around the bobbin. The yarn supply detecting mechanism F will be described below. 9 and 10, the reference numeral 53 indicates a U-shaped base.
A roller shaft 55 is rotatably provided between the two side plates 53a and 53b. The side plate 53b of the roller shaft 55
The side end projects outward from the side plate 53b, and the bobbin thread 150 from the spool 200 is wound around the end (1
Rolled roller 54 is fixed.

A sensor slit 58 is fixed to a portion of the roller shaft 55 between both side plates 53a and 53b.
The sensor slit 58 has a disk shape, and a groove is provided in a part of the outer circumference. A photo sensor 60 is arranged at a position facing the sensor slit 58, and the groove of the sensor slit 58 can be detected. That is, the rotation of the roller 54 can be detected by the photo sensor 60.

The photo sensor 60 has a lower thread 15
An effective bobbin thread winding amount detecting means 61 is connected to detect the entanglement of 0 on the bobbin shaft and to detect the effective bobbin thread winding amount wound around the bobbin shaft (the winding amount after the entanglement). Further, the effective bobbin winding amount detecting means 61 is connected to a judging means 61B. This determination means 61B is
Means 61 for inputting and setting the bobbin winding amount connected to the outside
Set bobbin winding amount from A and effective bobbin winding amount detecting means 61
The function of sending a drive stop signal to the driver 310a of the bobbin drive motor M2 by comparing the bobbin thread amount wound on the bobbin (the winding amount after entanglement) To do. The effective bobbin winding amount detection means 61 and the determination means 61B are incorporated in the bobbin winding device control means 401 (see FIG. 27) described later.

Further, downstream of the thread supply detecting mechanism F, the bobbin thread 150 from the bobbin winding 200 (see FIG. 11) as a bobbin thread supply source is guided into the bobbin case 2 through the opening 2A of the bobbin case 2. An air guide mechanism G is provided. The air guide mechanism G will be described below. 7, 8 and 12, reference numeral 65 indicates a substantially hollow cylindrical yarn suction device, and as shown in FIG. 12, the yarn suction device 65 has a through hole 65b as a linear path. And a suction hole 65a that is obliquely connected to the outside and is opened to the outside is formed in the middle of the through hole 65b. As shown in FIGS. 7 and 8, one end of an air tube 66 is connected to the upstream opening of the through hole 65b, and the solenoid valve 68 is connected to the other end of the air tube 66.
Is connected, and an air source (not shown) is connected to the solenoid valve 68. In addition, the air tube 6 is provided at the opening on the downstream side of the through hole 65b in the yarn suction device 65.
One end of the air tube 67 is connected, the other end of the air tube 67 is bent in a V shape, and an air nozzle 67a as a lower thread supply portion is provided at the tip thereof.

As shown in FIGS. 7 and 8, the yarn suction device 65 is fixed to the nozzle shaft 34, and the nozzle shaft 34 is rotatably supported by the base plate 3. The yarn suction device 65 and the base plate 3 on the nozzle shaft 34
A nozzle gear 35 is fixed between them, and a nozzle motor gear 36 meshes with the nozzle gear 35. The nozzle motor gear 36 is fixed to the output shaft of a stepping motor 37 as an air nozzle retracting motor fixed to the base plate 3.

Therefore, when the stepping motor 37 is driven, the yarn suction device 65, the air tube 67, and the air nozzle 67a rotate about the nozzle shaft 34 as a rotation fulcrum. The rotational position of the air nozzle 67a at this time is detected by the sensor plate 38 fixed to the nozzle gear 35 and the nozzle sensor 39 fixed to the base plate 3 and detecting the position of the sensor plate 38. The stepping motor 37 is controlled according to the detection result. That is, by driving the stepping motor 37, the air nozzle 67a
A position (work position) N1 facing the opening 2A of the bobbin case 2 shown by a solid line in FIG. 8 and the work position N1.
It can be moved to and from the retracted position N2 shown by the alternate long and short dash line in FIG.

The position of the air nozzle 67a facing the bobbin shaft 7a at the working position N1 is a position facing one end 7aa of the bobbin shaft 7a.
Since there is a fear that the bobbin flange 7b connected to the aa interferes and the lower thread 150 is not entangled (see FIG. 37 (a)), as shown in FIG. The position is opposite to the center.

Reference numeral 22 in FIGS. 7 and 8 indicates a cover for covering the bobbin drive mechanism E and the air guide mechanism G.
23 is a suction hole 65 of the yarn suction device 65 from the yarn supply detection mechanism F.
Guide rods for guiding the lower thread to a are shown respectively.

In the present embodiment, the mechanism for moving the air nozzle 67a to the working position N1 and the retracted position N2, the bobbin case 2 accommodating the bobbin 7 in the bobbin exchanging device 160 described above, is gripped.
The winding formation means 600 is configured by a mechanism that moves the carriage along the transport shaft 4.

When the lower thread is entangled with the bobbin shaft 7a, a predetermined length of lower thread is drawn out from the tip of the air nozzle 67a located at the working position N1 (details will be described later). The bobbin thread length (LL) led out from the air nozzle 67a is set to a length necessary for entwining the drawn bobbin thread end portion with the bobbin shaft. And this required length is in the range of {(length from the air nozzle at the working position to reach the outer circumference of the bobbin shaft) + [bobbin shaft full circumference length × (1.1 to 2.0)]}. It is preferable that {(the length from the air nozzle at the working position to reach the outer circumference of the bobbin shaft) + [the circumference length of the bobbin shaft ×
(1.25 to 1.8)]} is more preferable.

If the length is longer than the above range, it becomes difficult for the lower thread end to be drawn out from the opening 2A of the bobbin case 2, or even if it enters, the bobbin shaft 7a goes around the bobbin shaft 7a one or more times to form a knot by itself. There is a fear that the bobbin shaft 7a is bound, and if it is shorter than the range of, there is a fear that the lower thread end does not get entangled with the bobbin shaft 7a.

In this embodiment, the required length is 55 m.
m. That is, the distance H between the tip of the air nozzle 67a and the opening 2A of the bobbin case 2 is 7 mm, and the length 7 from the bobbin case opening 2A to the bobbin shaft outer circumference is 7 mm.
mm and (bobbin shaft circumference 25 mm x 1.64) = 41 mm
Asked from.

The lower thread guiding direction (air blowing direction) of the tip of the air nozzle 67a located at the working position N1 is on the bobbin shaft lower thread winding side. The bobbin shaft lower thread winding side referred to here is, as shown in FIGS. 14 and 15, one direction of the outer circumference of the bobbin shaft 7a divided into two by a line segment YY connecting the center of the bobbin shaft 7a and the tip of the air nozzle 67a. That is, this is the side on which the bobbin thread 150 is entangled with the bobbin shaft 7a (direction XX in FIG. 15). Also,
The lower thread guiding direction of the tip of the air nozzle 67a is preferably a direction intersecting the outer circumference of the bobbin shaft 7a on the bobbin shaft lower thread winding side XX, and particularly preferably a direction contacting the outer circumference of the bobbin shaft 7a.

Then, the distance H between the tip of the air nozzle 67a stopped at the position facing the bobbin case opening 2A (at the working position N1) and the opening 2A of the bobbin case 2.
(See FIG. 14) is preferably 10 mm or less, and particularly preferably 3 to 7 mm. With this range, the bobbin thread 15
It is possible to suppress the fluttering caused by the blown air of 0 and to form the vortex flow required for the lower thread 150 to be entangled with the bobbin shaft 7a in the bobbin case 2.

By the way, the lower thread winding device 162 is provided with a yarn hooking device. As shown in FIG. 16, this thread hooking device has a moving knife thread separator 116 rotatably arranged around the bobbin case 2 set at the lower thread winding position C. By rotating the loosening 116 around the bobbin case 2, the bobbin thread 150 from the bobbin winding 200 wound around the bobbin and led out from the bobbin case opening 2A is provided between the open end of the bobbin case 2 and the outer circumference of the bobbin 7. It is guided to the thread hooking position 2B through the gap and guided to the slit groove 2C, and the lower thread tension hole 2D and the lower thread lead-out hole 2 below.
It can be led out from the vicinity of the lower thread tension spring hole 2E via H (see FIG. 17). The thread hooking device is not limited to the one having the above-described configuration, and in short, the bobbin thread 150 wound around the bobbin and drawn out from the bobbin case opening 2A can be hooked on the bobbin case 2. Any device may be used as long as it is, for example, a yarn hooking device described in Japanese Patent Laid-Open No. 7-68071 or a yarn hooking device described in Japanese Patent Application No. 7-65140 previously filed by the present applicant. It is possible to adopt an appropriate one, starting with.

The lower thread winding device 162 is further provided with a thread cutting device. In this thread cutting device, the bobbin thread 150 from the bobbin winding 200 drawn out from the vicinity of the bobbin thread tension spring hole 2E is separated by the rotating operation of the moving knife thread separating section 116 and left for a predetermined length with the fixed knife 91. In this way, it can be cut (see FIG. 16).

Here, the lower thread tension spring hole 2E of the lower thread led out from the vicinity of the lower thread tension spring hole 2E of the bobbin case 2.
To bobbin thread cutting point S (specifically, moving knife thread handling knife 116
The bobbin case 2 is fixed so that the bobbin thread length up to the point of rubbing with the fixed knife 91 (see FIG. 16) is the length required for seam formation by entanglement with the upper thread, that is, about 40 mm. The positions of the knife 91, the lower thread cutting point S, etc. are determined.

Further, when the air nozzle 67a is located at the thread cutting position N5 between the working position N1 and the retracted position N2, the lower thread cutting point S and the air nozzle 67 at the time of the cutting are
As shown in FIG. 16, the distance from the tip of the a is the length LL required to entangle the bobbin shaft 7a with the lower thread.
The bobbin case 2, the bobbin thread cutting point S, and the air nozzle 6 so as to substantially match (about 55 mm in this embodiment).
Each arrangement such as the thread cutting position N5 of 7a is determined.

The thread trimming device is not limited to the one having the above-mentioned construction, and the point is that the bobbin case 2 is wound around the bobbin case 2 and the bobbin thread tension spring 2D is passed through the bobbin thread outlet hole 2H. Bobbin 200 leading out from the vicinity of the spring hole 2E
Any one can be used as long as it can cut the bobbin thread 150 from No. 1 to 3, leaving the predetermined length, for example, the thread cutting device described in Japanese Patent Laid-Open No. 7-68071 or the applicant previously filed. Appropriate ones can be adopted including the thread cutting device described in Japanese Patent Application No. 7-65140.

