WO2021007904A1

WO2021007904A1 - Mobile automatic bobbin replacing device and automatic bobbin replacing method

Info

Publication number: WO2021007904A1
Application number: PCT/CN2019/101236
Authority: WO
Inventors: 徐海苗
Original assignee: 诸暨轻工时代机器人科技有限公司
Priority date: 2019-07-13
Filing date: 2019-08-17
Publication date: 2021-01-21
Also published as: CN110373827A

Abstract

A mobile automatic bobbin replacing device, comprising a bobbin replacement executing end (7) and a feeding end (2) arranged at an interval, an automatic bobbin replacing device provided between the bobbin replacement executing end and the feeding end, and a driving mechanism capable of driving the automatic bobbin replacing device to move between the bobbin replacement executing end and the feeding end. The automatic bobbin replacing device comprises an execution terminal comprising mechanical fingers (29) for grabbing and releasing a bobbin case. A storage plate (16) is provided at the feeding end. A plurality of bobbin case storage stations (17) is provided on the storage plate. The plurality of bobbin case storage stations has one-to-one correspondence to the mechanical fingers on the execution terminal. A rotating mechanism is provided on the automatic bobbin replacing device and can drive the execution terminal to rotate, so that the mechanical fingers correspond to the bobbin case centers of the bobbin case storage stations. Also provided is a mobile automatic bobbin replacing method. The mobile automatic bobbin replacing device is applied to a template machine, an embroidery machine or a sewing machine, the problem that a worker needs to get into the lower side of a platen for manual thread replacement is solved, and the labor intensity is reduced.

Description

Mobile automatic bobbin changing device and automatic bobbin changing method

Technical field

The invention relates to the field of textile equipment, in particular to a mobile automatic bobbin changing device and an automatic bobbin changing method.

Background technique

At present, the bottom thread of the template machine, computerized embroidery machine, and sewing machine in use are all completed by the components composed of the bobbin case and the bobbin. When the template machine, computerized embroidery machine, and sewing machine run until the bottom thread in the rotary hook runs out, Both need to replace the bobbin and bobbin case. In the past, manual replacement was used. Because the amount of winding in the bobbin is small, the equipment runs faster, and the amount of bottom thread that needs to be consumed is also large. Therefore, the bobbin needs to be replaced frequently, resulting in high labor intensity of the operator and affecting production efficiency. . Especially the template machine and embroidery machine are equipped with a large area of the table. Changing the bobbin case will consume more downtime. At the same time, the operator needs to bend down to operate, drill under the table and reach the position of the rotary hook. Replace the bobbin case inside the hook. The work intensity is also greater, and the number of operators needs to be increased accordingly, which increases labor costs and affects the economic benefits of enterprises.

technical problem

In order to solve the above background art problems, the present invention provides a mobile automatic bobbin changing device and an automatic bobbin changing method.

Technical solutions

The technical solution of the present invention is: A translational automatic bobbin changing device, which includes a bobbin replacement execution end and a feeding end arranged at intervals, and an automatic replacement shuttle arranged between the bobbin replacement execution end and the feeding end A core device, a driving mechanism that can move the automatic bobbin replacement device between the bobbin replacement execution end and the material supply end; the automatic bobbin replacement device includes an execution terminal, and the execution terminal includes a picking and releasing shuttle The mechanical finger of the shell action; the feeding end is provided with a storage tray, and the storage tray is provided with a plurality of bobbin case storage stations, and the plurality of bobbin case storage stations can interact with the mechanical fingers on the execution terminal One-to-one correspondence; the automatic bobbin replacement device is provided with a rotating mechanism that can rotate the execution terminal so that the mechanical fingers correspond to the center position of the bobbin case on the bobbin case storage station.

Preferably, the driving mechanism includes a sliding block carrying the movement of the automatic bobbin changing device, a moving guide rail for controlling the direction of the sliding block, a sliding block moving driving motor driving the sliding block to walk on the moving guide rail, and a driving motor for moving with the sliding block. Connected mobile transmission structure.

As a further preference, triggering devices are provided at both ends of the moving guide rail, and the moving transmission mechanism includes screw transmission, chain transmission, gear transmission, timing belt transmission, hydraulic cylinder transmission or air cylinder transmission.

As still further preferred, the trigger device includes a travel switch and an optocoupler.

As a further preference, the supply end is provided with a support frame, and the lower end of the support frame is fixedly connected with the moving guide rail; the storage end is provided with a supply table, which includes a storage tray and a rotating storage tray. The drive motor, the connecting plate connecting the storage plate and the storage plate rotation drive motor, the storage plate rotation drive motor is fixed to the support frame, the output shaft of the storage plate rotation drive motor passes through the support frame The center of the rotating shaft of the connecting plate is fixedly connected.

As still further preferred, when the storage tray rotates, there is always a bobbin case storage station on the storage tray corresponding to the mechanical fingers in the execution terminal of the automatic bobbin replacement device; the storage tray rotates The drive motor has its own magnetic encoder.

As still further preferred, there is a detachable connection structure between the storage tray and the connecting tray, the front center of the connecting tray is provided with a connecting column, and the center of the storage tray is provided with a connecting column fixing channel, The connecting column is arranged in the connecting column fixing channel for center positioning; the rear side of the storage tray is located on the outer periphery of the connecting column fixing channel with magnets and positioning pins, and the corresponding positions on the connecting disk are provided with magnets and positioning pins. The hole, the storage plate and the connecting plate adopt a detachable connection method of magnet attraction and positioning pin positioning combination; the connecting plate is provided with balls between the magnets, and the front end of the balls protrudes from the end surface of the connecting plate and abuts against the After the storage plate and the connecting plate are sucked together, there is a gap between the storage plate and the connecting plate.

