JPS621752B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] [Industrial Application Field] The present invention relates to a sewing device equipped with a plurality of industrial sewing machines, and more particularly to automatic exchange of the bobbin thread of each sewing machine.

[Prior Art] In a sewing machine, a bobbin thread is wound around a small bobbin. When using a sewing machine, a bobbin is attached to a bobbin case, and the bobbin case is attached to an inner hook. Since the amount of thread wound around one bobbin is small, when operating continuously like an industrial sewing machine, the lower thread is consumed quickly and the lower thread needs to be replaced frequently. This type of bobbin thread replacement work is extremely troublesome and time consuming.

Therefore, in the technique disclosed in Japanese Patent Publication No. 15145/1983, for example, the inner hook and the outer hook are formed into cylindrical shapes, and the bobbin case is inserted from one end of the hook and discharged from the other end. Moreover, the structure is such that a large number of bobbin cases are stored, and each bobbin case is pushed out one by one and inserted into the hook. Therefore, the bobbin case can be replaced by a simple lever operation.

[Problems to be Solved by the Invention] However, in the conventional technology, a person has no choice but to determine the presence or absence of the bobbin thread and replace it, so in any case, an operator is required to monitor the sewing machine. Particularly when a large number of sewing machines are operated at the same time, it is difficult for the operator to monitor and replace the bobbin thread.

SUMMARY OF THE INVENTION An object of the present invention is to automate the supply of bobbin thread, that is, the supply of bobbin cases, and to enable long-term unattended operation of a plurality of sewing machines.

[Structure of the invention] [Means for solving the problems] In order to achieve the above object, the present invention includes the following:
The hook mechanism of each of the plurality of sewing machine devices is constructed as a penetrating type; a bobbin case payout mechanism holds a large number of bobbin cases and pays them out one by one; and a bobbin case payout mechanism that grips and conveys the bobbin cases paid out from the bobbin case payout mechanism. An automatic bobbin thread supply device including a loading mechanism for loading the bobbin thread into an inner hook;
A fifth driving means for moving the automatic bobbin thread supply device and positioning it at a predetermined position of each sewing machine device is provided.

[Function] For example, when a sewing program issues a bobbin thread replacement instruction to a predetermined sewing machine device, the fifth driving means is driven to cause the bobbin thread automatic supply device to replace the bobbin thread to a predetermined value of the instructed sewing machine device. position. Since the bobbin thread automatic supply device stores a large number of bobbin cases in the bobbin case payout mechanism, it pays them out toward the carry-in mechanism. The carry-in mechanism grips one bobbin case that is fed out by it, moves to a position that coincides with the rotation axis of the hook mechanism, and pushes the gripped bobbin case into the inner hook. The hook mechanism is a through-hole type, so when the bobbin case is pushed in from one end of the hook, the worn-out bobbin case is ejected from the other end of the hook. This completes one bobbin case exchange operation. When a bobbin case replacement instruction is issued for another sewing machine device,
The fifth drive means is energized again to move the bobbin thread automatic supply device, and the bobbin case is replaced in the same manner as above.

For example, if you want to change the color of the bobbin thread, you can simply replace the bobbin case when instructed by the sewing program. However, if the bobbin case in use runs out of bobbin thread, the bobbin case must be replaced without any special instructions from the sewing program. Further, if the bobbin thread is interrupted during a predetermined series of sewing operations, the previous sewing operation must be repeated once again. However, this kind of redo setting work is difficult, and there are some types of sewing materials that cannot be sewn multiple times.

Therefore, in a preferred embodiment of the present invention, each sewing machine device is provided with a bobbin thread remaining amount detecting means, and after a predetermined sewing process is completed and a thread trimming operation is performed,
The remaining amount of bobbin thread is detected, and if the remaining amount is found to be low, the bobbin case is automatically replaced.

By the way, in the case of the present invention, the bobbin thread automatic supply device moves over a relatively wide range. Therefore, when moving at low speed, it takes a long time to position the automatic bobbin thread feeder at a predetermined position on the sewing machine.
This lengthens the period during which the sewing machine is stopped. but,
High-speed driving will result in inaccurate positioning. If the positioning of the automatic bobbin thread supply device is inaccurate, the bobbin thread cannot be automatically supplied.

Therefore, in a preferred embodiment of the present invention, the distance between the current position of the automatic bobbin thread supply device and its target position is determined, and the moving speed of the automatic bobbin thread supply device is set in accordance with the determined distance. According to this, accurate positioning can be performed in a short time.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

Fig. 1a schematically shows one type of sewing device for carrying out the present invention, and Figs. 1b, 2a, 2b,
Figure 3, Figure 4, Figure 5, Figure 6a, Figure 6b,
7, 8, 9 and 10, 1a
1 shows a mechanical part of the lower thread automatic feeding device shown in the figure.
Fig. 1b is a perspective view seen from the same angle as Fig. 1a, Fig. 2a is a vertical sectional view seen from the front, Fig. 2b is an enlarged sectional view showing the inside of the sewing machine bed 1,
The figure is a vertical sectional view seen from the left side, Figure 4 is a scaled-down plan view, Figure 5 is a partially enlarged view of Figure 3, and Figure 6 is a partially enlarged view of Figure 3.
Figure a is a front view of the bobbin case 15, Figure 6b is a right side view of the bobbin case 15, Figure 7 is a vertical sectional view showing the bobbin case magazine ₂₉₁ with the bobbin case 15 attached, and Figure 8 is Figure 2a. A partially enlarged view of
FIG. 9 is a side view taken from the line --- in FIG. 2a, and FIG. 10 is a cross-sectional view taken from the -- line in FIG. 2a.

Reference is first made to FIG. 1a. In this example, sewing machine bed 1 includes a number of sewing machine devices SM1, SM2,
SM3, . . . are arranged at predetermined intervals. An automatic bobbin thread supply mechanism 200 is arranged on a sewing machine base 93 that is integrated with the sewing machine bed 1.
This automatic bobbin thread supply mechanism 200 is supported by a threaded rod 91, a guide bar 92, and a wheel (not shown) arranged along the arrangement direction of the sewing machine device, and a fixing nut (not shown) screwed into the threaded rod 91. It is equipped with

The threaded rod 91 is coupled to a drive shaft of a stepping motor M4 fixed to one end of the sewing machine base 93. Therefore, by driving the stepping motor M4, the threaded rod 91 rotates, and the lower thread automatic supply mechanism 200 moves in the axial direction of the threaded rod 91. On the sewing machine base 93, each sewing machine device SM
Sewing machine position detection plates 95 ₁ , 95 ₂ ,
95 ₃ ... are arranged. Lower thread automatic supply mechanism 20
A transmission type optical sensor S8 is provided on the lower surface of the sewing machine at a position facing each sewing machine position detection plate. Each sewing machine position detection plate has a positioning hole 95a formed approximately in the center thereof. 94 is a light shielding plate for detecting the position of the automatic bobbin thread supply mechanism, and S7 is a light shielding plate 9.
This is a transmissive optical sensor that detects whether or not the lower thread automatic supply mechanism 200 is in the home position by detecting the presence or absence of the lower thread automatic supply mechanism 200.

