Bobbin case changing device

Abstract

The present invention provides a bobbin case replacement device that can replace bobbin cases with good precision and can easily replace a material box. The material box (150) holds a plurality of bobbin cases (101) that store unused bobbins. The slide (160) can move between a loading and unloading position and a replacement position along a track (112). The moving device (120) extends in the front-to-back direction to move the chuck mechanism (130) in the front-to-back direction. The chuck mechanism (130) moves toward the left front of the holding position of the material box (150) that holds the bobbin case (101) to be replaced, and grasps the bobbin case (101) to be replaced. The chuck mechanism (130) moves toward the left front of the shuttle (71), removes the used bobbin case (101) mounted on the shuttle (71), and mounts the bobbin case (101) to be replaced on the shuttle (71).

Description

Technical Field

[0001] The invention relates to a bobbin case replacing device for replacing a bobbin case for accommodating a bobbin. Background Art

[0002] The bobbin replacement device described in Patent Document 1 has a holding unit capable of holding or releasing the bobbin case. The holding unit replaces the bobbin case between the shuttle of the sewing machine and the bobbin case magazine that holds a plurality of replacement bobbin cases. The replacement mechanism uses a rotating arm to rotate the holding unit between the shuttle position and the holding position. The shuttle position is the position of the holding unit relative to the shuttle to replace the bobbin case. The holding position is the position of the holding unit relative to the bobbin case magazine to replace the bobbin case. The bobbin case magazine is mounted on a magazine conveying table. The magazine conveying table moves along a guide rail. The magazine moving mechanism moves the magazine conveying table and arranges each position of the bobbin case to be replaced in the bobbin case magazine at the holding position.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 8-280971 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] Large sewing machines have the shuttle mounted below the sewing table. When replacing the bobbin case, the operator must install the case on the case conveyor table below the table, which is laborious. Furthermore, in order for the gripping unit to hold the bobbin case of the bobbin case at the gripping position, the gripping unit, which is used by the replacement mechanism, and the case conveyor table, which is used by the case moving mechanism, must be moved with high precision for each replacement.

[0008] An object of the present invention is to provide a bobbin case replacing device that can replace a bobbin case with high accuracy and can easily replace a magazine.

[0009] Solutions for solving problems

[0010] and a chuck mechanism that can grip and release the bobbin case; and a chuck moving mechanism that moves the chuck mechanism to positions capable of gripping and releasing the bobbin case held by the chuck mounted on the carriage at the replacement position and at least one of the bobbin cases mounted on the shuttle.

[0011] The carriage moving mechanism enables the carriage to move between two positions: a replacement position and a loading and unloading position. When the carriage is in the replacement position, the chuck moving mechanism enables the chuck mechanism to move between the shuttle and the holding position of the bobbin case to be replaced in the magazine, thereby replacing the bobbin case. That is, when replacing the bobbin case, the bobbin case replacing device can move the chuck mechanism while the carriage is positioned in the replacement position, thereby gripping and releasing the bobbin case to be replaced. Therefore, the bobbin case replacing device does not need to move the chuck mechanism and the carriage in a coordinated manner, and can replace the bobbin case with high precision. In addition, the carriage can move to the loading and unloading position away from the replacement position near the shuttle, which is mechanically dense, such as the shuttle mechanism, lower rail, and lower spline shaft used for sewing. Therefore, the operator can easily remove the magazine from the carriage in the loading and unloading position and install a new magazine on the carriage.

[0012] Alternatively, the chuck mechanism of the present technical solution may include: a gripping mechanism that grips and releases the bobbin case; an approaching / separating mechanism that moves the gripping mechanism toward and away from the bobbin case in a direction intersecting the direction of movement of the chuck mechanism based on the chuck moving mechanism; and a coupling mechanism that moves together with the gripping mechanism via the approaching / separating mechanism to couple and separate the slide and the chuck mechanism, wherein when the coupling mechanism couples the slide and the chuck mechanism, the chuck moving mechanism and the slide moving mechanism move the slide between the replacement position and the loading and unloading position in conjunction. The chuck moving mechanism can move the slide between the replacement position and the loading and unloading position. Therefore, the bobbin case changing device can use a single drive source for movement of the chuck mechanism and movement of the slide, thereby simplifying the structure.