Preferably, a bobbin case positioning block is provided on the storage tray beside each bobbin case storage station, and the bobbin case positioning block is provided with a notch that matches the bobbin case, and the bobbin case is placed in the bobbin case storage station. When positioning, it is fixed with the bobbin case positioning block to realize that the bobbin case's picking direction is the same as that of the mechanical finger in the execution terminal, and the opening direction of the picker is facing the mechanical finger. There is also a winding line beside the bobbin case storage station. folder.

As a further preference, the automatic bobbin changing device includes an executive terminal, a support frame, and a rotating mechanism, the rotating mechanism includes a connecting base and a base rotating drive motor, and the connecting base is directly or indirectly connected to the executing terminal, The base rotation drive motor is fixed to the support frame, and the output shaft of the base rotation drive motor passes through the support frame and is fixedly connected to the connection base.

As still further preferred, the base rotating drive motor has its own magnetic encoder.

As a further preference, the output shaft end of the base rotation drive motor is also provided with a rotation positioning structure, and the rotation positioning structure adopts a structure in which a positioning pin and an electromagnet cooperate, including a positioning pin, an electromagnet and a slave connection The positioning block extends from the tail of the base; the positioning block is provided with at least two positioning holes at different positions, the support frame is provided with through holes, and the positioning pins are arranged above the electromagnet. The power supply is turned on and off to realize the positioning of the positioning pin in the positioning hole; the electromagnet is fixed under the support frame through the fixing frame, and the positioning pin is kept corresponding to the through hole, and the positioning pin is provided with a convex The outer ring of the positioning pin is sheathed with a spring that drives the reset of the positioning pin, and both ends of the spring abut against the convex ring and the support frame respectively.

Preferably, the execution terminal includes a base connector, a bobbin case fixing seat, a mechanical finger drive motor, and a mechanical finger. The bobbin case fixing seat is attached to the tail of the bobbin case, and the bottom end of the mechanical finger is provided with The linkage of the linkage, the mechanical finger reset mechanism, the output end of the mechanical finger drive motor can drive the end of the linkage to swing, drive the mechanical finger to rotate to toggle the pick of the bobbin case, the mechanical finger reset mechanism drives the mechanical finger to reset to realize the mechanical Fingers cooperate with the bobbin case fixing seat to grab or release the bobbin case to drive the action.

As a further preference, the automatic bobbin changing device further includes an adaptive balance adjustment device movably connected to the tail of the executive terminal, and the adaptive balance adjustment device has freedom of front and rear, left and right, or up and down directions under the action of external force. Activity function.

A mobile automatic bobbin changing method includes the following steps:

A. The execution terminal of the automatic bobbin replacement device faces the bobbin replacement execution end, that is, the bobbin case fixing seat and the mechanical finger part face the rotary hook; the sliding block movement drive motor drives the sliding block to move on the moving guide rail, near the bobbin replacement execution end , At this time, the output end of the manipulator finger driving motor is in the extended state, and the manipulator finger is in the state of grasping;

B. When the slider moves to the bobbin replacement execution end on the moving rail and touches the trigger device, the output end of the mechanical finger drive motor is shortened, and the mechanical finger expands outward under the action of the mechanical finger reset mechanism, and the mechanical finger drives The output end of the motor is extended to drive the mechanical fingers to rotate inward, while the slider continues to advance toward the rotary hook until the tail of the empty bobbin case rests on the bobbin case. During this process, the mechanical fingers move the dial on the empty bobbin case. Piece, grab the empty bobbin case;

C. The slider moves and the drive motor drives the slider to move in the reverse direction, and the slider drives the execution terminal of the automatic bobbin replacement device and the empty bobbin case back, and the empty bobbin case is taken out of the hook;

D. The base rotation drive motor drives the execution terminal to turn, and the bobbin case fixing seat and the mechanical fingers face the storage tray;

Trigger the fixed position of the base rotation drive motor to rotate, on the premise that it will not touch the rotary hook when the terminal is rotated;

E. The slider moving drive motor continues to drive the slider to drive the automatic bobbin replacement device to continue to move back to the feeding end of the moving rail;

F. When the slider moves back to the feeding end on the moving guide rail and triggers the triggering device, the empty bobbin case in the bobbin case fixing seat in the bobbin device is automatically replaced, which is exactly aligned with the empty bobbin case on the storage tray. Work station, and touch in place; at this time, the output end of the mechanical finger drive motor is shortened, driving the mechanical finger to release the pick on the empty bobbin case, and the empty bobbin case is released;

G. Slider movement drive motor forward rotation to drive the slider to drive the execution terminal of the automatic bobbin replacement device to move to the bobbin replacement execution terminal, and the empty bobbin case is placed on the bobbin case storage station of the storage tray;

H. When the slider advances to a fixed position, the storage tray rotates and drives the motor to drive the storage tray to rotate a station, and the bobbin case storage station with the bobbin case to be installed is directly facing the automatic bobbin replacement device;

The fixed position that triggers the rotation of the storage tray to drive the motor to rotate, on the premise that the storage tray will not touch the automatic bobbin replacement device when it rotates; the position has been preset according to the actual working conditions in actual work;