The description will be made with reference to other drawings. As shown in Figures 2b and 3, the sewing machine bed 1
Inside, a lower shaft sewing mechanism 100 is provided at the position of each sewing machine device. A shuttle mechanism is provided below the needle 18. 2 is the inner pot, and 3 is the outer pot. The inner pot 2 and the outer pot 3 are each formed into a cylindrical shape, and inside the inner pot 2, that is, in the through hole,
One bobbin case 15 used for sewing is loaded.

In this example, three elastic protrusions 16 are formed on the outer circumferential surface of the bobbin case 15, and these protrusions engage with annular grooves 2a formed on the inner circumferential wall of the inner hook 2. Bobbin case 15
is positioned in the axial direction of the inner pot 2. In addition, two protrusions 2b provided on a part of the inner peripheral wall of the inner pot 2,
By engaging with the recess 15a of the bobbin case 15, the bobbin case 15 is positioned relative to the inner hook 2 so as not to move in the circumferential direction (see FIG. 5).

The inner hook 2 is rotatably supported within a through hole of the outer hook 3. The outer hook 3 is fixed to a tubular hook shaft 6 by a screw 5, and the hook shaft 6 is rotatably supported on the sewing machine bed 1 by two needle bearings 9 located on the outer periphery of the hook shaft 6. ing. 7 and 8 are washers for thrust stopping the hook shaft 6. The inner diameter of the hook shaft 6 matches the inner diameter of the inner hook 2, and the bobbin case 15 can pass through the through hole thereof.

A gear 6a is formed on a part of the outer periphery of the hook shaft 6, and a lower shaft gear 11 fixed to a lower shaft 10 meshes with this gear 6a. Therefore, when the lower shaft 10 is driven, its driving force is transmitted to the hook shaft 6, and the outer hook 3 rotates. Since the inner hook 2 is prevented from rotating by the hook stopper 4 that engages with it, the outer hook 3
It doesn't move even if it rotates.

In FIG. 2b, a solenoid SL3 for detecting the remaining amount of bobbin thread and a proximity sensor S5 for detecting the position of its rear flange are provided on the left side of the shuttle mechanism. Although not shown, the solenoid
A conventionally known thread trimming mechanism is provided between the SL3 and the shuttle mechanism. 17 is a needle bar that supports the needle 18, 19 is a presser foot, 20 is a needle plate, and 21 is a lint cover.

A conveyance mechanism, which will be described later, is positioned on the right side of the hook shaft 6 in FIG. 2b, as shown by an imaginary line.
This transport mechanism loads the bobbin case 15 into the inner hook 2.

The bobbin case 15 will be explained with reference to FIGS. 6a and 6b. The inside of the bobbin case 15 is provided with a space for mounting the bobbin 13 and a guide shaft 15a formed in the center thereof. A bobbin stopper knob 14 for preventing the bobbin 13 from falling off is provided on the head of the guide shaft 15a.
The bobbin stopper knob 14 is supported by a pin 22 on the head of the guide shaft 15b, and is rotatable in the direction of arrow AR5.

The guide shaft 15a has a cylindrical shape, and is provided with a push rod 24 and a compression coil spring 23 disposed around its outer periphery. push rod 24
Due to the force of the coil spring 23, its head presses against the cam surface 14a of the bobbin stopper knob 14. Depending on the shape of its cam surface, the bobbin locking knob 14 positions itself in either the solid line position or the phantom line position shown in FIG. 6b.

Reference numeral 25 denotes an idling prevention spring for preventing the bobbin 13 from idling during sewing, and is held between the head of the push rod 24 and the coil spring 23. Plate spring 2 shown in FIG. 6a
6 is fixed to the bobbin case 15 by a screw 27, and the part of the thread 12 pulled out from the bobbin 13 is held between the bobbin case 15 and the thread 1
Apply tension to 2. The amount of tension is determined by adjusting screw 2.
8.

The bobbin 13 is composed of two cylindrical members 13A and 13B each provided with a flange, and the cylindrical portion 13Ba of the member 13B is connected to the member 13A.
It is fitted on the outside of the cylindrical part. Member 13B
The movement of the member 13A is restricted by the head of the cylindrical part and the protrusion 13Aa formed on the cylindrical part, but it is allowed to slide slightly in the axial direction of the cylinder.
Therefore, the flange of the bobbin 13 can be slightly expanded and contracted in the axial direction.

The thread 12 is wound around the bobbin 13 in a stretched state. When the thread 12 is wound, a part of the thread is caught between the cylindrical part 13Ba and the protrusion 13Aa, and this thread prevents the movement of the cylindrical part 13Ba, so the bobbin 13 is normally in a stretched state. maintain. but,
When the yarn wound around the bobbin 13 is consumed and the remaining amount of yarn decreases, the cylindrical portion 13Ba becomes movable. In this embodiment, at a predetermined time, the second
The solenoid SL3 shown in Fig. b is energized to bring the plunger into contact with the bobbin 13, and the amount of movement of the plunger is determined by the proximity sensor S5 to detect the expansion/contraction state of the bobbin 13, that is, the remaining amount of yarn.

Next, the bobbin case payout mechanism 210 provided below the sewing machine bed 1 will be explained. In this example, the bobbin case 15 attached to the inner pot 2 has three bobbin case magazines 29 ₁ , 29 ₂ and 2
9 _{and 3} are loaded in large numbers and stored so that they can be automatically drawn out one after another. As shown in FIGS. 4 and 7, each bobbin case magazine has a generally cylindrical shape, and includes a cylindrical portion 29a having a space therein for loading a large number of bobbin cases 15, and a bobbin case magazine. A base 29b for supporting the magazine, a long groove 29c formed throughout the axial direction to guide the protrusion 16 of the bobbin case, and an opening 29d formed throughout the axial direction in the head of the cylindrical portion. ing.

Plate-shaped magazine attachment fittings 30 and 31 made of a magnetic material are fixed to the base 29b of each bobbin case magazine by press-fitting and caulking. Each bobbin case magazine has a magazine base 42
It is placed at a predetermined position above (see FIG. 4). Permanent magnets 44 are fixed to the magazine base 42 at positions facing the magazine mounting fittings 30 and 31 of each bobbin case magazine. Therefore, each bobbin case magazine 29 ₁ , 29 ₂ and 29 ₃ is held in a predetermined position on the magazine base 42 by the attractive force of the magnet.