Further, the thread supply detecting mechanism F and the thread winding 20
As shown in FIG. 11, a yarn tension varying means 204 for varying the tension of the bobbin thread 150 is provided between 0 and 0. This thread tension varying means 204 is used for the passing bobbin thread 150.
A tension spring 205 that presses the tension spring 205, a screw 206 that adjusts the pressing force of the tension spring 205 by a manual operation, and a solenoid SO that is disposed in the sewing machine bed 101 and that generates a solenoid thrust that resists the pressing force of the tension spring 205.
It is composed of L and. This thread tension varying means 204
The electric circuit for driving is configured such that a solenoid SOL is connected to a power source in series and a switch is interposed therebetween.

Therefore, when the switch is turned off, the solenoid thrust is not generated, the pressing force of the tension spring 205 is applied to the bobbin thread 150 to the maximum, and the bobbin thread tension is maximized. Further, when the switch is turned on, the above-mentioned solenoid thrust is maximally generated, and the tension spring 20 is applied to the lower thread 150.
The pressing force of 5 minus the solenoid thrust is applied,
The bobbin thread tension is minimum.

When the residual yarn removing device 161 and the bobbin winding device 162 come into contact with the base plate 3 shown in FIG. 1, the base plate 3 is appropriately cut. Further, in FIG. 1, the residual thread removing position B, the bobbin thread winding position C, and the dummy shaft 6 are shown.
The bobbin attaching / detaching position D is close to the holding portion 11
Is exaggerated and described. Therefore, there is a concern that the holding unit 11 may contact the residual yarn removing device 161 and the bobbin winding device 162, but in reality, a sufficient space is secured to prevent such contact.

By the way, in the inner pot of the present embodiment, FIG.
As shown in, a detection rod hole 1c into which a detection rod 507 of the lower thread remaining amount detection device 500 described later can be inserted is formed. The detection rod hole 1c of the inner hook is located at a position rotated by 60 ° in a clockwise direction from a horizontal plane including the hook shaft 1a of the hook 1 when the hook 1 is viewed from the front, and the race surface of the inner hook and the outer hook (center The contact surface of the hook and outer hook) 1b is outside (obliquely upper left in FIG. 19B) and the outer hook escapes when the outer hook is rotating (when the sewing machine operation is prohibited; when the bobbin thread remaining amount is detected). It is formed at the position where the inner hook is exposed.

On the peripheral wall of the bobbin case 2 used in this embodiment, when the bobbin case 2 is mounted on the shuttle 1, there is provided a detection stick hole 2F which overlaps with the detection stick hole 1c of the inner shuttle. Has been formed. That is, as shown in FIG. 18B, the detection rod hole 2F of the bobbin case 2 extends from the fixed end of the lower thread tension spring 2D to the lower thread tension spring 2D.
The peripheral wall positions are separated by approximately 30 ° in the direction without D, and as shown in FIG. 18 (c), the bobbin case 2 is opened at the peripheral wall position on the base end side of the bobbin case shaft 2 </ b> G.

An actuator 501, which constitutes the lower thread remaining amount detecting device 500, is fixedly arranged at a position near the detection rod hole 1c of the inner hook (a position immediately below and right of the hook 1 in FIG. 1). . This actuator 501 has the above-described detection rod hole 1 for the detection rod 507 when the bobbin case 2 is attached to the shuttle 1 and the detection rod 507 described later projects.
It is arranged so that it can enter c and 2F. Next, the actuator 501 will be described below.

In FIG. 20, reference numeral 508 indicates a frame made of a non-magnetic material such as stainless steel. This frame 508 has a frame body 508b having a U-shaped cross section.
And a frame base 5 fixedly attached to the base plate 3 which is continuously provided at the U-shaped end of the frame body 508b.
08a and 508a. Frame body 50
An iron core 502 made of low-carbon steel such as electromagnetic soft iron is hung between the side plates 508c and 508d that form a U shape of 8b and stand upright with respect to the frame base 508a. It is fixed. Side plate 508
Disk-shaped flanges 502a and 502a are integrally formed at positions of both ends of the iron core 502 between c and 508d.
A coil 503 is densely wound around the iron core portion between them. A cylindrical sleeve 504 made of, for example, a bearing member such as plastic is fitted and fixed to the outer circumferences of the flanges 502a and 502a.
On the outer periphery of 04, a substantially rectangular parallelepiped carrier 505 made of a light material such as aluminum is supported slidably in the axial direction. That is, the carrier 505 can move between the side plates 508c and 508d.

To each surface (outer surface) of the carrier 505, a permanent magnet 506 made of, for example, a rare earth magnet such as neodymium is adhered and fixed. This permanent magnet 506 has all four bodies, the inner side (sleeve 504 side) is the N pole,
The arrangement is such that the outside is the S pole. A detection rod 507 made of, for example, an iron-based material is adhesively fixed to the carrier 505, and the detection rod 507 is projected toward the pot 1 through a side plate 508c on the pot side.

The detection rod 507, the carrier 505, and the permanent magnet 506 move forward when a forward current (current flowing counterclockwise in FIG. 20C) is supplied to the coil 503 (FIG. 20A). )), And moves backward when a reverse current in the direction opposite to the forward current is supplied (moves downward in FIG. 20A).
(The operation principle will be described later), the detection rod 507, the carrier 505, and the permanent magnet 50.
A moving element is constituted by 6, and the iron core 502 and the coil 5 are
03, the flanges 502a and 502a, the sleeve 504, and the frame 508 form a stator.

When the detection rod 507 is moved forward and the detection rod 507 is inserted into the bobbin case 2 through the detection rod holes 1c and 2F, the bobbin 7 is not wound with the lower thread. When the bobbin 7 has a small amount of bobbin thread and the bobbin needs to be replaced, as shown in FIG. 32 (b), the carrier 505 is the side plate 5 on the shuttle side as an engaging element.
When the bobbin 7 is sufficiently wound around the bobbin 7, the above-mentioned detection is performed before the carrier 505 collides with the shuttle side plate 508c, as shown in FIG. 32 (a). The position of the actuator 501 is adjusted so that the tip of the rod 507 collides with the outer circumference of the bobbin thread 150 as an engaging member wound around the bobbin 7.

Returning to FIG. 20 again, the frame main body 508
An ultrasonic sensor 509, for example, serving as a vibration wave detecting element is adhesively fixed to the surface of the side plate connecting plate 508e that forms the U shape of b and connects the side plates 508c and 508d.
This ultrasonic sensor 509 is an ultrasonic wave generated when the above-mentioned carrier 505 collides with the side plate 508c on the shuttle side and the side plate 508d on the opposite side of the shuttle, and the tip of the detection rod 507 is wound around the bobbin 7 It detects ultrasonic waves when the vehicle collides with. Note that reference numeral 510 in FIG.
Indicates a guide shaft that guides the carrier 505 so as not to rotate with respect to the sleeve 504. The guide shaft 510 is made of a non-magnetic material such as stainless steel.

The lower thread remaining amount detecting device 500 is also shown in FIG.
As shown in FIG. 6, the coil 5 of the actuator 501 is
Drive circuit 511 as current supply means connected to
It has. This drive circuit 511 uses a drive current UP / DOWN from a bobbin thread remaining amount detection device control means 512 described later.
Based on the signal and the forward / backward signal (see FIG. 25), the coil 503 is configured to supply the forward current or the reverse current described above.

The lower thread remaining amount detecting device 500 is also shown in FIG.
6, the lower thread remaining amount determination means 513 connected to the ultrasonic sensor 509 of the actuator 501 is provided. The lower thread remaining amount determination means 513 is capable of detecting the lower thread remaining amount and the presence or absence of movement of the mover. The output voltage waveform from the ultrasonic sensor 509 is used as one input and a predetermined reference voltage is applied to the other. A comparator 513a to be input and a pulsed output signal (trigger signal) of the comparator 513a
And a one-shot generation circuit 513b which outputs a one-shot signal obtained by expanding the width of the pulse signal.

Then, the reference voltage is the carrier 505.
When it collides with the side plate 508c on the shuttle side and the side plate 508d on the opposite side of the shuttle, the output voltage output from the ultrasonic sensor 509 has a large amplitude, and the tip of the detection rod 507 is attached to the outer circumference of the bobbin thread wound around the bobbin 7. The voltage value is set to a value between the output voltage and the amplitude output from the ultrasonic sensor 509 when the collision occurs.

An operation panel (not shown) is also attached to the automatic bobbin thread feeder, and the operation panel has an operation panel (not shown).
An operation switch, a setting switch 61A as a bobbin winding amount setting means (see FIG. 10), an error display window 316 as a display means, and the like are additionally provided. Next, a bobbin thread automatic supply control device for controlling the operation of the bobbin thread automatic supply device will be described.

First, as shown in FIG. 26, the sewing machine main body 300 for executing a predetermined sewing operation is provided with a sewing machine power switch 302 for turning on / off the main power supply, and this sewing machine power switch is also provided. A sewing machine power supply monitoring means (sewing machine power supply monitoring circuit) 301 for discriminating between ON and OFF of 302 is additionally provided. This sewing machine power supply monitoring means 301 is provided with a power supply energization control device 450 (see FIG. 27) which will be described later.
The power source of, for example, + 5V in the sewing machine control circuit is monitored in advance, and the off detection signal of the sewing machine power switch 302 is
Energization timing control means 31 of the power supply energization control device 450
5 (described later).

On the other hand, the main power supply is also connected to the DC power supply circuit 304 via the relay switch 303 which constitutes the control switch means of the power supply energization control device 450 described later. The DC power supply circuit 30 of the power supply energization control device 450
4 is a bobbin thread winding device 162 described above.
(To be precise, it also includes a thread hooking and thread cutting device), a residual thread removing device 161, a bobbin exchanging device 160, and a lower thread remaining amount detecting device 5.
00 for supplying a drive current to each of the devices 160, 161, 162, 50 based on the ON / OFF signal issued from the relay switch 303.
It is configured to control energization to 0.

Further, the bobbin winding device 162 has a structure shown in FIG.
6, the driver 310a for the bobbin drive motor M2 and the driver 31 for the air nozzle retraction motor 37
0b, a driver 31 for the motor of the thread separating unit 116 with a moving knife
0c, driver 3 for solenoid SOL of thread tension varying means
10d and the solenoid valve 68 driver 310e are connected to the bobbin exchanging device 160.
8 driver 311a, rotation motor 20 driver 31
1b are respectively connected, and the residual thread removing device 16
A residual thread winding motor driver 312a is connected to each of the terminals 1. A driver 313 is connected to the relay switch 303.