[0013] Alternatively, the carriage of the present technical solution may include a fixing mechanism for fixing the cartridge to the carriage, and the carriage moving mechanism may include a releasing member that, when in contact with the fixing mechanism, releases the cartridge fixed by the fixing mechanism. When the carriage, which has been moved by the chuck moving mechanism, is in the first position, the fixing mechanism contacts the releasing member, entering a released state in which the cartridge is released. When the carriage is in a second position closer to the replacement position than the first position, the fixing mechanism separates from the releasing member, entering a fixed state in which the cartridge is fixed. When the carriage is in the first position, the fixing mechanism contacts the releasing member, and the cartridge is released. Therefore, when the carriage reaches the loading and unloading position, the operator can easily remove the cartridge. When the carriage is in the second position, the fixing mechanism separates from the releasing member, and the cartridge is fixed. Therefore, during the movement of the carriage before reaching the replacement position, the cartridge does not detach from the carriage. Furthermore, when the carriage reaches the replacement position, the chuck mechanism grips the bobbin case to be replaced, and the magazine does not move. Therefore, the bobbin case can be replaced with high accuracy.

[0014] Alternatively, the bobbin case replacement device of the present technical solution includes a control unit that controls the driving of the chuck mechanism and the chuck moving mechanism, the chuck mechanism comprising: a first chuck, which has the gripping mechanism and the approach / separation mechanism; and a second chuck, which has the gripping mechanism, the approach / separation mechanism and the connection mechanism, the control unit functions as the following components: a replacement preparation unit, which moves the chuck mechanism to a position opposite to the second chuck and the bobbin case as a replacement object held by the material box located at the replacement position, and grips it with the second chuck; a pre-arrangement unit, which moves the chuck mechanism after the bobbin case as a replacement object is prepared by the replacement preparation unit, and arranges the first chuck at a position opposite to the shuttle; and takes out the chuck after use. The bobbin case is replaced by a discharging unit that grips the used bobbin case with the first chuck and removes it from the shuttle when the bobbin case is replaced. The target mounting unit, after the bobbin case is removed from the shuttle by the used discharging unit, moves the chuck mechanism to a position where the second chuck faces the shuttle, mounts the bobbin case, which is the target of replacement, gripped by the second chuck, on the shuttle, and releases the grip of the second chuck. The used bobbin case collecting unit, after the bobbin case is mounted on the shuttle by the target mounting unit, moves the chuck mechanism to a position where the first chuck faces a vacant position of the bobbin case in the magazine, holds the bobbin case gripped by the first chuck in the magazine, releases the grip of the first chuck, and collects the used bobbin case. Before replacing the bobbin case, the control unit can position the first chuck in a position facing the shuttle while the bobbin case, which is the target of replacement, is gripped by the second chuck. Therefore, when replacing the bobbin case, the bobbin case replacing device can immediately remove the used bobbin case from the shuttle using the first chuck and install the bobbin case to be replaced on the shuttle using the second chuck, thereby quickly replacing the bobbin case.

[0015] Alternatively, the carriage moving mechanism of the present technical solution includes: a pin, which is inserted into a hole portion of the carriage when the carriage is located at the replacement position to restrict the movement of the carriage; and a pin driving mechanism, which inserts and extracts the pin relative to the hole portion, wherein the pin has the same diameter as the hole portion and has a tapered tip. When the carriage is located at the replacement position, the pin is inserted into the hole portion, whereby the carriage can position the magazine. Since the tip of the pin is tapered, even if the carriage is located at a position deviated from the replacement position when inserted into the hole portion, the carriage can be moved to the replacement position along the tapered shape through the hole portion. Therefore, when the chuck mechanism holds the bobbin case to be replaced, the magazine does not move, and the bobbin case can be replaced with good precision by reliably positioning the magazine.

[0016] Alternatively, the carriage of the present technical solution moves on a track, and the track is inclined downward from the replacement position toward the loading and unloading position. Since the track is inclined downward from the replacement position toward the loading and unloading position, a vertical clearance can be ensured when loading and unloading the magazine relative to the carriage at the loading and unloading position, thereby facilitating the operator's replacement of the magazine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a perspective view of the sewing machine 1 .

[0018] Figure 2 It is a perspective view of the needle bar mechanism 6 and the shuttle mechanism 7.

[0019] Figure 3 1 is a perspective view of the bobbin case replacing device 100 as viewed from the upper left front.

[0020] Figure 4 It is a perspective view of the fixing device 115 .

[0021] Figure 5 It is a perspective view of the chuck mechanism 130 .

[0022] Figure 6 This is a diagram showing the magazine 150 being removed from the carriage 160 located at the attachment and detachment position.

[0023] Figure 7 It is a block diagram showing the electrical configuration of the sewing machine 1.

[0024] Figure 8 This is a flowchart of the cartridge replacement process.

[0025] Figure 9 It is a perspective view of the bobbin case replacing device 100 in which the chuck mechanism 130 and the carriage 160 are connected.

[0026] Figure 10 It is a perspective view of the bobbin case replacing device 100 when the magazine 150 is released from being held.