I. The drive motor of the storage tray rotates, and the controller sends a signal. The slider moves the drive motor to reverse and drive the slider to move back to the feeding end on the moving rail, and trigger the trigger device. The output end of the mechanical finger drive motor is shortened. Under the action of the reset mechanism of the mechanical finger, the manipulator finger expands, and the output end of the drive motor of the manipulator finger is extended, which drives the manipulator finger to rotate inward, and at the same time, the slider continues to advance toward the storage tray until the tail of the bobbin case to be installed reaches Sit firmly against the bobbin case. During this process, the mechanical fingers move the pick on the empty bobbin case to grasp the bobbin case to be installed;

J. The slider moves the drive motor forward to drive the slider to drive the execution terminal of the automatic bobbin replacement device forward to the bobbin replacement execution end, and remove the bobbin case to be installed from the storage tray;

K. The base rotation drive motor drives the execution terminal to turn, and the bobbin case fixing seat and the mechanical fingers face the hook;

Trigger the fixed position of the rotation of the base to drive the motor to rotate, on the premise that it will not touch the rotary hook and the reinforcing ribs under the table when the terminal is rotated;

L. The slider moving drive motor continues to drive the slider to move on the moving rail, close to the execution end of the bobbin replacement;

M. When the slider moves to the execution end of the bobbin replacement on the moving rail and triggers the trigger device, the bobbin case fixing seat of the automatic bobbin replacement device just moves to the position of the hook, and the bobbin case to be installed is buckled on the hook Up, the manipulator finger drive motor is shortened, and the manipulator finger is driven to release the pick on the bobbin case to be installed, and the bobbin case to be installed is released;

N. The slider moves and the drive motor reverses, and the slider drives the execution terminal of the automatic bobbin replacement device back. When the execution terminal is completely out of contact with the hook, the hook starts to work and the device stands by;

, When the thread in the bobbin in the bobbin case runs out, repeat the steps A-N to realize the next bobbin replacement.

Beneficial effect

The invention adopts a moving track and two rotating shafts to cooperate to realize the replacement of the bobbin, changing the original manual replacement of the bobbin case one by one to continuous feeding, and automatically replacing the bobbin case through a movable automatic bobbin case replacement device , And recycle the empty bobbin case to the storage tray for unified replacement. The feeding end is set at the outermost end of the table. Workers standing on the edge of the table can realize the automatic bottom thread change of the template machine, embroidery machine or sewing machine, without the need for workers to drill under the table. Moreover, when a worker replaces the storage tray, he only needs to take out the entire storage tray at the outermost end of the platen for replacement, and replace it with a storage tray equipped with a bobbin case to be installed, which is very convenient. The storage tray adopts detachable equipment to realize quick disassembly and quick assembly, which is convenient for operation. In the use process of the invention, the time for the equipment to stop and replace the bottom line is short, the work efficiency is accelerated, and the labor intensity of the workers is reduced.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Figure 2 is a front view of the present invention.

Figure 3 is one of the schematic diagrams of the split structure of the feeding table of the present invention.

Figure 4 is the second schematic diagram of the split structure of the feeding table of the present invention.

Figure 5 is one of the structural schematic diagrams of the automatic bobbin changing device of the present invention.

Fig. 6 is a schematic diagram of the disassembled structure of the automatic bobbin changing device of the present invention.

Fig. 7 is the second structural diagram of the automatic bobbin changing device of the present invention.

Figure 8 is one of the schematic diagrams of the working state of the present invention.

Fig. 9 is the second schematic diagram of the working state of the present invention.

Fig. 10 is a control block diagram of the present invention.

Embodiments of the invention

As shown in the figure, a mobile automatic bobbin changing device includes a bobbin changing execution end 7 and a feeding end 2, which are arranged at intervals, and are arranged between the bobbin changing execution end 7 and the feeding end 2. The bobbin changing device, the driving mechanism that can make the automatic bobbin changing device move between the bobbin changing execution end 7 and the feeding end 2; the automatic bobbin changing device includes an execution terminal, and the execution terminal includes a And a mechanical finger 29 that releases the bobbin case; the feeding end 2 is provided with a storage tray 16, and the storage tray 16 is provided with a plurality of bobbin case storage stations 17, the plurality of bobbin case storage stations Position 17 can be one-to-one corresponding to the mechanical fingers 29 on the execution terminal; the automatic bobbin replacement device is provided with a rotating mechanism that can rotate the execution terminal so that the mechanical fingers 29 and the bobbin case storage station 17 Corresponding to the center of the bobbin case.

In this embodiment, the driving mechanism includes a sliding block 8 that carries the movement of the automatic bobbin changing device, a moving guide 4 that controls the direction of the sliding block 8, and a sliding drive motor 3 that drives the sliding block 8 to walk on the moving guide 4. , And a moving transmission structure connected with the slider moving drive motor 3.

In this embodiment, trigger devices 6 are provided at both ends of the moving guide rail 4, and the moving transmission mechanism includes screw 5 transmission, chain transmission, gear transmission, timing belt transmission, hydraulic cylinder transmission or air cylinder transmission.

When it is a lead screw drive, it includes a moving guide 4, a lead screw 5, a slider moving drive motor 3 that drives the lead screw 5 to rotate, and a moving guide 4, a lead screw 5 that cooperate with each other and can walk on the moving guide 4 and the lead screw 5 The slider 8; the two ends of the screw 5 are fixed on the moving rail 4 by a fixed plate, the moving rail 4 is provided with a slider moving drive motor 3, and the slider moves the output shaft of the drive motor 3 It passes through the fixed plate and is connected to the lead screw 5 to drive the lead screw 5 to rotate.