Then, these drivers 310a-310
e, 311a, 311b, 312a, 313, the drive circuit 511, and the one-shot generation circuit 513b, through the I / O port 305, a CPU (central processing unit) 306 and a ROM 3 attached to the CPU 306.
07 and each signal from the RAM 308 are connected so as to be input or output. Then, each of the above devices 16
As shown in FIG. 27, the reference numerals 2, 161, 160, and 500 indicate the normal operation of the automatic bobbin thread feeder, that is, the bobbin replacement operation-the residual thread removal operation, while being controlled by the automatic bobbin thread feeder control means 400. − Bobbin winding operation − Threading operation −
The thread cutting operation-bobbin changing operation, which is a cycle operation described in the prior art, is executed, and a bobbin thread remaining amount detecting operation is executed at a predetermined timing to be described later. The power supply state to the control means 400 is controlled by the power supply power supply control device 450.

That is, as shown in FIG. 27, the automatic bobbin thread supplying device control means 400 includes a bobbin thread winding device control means 401 and a bobbin changing device control means (bobbin transport
Attachment / detachment device control means) 402, residual yarn removal device control means 40
3 and a bobbin thread remaining amount detecting device control means 512, and these control means 401, 402, 403, 5
12, a predetermined drive current is supplied from the DC power supply circuit 304 of the power supply energization control device 450, and an operation command signal is similarly applied from the power supply timing control means 315 of the power supply energization control device 450. . The energization timing control means 315 includes the bobbin winding device 162,
It has a function of constantly monitoring the respective operations of the residual thread removing device 161, the bobbin exchanging device 160, and the lower thread residual amount detecting device 500.

The energization timing control means 315 is also provided.
A detection signal from the above-mentioned sewing machine power source monitoring means 301, that is, a signal which detects the on / off state of the sewing machine power source switch 302, is applied to. Then, when the energization timing control means 315 receives the off detection signal of the sewing machine power switch 302, the energization timing control means 315 completes the processing operation of the device that is in the middle of operation at the time of the power-off, and then is scheduled to be performed following this processing operation. If there is a necessary processing operation before the bobbin replacement, the processing operations are sequentially completed to enter the bobbin replacement standby state, that is, the processing necessary for the bobbin replacement (remaining thread removing processing, bobbin winding processing, thread hooking processing). , The thread trimming process, and the bobbin thread remaining amount detection operation described later) are all completed, and the operation command signal for moving the bobbin case to the retracted position (origin position) facing the shuttle 1 It has a function issued to each of the means 401, 402, 403, 512.

The energization timing control means 315 is also provided.
Is an operation command signal for advancing the bobbin case, which has been subjected to the processing necessary for bobbin replacement, from the origin position to a position where the bobbin case approaches the shuttle 1 when the bobbin case is in a standby state for bobbin replacement. To the bobbin exchange device control means 402 described above.

Further, the energization timing control means 315.
Has a function of issuing a processing completion signal to the control switch means 303 when the bobbin exchanging device 160 advances the bobbin case from the origin position to the position where the bobbin case faces and approaches the shuttle 1. On the other hand, control switch means 303
Is composed of a power relay switch, a solid state relay, etc., and is always supplied with an AC drive current regardless of the sewing machine power switch 302. Then, the control switch means 303 is configured to output a turn-off command signal to the DC power supply circuit 304 upon receiving the processing completion signal from the energization timing control means 315 described above. DC power supply circuit 3 which received this OFF command signal
Reference numeral 04 denotes the control means 401, 402, 403, 51
2 and the supply of the drive current to each of the devices 160, 161, 162, 500 is stopped.

As described above, since the bobbin case, which has been subjected to the processing necessary for the bobbin exchange, is located close to and facing the hook 1, the bobbin in the hook 1 and It is difficult to intervene in the bobbin case, the bobbin that is opposed to the bobbin case, and the bobbin case. That is, the bobbin and the bobbin case are prevented from being inadvertently touched unless necessary.

Further, the energization timing control means 31
The processing completion signal issued from the RAM 5 is also applied to the RAM (nonvolatile memory) 308 as the cutoff information storage means. The RAM 308 is composed of a battery backup RAM, an EEPROM or the like,
Information on whether the power is cut off normally or abnormally (for example, at the time of power failure) is stored in the RAM 308.
On the other hand, the power cutoff normality / abnormality information stored in the RAM 308 is constantly referred to by the energization timing control means 315 side, and the power cutoff normality / abnormality information stored in the RAM 308 is energized timing control means 315. Has been confirmed in. Then, the energization timing control means 315 is configured to issue an initialization signal to the respective control means 401, 402, 403, 512 based on the confirmed normality or abnormality information of the power interruption.

The energization timing control means 315 is also provided.
A predetermined display means 316 is connected to the R
The power shutdown normal or abnormal information stored in the AM 308 is configured to be displayed.

Further, the energization timing control means 31
5 has a function of issuing an operation command signal to the bobbin exchanging device control means 402 described above so as to detect the origin from a position where the bobbin case is opposed to and approaching the shuttle 1 when the re-on detection signal of the sewing machine power switch 302 is received. Have

Further, the power supply energization control device 450 includes
Upon receiving the detection signal from the sewing machine power source monitoring means 301 and monitoring the operation of the bobbin exchanging device 160, the sewing machine power source switch 302 receives the re-on detection signal, and the origin is detected from the position where the bobbin case faces the hook 1 oppositely. When the origin is detected, it is determined whether or not the number of steps when the origin is detected is the same as the number of steps when the bobbin case is advanced to the position where the bobbin case is opposed to the hook 1. Before turning on the switch 302 again,
The manual intervention determination means 317 for determining that the bobbin and the bobbin case inside the bobbin and the bobbin case that are close to and facing the shuttle 1 have been intervened (taken some kind of treatment even if the trouble did not occur) Has been.

When the manual intervention determining means 317 determines that the manual intervention has taken place on the bobbin and the bobbin case before the sewing machine power switch 302 is turned on again, a warning indicating that the manual intervention has been made is displayed on the display means 316. It is configured to display. Then, the operator, in response to the warning that the human intervention has occurred and the above-mentioned warning that the previous power-off is abnormal, sequentially mounts the bobbin case containing the bobbin to be used on the dummy shaft 6 when the power is turned on again. It will be.

In addition, when the manual intervention determining means 317 determines that the human has not intervened in the bobbin and the bobbin case before the sewing machine power switch 302 is turned on again, and when it is determined that the previous power-off is normal. Is an operation command signal that causes the energization timing control unit 315 described above to perform a predetermined continuation process.
02, 403 and 512 respectively.

Further, in particular, in the energization timing control means 315 in this embodiment, after the thread cutting of the sewing machine, the number of stitches which is actually sewn exceeds the number of stitches which is inputted in advance from the stitch number input switch (not shown). When the bobbin thread remains
It has a function of issuing an operation command signal to the above-mentioned lower thread remaining amount detecting device control means 512 so as to perform the lower thread remaining amount detecting operation of 00. Here, in the present embodiment, the number of stitches preliminarily input from the stitch number input switch is the number of stitches estimated to be required before changing the sewn product. In this bobbin thread remaining amount detecting operation, when the bobbin thread absence signal is input from the bobbin thread remaining amount determination means 513b to indicate that the bobbin thread remaining amount is low and the bobbin needs to be replaced, energization is performed. The timing control unit 315 controls the above-mentioned lower thread remaining amount detecting device control unit 512 for reconfirmation.
It has a function of re-issuing an operation command signal. That is, the bobbin thread remaining amount detecting operation is performed twice, whereby the bobbin thread remaining amount detecting accuracy can be improved.

In this second bobbin thread remaining amount detecting operation, when the bobbin thread absence signal for the bobbin replacement request is input, the bobbin replacing operation and a series of residual thread removal and bobbin thread winding for the bobbin taken out from the hook are performed. , The operation command signal for performing the thread hooking and thread cutting operations,
It has a function issued to each of 402 and 403. If a bobbin thread present signal indicating that the bobbin replacement request is not required is input from the bobbin thread remaining amount determination means 513b in the first bobbin thread remaining amount detecting operation or the second bobbin thread remaining amount detecting operation, the bobbin is left as it is. It is configured to do.

In the energization timing control means 315, when the lower thread remaining amount detecting operation receives a signal indicating that the lower end of the lower thread remaining amount detecting device 500 is abnormal, which is a signal indicating that there is no movement of the mover. Has a function of prompting operator intervention by issuing a signal to the above-mentioned display means 316 to display an abnormality of the lower thread remaining amount detecting device.

The energization timing control means 315 has a built-in initialization control means. This initialization control means is used when the above-mentioned human intervention, when the power shutdown at the previous time is not a normal power shutdown process, for example, when there is a power failure, and when the lower thread remaining amount detection device 500 is abnormal. In the initialization state of the apparatus when the power is turned on again, the operation command signal for performing the bobbin thread remaining amount detection operation for all the bobbins sequentially mounted on the dummy shaft 6 by the human hand is sent to the bobbin thread remaining amount. The detection device control means 512 and the bobbin exchange device control means 402 have respective functions. Then, by this lower thread remaining amount detecting operation, the lower thread remaining amount determining means 513b.
When a bobbin thread absence signal indicating that the remaining amount of bobbin thread is small or not is input from, the initialization control means of the energization timing control means 315 outputs an operation command signal for setting the bobbin winding completion state to this bobbin. Control means 401, 4
02 and 403 respectively. The completed state of bobbin winding as used herein means a residual thread removing operation-a bobbin winding operation-for a bobbin with little residual thread or no residual thread.
This means a state after the thread hooking operation-thread cutting operation is performed, and this bobbin winding completion state has already been set for a bobbin having a sufficient residual thread. Then, the initialization control means of the energization timing control means 315 sets one bobbin, in which such a bobbin winding completion state has already been set or has been newly set, mounted in the shuttle and sets the other bobbins to For example, it has a function of issuing an operation command signal to the bobbin exchanging device control means 402 by mounting it on the dummy shaft 6 and putting it in a standby state.

The energization timing control means 315 also positions the air nozzle 67a at the retracted position N2 at the time of thread hooking and standby, and at the time of thread cutting, the thread cutting position (working position N1, The lower thread winding device control means 40 is located at a position N5 between the retracted positions N2.
1 has a function of issuing an operation command signal.

The energization timing control means 315 also incorporates a winding train forming control means for controlling the winding train forming means 600 so that the lower thread can be wound in a line around the bobbin shaft 7a.
The winding line formation control means first positions the air nozzle 67a at the working position N1 when the bobbin shaft 7a is entwined with the lower thread, and at this time, the lower thread is entangled from the effective lower thread winding amount detection means 61. Output (This output is the air nozzle 6
7a and the end portion 7 of the bobbin shaft 7a on the side of the bobbin case holding means.
Output that is generated when aa is opposite; details will be given later)
When the above is performed, it has a function of issuing an operation command signal to the lower thread winding device control means 401 so as to position the retracted position N2 and perform the lower thread winding.