The magazine attachment fittings 30 fixed to each bobbin case magazine are each bent at one end to form an engaging portion 30a. A push rod 46 is arranged on the magazine base 42 at a position facing each engaging portion 30a. The push rod 46 is movably supported by the bush 45, and receives a force from a compression coil spring 47 that pushes the magazine mounting bracket 30 toward the left in FIG.

A cylindrical slide head 65 is arranged at a position facing each push rod 46 while sandwiching each engagement member 30a. The slide head 65 is connected to the air cylinder 6
It is fixed to the tip of the cylinder shaft 63a of No. 3. 6
6 is a rock nut. When the air cylinder 63 is driven to push out the slide head 65, the slide head 65 pushes the engaging portion 30a against the force of the spring 47.

Each bobbin case magazine is engaged on the magazine base 42 by magnetic force, so when a force is applied, it slides and moves on the magazine base 42, and the engaging part 30a comes into contact with the end of the magazine base 42. The bobbin case magazine is advanced to the contact position, that is, the position shown in solid lines in FIGS. 2a and 8. When the slide head 65 returns to its original position, the force of the spring 47 causes the bobbin case magazine that has moved forward to return to its original retracted position.

The magazine base 42 has a guide rod 4 oriented in a direction perpendicular to the axial direction of the bobbin case magazine.
A guide rod 41 is supported movably in the axial direction by the magazine base 1 and is screwed into a magazine base shaft nut 50 fixed to the magazine base 42.
It is moved by rotating a threaded rod 39 parallel to . One end of the threaded rod 39 is supported by the base member 34 via a bearing 38, and the other end is coupled via a joint 36 to the drive shaft of the stepping motor M2. 37 is a set screw.

A thin plate is attached to the end of the magazine base 42 (the left end in FIG. 4), and the thin plate has magazine base positioning holes at positions that correspond to the center shafts of the respective bobbin case magazines 29 ₁ , 29 ₂ and 29 ₃ . 49 ₁ , 49 ₂ and 49 ₃ are open. Two transmissive optical sensors S4 and S6 are fixed on the base member 34. The optical sensor S4 is located in the magazine base positioning hole 49 ₁ , 4
9 ₂ and 49 ₃ , and the optical sensor S6 is located at a position where it can detect one end of the thin plate when the magazine base 42 is at the home position (retracted position).

In this example, when the optical sensor S4 detects each magazine base positioning hole 49 ₁ , 49 ₂ and 49 ₃ , the bobbin case magazine 29
The centers of the cylindrical portions of the bobbin case magazines 29 1 , ₂ and 29 ₃ coincide with the pressing portion 51a of the bobbin case feeding body _{51 ,} which will be described later.
The engaging portions 30a of ₉₂ and ₂₉₃ are aligned with the aforementioned slide head 65.

In the illustrated state, the optical sensor S4 detects the magazine base positioning hole ₄₉₁ , and the center of the cylindrical part of the bobbin case magazine ₂₉₁ is aligned with the pressing part 51a of the bobbin case feeding body, so the bobbin case magazine ₂₉₁ is selected.

The bobbin case feeding body 51 includes a threaded rod 58 arranged toward the axial direction of each bobbin case magazine.
and a guide rod 59, and when the threaded rod 58 rotates, it moves in its axial direction. The threaded rod 58 has one end connected to the caulking metal 57,
It is rotatably supported by a bracket 56, and the other end is
It is coupled via a joint 54 to the drive shaft of the stepping motor M1. A part of the bobbin case feeding body 51 is arranged as the pressing portion 51a at a position that coincides with the central axis of the bobbin case magazine being selected, as described above.

Therefore, by driving the stepping motor M1, if the bobbin case payout body 51 moves to the right in FIG. 2a, the rearmost bobbin case in the selected bobbin case magazine will be pushed in that direction. The bobbin case is then unwound in the axial direction. In this example, Figures 2a and 8
The position indicated by the imaginary line in the figure is the home position of the bobbin case payout body 51, and a proximity sensor S2 for detecting the bobbin case payout body 51 is disposed at that position.

Note that the pressing portion 51a of the bobbin case feeding body
A distance sensor S3 for detecting the distance between the bobbin case and the rearmost bobbin case in the bobbin case magazine is mounted in the center of the bobbin case magazine with its detection surface facing the bobbin case side.

Next, the bobbin case transport mechanism 220 that transports the bobbin case in the bobbin case payout mechanism 210 and loads it into the inner hook 2 will be described. Transport box 6
A gripping tube 69 for gripping one bobbin case inside is fixed to one end of the bobbin case 8. A through hole is provided in a portion of the transport box 68 that coincides with the central axis of the grip tube 69, and a push rod 70 is provided in the through hole. A grip cylinder 69 is attached to the head of the extrusion rod 70.
A circular washer 72 and an elastic body 71, which are slightly smaller than the inner diameter of the inner diameter, are fixed.

A guide pin 76 is provided slightly below the push rod 70 and has one end fixed to the transport box 68. The detection plate 75 has a dogleg shape and is engaged with a guide pin 76 through a hole formed in its center.
A compression coil spring 77 attached to the guide pin 76 receives a force directed to the left in FIG. 2a. One arm of the detection plate 75 is arranged in the inner space of the grip tube 69. A proximity sensor S1 is arranged at a position facing the other arm of the detection plate 75 (see FIG. 4). The proximity sensor S1 is fixed to the transport box 68.

In this embodiment, the proximity sensor S1 is a grip cylinder 69.
It is detected whether the bobbin case 15 is gripped and whether the push rod 70 is at a predetermined reference position. That is, when the pushing rod 70 is moved to the right in FIG. 2a, the washer 72 pushes the detection plate 75 to the right, and the detection state of the proximity sensor S1 changes. When the push rod 70 is positioned at this reference position, the proximity sensor S1 is always in the detection state, so the push rod 70 is moved back a little from that position, and the position where the proximity sensor S1 is in the non-detection state is set as the home position. In that state, bobbin case 15
is inserted into the grip cylinder 69, the bobbin case 15
is connected to the detection plate 75 via the elastic body 71 and washer 72.
, the state of the proximity sensor S1 changes, and it is detected that the grip cylinder 69 grips the bobbin case.

Air piping 78 is installed slightly above the proximity sensor S1.
is formed. One end of the air pipe 78 is connected to a high-pressure air source (not shown), and a nozzle 79 is formed at the other end. nozzle 79
is arranged with its opening directed toward the inner space of the grip cylinder 69 and slightly inclined with respect to the axial direction.

The pushing rod 70 is formed with teeth, and a gear 73 meshes with the teeth. Gear 73 is coupled to a drive shaft of stepping motor M3. The transport box 68 is supported by a cylinder shaft 80a of an air cylinder 80 provided below and a guide rod 82 so as to be movable up and down relative to the base member 34. 83 is a bearing of the guide rod 82.