When it is a gear transmission, it includes a movable guide rail, a rack, a gear meshing with the rack, a slider fixedly connected to the gear, and a slider moving drive motor that drives the gear to rotate. The slider moving drive motor drives the gear to rotate. The rack gear engages and drives the sliding block to walk on the moving rail.

When the transmission is in the form of a synchronous belt, it includes a moving guide rail, a synchronous belt wheel arranged at both ends of the moving guide rail, a synchronous belt connected to the synchronous belt wheel, a sliding block driving motor that drives one of the synchronous belt wheels, and the sliding block is fixedly connected to the synchronous belt , The sliding block moving drive motor drives the synchronous belt wheel to rotate, and the synchronous belt drives the sliding block to walk on the moving rail. When it is a chain drive, the principle is the same.

When it is driven by hydraulic cylinder or cylinder, the slider is directly fixed to the piston of the hydraulic cylinder or cylinder, and the piston is driven by the hydraulic cylinder or cylinder to move the slider between the storage tray and the execution end of the bobbin replacement.

In this embodiment, the trigger device 6 includes a limit switch and an optocoupler.

In this embodiment, the feeding end 2 is provided with a support frame 12, and the lower end of the support frame 12 is fixedly connected to the moving guide rail 4; the storage end is provided with a feeding table 1, which includes a storage The disk 16, the storage disk rotation drive motor 24, the connection disk 23 connecting the storage disk 16 and the storage disk rotation drive motor 24, the storage disk rotation drive motor 24 is fixed to the support frame 12, and the material is stored The output shaft of the disk rotation driving motor 24 passes through the support frame 12 and is fixedly connected to the center of the rotation shaft of the connecting disk 23.

In this embodiment, when the storage tray 16 rotates, there is always a bobbin case storage station 17 on the storage tray 16 corresponding to the mechanical finger 29 in the execution terminal of the automatic bobbin replacement device; The drive motor 24 for rotating the material tray is equipped with a magnetic encoder. The storage tray can be horizontal or vertical. When it is horizontal, the center axis of the storage tray is vertical; when it is vertical, the center axis of the storage tray is horizontal; the storage tray can even be inclined ; The setting of the storage tray is not limited, just make sure that during the rotation of the storage tray, there is always a bobbin case storage position facing the robot finger and corresponding to the robot finger for the robot finger to put down the empty shuttle Shell, grab the bobbin case to be installed.

In this embodiment, there is a detachable connection structure between the storage tray 16 and the connecting disk 23. The front center of the connecting disk 23 is provided with a connecting column 21, and the center of the storage tray 16 is provided with a connection. The column fixing channel 26, the connecting column 21 is provided in the connecting column fixing channel 26 for central positioning; the rear side of the storage tray 16 is located on the outer periphery of the connecting column fixing channel 26, and there are magnets 14 and positioning pins 25 , The connecting disk 23 is provided with a magnet 14 and a positioning hole 22 at the corresponding position, the storage disk 16 and the connecting disk 23 are attracted by the magnet 14 and the positioning pin 25 is a combination of detachable connection; the connecting disk 23 is located between the magnets 14 A ball 13 is provided. The front end of the ball 13 protrudes from the end surface of the connecting plate 23 and abuts on the storage plate 16. After the storage plate 16 and the connecting plate 23 are attracted to each other, the storage plate 16 and the connecting plate There is a gap between 23. This structure converts the surface contact between the storage tray 16 and the connecting tray 23 into point contact, so as to avoid the situation that the thread in the bobbin is wound and clamped.

In this embodiment, a bobbin case positioning block 15 is provided on the storage tray 16 beside each bobbin case storage station 17, and the bobbin case positioning block 15 is provided with a notch that matches the bobbin case. When put into the bobbin case storage station 17, it is fixed with the bobbin case positioning block 15, so that the bobbin case's pick 19 and the mechanical finger 29 in the execution terminal have the same turning direction and the opening direction of the pick 19 faces the mechanical finger 29. This structure is set up to cooperate with the mechanical fingers 29 to move the pick 19 on the bobbin case. The bobbin case storage station 17 is also provided with a winding clamp 20. In actual work, the work of the winding clamp 20 is to move the bobbin The thread at the middle end is fixed and positioned to prevent the bobbin thread from being too long and entanglement. The bobbin case storage station can be set on the outer periphery of the storage tray or on the surface of the storage tray. Just make sure that the storage tray always has a bobbin case storage station facing the machine during the rotation process. Fingers, and the direction of the pick of the bobbin case is the same as that of the mechanical finger in the execution terminal, and the opening direction of the pick faces the mechanical finger.

In this embodiment, the automatic bobbin changing device includes an execution terminal, a support frame 12, and a rotating mechanism. The rotating mechanism includes a connecting base 32 and a base rotating drive motor 34. The connecting base 32 is directly or indirectly connected to The terminal connection is performed, the base rotation drive motor 34 is fixed to the support frame 12, and the output shaft of the base rotation drive motor 34 passes through the support frame 12 and is fixedly connected to the connection base 32.

In this embodiment, the base rotation drive motor 34 has its own magnetic encoder.