The winding formation control means of the energization timing control means 315 also sets the air nozzle 67a to the working position N.
When the signal indicating that the bobbin thread is entangled with the bobbin shaft 7a is received from the effective bobbin winding amount detection means 61 after the bobbin shaft 7a is positioned at 1, the end portions of the air nozzle 67a and the bobbin shaft 7a on the bobbin case gripping means side (FIG. 37). End on the right side in the figure) 7
It has a function of issuing an operation command signal to the bobbin exchanging device control means 402 for slightly moving the bobbin case holding means forward (toward the left side in FIG. 37) so as to face aa.

The winding formation control means of the energization timing control means 315 also includes the air nozzle 67a and the bobbin shaft 7.
When the bobbin case gripping means-side end portion 7a of a is located at the lower thread winding operation start position facing the air nozzle 67,
It has a function of issuing an operation command signal to the bobbin exchanging device control means 402, which causes the bobbin case gripping means to be slightly retracted and returned to the original position so that a and the substantially center of the bobbin shaft 7a face each other.

Next, the control operation of the lower thread automatic feeder using such a controller will be described with reference to the flow charts shown in FIGS. 28 and 29. Considering the ease of understanding the explanation,
The description will be given from the start of the sewing operation. That is, first, in step 8, RAM (nonvolatile memory) 30
When 8 is cleared, the automatic bobbin thread feeder is put in the operation start standby state. Then, in step 9, the operation of the sewing machine is permitted and the process proceeds to step 10. In step 10, it is determined whether or not the thread cutting of the sewing machine has been performed. If the thread cutting has been performed, the process proceeds to step 11 and step 1
In 1, it is judged whether or not the number of stitches actually sewn exceeds the number of stitches which has been input in advance. If it exceeds, a sewn product will be replaced and a sufficient lower thread remaining amount is required. If so, the bobbin thread remaining amount detection processing after step 12 will be performed.

That is, in step 12, the sewing machine operation is prohibited to avoid interference with the sewing machine 300, and the process proceeds to step 13. In step 13, the bobbin thread remaining amount detection process is performed. This bobbin thread remaining amount detection processing is shown in FIG.
This will be described in accordance with the lower thread remaining amount detection processing routine shown in.
First, the lower thread remaining amount detecting device 500 is in a standby state as shown in FIG. 31, and the carrier 505 forming the actuator 501 is in contact with the side plate 508d on the side opposite to the shuttle as shown in FIG. It is in. Then, first in step 1, the flag is cleared and the process proceeds to step 2,
In step 2, the drive circuit 511 is shown in FIG.
As shown in, the drive current UP signal is transmitted, and the process proceeds to step 3. In step 3, after waiting a few msec, the process proceeds to step 4, and in step 4, the drive circuit 5
As shown in FIG. 25 (b), a forward signal is sent to step 11, and the process proceeds to step 5, and in step 5, for example, waits for 30 msec as a predetermined time (when this 30 msec elapses, the drive current is DOWN
Signal). Then, as shown in FIG. 25, the AND portion of the drive current UP signal and the forward signal becomes the forward guarantee portion, and the forward current is supplied from the drive circuit 511 to the coil 503 during this period.

When the forward current (FIG. 20 (c), counterclockwise current in FIGS. 21 (a) to 24 (a)) is supplied to the coil 503 in this manner, the iron core 502 becomes an electromagnet, and FIG. As shown in FIG. 24, the flange 502a on the side opposite to the shuttle is the N pole, and the flange 502a on the shuttle side is the S pole. At this time, the flange 502a on the side opposite to the hook
The facing surface of the permanent magnet 506 located at the facing position of
As shown in FIG. 21B, since it is the N pole, the repulsive force f1 between the N poles acts on the carrier 505. At this time, due to the action of the coil current and the permanent magnet 506, the electromagnetic force according to Fleming's left-hand rule, that is, the coil 50
21B, an electromagnetic force is generated to move the electromagnetic wave 3 to the left side in FIG. 21B. However, since the coil 503 is fixed, a reverse thrust force f2 equivalent to the electromagnetic force acts on the carrier 505 as a reaction. That is, the carrier 505 receives the combined thrust F1 of the thrust f1 by the electromagnet action of the iron core 502 and the thrust f2 by the electromagnetic force, and the carrier 505 moves to the shuttle side (right side in FIG. 21B). Start.

When the carrier 505 moves toward the hook side, the flange 502 on the side opposite the hook moves as the carrier moves.
Since it moves away from a, the thrust f due to the electromagnet action is
1 gradually decreases, but the range of the carrier 505 that receives the electromagnetic force increases, so the thrust f2 due to the electromagnetic force increases, and the carrier 505 continues to move toward the shuttle according to the combined thrust.

The carrier 505 is shown in FIG.
As shown in (4), when the intermediate point at which the distances from the flanges 502a and 502a are substantially the same is reached, at this point, the distance from the flanges 502a and 502a is considerable, and thus the thrust force f1 due to the electromagnet action hardly acts. However, the range in which the electromagnetic force of the carrier 505 is received is wide as in the above, and the thrust f2 acts as in the above. That is,
The carrier 505 continues to move toward the shuttle according to the combined thrust F2.

Then, as the carrier 505 moves toward the shuttle, as shown in FIG. 23B, the carrier 505 approaches the shuttle-side flange 502a along with this movement, so that the N pole of the permanent magnet 506 in the carrier 505 moves. , The thrust f1 due to the electromagnet action is gradually increased by being attracted to the shuttle-side flange 502a which is the S pole, while the electromagnetic force of the carrier 505 is as wide as the above and the thrust f2 is the same as the above. To work. That is, the carrier 505 continues to move toward the shuttle as it is in accordance with the combined thrust F3.

By such an operation, the tip of the detection rod 507 is inserted into the bobbin case 2 through the detection rod holes 1c and 2F as shown in FIG. 32 (a). At this time, if there is a sufficient remaining amount of bobbin thread,
As shown in (a), the tip of the detection rod 507 collides with the outer circumference of the bobbin thread 150 wound around the bobbin, and the ultrasonic sensor 509 changes the state as shown in FIGS. 33 (a) and 34 (a). As shown, a voltage waveform with a small amplitude is output. On the other hand, when there is no lower amount of the bobbin thread or the replacement amount is too small, as shown in FIG.
5 collides with the side plate 508c on the hook side, and the ultrasonic sensor 509
Outputs a voltage waveform with a large amplitude, as shown in FIG. Then, this voltage waveform is compared with the above-mentioned reference voltage, and if the one-shot generating circuit 513b has a sufficient lower thread remaining amount, the one shown in FIG.
As shown in Fig. 4 (b), when a low signal as a yarn presence signal is output and there is no lower amount of lower thread or the number of bobbin threads is small enough to be replaced, as shown in Fig. 35 (b), A high signal is output as a thread-free signal.

Therefore, in step 6, if there is a one-shot signal (when a high signal is output), it is determined that the bobbin needs to be replaced, the process proceeds to step 7, and in step 7, the bobbin replacement request flag is set. On the other hand, if it is determined in step 6 that there is no one-shot signal (if a low signal is output) in step 6, then bobbin replacement is not required and step 7 is skipped to step 8 in which driving is performed. Circuit 511
As shown in FIG. 25A, the drive current DOWN
A signal is sent and the process proceeds to step 9. In step 9, after waiting for several msec, the process proceeds to step 10, and in step 10, the drive current UP signal is sent to the drive circuit 511 as shown in FIG. Then step 1
25. After waiting several msec in step 11, the process proceeds to step 12, and in step 12, FIG.
As shown in (b), the backward signal is sent and the process proceeds to step 13. In step 13, the predetermined time is waited for 30 msec as in the forward movement (when this 30 msec elapses, the drive current is DOWN in step 15 described later).
Signal). Then, as shown in FIG. 25, the AND portion of the drive current UP signal and the backward signal becomes the backward guarantee portion, and the backward current is supplied from the driving circuit 511 to the coil 503 during this period.

Then, in the future, the flange 502a on the side opposite to the hook will be provided.
Is the S pole, and the hook side flange 502a is the N pole, so that the thrust f1 by the electromagnet action of the iron core 502 acts in the opposite direction, and the thrust f2 by the electromagnetic force also acts in the opposite direction. It will work, and these synthetic thrusts will also work in the opposite direction. That is,
The carrier 505 will move toward the side opposite the shuttle. Then, this time, the carrier 505 collides with the side plate 508d on the side opposite the shuttle as shown in FIG. 31, and from the ultrasonic sensor 509, as shown in FIG. 33 (a) to FIG. 35 (a). A voltage waveform with a large amplitude similar to that at the time of collision with the side plate 508c on the shuttle side is output. Then, this voltage waveform is compared with the reference voltage, and the one-shot generation circuit 5
As shown in FIGS. 33 (b) to 35 (b), 13b outputs a high signal as a normal movement signal of the mover. On the other hand, if some trouble occurs, the carrier 505
Does not return to the initial position, nothing is output from the ultrasonic sensor 509, and accordingly, the one-shot generation circuit 513b does not move the mover signal (abnormal signal).
Is output as a low signal.

Therefore, when there is no one-shot signal (when a low signal is output) in step 14, it is determined that the bobbin thread remaining amount detecting device 500 is abnormal, and the process proceeds to step 17, and in step 17, the bobbin thread remaining amount is Set the detector abnormality flag and proceed to step 15, while step 1
When there is a one-shot signal in 4 (when a high signal is output), the bobbin thread remaining amount detection device 500 is determined to be normal, and the process proceeds to step 15. In step 15, as shown in FIG. , The drive current DOWN signal is transmitted, and the process proceeds to step 16, and in step 16,
After waiting a few msec, the process returns to step 14 of the main flow shown in FIG.

Then, in step 14 shown in FIG. 28, it is judged whether or not the lower thread remaining amount detecting device 500 is normal, and when the lower thread remaining amount detecting device abnormal flag is not set in step 17 of FIG. Go to step 15,
In step 15, it is determined whether or not there is a bobbin replacement request, and if the bobbin replacement request flag is set in step 7 of FIG. 30, the process proceeds to step 16, and in step 16, the same as in step 13 The bobbin thread remaining amount detection processing is performed again.

As described above, the bobbin thread remaining amount detecting process can be performed twice (only once in the prior art) because the thrust of the mover depends on the thrust f1 by the electromagnetic action of the iron core 502 and the electromagnetic force as described above. This is a combined thrust with the thrust f2, and since this combined thrust is considerably larger than, for example, only a thrust such as an electromagnet, the moving element responds at high speed and a high thrust is obtained as a result. 501
Can be made smaller and lighter and can be fixedly arranged without interfering with other components near the shuttle. For example, as in the prior art, the lower mechanism moves from the retracted position to the lower thread remaining amount detection position near the shuttle with the link mechanism. This is because it is not necessary to detect the remaining amount, so that the time for stopping the sewing machine to detect the lower thread remaining amount can be extremely shortened. Since the bobbin thread remaining amount detection processing is performed twice as described above, the reliability of the bobbin thread remaining amount detection becomes extremely high.