FIG. 11a shows an outline of the electric circuit of this sewing device, and FIG. 11b shows the electric circuit of the automatic bobbin thread supply device 500 shown in FIG. 11a. First, referring to FIG. 11a, sewing machine devices SM1 to SMn are connected to an automatic bobbin thread supply device 500, respectively. Each sewing machine device includes a sewing machine main body 300 having the same configuration as a conventionally known industrial sewing machine, a microcomputer CPU 2 that controls the sewing machine, a reader RDR that reads a sewing program, an operation unit OPP, and the like. The optical sensor S5 is connected to an input port of the CPU2, and a driver DV11 that energizes the solenoid SL3 is connected to an output port of the CPU2.

Microcomputer CPU2 of each sewing machine device
The automatic bobbin thread supply device 500 includes a signal line REQ for requesting bobbin case replacement, and a signal line for indicating completion of bobbin case replacement.
ACK, and signal line for specifying thread color
Electrically connected by COR.

With reference to FIG. 11b, the lower thread automatic supply device 50
0 electric circuit will be explained. micro computer
The CPU 1 controls the bobbin thread automatic supply device 500.
FPU1 is the microprocessor in this example.
It consists of an MPU, read-only memory ROM, read/write memory RAM, address decoder, timing controller, I/O port, etc.

Proximity sensors S1, S2 and transmissive optical sensors S4, S6, S7, and S8 have their output terminals directly connected to the I/O ports, and the output terminal of distance sensor S3 is connected to one end of analog comparator CMP. and the output terminal of CMP is connected to the I/O port. A predetermined comparison voltage Vref is applied to the other input terminal of the analog comparator CMP.

A switch SW1 connected to the I/O port is a mode switch for instructing the operating mode. In other words, in this example, three bobbin case magazines 29 ₁ , 29 ₂ and 29 ₃ can be loaded at once and any one of them can be selected, so either the threads of the same color can be attached to them or the threads of different colors can be attached to them. Depending on how you wear it, you can choose between two operating modes.

Specifically, if switch SW1 is off, it is determined to be the first operation mode in which no thread color is specified, and when each bobbin case magazine becomes empty, the next bobbin case magazine is selected, and all bobbin case magazines are The bobbin cases are automatically replenished one after another until the bobbin cases run out. If switch SW1 is on, the second operation mode with thread color specification is selected, the bobbin case magazine is automatically selected according to the thread color information included in the sewing information, and the bobbin thread color is automatically changed. .

In the stepping motor M1, one end of each phase is connected to each output terminal of the driver DV1, and the other end of each phase is commonly connected and connected to the output terminal of the driver DV5. A predetermined DC voltage VD is applied to the driver DV5. Similarly, the stepping motor M2 has a driver DV2 and
DV6 is connected, drivers DV3 and DV7 are connected to stepping motor M3, and drivers DV8 and DV9 are connected to stepping motor M4.

Each driver DV1, DV2, DV3 and DV8
sets the output terminal to the on level (ground) or off level depending on the signal level applied to the control input terminal, respectively. Driver DV5, DV6, DV
7 and DV9 turn on/off the application of the DC voltage VD to the output terminal in accordance with the signal level applied to the control input terminal.

The input terminals of drivers DV1, DV2, DV3 and DV8 are connected to each other and the motor controller
Commonly connected to the MCU output terminals. The motor controller MCU is an excitation signal generator, and in this example, the drive direction control signal CW/CCW and clock pulse CLK are applied to its input terminal.
A four-phase pulse signal is generated according to the following. If the drive direction control signal is at CW level, a pulse signal for forward rotation is output, and when the drive direction control signal is at CCW level, a pulse signal for reverse rotation is output. The period of the pulse signal, that is, the driving speed of each stepping motor is determined by the period of the clock pulse CLK.

The output terminal of the multiplexer MPX is connected to the clock pulse input terminal of the motor controller MCU. The three signal input terminals of the multiplexer MPX are one connected to the output terminal of the oscillator OSC, and the other whose input terminal is connected to the output terminal of the oscillator OSC.
The output terminal of the frequency divider DVD is connected to the output terminal of the frequency divider DVD, and the remaining one is grounded. The two control terminals of multiplexer MPX are connected to the I/O ports of the microcomputer. Therefore, by controlling the state of this control terminal, the microcomputer CPU1 can control the driving speed of each stepping motor.

The control terminals of each driver DV5, DV6, DV7 and DV9 are controlled by a microcomputer.
Connected to the I/O port of CPU1.

SL1, SL2 and SL4 are solenoids.
The solenoid SL1 is a control solenoid for a solenoid valve that controls the air cylinder 80.
2 is a control solenoid for a solenoid valve that controls the air cylinder 63, and SL4 is a control solenoid for a solenoid valve that controls on/off the air blowing from a high-pressure air source connected to the air pipe 78.

Each solenoid SL1, SL2 and SL4 is connected to a respective output terminal of driver DV4. Each input terminal of the driver DV4 is connected to an I/O port of the microcomputer CPU1.

Figure 12a, Figure 12b, Figure 12c, Figure 12
d and 12e, the microcomputer
A schematic operation of the CPU 1 is shown, and FIG. 13 shows a schematic operation of the microcomputer CPU 2 of each sewing machine device. The main routine is shown in Fig. 12a, and Figs. 12b, 12c, and 12d
The figure and Figure 12e show each subroutine. First, the operation of the microcomputer CPU1 will be explained.

When the power is turned on, initial settings are performed first. In this initial setting, first the microcomputer
Initial settings for the output port level of the CPU 1 itself, memory clearing, mode settings, etc. are performed, and then settings for each mechanical section are performed. In the initial state, air blowing is prohibited and the bobbin case magazine is set to the retracted position (the plunger of the air cylinder 63 is returned).
Then, the magazine base 42 is set to the home position, the push rod 70 is set to the home position (the position where 70 is slightly advanced after S1 is no longer turned on), and the transport box 68 is set to the lower limit position (the grip cylinder 69 matches the magazine),
The bobbin case feeding body 51 is set at the home position (the position where S2 is turned on).

Next, the state of mode switch SW1 is determined. If it is on, the flag F1 is set to "1", and if it is off, F1 is set to "0".

Next, the motor M2 is set to normal rotation drive, and the magazine base 42 is moved until the optical sensor S4 turns on for the first time. Since the magazine base 42 starts from the home position, the bobbin case magazine ₂₉₁ is thereby positioned to match the pressing portion 51a of the bobbin case feeding body. That is, this selects the bobbin case magazine ₂₉₁ . Also at this time,
In order to know the type of magazine being selected, register R1 is set to 1.

After the above processing is completed, each sewing machine device SM1
~Check the bobbin case replacement request line REQ of SMn one after another and wait until instructions are given. When instructed, execute the "Move" subroutine described later,
The state of flag F1 is determined, and if it is "1" (thread color specified), the subroutine of "magazine replacement processing" is executed, and then the process proceeds to "bobbin thread replenishment processing", and flag F1 is "0" (thread color specified). (No specification), immediately proceed to "bobbin thread replenishment processing".