In this embodiment, the output shaft end of the base rotation drive motor 34 is also provided with a rotation positioning structure. The rotation positioning structure adopts a structure in which a positioning pin 25 and an electromagnet 39 cooperate, including a positioning pin 25 and an electromagnet. 39 and a positioning block 33 extending from the tail of the connecting base 32; the positioning block 33 is provided with at least two positioning holes 22 and 22-1 at different positions, and the support frame 12 is provided with a through hole 36, The positioning pin 25 is arranged above the electromagnet 39, and the power of the electromagnet 39 is turned on and off to realize the positioning of the positioning pin 25 in the positioning hole 22; the electromagnet 39 is fixed to the support frame 12 through a fixing frame The positioning pin 25 and the through hole 36 correspond to each other. The positioning pin 25 is provided with a convex ring 38. The positioning pin 25 is sheathed with a spring 37 that drives the positioning pin 25 to reset. The two ends of the spring 37 abut On the raised ring 38 and the support frame 12.

In this embodiment, the execution terminal includes a base connector 31, a bobbin case fixing seat 28, a mechanical finger drive motor 35, and a mechanical finger 29. The bobbin case fixing seat 28 is attached to the tail of the bobbin case 18, The bottom end of the manipulator finger 29 is provided with a linkage member and a reset mechanism of the manipulator finger 29. The output end of the manipulator finger driving motor 35 can drive the swing of the end of the linkage member to drive the manipulator finger 29 to rotate to toggle the pick of the bobbin case. 19. The mechanical finger 29 reset mechanism drives the mechanical finger 29 to reset. The mechanical finger 29 reset mechanism is an elastic reset piece. The output end of the mechanical finger drive motor 35 can drive the linkage to swing and drive the mechanical finger 29 to move inward. When the output end of the driving motor 35 is retracted, the reset mechanism of the mechanical finger 29 drives the mechanical finger 29 to open outward, so that the mechanical finger 29 cooperates with the bobbin case fixing seat 28 to grab or release the bobbin case to drive the action. An induction switch is also provided near the manipulator finger 29 to sense the grasping and releasing actions of the manipulator finger 29.

In this embodiment, the automatic bobbin changing device further includes an adaptive balance adjustment device 30 movably connected to the tail of the execution terminal. The adaptive balance adjustment device 30 has front and rear or left and right or up and down under the action of external force. Direction free movement function. The specific content of the adaptive balance adjustment device 30 is that the applicant filed an application number CN201910218531.0 on March 21, 2019, and the patent name is an automatic bobbin case changing device that performs terminal adaptive balance adjustment. The setting of the adaptive balance adjustment device 30 plays an automatic adjustment and buffering role in the docking of the execution terminal and the rotary shuttle 11, and the docking of the execution terminal and the bobbin case storage station 17. Since this embodiment uses a motor drive, the movement They are all rigid, and the movement precision of the bobbin case replacement is relatively high. If the buffer and automatic adjustment device are not provided, the bobbin case is prone to jam or replacement failure during the process of replacing the bobbin case.

The device also includes a controller. The storage tray rotation drive motor 24, the base rotation drive motor 34, the slider movement drive motor 3, the mechanical finger drive motor 35, and the electromagnet 39 are all electrically connected to the controller. The controller controls their start and stop. Among them, the storage tray rotation drive motor 24, the base rotation drive motor 34, and the slider movement drive motor 3 are all stepping motors. The reference model is PD45-4H series precision stepping motors, or equivalent products; storage tray rotation drive motors 24. The base rotation drive motor 34 has its own magnetoelectric encoder, which can accurately control the rotation angle of the positioning stepper motor; the mechanical finger drive motor 35 is a linear motor, the reference model is LS350-103J series precision Linear motors, or equivalent products, adopt linear motors, whose output end can be extended and retracted to drive mechanical fingers 29 to grasp and release; induction switches and trigger switches are electrically connected to the controller to sense or touch Real-time feedback signal to the controller, the reference model of the induction switch is EE-SX670WR series induction switch, or equivalent; the trigger switch is an optocoupler or a travel switch, and the reference model is ZS336M series travel switch, or equivalent.

A mobile automatic bobbin changing method includes the following steps:

Take the template machine as an example for explanation. The original state is that the present invention is installed under the platen 10 of the template machine, the feeding end 2 is close to the edge of the platen 10, and the bobbin replacement execution end 7 is close to the rotary hook 11 of the template machine. The bobbin thread in the bobbin case installed on the rotary hook 11 has been used up, and there is a bobbin without a bobbin thread inside, which is an empty bobbin case; at this time, the state of the storage tray 16 is that there is a bobbin case on the storage tray 16 The storage station 17 is in a vacant state. The vacant position is facing the automatic bobbin replacement device. The other bobbin case storage stations 17 on the storage tray 16 store bobbin cases with bobbins with wound threads. Is the bobbin case to be installed;

A. The execution terminal of the automatic bobbin replacement device faces the bobbin replacement execution end 7, that is, the bobbin case fixing seat 28 and the mechanical fingers 29 face the rotary hook 11; at this time, in the rotating positioning structure, the positioning hole 22 on the positioning block 33 is aligned with The through hole 36 is coaxial, the electromagnet 39 is de-energized, and the positioning pin 25 protrudes into the through hole 36 and the positioning hole 22 under the action of the spring 37 to achieve positioning; the slider moving drive motor 3 drives the slider 8 on the moving guide 4 Move upward, close to the bobbin replacement execution end 7, at this time the output end of the manipulator finger driving motor 35 is in an extended state, and the manipulator finger 29 is in a gripped state;