When the lower thread remaining amount detecting process is performed in step 16, the process proceeds to step 17 and step 17
In, it is determined whether the lower thread remaining amount detecting device 500 is normal, and if the lower yarn remaining amount detecting device abnormality flag is not set in the second lower yarn remaining amount detecting process, the process proceeds to step 18, and step 18 In step 2, it is determined whether or not there is a bobbin replacement request, and if the bobbin replacement request flag is set in the second bobbin thread remaining amount detection processing, the process proceeds to step 19, and in step 19, the bobbin replacement request flag is set. Clear and replace the bobbin. Here, for convenience of description, one bobbin case held by the bobbin case holding means is 2Y, and the bobbin case in the shuttle is 2X.

At this point, since the bobbin case gripping means not gripping the bobbin case faces the dummy shaft 6, the rotating arm 70 is rotated by 180 ° and the bobbin case not gripping the bobbin case. The case holding means is moved to face the shuttle 1 and is moved forward, the bobbin case 2X in the shuttle is taken out, and then the rotating arm 70 is retracted. Next, the rotating arm 70 is rotated 180 ° to rotate the bobbin case 2
Y is opposed to the shuttle 1 and then moved forward to mount the bobbin case 2Y in the shuttle, and then the rotating arm 70 is retracted.

Then, the process proceeds to step 20, step 2
In step 0, the operation of the sewing machine 300 is permitted and step 2
1, the residual thread removing process is performed in step 21, and the process proceeds to step 22. In step 22, the lower thread winding (thread winding), the thread hooking, and the thread cutting processing are performed. First, the bobbin winding process will be described according to the bobbin winding process routine shown in FIG.

In this bobbin winding process routine, the following operations are performed before that. First, the bobbin thread 200 and the lower thread 150 from the thread tension varying means 204 are wound around the roller 54 by one.
Roll it up. At this time, the switch of the thread tension varying means 204 is turned on to maximize the solenoid thrust to minimize the bobbin thread tension.

Then, the yarn end of the lower yarn 150 is inserted into the suction hole 65a of the yarn suction device 65 and pushed in slightly. Then
Temporarily turn on the solenoid valve 68 and air tubes 66, 67
Air from the air source is flown into the suction hole 65a, and the lower thread 150, which has been pushed into the suction hole 65a, is guided to the air nozzle 67a by the flow of air, and its thread end is exposed from the air nozzle 67a and led out. As described above, the lead-out length LL is a length required to entangle the bobbin shaft with the bobbin shaft, and is about 55 mm in the present embodiment. When the lower thread 150 inserted and pushed into the suction hole 65a is conveyed from the thread suction device 65 by air to be exposed from the air nozzle 67a and discharged, the operator manually pulls the lower thread from the spool 200. The required amount can be more favorably conveyed by pulling it loose in advance and loosening it by hand or by sending it out manually.

Then, in step 1, the rotating arm 70 is rotated to move the bobbin case 2X to the lower thread winding position C.
To face. Then, proceed to Step 2, Step 2
At this time, the rotating arm 70 is moved forward to move the bobbin case 2
X is moved to the bobbin winding position C and the bobbin drive motor M2 is temporarily driven to move the clutch mechanism 50a and the bobbin 7
And concatenate.

Next, in step 3, in step 3, the bobbin drive motor M2 is driven to rotate the bobbin 7. Next, in step 4, in step 4, the air nozzle retraction motor 37 is driven to move the air nozzle 67a waiting at the retreat position N2 to the work position N1. At this time, the air nozzle 67a and the bobbin shaft 7a
The approximate centers of are opposite.

Next, in step 5, in step 5, air blowing from the air nozzle 67a is started and then in step 6, in step 6, a fixed time is waited.

Then, as shown in FIG. 14, the bobbin thread end portion led out from the air nozzle 67a is satisfactorily inserted into the bobbin case 2 through the opening 2A of the bobbin case 2 with the fluttering and the like suppressed. The bobbin shaft 7a is guided to the bobbin shaft lower thread winding side XX, and is entangled with the bobbin shaft 7a substantially in the center by the cooperation of the rotation of the bobbin shaft 7a and the vortex flow formed by air (see FIG. 37 (a)).

In this way, when the bobbin thread 150 from the spool 200 is entangled with the bobbin shaft 7a, the roller 54
Starts to rotate, and the photosensor 60 starts outputting a pulse wave.

Then, in step 7, it is determined whether or not the effective bobbin winding amount detecting means 61 has counted a predetermined number of the pulse waves during the above-mentioned fixed time. Here, in the present embodiment, when one or more pulse waves are detected,
That is, it is determined that the bobbin thread 150 is entangled in the substantially center of the bobbin shaft 7a when the bobbin 7 is rotated once or twice when converted into the rotation of the bobbin 7. When one or more pulse waves are not detected, the process proceeds to step 11 described later. In addition,
The number of pulses is set to one or more because if the number of pulses is increased and the entanglement is continued at the center, it is inevitable that a drum winding will occur even if an attempt is made to make an aligned winding later.

Then, the process proceeds to step 8 and step 8
37B, the bobbin case grasping means is arranged so that the air nozzle 67a and the end portion of the bobbin shaft 7a on the bobbin case grasping means side (the end portion on the right side in FIG. 37) face each other. Then, the vehicle is moved slightly forward (toward the left side in FIG. 37), and then the process proceeds to step 9, where a certain time is waited. Then, since the bobbin 7 is still rotating during this time, the bobbin thread 1
As shown in FIG. 37 (b), 50 is a bobbin shaft 7a.
End portion 7a on the bobbin case gripping means side from the position substantially in the center of
It will be entwined (wound) in a line between a.

Then, the process proceeds to step 10, and in step 10, a predetermined number of pulse waves are counted within a certain time (4 to 5 revolutions in terms of rotation of bobbin 7).
It is judged whether or not, and when the predetermined number is not counted,
It is determined that the entanglement of the lower thread with the bobbin shaft 7a has failed, and the process proceeds to step 11. At step 11, the yarn guiding air from the air nozzle 67a is stopped and the process proceeds to step 12. At step 12, the air nozzle retract motor 3
7 to drive the air nozzle 67a at the work position N1.
To the retreat position N2, then proceed to step 13,
In step 13, the bobbin drive motor M2 is stopped and the process proceeds to step 14. In step 14, the rotating arm 70 is retracted to release the coupling between the clutch mechanism 50a and the bobbin 7. Then, the process returns to step 2 and the retry is performed.

On the other hand, in step 10, when a predetermined number of pulse waves are counted within a fixed time, FIG.
Assuming that the winding as shown in (b) is successful, the process proceeds to step 15, and in step 15, the air nozzle 67
Stop the yarn guiding air from a and proceed to step 16,
In step 16, the air nozzle retraction motor 37 is driven to move the air nozzle 67a at the work position N1 to the retreat position N2, and the process proceeds to step 17 and step 1
In FIG. 7, the bobbin case gripping means is moved so that the air nozzle 67a and the substantially center of the bobbin shaft 7a face each other, that is, return to the original position, as shown in FIG. 37 (c).
Move it back a little. Even when the bobbin case gripping means moves the bobbin backward and forward, the clutch mechanism 50a entering the hole 7X of the bobbin cannot be disengaged.

In this manner, when the air nozzle 67a is made to face the substantially center of the bobbin shaft 7a and the bobbin thread is wound far apart from the bobbin shaft 7a, the bobbin shaft on the bobbin case gripping means side is wound. The bobbin thread 150 wound around the end portion 7aa is wound toward the side opposite to the bobbin case holding means (clutch mechanism 50a side; left side in FIG. 37), and is wound around the bobbin flange 7b on the side opposite the bobbin case holding means. When it abuts, this time the bobbin case gripping means side (Fig. 3
It will be wound toward the right side of 7), and this will be repeated. That is, an aligned winding is formed.

Then, the process proceeds to step 18, and in step 18, the determining means 61B inputs the actual lower thread winding amount detected by the effective lower thread winding amount detecting means 61 and the lower thread winding amount setting means 61A. The set lower thread winding amount is compared to determine whether or not both lower thread amounts match. If they do not match, that is, if the bobbin thread has not yet been wound up to the set bobbin thread winding amount, the same judgment is repeated until the set bobbin thread winding amount is reached, while if they match, that is, the set bobbin thread winding amount Step 1 if the bobbin thread is wound up to
9. In step 19, bobbin drive motor M
Stop 2 That is, the set lower thread winding amount input from the lower thread winding amount setting means 61A is wound around the bobbin shaft 7a.

When the bobbin thread 150 is automatically wound around the bobbin 7 in this way, the process proceeds to step 20, in which the thread tension varying means 204 is turned off to eliminate the solenoid thrust. Perform threading with the bobbin thread tension maximized. That is, the spool 20 wound around the bobbin 7 and led out from the bobbin case opening 2A.
The lower thread 150 from 0 is guided to the thread hooking position 2B through the gap between the open end edge of the bobbin case 2 and the outer circumference of the bobbin 7 and guided to the slit groove 2C, and the lower thread tension hole 2D below the lower thread discharge hole. It is led out from the vicinity of the bobbin thread tension spring hole 2E through 2H.

When the yarn is hooked in this way, the air nozzle 67a is moved from the retracted position N2 to the yarn cutting position N5, and the switch of the yarn tension varying means 204 is turned on to maximize the solenoid thrust. Thread trimming is performed with the lower thread tension minimized. As a result of this thread trimming,
As described above, the bobbin case 2 side bobbin thread has a length required for stitch formation by entanglement with the upper thread, that is, 40 mm.
The degree is such that the bobbin thread is pulled out from the vicinity of the bobbin thread tension spring hole 2E through the bobbin thread outlet hole 2H below the bobbin thread tension spring 2D, and the bobbin thread on the bobbin winding 200 side is, as described above, attached to the bobbin shaft 7a. Length LL required to entangle the wire, ie 55 mm
The degree is such that it is led out from the tip of the air nozzle 67a.

As described above, since the lower thread of the length LL required for entwining the lower thread with the bobbin shaft 7a is drawn from the air nozzle 67a, the bobbin for the next time (same for the next time and thereafter) On the other hand, if the same operation as described above is performed, the lower thread can be wound in the same manner. Then, the air nozzle 67
a is moved from the thread cutting position N5 to the retracted position N2. When the bobbin thread cutting operation is automatically performed in this way, the process returns to step 23 of the flowchart shown in FIG.