Briefly, in the "movement" subroutine, the automatic bobbin thread supply mechanism 200 is positioned at a predetermined position facing the instructed sewing machine device. In addition, in the "magazine exchange process", a bobbin case magazine to be positioned at the bobbin case payout position is selected and positioned according to the designated thread color. Roughly speaking, in the "bobbin thread replenishment process", one bobbin case is paid out from the selected bobbin case magazine and loaded into the inner hook 2 via the transport mechanism 220.

When the "bobbin thread replenishment process" is completed, a predetermined level is output to the signal line ACK of the sewing machine that received the instruction, notifying the completion of bobbin case replacement. When the bobbin case exchange request (REQ) is cleared, clear the completion signal (ACK). and,
Returning to the process of checking the signal line REQ of each sewing machine device.

The "move" subroutine shown in FIG. 12e will now be described. First, the number of the sewing machine whose bobbin case is to be replaced is set in register R3. Next, the contents of register R3 and the contents of register R4 are compared. Register R4 is cleared to 0 by default. The contents of this register R4 correspond to the current position of the lower thread automatic supply mechanism 200. R3=R4
If so, the automatic bobbin thread supply mechanism 200 has already been positioned at a predetermined position facing the sewing machine whose bobbin case is to be replaced, so the process immediately returns to the main routine.

If R3>R4, stepping motor M4 is set to high-speed normal rotation drive, and if R3<R4, motor M4 is set to high-speed normal rotation drive.
Set to high speed reverse drive. Then, the difference between the contents of registers R3 and R4, that is, the distance between the current position and the target position, is set in register R5.
Next, check the status of optical sensor S8. When optical sensor S8 detects light blocking, that is, when automatic bobbin thread supply mechanism 200 approaches any sewing machine position detection plate 95, the contents of register R5 are decremented (-1).

Then, the contents of register R5 are checked. If the contents of the register R5 are not 0, the process returns to checking the optical sensor S8 after waiting for a predetermined time. During this time waiting, the bobbin thread automatic supply mechanism 20
0 passes through the sewing machine position detection plate 95. In other words, the lower thread automatic supply mechanism 200
When the machine moves through multiple sewing machine devices, one register R is registered as it passes through each sewing machine device.
The contents of 5 are updated.

When the contents of register R5 become 0, that is, when automatic bobbin thread supply mechanism 200 reaches sewing machine position detection plate 95 of the target sewing machine device, motor M4
Set to low speed drive. Then, the optical sensor S8 is checked again and waits until it detects the positioning hole 95a of the sewing machine position detection plate. When the optical sensor S8 detects the hole 95a, the drive of the motor M4 is stopped, the contents of the register R3 are stored in the register R4, and the process returns to the main routine. Therefore, information on the current position of the automatic bobbin thread supply mechanism after the movement is set in the register R4.

Referring to Figure 12b, "Magazine replacement process"
Explain. In this process, the state of the flag F1 is first checked, and processing is performed according to the result. First, the case where the flag F1 is "1", that is, the case where the thread color is specified will be explained. In addition, if the thread color is specified, each bobbin case magazine 29 ₁ ,
29 ₂ and 29 ₃ must be loaded with a bobbin case equipped with a bobbin wound with thread of a predetermined color depending on the position in which they are placed.

The thread color designation information is input, and the magazine value corresponding to the thread color is loaded into the register R2. The contents of registers R1 and R2 are compared, and if they match, nothing is done and the process returns to the main routine. R1<
If R2, the motor M2 is set to forward rotation drive; otherwise, the motor M2 is set to reverse rotation drive (signal CW/CCW is set).

Before starting the drive, the optical sensor S4 detects the positioning holes 49 ₁ , 49 ₂ and 4 of the magazine base.
9 or ₃ is detected and is in the on state, but when driving starts, it becomes the off state. Therefore, the next time the optical sensor S4 is turned on, the bobbin case magazine located next to the previously selected bobbin case magazine has reached the selected position. When optical sensor S4 turns on, the number of times it turns on is stored in register N.
and compares the contents of N with the difference between registers R1 and R2. If they do not match, the motor M2 continues to be driven, and if they match, the motor M2 is stopped, the contents of the register R2 are set in the register R1, and the process returns to the main routine.

The case where the flag F1 is "0", that is, the case where there is no thread color specification, will be explained. Set the motor M2 to normal rotation drive and wait for the optical sensor S4 to turn on.
When the optical sensor S4 is turned on, the motor M2 is stopped, the contents of the register R1 are incremented by 1, and the process returns to the main routine.

The "bobbin thread replenishment process" will be explained with reference to FIG. 12c. In addition, the following bobbin case magazine 29 ₁
The following explanation assumes that is selected. First, the solenoid SL2 is turned on and the cylinder shaft 63a of the air cylinder 63 is let out. As a result, the slide head 65 coupled to the cylinder shaft 63a
moves to the right in FIG. 2a and presses the engaging portion 30a of the magazine attachment fitting fixed to the selected bobbin case magazine ₂₉₁ . Therefore, the bobbin case magazine is attached to the magazine base 42.
The bobbin case transport device 220 is positioned at a transport position close to the bobbin case transport device 220.

Next, the stepping motor M1 is set to normal rotation drive. When the motor M1 rotates forward, the threaded rod 58 connected to its drive shaft rotates, and the bobbin case drawing body 51 screwed therewith moves toward the right in FIG. 2a. After setting the motor M1 to normal rotation drive, the microcomputer CPU monitors the state of the distance signal, that is, the output signal of the analog comparator CMP connected to the distance sensor S3.

If the distance is greater than a predetermined value, the speed signal is set to high speed. That is, the multiplexer MPX is controlled to apply the direct output pulses of the oscillator OSC to the motor controller MCU as clock pulses. Incidentally, at the same time as driving of the motor M1 is started, counting of the number of clock pulses applied to the motor controller MCU is started. That is, by counting the number of clock pulses, the step value, that is, the distance that the bobbin case payout body 51 has moved since the start of driving can be determined.

While the distance sensor S3 detects that the distance is not a predetermined short distance, the number of driving steps is checked. N1 is the second bobbin case magazine ₂₉₁
It is determined that the bobbin case feeding body 51 has reached a position in front of the rear end of the bobbin case (the left end in FIG. 2a) at the rightmost bobbin case position in FIG. 2a by a distance corresponding to the short distance. This value corresponds to the drive step.

Normally, since the bobbin case magazine is not empty, the distance sensor S3 detects a short distance before the number of drive steps reaches N1. When S1 detects a short distance, it sets the speed signal to low speed. That is, by controlling the multiplexer MPX, the frequency divider
A pulse signal with a relatively long period obtained at the output terminal of the DVD is applied as a clock pulse to the motor controller MCU.