B. When the slider 8 moves to the bobbin replacement execution end 7 on the moving guide 4 and touches the trigger device 6, the trigger device 6 feeds back a signal to the controller, the controller sends a signal, and the output end of the mechanical finger drive motor 35 is shortened , The manipulator finger 29 is opened outward under the action of the reset mechanism of the manipulator finger 29, the sensor switch beside the manipulator finger 29 senses that the manipulator finger 29 is opened in place, and the feedback signal is sent to the controller, the controller sends a signal, and the manipulator finger drives the motor The output end of 35 stretches, driving the mechanical finger 29 to rotate inward, and at the same time the slider 8 continues to advance toward the rotary hook 11 until the tail of the empty bobbin case 18 rests on the bobbin case. During this process, the mechanical finger 29 moves The pick 19 on the empty bobbin case grabs the empty bobbin case;

C. The controller sends a signal, the slider moves and the drive motor 3 drives the slider 8 to move in the reverse direction, and the slider 8 drives the execution terminal of the automatic bobbin replacement device and the empty bobbin case 18 to retreat, and the empty bobbin case is taken out of the rotary hook 11. ；

D. The controller sends a signal, the base rotates the drive motor 34 to drive the execution terminal to turn, the bobbin case fixing seat 28 and the mechanical fingers 29 partly face the storage tray 16, at this time, the electromagnet 39 is energized, and the positioning pin 25 is attracted from the positioning hole 22 Withdrawing from the through hole 36, the base rotates and drives the motor 34 to rotate. After the rotation is in place, the other positioning hole 22-1 is coaxial with the through hole 36, the electromagnet 39 is de-energized, and the positioning pin 25 is reset under the action of the spring 37. Extend into the through hole 36 and the positioning hole 22-1 to achieve positioning;

Trigger the fixed position of the base rotation drive motor 34 to rotate, on the premise that it will not touch the rotary hook 11 when the terminal is rotated;

E. The sliding block moving drive motor 3 continues to drive the sliding block 8 to drive the automatic bobbin replacement device to continue to retreat to the feeding end 2 of the moving guide 4;

F. When the slider 8 retreats to the feeding end 2 on the moving guide rail 4 and triggers the trigger device 6, the empty bobbin case in the bobbin case fixing seat 28 in the automatic bobbin replacement device is exactly aligned with the storage tray 16 The vacant bobbin case is stored at station 17 and is in place; at this time, the trigger switch feedbacks the signal to the controller, and the controller sends a signal, and the output terminal of the manipulator driving motor 35 is shortened, driving the manipulator 29 to release the empty bobbin case Of the pick 19, loosen the empty bobbin case;

G. The slider moving drive motor 3 drives the slider 8 forward to drive the execution terminal of the automatic bobbin replacement device to move to the bobbin replacement execution terminal, and the empty bobbin case is placed on the bobbin case storage station 17 of the storage tray 16;

H. When the slider 8 advances to a fixed position, the storage tray rotates and the drive motor 24 drives the storage tray 16 to rotate a station, and the bobbin case storage station 17 with the bobbin case to be installed is directly facing the automatic bobbin replacement device ；

The fixed position for triggering the rotation of the storage tray to drive the motor 24 is based on the premise that the storage tray 16 does not touch the automatic bobbin changing device when it rotates; the position has been preset according to the actual working conditions in actual work;

I. The storage tray rotation drive motor 24 has completed its rotation, and the controller sends a signal. The slider moves the drive motor 3 in reverse to drive the slider 8 back to the feeding end 2 on the moving rail 4, and touches the trigger device 6, which is driven by the mechanical finger The output end of the motor 35 is shortened, the mechanical finger 29 is expanded outward under the action of the reset mechanism of the mechanical finger 29, the output end of the mechanical finger driving the motor 35 is extended, and the mechanical finger 29 is driven to rotate inward, and the slider 8 is stored toward the material The disk 16 continues to advance until the tail of the bobbin case to be installed rests on the bobbin case and sits firmly. In this process, the mechanical finger 29 toggles the pick 19 on the empty bobbin case to grasp the bobbin case to be installed;

J. Slider moving drive motor 3 forwards to drive slide 8 to drive the execution terminal of the automatic bobbin replacement device to advance to the bobbin replacement execution end 7, and remove the bobbin case to be installed from the storage tray 16;

K. The controller sends a signal, the base rotates the drive motor 34 to drive the execution terminal to turn, and the bobbin case fixing seat 28 and the mechanical finger 29 partly face the rotary hook 11. At this time, the electromagnet 39 is energized to attract the positioning pin 25 from the positioning hole 22 and Withdrawal from the through hole 36, the base rotates and drives the motor 34 to rotate. After the rotation is in place, the positioning hole 22 is coaxial with the through hole 36, the electromagnet 39 is de-energized, and the positioning pin 25 is reset under the action of the spring 37 and extends to the through hole 36 and positioning holes 22 to achieve positioning;

Trigger the fixed position of the base rotation drive motor 34 to rotate, on the premise that it will not touch the rotary hook 11 and the reinforcing ribs under the table 10 when the terminal rotation is performed;

L. The slider moving drive motor 3 continues to drive the slider 8 to move on the moving guide 4, close to the bobbin replacement execution end 7;

M. When the slider 8 moves to the bobbin replacement execution end 7 on the moving guide rail 4 and triggers the trigger device 6, the bobbin case fixing seat 28 of the automatic bobbin replacement device just moves to the position of the rotary hook 11, and the to-be-installed The bobbin case is buckled on the rotary hook 11, the mechanical finger driving motor 35 is shortened, and the mechanical finger 29 is driven to release the pick 19 on the bobbin case to be installed, and the bobbin case to be installed is released;

N. The sliding block moves and the driving motor 3 reverses, and the sliding block 8 drives the execution terminal of the automatic bobbin replacement device to retreat. When the execution terminal is completely out of contact with the rotary hook 11, the rotary hook 11 starts to work and the device stands by;

O. When the thread in the bobbin in the bobbin case runs out, repeat the steps A-N to realize the next bobbin replacement.