Then, in step 23 shown in FIG. 28, the rotating arm 70 is retracted to the retracted position and then rotated to make the bobbin case 2X face the shuttle 1 to be in the standby state.

Then, the process proceeds to step 24 and step 2
At 4, it is determined whether the sewing machine power switch 302 is off. Therefore, even if the sewing machine power switch 302 is turned off during the processing operation of each device in the steps 13 to 22, the series of processing operations in the steps 13 to 22 are all performed to enter the bobbin exchange standby state. .

When it is determined in step 10 that the thread cutting of the sewing machine is not performed, it is determined in step 11 that the number of stitches actually sewn does not exceed the number of stitches which is input in advance. Also in this case, the process proceeds to step 24. If it is determined in step 15 and step 18 that the bobbin replacement request flag is not set in step 7 of FIG. 30, the process proceeds to step 28, and the operation of the sewing machine 300 is performed in step 28. After permitting, the process proceeds to step 24, and when it is determined in step 24 that the sewing machine power switch 302 is turned on, the process returns to step 10. That is, when the sewing machine power switch 302 is turned on, the bobbin case 2X held by the bobbin case holding means is positioned at the origin position and waits for the thread cutting signal of the sewing machine to be generated. If it is determined to be off, that is, if the sewing machine power switch 302 is turned off by the operator, the process proceeds to step 25.

Then, in step 25, the rotary arm 70 is moved forward by a predetermined number of steps to move the bobbin case 2X to the position where the bobbin case 2X is opposed to the shuttle 1 as shown in FIG. As a result, the bobbin case 2X and the bobbin case 2Y in the shuttle cannot be taken out unless the rotating arm 70 is forcibly rotated or retracted manually. Incidentally, in the present embodiment, since there is an obstacle around the bobbin case holding means at this position, the rotation of the rotating arm 70 is restricted, and the rotation is not possible.

Then, the process proceeds to step 26, step 2
6, the current state is RAM (non-volatile memory)
In addition to being stored in the RAM 308, the fact that the normal power-off processing has been performed is also stored in the RAM 308. Then, proceeding to step 27, in step 27, the relay switch 303 is turned off to cut off the power source of the automatic bobbin thread feeder.

On the other hand, when it is determined in step 14 of FIG. 30 that the lower thread remaining amount detecting device abnormality flag is set in step 17 of FIG.
30. In step 57 of the flowchart shown in FIG. 5, the lower thread remaining amount detecting device abnormality flag is cleared in step 57, and the process proceeds to step 58. In step 58, the lower thread remaining amount detecting process shown in FIG. 30 is performed again. Then, when the bobbin thread remaining amount detection processing ends, the process proceeds to step 59, where it is determined again in step 59 whether the bobbin thread remaining amount detection device 500 is normal, and in step 17 of FIG. If the flag is not set, it is determined to be normal and the process returns to step 9 shown in FIG. on the other hand,
If the bobbin thread remaining amount detecting device abnormality flag is set in step 17 of FIG. 30, it is determined that there is an abnormality in step 14 or step 17 as well, and since this determination is the second time, operator intervention is required. As shown in FIG.
To step 54 shown in FIG.
Clear the bobbin thread remaining amount detecting device abnormality flag and then execute step 55.
Then, in step 55, the error display window 31
An error is displayed by 6 and operator intervention is prompted to proceed to step 56. At step 56, the operator waits for the sewing machine power switch 302 to be turned off. If it is turned off, the procedure proceeds to step 27, and at step 27,
The relay switch 303 is turned off to cut off the power of the automatic bobbin thread feeder.

Then, after that, the sewing machine power switch 30
When 2 is turned on again, the process returns to step 1 shown in FIG. 28, first, in step 1, the operation of the sewing machine 300 is prohibited and the process proceeds to step 2. In step 2, the previous power shutdown is normal power shutdown. Information indicating whether or not the process has been performed is read from the RAM 308.

Then, in step 3, the basic initialization operation of the mechanical section is executed in the most efficient manner in step 3. When this is completed, the process proceeds to step 4, and in step 4, the lower thread remaining amount detection process described above is performed. This is not for the purpose of detecting the remaining amount of the bobbin thread, but for confirming whether the mover moves normally. Next, in Step 5, in Step 5,
It is determined whether the lower thread remaining amount detection device 500 has an abnormality,
If it is determined that there is an abnormality, the process proceeds to step 54, and if it is determined to be normal, the process proceeds to step 6.
In step 6, it is judged whether or not the normal power-off process has been performed last time, and if it is the normal power-off process, the process proceeds to step 7.

In step 7, the rotary arm 70 is moved backward by a predetermined number of steps to detect the origin, and it is determined whether or not the origin is detected in the same number of steps (step 25) as described above. Here, when the operator takes out the bobbin case 2X and the bobbin case 2Y in the shuttle while the sewing machine power switch 302 is off, the position of the rotating arm 70 moves from the position where the rotary arm 70 approaches and approaches the shuttle 1. Therefore, the origin is not detected with the same number of steps as above. on the other hand,
If the operator has not taken out the bobbin case 2X and the bobbin case 2Y in the shuttle, the rotary arm 70 is located at a position facing the shuttle 1 so that the rotary arm 70 has the same number of steps as above. Return to the home position.
After returning to the origin position in this way, the process proceeds to step 8 described above.

On the other hand, if it is determined in step 6 that the power supply shutoff process is not normally performed due to an unexpected power failure or an abnormality in the bobbin thread remaining amount detecting device 500, an error display window 316 displays an error message. To prompt operator intervention and proceed to step 29 shown in FIG. Also, in step 7, if the origin is not detected in the same number of steps, that is, if there is a fear that the bobbin case 2X and the bobbin case 2Y in the shuttle are taken out,
An error is displayed on the error display window 316, prompting the operator to intervene, and similarly proceeds to step 29.

The operator clears the error display by intervention and performs an appropriate recovery process. Then, the operator sequentially mounts all the bobbin cases accommodating the bobbins to be used on the dummy shaft 6. At this time, the operator inserts his / her hand from the side of the rotating arm and pushes the bobbin case onto the dummy shaft 6 without pushing the palm of the bobbin case as if the bobbin case was mounted on the inner hook shaft 5. Can be attached to 6.

Then, in step 29, it is judged whether or not the bobbin case accommodating the first bobbin is mounted on the dummy shaft 6. This determination is repeated until the bobbin case accommodating the first bobbin is mounted on the dummy shaft 6. Examples of this determination method include a method in which an operator turns on a bobbin attachment switch (not shown) to determine attachment of the bobbin to the dummy shaft 6, or a reflection type optical sensor is provided in the vicinity of the dummy shaft 6, for example. Is used to determine whether the bobbin is mounted on the dummy shaft 6. For convenience of explanation, this bobbin case will be referred to as 2X, and the bobbin case to be mounted on the dummy shaft 6 next will be referred to as 2Y.

When it is determined in step 29 that the bobbin case 2X is mounted on the dummy shaft 6, the process proceeds to step 30, and in step 30, the bobbin case 2X is mounted on the shuttle 1. That is, the empty bobbin case gripping means is opposed to the dummy shaft 6 and then moved forward,
The bobbin case 2X held by the dummy shaft 6 is gripped by the bobbin case gripping means and then retracted, and then the rotating arm 70 is rotated to rotate the bobbin case 2X.
To the bobbin case 2X.
Is attached to the shuttle 1 and then the rotating arm 70 is retracted to the retracted position.

Then, in step 31, it is determined in step 31 whether the bobbin case 2Y accommodating the second bobbin is mounted on the dummy shaft 6.
This determination is repeated until the bobbin case 2Y accommodating the second bobbin is mounted on the dummy shaft 6. When it is determined in step 31 that the bobbin case 2Y is attached to the dummy shaft 6, the process proceeds to step 32, and in step 32, the empty bobbin case gripping means facing the dummy shaft 6 is advanced, The bobbin case 2Y held by the dummy shaft 6 is gripped by the bobbin case gripping means, and then the rotating arm 70 is retracted to the retracted position.

Then, the process proceeds to step 33, and step 3
In 3, the lower thread remaining amount detection processing described above is performed. This bobbin thread remaining amount detection processing is performed in exactly the same manner as described above, but since the bobbin thread is wound in an aligned manner in the bobbin thread winding routine shown in FIG. The bobbin thread remaining amount can be accurately detected. In addition, when winding the bobbin thread, the winding start is always performed from the side where the tip of the detection rod 507 is inserted (the end 7aa of the bobbin shaft 7a on the side of the bobbin case gripping means), and the winding start position does not change each time. As a result, the lower thread remaining amount detection accuracy can be improved especially when the lower thread remaining amount is low. In addition, for example, when the bobbin winding is performed with the substantially center of the bobbin shaft 7a and the air nozzle 67a facing each other,
The winding start position is not constant whether it is the end side of the bobbin case gripping means side or the opposite end side, but it changes each time, so the detection accuracy when the remaining amount of the bobbin thread decreases It will be.

Then, in step 34, it is determined whether or not the lower thread remaining amount detecting device 500 is normal. If it is determined to be abnormal, the process proceeds to step 54. If it is determined to be normal, step 35 is performed. Then, in step 35, a determination is made based on the above-described highly accurate bobbin thread remaining amount detection processing. That is, it is determined whether or not there is almost no remaining yarn on the bobbin X in the bobbin case 2X.

Then, in step 35, the bobbin X
When it is determined that the remaining yarn is sufficient, the process proceeds to step 36. At step 36, the bobbin X is stored as a bobbin having sufficient remaining yarn, and the process proceeds to step 37. On the other hand, when it is determined in step 35 that there is almost no remaining yarn on the bobbin X, step 36 is skipped and step 37 is performed.
Proceed to.

At step 37, the bobbin exchange request flag is cleared and the bobbin is exchanged. That is, the empty bobbin case gripping means facing the shuttle 1 is advanced, the bobbin case 2X in the shuttle is taken out, and then the rotating arm 70 is retracted. Then, rotate the arm 70
The bobbin case 2Y is rotated 0 ° to face the shuttle 1 and then moved forward to mount the bobbin case 2Y in the shuttle, and then the rotating arm 70 is retracted.

Then, the process proceeds to step 38 and step 3
In step 8, the bobbin thread remaining amount detection processing described above is performed, and the process proceeds to step 39. In step 39, it is determined whether the bobbin thread remaining amount detection device 500 is normal. 54, on the other hand, when it is determined to be normal, the process proceeds to step 40, and in step 40,
It is determined whether there is almost no remaining yarn on the bobbin Y in the bobbin case 2Y.

Then, in step 40, bobbin Y
If it is determined that there is sufficient remaining yarn, the process proceeds to step 41. At step 41, the bobbin Y is stored as a bobbin having sufficient remaining yarn, and the process proceeds to step 42. On the other hand, if it is determined in step 40 that there is almost no remaining yarn on the bobbin Y, step 41 is skipped and step 42 is executed.
Proceed to.