Next, the output state of the proximity sensor S1 is checked. In this case, the proximity sensor S1 is initially off, but the second a in the bobbin case magazine ₂₉₁
When the bobbin case located at the rightmost end in the figure is pushed out and enters the grip tube 69, which presses the detection plate 75 via the elastic body 71 and washer 72, the proximity sensor S1 detects the detection plate 75. and turn it on.

When the proximity sensor S1 is turned on, it is determined that the grip cylinder 69 has completely gripped the bobbin case 15, and the stepping motor M1 is stopped. Next, the speed signal is set to high speed again, and the stepping motor M1
Set to reverse drive. Therefore, the bobbin case payout body 51 is driven back toward the home position. Also, the solenoid SL2 is turned off and the plunger 63a of the air cylinder 63 is returned. Therefore, the engaging portion 30a of the magazine attachment fitting fixed to the bobbin case magazine ₂₉₁ is returned to the retracted position by the push rod 46, and the bobbin case magazine 2
The tip of 9 ₁ (the right end in FIG. 2a) is separated from the bobbin case transport mechanism 220.

When the bobbin case magazine ₂₉₁ is separated from the bobbin case transport mechanism 220, the solenoid SL1 of the solenoid valve that controls the air cylinder 80 is set to ON, and the cylinder 80a is pushed upward. As a result, the transport box 68, the grip tube 69, etc. are lifted upward. In this example, the grip cylinder 69 is positioned so as to coincide with the hook shaft 6 just at the upper limit position. Thereafter, when the proximity sensor S2 detects the bobbin case feeding body 51, that is, when the bobbin case feeding body 51 reaches the home position, the stepping motor M1 is stopped.

Next, the solenoid SL4 of the solenoid valve that controls air blowing from the nozzle 79 is turned on, and the nozzle 79
Start blowing air from.

As shown in FIG. 5, each bobbin case 15 has one end of the thread pulled out from its front surface, but the thread may get caught in the surrounding mechanism. However, in this embodiment, since the air is blown out from inside the gripping cylinder, the air flows through the circumferential surface of the bobbin case 15, so that the end of the thread pulled out from the bobbin case is flown in the direction of the air flow. ,
Since it does not touch the surrounding mechanism, it will not get caught in the mechanism part. In addition, since the hook rotates at high speed in the hook mechanism, the generation of lint is unavoidable.
The air flow blown out from the nozzle 79 blows away lint and the like adhering to various parts of the hook mechanism toward the tip, and the hook mechanism is therefore automatically cleaned.

Next, the stepping motor M3 is set to normal rotation drive, and the pushing rod 70 is rotated as shown in FIGS. 2a and 2b.
Drive toward the left side in the figure. At the same time, counting of clock pulses applied to the motor controller MCU is started, and the amount of drive of the push rod 70 is ascertained. Check the number of drive steps and wait until it reaches a predetermined value N3. This predetermined value N
3, the push rod 70 is driven until the bobbin case 15 located at the tip of the push rod 70 is completely loaded into the inner pot 2. Corresponds to the distance (number of steps) from the home position.

When the push rod 70 is driven, the bobbin case held in the grip tube 69 is pushed out from the grip tube 69, pushed into the hook shaft 6 as shown by the imaginary line in FIG. 2, and further advanced. Then, it is set at a predetermined position inside the inner pot 2. When the bobbin case is attached to the inner hook 2, the stepping motor M3 is set to a stopped state, and then set to reverse drive.

Then, the state of the proximity sensor S1 is checked.
In the proximity sensor S1, the grip tube 69 is attached to the bobbin case 1.
When the bobbin case 5 is gripped, it is turned on, but when the push rod 70 is driven and it pushes the bobbin case out of the grip tube 69, it is turned off again. And extrusion rod 7
0 enters the grip tube 69 and returns further, the washer 72 coupled thereto pushes the detection plate 75, thereby turning on the proximity sensor S1 again.

When the proximity sensor S1 is turned on, the stepping motor M3 is stopped, and then the solenoid SL4 is turned off to stop blowing air from the nozzle 79.
Next, the solenoid SL1 is turned off, the cylinder shaft 80a of the air cylinder 80 is moved backward, and the transport box 68 is lowered to the lower limit position.

Finally, the stepping motor M3 is driven in normal rotation while monitoring the state of the distance sensor S1, and when S1 is turned off, the motor M3 is stopped. This enables the next bobbin case supply operation.

When driving the bobbin case payout body 51 to pay out the bobbin case in the bobbin case magazine 29 ₁ , the operation is normally as described above.
The bobbin case magazine may be empty. In that case, after setting the speed signal to high speed, the number of driving steps of stepping motor M1 exceeds N1.
When this is detected, the stepping motor M1 is immediately set to reverse drive, and the bobbin case payout body 51 is driven in the return direction to return it to the home position. Bobbin case feeding body 51
When the motor reaches the home position, the stepping motor M1 is stopped and the solenoid SL2 is set to OFF.

Here, the state of flag F1 is checked. If the flag F1 is "0", that is, no thread color is specified, the "magazine exchange process" is executed and another bobbin case magazine is selected. However, if the content of register R1 is 3, all bobbin case magazines are empty, so "magazine empty processing" is executed. If flag F1 is "1", that is, thread color is specified, "magazine empty processing" is performed regardless of the state of register R1.
Execute.

"Magazine empty processing" will be explained with reference to FIG. 12d. First, the stepping motor M2 is set to reverse drive, and the motor M2 is driven until the optical sensor S6 is turned off. Next, the contents of register R4 are saved to register R3, and the stepping motor M
4 to high-speed reverse drive, and when the lower thread automatic supply mechanism 200 reaches the home position, motor M4
Stops driving. Then, the current position value 0 is stored in register R4.

Thereby, the bobbin thread automatic supply mechanism 200 and its magazine base 42 are positioned at a predetermined home position where it is easy to attach and detach the bobbin case magazine. It then displays that the magazine is empty and waits for the replenishment process to be completed.

When the replenishment work is completed, the magazine empty display is cleared, the original position information saved in register R3 is set to the sewing machine number, and the "move" subroutine is executed. In the "movement" subroutine, the automatic bobbin thread supply mechanism 200 is positioned at a position corresponding to the sewing machine number, so the automatic bobbin thread supply mechanism 200
Return to the position of the sewing machine device when it was detected that the magazine was empty. Next, stepping motor M2
is set to normal rotation drive, the magazine base 42 is positioned so that the bobbin case magazine ₂₉₁ is selected, 1 is set in the register R1, and the process returns to the main routine.