In the description of the specification of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "forward", "backward", "up", "down", etc. are based on the orientation or positional relationship shown in the drawings, and only It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In the present invention, unless otherwise clearly specified and limited, the terms "connection" and other terms should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or a whole; it can be a mechanical connection or It can be electrically connected or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood according to specific circumstances.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention .

Claims

A mobile automatic bobbin changing device, characterized in that the device comprises a bobbin replacement execution end and a feeding end arranged at intervals, an automatic bobbin replacement device arranged between the bobbin replacement execution end and the feeding end, and A drive mechanism that makes the automatic bobbin change device move between the bobbin change execution end and the material supply end; the automatic bobbin change device includes an execution terminal, and the execution terminal includes a mechanism capable of grasping and releasing the bobbin case Fingers; the supply end is provided with a storage tray, the storage tray is provided with a plurality of bobbin case storage stations, the plurality of bobbin case storage stations can correspond to the mechanical fingers on the execution terminal one by one; The automatic bobbin replacement device is provided with a rotating mechanism which can rotate the execution terminal so that the mechanical fingers correspond to the center position of the bobbin case on the bobbin case storage station.
The mobile automatic bobbin changing device according to claim 1, wherein the driving mechanism includes a sliding block carrying the movement of the automatic bobbin changing device, a moving guide rail that controls the direction of the sliding block, and the driving block is moving The sliding block moving drive motor walking on the guide rail and the moving transmission structure connected with the sliding block moving drive motor.
The mobile automatic bobbin changing device according to claim 2, characterized in that the two ends of the moving guide rail are provided with triggering devices, and the moving transmission mechanism includes screw transmission, chain transmission, gear transmission, and synchronization Belt drive, hydraulic cylinder drive or cylinder drive.
The mobile automatic bobbin changing device according to claim 3, wherein the trigger device includes a travel switch and an optocoupler.
The mobile automatic bobbin changing device according to claim 2, wherein the supply end is provided with a support frame, and the lower end of the support frame is fixedly connected with the movable guide rail; and the storage end is provided with a supply The supply table includes a storage tray, a storage tray rotation drive motor, a connecting disk connecting the storage tray and the storage tray rotation drive motor, and the storage tray rotation drive motor is fixed to the support frame, The output shaft of the rotating drive motor of the storage tray passes through the support frame and is fixedly connected with the center of the rotating shaft of the connecting tray.
The mobile automatic bobbin changing device according to claim 5, wherein when the storage tray rotates, there is always a bobbin case storage station and an execution terminal of the automatic bobbin changing device on the storage tray. The mechanical fingers in the corresponding; the said storage tray rotation drive motor has its own magnetic encoder.
A mobile automatic bobbin changing device according to claim 6, characterized in that there is a detachable connection structure between the storage tray and the connecting tray, and a connecting column is provided at the center of the front side of the connecting tray, The center of the storage tray is provided with a connecting column fixing passage, and the connecting column is arranged in the connecting column fixing passage for center positioning; the rear side of the storage tray is located on the outer periphery of the connecting column fixing passage with a magnet With positioning pins, there are magnets and positioning holes at the corresponding positions on the connecting disk. The storage tray and the connecting disk are attracted by magnets, and the positioning pin positioning combination is a detachable connection; the connecting disk is located between the magnets. The front end protrudes from the end surface of the connecting plate and abuts against the storage plate. After the storage plate and the connecting plate are attracted to each other, a gap is left between the storage plate and the connecting plate.
A mobile automatic bobbin changing device according to claim 1 or 5 or 6, wherein a bobbin case positioning block is provided on the storage tray beside each bobbin case storage station, and the shuttle The case positioning block is provided with a notch that matches the bobbin case. When the bobbin case is placed in the bobbin case storage station, it is fixed in cooperation with the bobbin case positioning block, so that the bobbin case's pick and the mechanical finger in the execution terminal can be moved in the same direction and The opening direction of the picker faces the mechanical finger, and a winding clamp is also arranged beside the bobbin case storage station.
The mobile automatic bobbin changing device according to claim 2, wherein the automatic bobbin changing device includes an executive terminal, a support frame, and a rotating mechanism, and the rotating mechanism includes a connecting base and a base rotating drive The motor, the connecting base is directly or indirectly connected to the execution terminal, the base rotation drive motor is fixed to the support frame, and the output shaft of the base rotation drive motor passes through the support frame and is fixedly connected to the connection base.
The mobile automatic bobbin changing device according to claim 9, characterized in that the base rotation driving motor has its own magnetic encoder.
A mobile automatic bobbin changing device according to claim 10, characterized in that the output shaft end of the base rotation driving motor is further provided with a rotation positioning structure, and the rotation positioning structure uses a positioning pin and an electromagnet The matching structure includes a positioning pin, an electromagnet, and a positioning block extending from the tail of the connecting base; the positioning block is provided with at least two positioning holes at different positions, and the support frame is provided with through holes, The positioning pin is arranged above the electromagnet, and the power supply of the electromagnet is turned on and off to realize the positioning of the positioning pin in the positioning hole; the electromagnet is fixed under the support frame by a fixing frame, and keeps the positioning pin and The through holes correspond to each other, the positioning pin is provided with a convex ring, the positioning pin is sheathed with a spring that drives the positioning pin to reset, and the two ends of the spring respectively abut against the convex ring and the support frame.
The mobile automatic bobbin changing device according to claim 1, wherein the execution terminal includes a base connector, a bobbin case fixing seat, a mechanical finger driving motor, a mechanical finger, and the bobbin case fixing seat It is attached to the tail of the bobbin case. The bottom end of the mechanical finger is provided with a linkage and a mechanical finger reset mechanism linked with it. The output end of the mechanical finger drive motor can drive the end of the linkage to swing and drive the mechanical finger to rotate to toggle The pick of the bobbin case, the mechanical finger reset mechanism drives the mechanical finger to reset, so that the mechanical finger cooperates with the bobbin case fixing seat to grab or release the bobbin case to drive the action.
The mobile automatic bobbin changing device according to claim 11, wherein the automatic bobbin changing device further comprises an adaptive balance adjustment device movably connected to the tail of the execution terminal, and the adaptive balance Under the action of external force, the adjusting device has the function of free movement in the front and back, left and right or up and down directions.
A mobile automatic bobbin changing method is characterized by including the following steps:

A. The execution terminal of the automatic bobbin replacement device faces the bobbin replacement execution end, that is, the bobbin case fixing seat and the mechanical finger part face the rotary hook; the slider movement drive motor drives the slider to move on the moving guide rail, and is close to the bobbin replacement execution end , At this time, the output end of the manipulator finger driving motor is in the extended state, and the manipulator finger is in the state of grasping;

B. When the slider moves to the bobbin replacement execution end on the moving rail and triggers the trigger device, the output end of the mechanical finger drive motor is shortened, and the mechanical finger expands outward under the action of the mechanical finger reset mechanism, and the mechanical finger drives The output end of the motor is extended to drive the mechanical fingers to rotate inward, while the slider continues to advance toward the rotary hook until the tail of the empty bobbin case rests on the bobbin case and sits on the bobbin case. Piece, grab the empty bobbin case;

C. The slider moves and the drive motor drives the slider to move in the reverse direction, and the slider drives the execution terminal of the automatic bobbin replacement device and the empty bobbin case back, and the empty bobbin case is taken out of the hook;

D. The base rotation drive motor drives the execution terminal to turn, and the bobbin case fixing seat and the mechanical fingers face the storage tray;

Trigger the fixed position of the base rotation drive motor to rotate, on the premise that it will not touch the rotary hook when the terminal is rotated;

E. The slider moving drive motor continues to drive the slider to drive the automatic bobbin replacement device to continue to move back to the feeding end of the moving rail;

F. When the slider moves back to the feeding end on the moving guide rail and triggers the trigger device, the empty bobbin case in the bobbin case fixing seat in the bobbin device is automatically replaced, and the bobbin case in the empty state on the storage tray is exactly aligned for storage Work station, and touch in place; at this time, the output end of the mechanical finger drive motor is shortened, driving the mechanical finger to release the pick on the empty bobbin case, and the empty bobbin case is released;

G. The slider moving drive motor forwards to drive the slider to drive the execution terminal of the automatic bobbin replacement device to move to the bobbin replacement execution terminal, and the empty bobbin case is placed on the bobbin case storage station of the storage tray;

H. When the slider advances to a fixed position, the storage tray rotates and drives the motor to drive the storage tray to rotate a station, and the bobbin case storage station with the bobbin case to be installed is facing the automatic bobbin replacement device;

The fixed position that triggers the rotation of the storage tray to drive the motor to rotate, on the premise that the storage tray will not touch the automatic bobbin replacement device when it rotates; the position has been preset according to the actual working conditions in actual work;

I. When the drive motor of the storage tray rotates, the controller sends a signal, and the slider moves the drive motor to reverse to drive the slider back to the feeding end on the moving rail, and triggers the trigger device. The output end of the mechanical finger drive motor is shortened. Under the action of the reset mechanism of the mechanical finger, the manipulator finger expands, and the output end of the drive motor of the manipulator finger is extended, which drives the manipulator finger to rotate inward, and at the same time, the slider continues to advance toward the storage tray until the tail of the bobbin case to be installed reaches Sit firmly against the bobbin case. During this process, the mechanical fingers move the pick on the empty bobbin case to grasp the bobbin case to be installed;

J. The sliding block moves the drive motor to drive the sliding block forward to drive the execution terminal of the automatic bobbin replacement device to move forward to the bobbin replacement execution end, and remove the bobbin case to be installed from the storage tray;

K. The base rotates and drives the motor to drive the execution terminal to turn, and the bobbin case fixing seat and the mechanical fingers face the hook;

Trigger the fixed position of the rotation of the base to drive the motor to rotate, on the premise that it will not touch the rotary hook and the stiffener under the table when the terminal is rotated;

L. The slider moving drive motor continues to drive the slider to move on the moving rail, close to the execution end of the bobbin replacement;

M. When the slider moves to the bobbin replacement execution end on the moving rail and triggers the trigger device, the bobbin case fixing seat of the automatic bobbin replacement device just moves to the position of the hook, and the bobbin case to be installed is buckled on the hook Up, the mechanical finger drive motor is shortened, and the mechanical finger is driven to release the pick on the bobbin case to be installed, and the bobbin case to be installed is released;

N. The sliding block moves and the driving motor reverses, and the sliding block drives the execution terminal of the automatic bobbin replacement device to retreat. When the execution terminal is completely out of contact with the hook, the hook starts to work and the device stands by;

O. When the thread in the bobbin in the bobbin case runs out, repeat steps A-N to realize the next bobbin replacement.