At step 42, the bobbin replacement request flag is cleared and the bobbin is replaced. That is, the empty bobbin case gripping means facing the shuttle 1 is advanced, the bobbin case 2Y in the shuttle is taken out, and then the rotating arm 70 is retracted. Then, rotate the arm 70
The bobbin case 2X is rotated 0 ° to face the shuttle 1 and then moved forward to mount the bobbin case 2X in the shuttle, and then the rotating arm 70 is retracted.

Then, the process proceeds to step 43 and step 4
In step 3, it is determined whether or not both bobbins X and Y are bobbins having sufficient remaining yarn based on the results of steps 34 and 39, and it is determined that both bobbins X and Y are bobbins having sufficient remaining yarn. If it is determined, the process proceeds to step 9, and if not, that is, the bobbin X,
If there is almost no residual yarn in at least one of Y, the process proceeds to step 44, and in step 44, the above step 34
The bobbin X determines whether or not the bobbin has a sufficient amount of residual thread based on the result of step A. If it is determined that the residual thread is insufficient, the process proceeds to step 45.
Based on the result of No. 9, it is determined whether the bobbin Y is a bobbin with a sufficient amount of residual yarn. If it is determined that the residual yarn is insufficient, the process proceeds to step 46. For bobbin Y and step 47
Then, in step 47, bobbin Y for which the residual yarn removal processing has been performed is subjected to bobbin thread winding processing, and step 4
In step 48, the bobbin Y in the shuttle is taken out of the shuttle and then the bobbin Y is wound with the lower thread.
The bobbin is mounted on the bobbin and the process proceeds to step 49. In step 49, the operation of the sewing machine 300 is permitted and the process proceeds to step 50. In step 50, the residual thread removal process for initialization is performed on the bobbin X. After that, the process proceeds to step 51. In step 51, the bobbin X subjected to the residual yarn removing process is subjected to the bobbin thread winding process, and the process returns to step 10.

On the other hand, if it is determined in step 44 that the bobbin X has sufficient remaining yarn, the process proceeds to step 49, where the operation of the sewing machine 300 is permitted and the process proceeds to step 50. The bobbin Y is subjected to the residual thread removing process as a process for making the bobbin Y proceed to step 51. In step 51, the bobbin Y subjected to the residual thread removing process is subjected to the bobbin thread winding process, and the process returns to step 10. .

On the other hand, if it is determined in step 45 that the bobbin Y has sufficient remaining yarn, the process proceeds to step 48. In step 48, the bobbin X in the shuttle is removed from the shuttle and then the bobbin Y is attached to the shuttle. The bobbin is exchanged and the process proceeds to step 49. In step 49, the operation of the sewing machine 300 is permitted and the process proceeds to step 50. In step 50, the residual yarn removing process for initialization is performed on the bobbin X and step 51 is performed. Then, in step 51, the bobbin X subjected to the residual thread removing process is subjected to the bobbin thread winding process, and the process returns to step 10.

In this way, the bobbin winding completion state is set for all the bobbins (two in this embodiment) used by the operations of the above-mentioned steps 29 to 51, and the bobbin winding completion state is set. One of the set bobbins is set in the shuttle, and the other bobbins are set in the standby state.

As described above, in the present embodiment, the thrust of the mover of the actuator 501 in the bobbin thread remaining amount detecting device 500 is a combined thrust of the thrust by the electromagnetic force and the thrust by the electromagnet action of the iron core 502, such as an electromagnet. The actuator 501 can be made considerably larger than the thrust of the actuator 501, and the actuator 501 can be reduced in size and weight and the moving amount of the moving element can be increased.
Can be fixedly arranged in the vicinity of the shuttle without interfering with the components of the sewing machine, and by this fixed arrangement in the vicinity of the shuttle, it is not necessary to retract the actuator 501 from the position near the shuttle, and, for example, a link mechanism or the like can be dispensed with. The number of points can be reduced. Further, it is possible to speed up the bobbin thread remaining amount detection operation by eliminating the need for a link mechanism or the like and increasing the speed of the mover due to the increase in the above-mentioned thrust. There is no effect on the stoppage of sewing even if the above procedure is performed a plurality of times, and the reliability of the lower thread remaining amount detection can be improved by the plurality of times of lower thread remaining amount detection processing. In addition, the above-mentioned synthetic thrust (the mover moves from the standby position to the side plate 5 on the shuttle side).
Since the combined thrust acting toward 08c does not change at the beginning and at the end, the bobbin thread can be protected without an elastic material such as a spring for bobbin thread protection. Further, since a switch such as a limit switch used for the actuator is not required, workability of assembling the actuator, wiring work, etc. can be simplified and the number of parts can be reduced. It is like this. Further, by utilizing the reflectance of light, it is possible to prevent erroneous detection because it is less affected by lubricating oil, thread waste, etc. as compared with the case where the remaining amount of the lower thread is detected.

Further, in the present embodiment, the bobbin shaft 7
When the lower thread is entwined with a, the bobbin shaft 7a and the air nozzle 67a are opposed to each other so that the lower thread 150 is surely entangled with the bobbin shaft 7a (the bobbin shaft 7a).
When the end side 7aa and the air nozzle 67a are opposed to each other, there is a fear that the bobbin flange 7b interferes with the bobbin shaft 7a and the bobbin shaft 7a is not entangled with the bobbin shaft 7a. Then, the one end 7aa side of the bobbin shaft 7a and the air nozzle 67a are opposed to each other, and then the air nozzle 67a is separated from the bobbin shaft 7a, and the air nozzle 67a is located substantially at the center of the bobbin shaft 7a. Since the lower thread is wound so as to face each other, it is possible to form an aligned winding, and by this aligned winding, it is possible to prevent a change in sewing tension and the occurrence of thread entanglement. It is possible to prevent defects.

Further, in the present embodiment, the bobbin thread remaining amount for all the bobbins used is detected in the initial state of the apparatus to grasp the bobbin thread remaining amount state of each bobbin, and based on this detection result. For example, a bobbin in which the bobbin thread is sufficiently wound is set to a bobbin winding completion state, and, for example, in a bobbin in which the bobbin thread is insufficient, residual thread removal processing and bobbin thread winding processing (thread The bobbin thread winding completion state is set for all the bobbins to be used, and the bobbin thread winding completion state is set for all the bobbins to be used. Since the bobbin is set in the shuttle and the other bobbin is set in the standby state, the operator's intervention can be minimized and the initialization operation of the device can be appropriately executed. Possible to improve equipment reliability and automation rate It has become. In the present embodiment, such an initialization operation is performed when the previous normal power-off processing has not been performed or when human intervention has occurred, but the previous normal power-off processing is performed. In the case or when there is no manual intervention, the same process may be performed. Also, when a bobbin take-out switch for taking out the bobbin for the purpose of changing the color of the thread is provided and the operator turns on this switch and turns off the power switch after taking out the bobbin, the above-mentioned FIG. By performing the illustrated initialization operation, it is possible to properly perform the initialization operation of the device with a minimum of operator intervention. Further, the above-described configuration can be applied to, for example, a device that does not include a residual yarn removing device. That is, in the initialized state of the device, the lower thread remaining amount for all the used bobbins is detected to grasp the lower thread remaining state of each bobbin, and based on the detection result, for example, the lower thread is sufficiently wound. A bobbin winding completion state is set for a bobbin that has been wound.For example, for a bobbin with a shortage of bobbin thread, the residual thread is manually removed, and then the bobbin winding operation is performed on the empty bobbin. The bobbin winding completion state is set by performing a winding process, the bobbin winding completion state is set for all the bobbins to be used, and one bobbin in which the bobbin winding completion state is set is mounted in the hook. If the bobbin is put into the state and the other bobbins are put in the standby state, the present invention can be applied to an apparatus that does not have the residual thread removing device.

Further, in the present embodiment, after the thread trimming of the sewing machine, when the number of stitches actually sewn exceeds the number of stitches previously input from the stitch number input switch, the bobbin thread remaining amount detection processing is performed. Since this is performed, the number of times the bobbin thread remaining amount detection process is performed can be suppressed as much as possible, and the sewing efficiency can be improved.

Further, since the bobbin thread is wound around the bobbin shaft 7a in an aligned manner, it is possible to detect the remaining amount of the bobbin thread with higher accuracy than in the dumpling winding. Further, when the bobbin thread is wound, the winding start is always performed from the side where the tip of the detection rod 507 is inserted (the end 7aa of the bobbin shaft 7a on the side of the bobbin case holding means) so that the winding start position does not change each time. Therefore, it is possible to further improve the accuracy of detecting the remaining amount of the lower thread, especially when the remaining amount of the lower thread is low.

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 scope of the invention. Needless to say, for example, in the above embodiment, the air nozzle 67a is made immovable with respect to the axial direction of the bobbin shaft 7a, and the bobbin 7 is moved in the axial direction of the bobbin shaft 7a by the bobbin case holding means. By adjusting the facing positional relationship between the air nozzle 67a and the bobbin shaft, good bobbin thread entanglement and aligned winding are possible.
a is movable in the axial direction of the bobbin shaft 7a, and the bobbin 7
The same effect can be obtained by moving the air nozzle 67a in the direction opposite to the moving direction of the bobbin 7 of the above-described embodiment while keeping the axis of the bobbin shaft 7a immobile. Also,
A similar effect can be obtained by moving both.

In the above embodiment, the air nozzle 67a is separated from the bobbin shaft 7a, and
The bobbin shaft 7a is made to face the center of the bobbin shaft 7a so that the bobbin shaft 7a is wound.
The aligned winding can be formed even if the bobbin is reciprocally moved in the axial direction by the bobbin case holding means in this state without being separated from the a (state shown in FIG. 37 (b)).
Further, even if the movement of the bobbin in the axial direction is immovable and the air nozzle 67a is reciprocated in the axial direction, the aligned winding can be similarly formed.

Further, in the above embodiment, the actuator 501 is arranged such that the tip of the detection rod 507 faces the detection rod hole 1c of the inner pot, but it must interfere with other components. For example, the actuator 501
May be fixed to another position near the hook. However,
In the case of such a configuration, it is necessary to newly provide a detection rod hole into which the tip of the detection rod 507 can be inserted, if the tip of the detection rod 507 abuts the outer pot. At the same time, it is necessary to form a detection rod hole that overlaps with the detection rod hole of the outer pot on the peripheral wall of the bobbin case 2 and the peripheral wall of the inner pot. Further, if the actuator 501 can be arranged so that the tip of the detection rod 507 can be inserted into the detection rod hole of the bobbin case without coming into contact with the peripheral walls of the inner hook and the outer hook, the detection rod hole will be Only the peripheral wall of the bobbin case is required.