Next, the general operation of the microcomputer CPU 2 of each sewing machine device will be explained with reference to FIG. When the power is turned on, initial settings are made, a thread cutting operation is performed, and then a bobbin case replacement (replenishment in the initial state) instruction (REQ) is output to the bobbin thread automatic supply device 500. As mentioned above, when this instruction REQ is output, the lower thread automatic supply device 5
00 exchanges the bobbin case for the sewing machine, and when the exchange is completed, outputs an end signal (ACK). Therefore, the sewing machine waits for the end signal ACK to arrive. When the end signal ACK arrives, clear the bobbin case replacement instruction REQ.

Then, check whether there is a driving signal. When the operation signal is received, predetermined sewing machine operation operations are executed until a predetermined series of sewing operations are completed. When the sewing operation is completed, the sewing machine is stopped, the thread is trimmed, and the amount of remaining thread is detected.

The thread remaining amount detection operation is performed by energizing the solenoid SL3 and applying its plunger to the bobbin 13 inside the bobbin case in the inner hook. As described above, the bobbin 13 maintains a stretched state in the axial direction depending on the remaining amount of yarn wound on it. The bobbin is allowed to shrink in the axial direction. Therefore, when the remaining amount of yarn is small, when the plunger of the solenoid SL3 hits the bobbin, the bobbin 13 is thereby shrunk in the axial direction. In other words, the stroke of the plunger when energizing the solenoid SL3 changes depending on the remaining amount of yarn. Proximity sensor S5 detects the rear flange connected to the plunger of solenoid SL3, and if there is enough yarn remaining, the flange will not approach S5, so S
5 remains off, but when the remaining amount of yarn decreases, the flange approaches S5, and at that time S5 turns on. Therefore, the remaining amount of yarn can be determined by monitoring the state of the proximity sensor S5 when the solenoid SL3 is energized.

Judges the result of thread remaining amount detection, and if the bobbin thread remaining amount is low, outputs bobbin case replacement request REQ,
Wait for the exchange end signal ACK to arrive and clear the exchange request REQ. If the remaining amount of bobbin thread is sufficient, check whether the thread color has been changed. When changing the thread color, as in the case when the remaining amount of bobbin thread is low, output the bobbin case replacement request REQ, wait for the arrival of the replacement completion signal ACK, and then issue the replacement request.
Clear REQ.

Thereafter, the above process starting from checking the driving signal is repeatedly executed in a loop.

FIG. 14 shows a modification of the above embodiment. 1st
Referring to FIG. 4, in this embodiment, the bobbin thread automatic supply mechanism 200 is connected to the sewing machine devices SM1 and SM.
2, SM3, . . . on one guide rail 150 disposed below them. Inside the bobbin thread automatic supply mechanism 200, there are two rollers 151 and 15 that sandwich the guide rail 150.
2, and the roller 151 is coupled to the drive shaft of a stepping motor M5.

Furthermore, one light emitting diode LED and one phototransistor PT are provided inside the automatic bobbin thread supply mechanism 200 at positions facing each other across the guide rail 150. In a position opposite to the specified position,
A hole 150a for position detection is formed in each. Therefore, the hole 150 is detected by an optical sensor consisting of a light emitting diode LED and a phototransistor PT.
By detecting a, the lower thread automatic supply mechanism 20
0 can be positioned at a predetermined position on the sewing machine device.
The configuration and operation other than those described above are the same as those of the previous embodiment.

In the embodiment shown in FIG. 1a, the threaded rod 91 is driven by the motor M4, but similarly to the embodiment shown in FIG. The automatic lower thread supply mechanism 200 can also be moved by rotating a nut within the automatic lower thread supply mechanism that is threaded with the threaded rod 91.

Furthermore, in the embodiment, the transport box 68 and the like are driven in the vertical direction using the air cylinder 80.
It may be driven using an electric motor such as a stepping motor. Further, the driving direction is not limited to the vertical direction, but may be the lateral direction (horizontal direction). However, in the case of a general sewing machine, it is preferable to set it in the vertical direction so as not to interfere with the operation of each mechanical part.

[Effects of the Invention] As described above, according to the present invention, it is possible to automatically exchange bobbin cases, replenish bobbin thread, and change thread color for a plurality of sewing machine devices.

[Brief explanation of the drawing]

FIG. 1a is a perspective view showing one type of sewing device embodying the present invention, and FIG. 1b is a view of the automatic bobbin thread supply mechanism 200 shown in FIG. 1a viewed from the same angle as FIG. 1a. It is an enlarged perspective view. FIG. 2a is a vertical cross-sectional view showing the automatic bobbin thread supply mechanism 200, FIG. 2b is an enlarged vertical cross-sectional view showing the lower shaft sewing mechanism 100, FIG. 3 is a vertical cross-sectional view seen from the left side of FIG. 2a, 4 is a reduced plan view showing the automatic bobbin thread supply mechanism 200, FIG. 5 is a partially enlarged view of FIG. 3, and FIG. 6a
The figure is a front view of the bobbin case 15, FIG. 6b is a partially cutaway right side view of the bobbin case 15, FIG. 7 is a vertical sectional view of the bobbin case magazine loaded with the bobbin case, and FIG. 8 is the bobbin case feeding mechanism 210.
FIG. 9 is a left side view of the bobbin case transport mechanism 220 (-line in FIG. 2a),
FIG. 0 is a sectional view taken along the line -- in FIG. 2a. 11th
FIG. 11a is a block diagram showing a schematic electrical configuration of the sewing device shown in FIG. 1a, and FIG. 11b is a block diagram showing a schematic electrical circuit of the automatic bobbin thread supply device shown in FIG. 11a. Figure 12a is a flowchart showing the general operation of the microcomputer CPU1 shown in Figure 11b, Figures 12b, 12c, and 12d.
12e and 12e are flowcharts showing the operation of each subroutine in FIG. 12a. Figure 13 shows the microcomputer CPU of each sewing machine device.
2 is a flowchart showing a schematic operation of step 2. 1st
FIG. 4 is a perspective view showing one modified embodiment of the present invention. 1... Sewing machine bed, 2... Inner hook, 2a... Groove of inner hook, 2b... Protrusion of inner hook, 3... Outer hook, 4... Hook stopper,
5... Screw, 6... Hook shaft, 6a... Gear, 7, 8... Washer, 9... Needle bearing, 10... Lower shaft, 1
1... Lower shaft gear, 12... Lower thread, 13... Bobbin, 13
A, 13B... Member constituting the bobbin, 13Aa...
Projection, 13Ba...Cylindrical part, 14...Bobbin stop knob, 14a...Cam surface, 15...Bobbin case, 16
... protrusion, 17 ... needle bar, 18 ... needle, 19 ... presser foot,
20...throat plate, 21...lint cover, 22...pin,
23...Coil spring, 24...Push rod, 25...
Idling prevention spring, 26...Plate spring, 27...Screw, 28...Adjustment screw, 29 ₁ , 29 ₂ , 29 ₃ ...
Bobbin case magazine, 29a...cylindrical part, 29b
...base, 29c...long groove, 29d...opening, 30,
31... Magazine mounting bracket, 30a... Engagement part, 32
...Stopper, 33...Countersunk screw, 34...Base member,
36...Joint, 37...Set screw, 38...Bearing, 39
... Threaded rod, 40 ... Set screw, 41 ... Guide rod, 42 ... Magazine base, 42a ... Detection plate, 4
3...Magazine positioning groove, 44...Permanent magnet, 45
...Bush, 46...Push rod, 47...Coil spring, 49 ₁ , 49 ₂ , 49 ₃ ...Magazine base positioning hole, 50...Magazine base shaft nut, 5
DESCRIPTION OF SYMBOLS 1... Bobbin case feeding body, 52... Bracket, 54... Joint, 55... Set screw, 56... Bracket, 57... Caulking metal, 58... Threaded rod, 59
...Guide rod, 60...Nut, 63...Air cylinder, 63a...Cylinder shaft, 65...Slide head, 66...Lock nut, 68...Transportation box,
69...Gripping tube, 70...Extrusion rod, 71...Elastic body,
72...Washer, 73...Gear, 75...Detection plate, 76...
Guide pin, 77...Coil spring, 78...Air piping, 79...Nozzle, 80...Air cylinder,
80a...Cylinder shaft, 82...Guide rod, 83
... bearing, 84 ... bobbin case receiver, 85 ... bobbin case collection box, 91 ... threaded rod, 92 ... guide bar, 93 ... sewing machine base, 94 ... light shielding plate, 95
_{1,95 2,95 3} ...Sewing machine position detection plate, 100
...Lower axis sewing mechanism, 150...Guide rail, 15
DESCRIPTION OF SYMBOLS 1,152...Roller, 200...Bobbin thread automatic supply mechanism, 210...Bobbin case pay-out mechanism, 220
...Bobbin case transport mechanism (loading mechanism), 500...
Automatic bobbin thread supply device, LED...Light emitting diode, PT
...Phototransistor, AR1 to AR6...Arrow, M
1, M2, M3, M4, M5...Stepping motor, SL1, SL2, SL3, SL4...Solenoid,
S1, S2, S5... Proximity sensor, S3... Distance sensor, S4, S6, S7, S8... Transmissive optical sensor, SW1... Mode switch, CPU... Microcomputer (electronic control means), CMP... Analog comparator, SM1, SM2, SM3...Sewing machine device.

Claims (1)

[Scope of Claims] 1. An inner pot including a through hole in the direction of the rotating shaft, the diameter of which at least partially matches the outer diameter of the bobbin case; an outer pot that includes substantially coincident through holes extending in the rotational axis direction and rotatably supports the inner pot within the through holes;
and a support member that rotatably supports the outer pot;
a plurality of sewing machine devices each having a hook mechanism; a bobbin case including a bobbin wound with thread; 1
A carry-in mechanism comprising a bobbin case gripping means for gripping two bobbin cases and a first driving means for moving the bobbin case gripped by the gripping means along the axis of the through hole of the inner pot; a space for arranging a plurality of bobbin cases; is formed inside the bobbin case holding means and has an opening formed at at least one end in the axial direction, a second driving means for moving the bobbin case holding means in the axial direction, and a bobbin case inside the bobbin case holding means. a bobbin case payout mechanism comprising a third drive means for paying out in the axial direction; positioning the carrying mechanism at a predetermined position opposite to the payout position of the bobbin case payout mechanism and at a predetermined position coinciding with the rotation axis of the hook mechanism; fourth driving means;
a lower thread automatic supply device comprising; a fifth drive means for positioning the lower thread automatic supply device at a predetermined position of each sewing machine device; and a first drive means, a second drive means, a third drive means, The fourth drive means and the fifth drive means are controlled, and upon receiving a predetermined instruction, the bobbin thread automatic supply device is positioned at a predetermined position of any one of the sewing machine devices, and the carrying mechanism is moved to the bobbin case payout mechanism. positioning the bobbin case holding means at a predetermined loading position, feeding out the bobbin cases within the bobbin case holding means and mounting one bobbin case on the bobbin case gripping means of the loading mechanism; A sewing machine comprising: electronic control means for positioning a carry-in mechanism at a predetermined position that coincides with the rotation axis of the hook mechanism, and moving the bobbin case gripped by the gripping means along the rotation axis of the hook mechanism and attaching it to the inner hook. Device. 2. Each sewing machine device is equipped with a bobbin thread remaining amount detection means, and the electronic control means detects the remaining bobbin thread amount after a predetermined sewing process is completed and the thread trimming operation is performed, and as a result, the remaining bobbin thread amount is detected. Claim 1, wherein the bobbin case is automatically replaced when the amount is small.
Sewing device as described in section. 3. The bobbin thread remaining amount detection means includes an actuator that moves in the axial direction near the inner hook, and a detection means that detects the moving position of the actuator, and the flange of the bobbin installed in the bobbin case moves in the axial direction. 3. The sewing device according to claim 2, wherein the sewing device is expandable and contractible, and a thread is wound around a position that restricts the expansion and contraction. 4. The electronic control means, depending on the distance between the current position of the automatic bobbin thread supply device and the target position to which it moves,
The sewing device according to claim 1, wherein the speed of the fifth drive means is set. 5. The fifth driving means comprises a guide member, a threaded rod, and a drive source for driving the threaded rod, the lower thread automatic supply device being arranged along the arrangement direction of the sewing machine device. Sewing device as described in section. 6. The fifth driving means includes a rail that guides and supports the automatic bobbin thread supply device along the arrangement direction of the sewing machine device, at least two rotating members that sandwich the rails, and at least one of the rotating members. A sewing device according to claim 1, comprising a coupled drive source. 7. The bobbin case feeding mechanism includes a base member that supports the bobbin case holding means, and a magazine engaging means that detachably and slidably engages the bobbin case holding means with the base member. The sewing device according to scope 1. 8. The bobbin case feeding mechanism includes a plurality of bobbin case holding means, a base member supporting the bobbin case holding means, a plurality of sets of magazine engaging means, and a direction perpendicular to the axial direction of the bobbin case holding means. The electronic control means controls the sixth driving means to position any one bobbin case holding means at a predetermined bobbin case unwinding position. The sewing device according to item 1. 9. The electronic control means, when receiving a thread color update instruction, controls the sixth driving means to position the base member at a position corresponding to the designated color and performs a bobbin case exchange operation. Sewing device as described in section. 10. Claim 8, wherein the electronic control means controls the sixth drive means to automatically select another bobbin case holding means when the selected bobbin case holding means runs out of bobbin cases. sewing equipment. 11. The sewing device according to claim 1, wherein there is a plurality of bobbin case holding means, and the electronic control means selects another bobbin case holding means when the currently selected bobbin case holding means becomes empty.