Further, in the above embodiment, it is determined in step 10 shown in FIG. 28 whether or not there is thread trimming in the sewing machine. If thread trimming is determined in this determination, the process proceeds to step 11 and the subsequent steps. The remaining amount detection process, the residual thread removal process, and the bobbin thread winding process are performed. However, depending on the sewing, the sewing material may be replaced and the sewing may be continued without thread cutting.
In such sewing, as shown in FIG. 28, steps 11 to 23 are always skipped. Therefore, the thread cutting determination in step 10 may be replaced with the sewing machine stop determination. By doing so, the sewing machine is stopped without thread cutting when changing the sewn product, so that the processes of steps 11 to 23 can be performed.

In the above embodiment, when the number of stitches actually sewn exceeds the number of stitches previously input from the stitch number input switch in step 11 shown in FIG. 28,
Although the bobbin thread remaining amount detection processing is performed, the effect of the present invention is not hindered even without this step 11.

Further, in the above-mentioned embodiment, for example, the ultrasonic sensor 509 is used as the vibration wave detecting element, but it may be replaced with an impact sensor or the like.

Further, in the above embodiment, the number of bobbins used is two, but the number of bobbins may be three or more. Further, the dummy shaft 6 may be added if necessary.

In the above embodiment, the lower thread remaining amount is detected at the shuttle position, but the lower thread remaining amount may be detected at another position. For example, the lower thread remaining amount is detected. The actuator 501 of the detection device is provided in the vicinity of the dummy shaft 6, and when the bobbin case accommodating the bobbin is mounted on the dummy shaft 6 or moved to the dummy shaft 6, the lower thread remaining amount detected by the lower thread remaining amount detection device is detected. The amount may be detected.

Further, in the above embodiment, the bobbin thread remaining amount detecting device of the sewing machine is explained, but such a detecting device is used as a thread cutting device of the sewing machine, a thread wiping device, and an upper yarn automatic feeding device. The present invention can also be applied to constituent yarn gripping devices, hammer devices for printers, feeding devices for paper and parts, mechanical devices used inside a vehicle, mechanical devices such as robot devices, and the like. That is, by detecting the vibration waves when the carrier 505 of the actuator 501 collides with the side plates 508c and 508d, respectively,
By confirming the forward and backward movements of the mover, it is possible to detect whether or not the actuator 501 operates normally. In addition, in such a mechanical device detection device, a switch such as a limit switch used for the actuator is not required, and workability such as assembly work and wiring work for the actuator is simplified. The number of parts can be reduced, and the synthetic thrust of the mover can be considerably larger than that of only the thrust of the electromagnet or the like, and the moving amount of the mover can be increased.

Regarding the detection device of the mechanical device and the bobbin thread remaining amount detection device, Japanese Patent Application No. 6-
There is an apparatus described in the specification of 167068, in which the coil is a moving element and the permanent magnet is a stator.
For this reason, the wiring for the coil is made by a flexible substrate which is relatively resistant to bending, but even such a flexible substrate has a fear of disconnection. There is also a problem that the cost of the apparatus is increased due to the use of the flexible substrate and the need for two comparators for the lower thread remaining amount determination means. However, the bobbin thread remaining amount detection apparatus of the present embodiment does not have a fear of disconnection because it is not necessary to connect wiring to the mover, and since a flexible substrate is not used and only one comparator is required. Also, the cost of the device does not increase.

[0161]

As described above, according to the bobbin thread winding device of the present invention, the bobbin which is rotationally driven and the thread guide means for supplying the bobbin thread from the bobbin thread supply source to the bobbin shaft are wound. The forming means makes it relatively movable at least in a direction parallel to the bobbin axis, and the winding-row forming means is controlled by the winding-row forming means so that the bobbin axis is substantially centered when the bobbin thread is entangled with the bobbin axis. And the lower thread supplying portion of the thread guide means are opposed to each other, and the lower thread is surely entangled in the approximate center of the bobbin shaft. When the lower thread is entangled in the approximate center of the bobbin shaft, one of the bobbin shafts The end side and the lower thread supply section are opposed to each other, and thereafter, the bobbin shaft and the lower thread supply section are opposed to each other so that the lower thread from the lower thread supply section can be wound in line around the bobbin axis. Alignment winding prevents changes in sewing tension and thread entanglement. Since it is that form, it is possible to prevent the sewing defect due to a change in stitch tension and entanglement.

[Brief description of the drawings]

FIG. 1 is a schematic front view showing an automatic bobbin thread feeder according to an embodiment of the present invention.

FIG. 2 is a front view of a bobbin changing device adopted in the same upper and lower yarn automatic feeding device.

FIG. 3 is a plan view of the above bobbin changing device.

FIG. 4 is a right side view showing a direct-acting mechanism portion of the above bobbin changing device.

FIG. 5 is a right side view showing a rotation mechanism portion of the above bobbin changing device.

FIG. 6 is a schematic right side view for explaining dummy positions and dummy shafts of the bobbin changing device of the above.

FIG. 7 is a plan view showing a bobbin drive mechanism and an air guide mechanism of the lower thread winding device adopted in the same upper and lower thread automatic feeding device.

FIG. 8 is a front view of the same bobbin drive mechanism and air guide mechanism.

FIG. 9 is a front view showing a yarn supply detection mechanism of the same upper and lower yarn winding device.

FIG. 10 is a right side view of the same needle thread supply detecting mechanism.

FIG. 11 is a front view showing a yarn tension varying means of the same upper and lower yarn winding device.

FIG. 12 is a transverse cross-sectional view showing a lower thread suction device of the air guiding mechanism of the above.

FIG. 13 is a perspective view of the above bobbin drive mechanism.

FIG. 14 is an explanatory diagram showing a positional relationship with respect to a bobbin case and a bobbin shaft when a lower thread is entangled with an air nozzle for inserting a lower thread.

FIG. 15 is an explanatory diagram showing the bobbin shaft on the lower thread winding side.

FIG. 16 is an explanatory view showing the positional relationship among the air nozzle of the air guide mechanism, the thread cutting device, and the bobbin case during thread cutting.

FIG. 17 is a perspective view of a bobbin case adopted in the embodiment.

FIG. 18 shows the bobbin case of the same as above.
(A) is a front view, (b) is an AA arrow view, (c) is B-.
It is B sectional drawing.

19A and 19B are views showing a shuttle having the bobbin case mounted therein, wherein FIG. 19A is a front view and FIG. 19B is a CC arrow view.

FIG. 20 shows a bobbin thread remaining amount detection device adopted in the same upper and lower thread automatic feeding device, wherein (a) is a front sectional view,
(B) is a right sectional view of (a), and (c) is a bottom view of (a).

21A and 21B show an operation of the same upper and lower yarn remaining amount detection device, wherein FIG. 21A is a diagram corresponding to FIG. 20C, and FIG. 21B is a diagram corresponding to FIG.

22 is a diagram showing an operation following FIG. 21,
20A is a diagram corresponding to FIG. 20C, and FIG.
It is a figure corresponding to (a).

FIG. 23 shows an operation subsequent to FIG. 22,
20A is a diagram corresponding to FIG. 20C, and FIG.
It is a figure corresponding to (a).

FIG. 24 is a diagram showing an operation following FIG. 23,
20A is a diagram corresponding to FIG. 20C, and FIG.
It is a figure corresponding to (a).

FIG. 25 is a timing chart for explaining the operation of the same upper and lower yarn remaining amount detection device.

FIG. 26 is a block diagram showing a configuration of the same upper and lower yarn feeders.

FIG. 27 is a block diagram showing a control system of the same upper and lower yarn feeders.

FIG. 28 is a flowchart showing a flow of control operation procedure of the same upper and lower yarn automatic feeders.

29 is a flowchart following FIG. 28. FIG.

FIG. 30 is a flowchart showing a flow of a control operation procedure of the same upper and lower yarn remaining amount detection device.

FIG. 31 is a plan cross-sectional view showing a standby state of the same upper and lower yarn remaining amount detection device together with a hook in which a bobbin case is mounted.

FIG. 32 is a view showing a detection state of the upper and lower thread remaining amount detecting device together with a hook in which a bobbin case is mounted, FIG. 32 (a) is a plan sectional view when there is a sufficient lower yarn remaining amount, and FIG. It is a plane sectional view when there is no or a small amount of lower thread.

FIG. 33 shows each detected waveform in the lower thread remaining amount detection device when the lower thread remaining amount of the bobbin accommodated in the bobbin case is sufficient, and (a) is an output waveform diagram of the vibration wave detection element. , (B) are output waveform diagrams of the one-shot generation circuit.

FIG. 34 shows each detected waveform in the bobbin thread remaining amount detection device when the bobbin thread remaining amount in the bobbin case is not so large, and (a) is an output waveform of the vibration wave detection element. FIG. 1B is an output waveform diagram of the one-shot generation circuit.

FIG. 35 shows each detected waveform in the lower thread remaining amount detecting device when the lower thread remaining amount of the bobbin accommodated in the bobbin case becomes considerably small, and (a) shows the output of the vibration wave detecting element. Waveform diagram, (b) is an output waveform diagram of the one-shot generation circuit.

FIG. 36 is a flowchart showing a flow of control operation procedure of the same upper and lower yarn winding devices.

FIG. 37 shows a winding operation of the same upper and lower yarn winding device, wherein (a) is an operation explanatory view at the time of entwining, (b) is an operation explanatory view following (a), and (c) is ( It is a winding operation explanatory view following b).

FIG. 38 is a right side view showing only the main part of the bobbin changing device when the power to each device is cut off.

[Explanation of symbols]

 7 bobbin 7a bobbin shaft 7aa one end side of bobbin shaft 67a bobbin thread supplying section 150 bobbin thread 162 bobbin thread winding device 200 bobbin thread supply source 315 winding line forming control means 600 winding line forming means G thread guide means

Claims (1)

[Claims] 1. A bobbin winding device for supplying a bobbin thread from a bobbin thread supply source to a rotatably driven bobbin through a thread guiding means and winding the bobbin thread around a bobbin shaft, wherein: Winding train forming means for relatively moving the yarn guiding means at least in a direction parallel to the bobbin shaft, and controlling the winding train forming means so that the bobbin shaft is entangled when the lower yarn is entangled with the bobbin shaft. When the bobbin shaft is entangled with the bobbin thread, the bobbin shaft is made to face the center of the bobbin shaft, and one end of the bobbin shaft is opposed to the bobbin thread supply part. A bobbin winding device, comprising: a winding formation control means that opposes the bobbin shaft and the bobbin thread supply part so that the bobbin thread from the supply part is wound around the bobbin shaft in an aligned manner.