[0027] Figure 11 It is a perspective view of the bobbin case replacing device 100 with the carriage 160 located at the loading and unloading position.

[0028] Figure 12 It is a perspective view of the bobbin case replacing device 100 before replacement.

[0029] Figure 13 This is a flowchart of the bobbin case replacement process.

[0030] Description of Reference Numerals

[0031] 1. Sewing machine; 16. CPU; 25. Control unit; 71. Shuttle; 100. Bobbin case replacing device; 101. Bobbin case; 111. Release pin; 112. Rail; 115. Fixing device; 116. Pin rod; 117. Top end; 120. Moving device; 130. Chuck mechanism; 132, 142. Chuck device; 133, 143. Gripping portion; 134, 144. Claw; 135, 145. Opening and closing cylinder; 136, 146. Rail; 137, 147. Moving cylinder; 138, 148. Base; 149. Connecting plate; 150. Material box; 160. Slide; 163, 173. Sliding member; 165, 175. Fixing mechanism; 183A, Fixing hole. DETAILED DESCRIPTION

[0032] A sewing machine 1 including a bobbin case replacing device 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings. In the following description, left and right, front and back, and up and down are indicated by arrows in the drawings.

[0033] The sewing machine 1 is a door-type sewing machine capable of sewing articles. Figure 1 As shown, the sewing machine 1 includes a base 2, a pair of support columns 3 and 4, and a synchronization mechanism 31 (see Figure 7 )、Transportation mechanism 9 (refer to Figure 7 ), holding mechanism 8, beam portion 5, needle bar mechanism 6, shuttle mechanism 7, cloth feeding mechanism 10 (refer to Figure 7 ), holding mechanism 8, operating part 15 and bobbin case replacing device 100.

[0034] The base 2 includes a base 21, a pair of front and rear rails, a frame 22, and a pair of lower rails 73 (see Figure 2 ). The base 21 is roughly rectangular in shape. The upper surface of the base 21 forms a flat holding surface 21A extending horizontally. A holding plate 23 extending forward along the holding surface 21A is provided at the front end of the base 21. A serpentine 21R extending in the front-to-back direction is provided near the right end of the holding surface 21A. A serpentine 21L extending in the front-to-back direction is provided near the left end of the holding surface 21A. A pair of front and rear rails are provided below the serpentines 21L and 21R. The front and rear rails support the holding mechanism 8 described later in such a manner that the serpentines 21R and 21L extend and retract in accordance with the reciprocating movement of the holding mechanism 8 in the front-to-back direction. The frame 22 is a lattice-shaped structure that supports the base 21 from below. A pair of lower rails 73 extend in the left-right direction below the base 21. The lower rails 73 support the shuttle mechanism 7 described later in such a manner that the shuttle mechanism 7 can move left and right. In the bed portion 2 , a lower belt 74 , a lower spline shaft 75 , the shuttle mechanism 7 , and a bobbin case replacing device 100 , which will be described later, are arranged below the base portion 21 .

[0035] The pair of support columns 3 and 4 are each roughly quadrangular in shape. Support column 3 extends upward from the right end of base 21 of base 2, forward of the center in the front-to-back direction. Support column 3 is located to the right of bellows 21R in the left-to-right direction. Support column 4 extends upward from the left end of base 21 of base 2, forward of the center in the front-to-back direction. Support column 4 is located to the left of bellows 21L in the left-to-right direction. Support columns 3 and 4 are separated in the left-to-right direction.

[0036] Synchronous mechanism 31 (see Figure 7 ) is a mechanism for synchronously driving the needle bar mechanism 6 and the shuttle mechanism 7, and is provided with a main motor 32 (refer to Figure 7 )、Upper spline shaft 55 (refer to Figure 2 )、lower spline shaft 75 (refer to Figure 2 ) and a transmission mechanism. The support portion 4 supports the main motor 32. The upper spline shaft 55 and the lower spline shaft 75 extend in the left-right direction between the support portions 3 and 4. The transmission mechanism of the synchronization mechanism 31 is housed in the support portion 3, and transmits the power of the main motor 32 to the upper spline shaft 55 and the lower spline shaft 75. The conveying mechanism 9 (refer to Figure 7 ) can make the shuttle mechanism 7 and the needle bar mechanism 6 move in the left and right directions parallel to the horizontal direction relative to the sewn material, and the conveying mechanism 9 has the upper belt 54, the lower belt 74, the X motor 95 (see Figure 7 ) and a transmission mechanism. The holding mechanism 8 holds the sewn material. The X-motor 95 is a pulse motor supported by the support column 3. The transmission mechanism of the conveying mechanism 9 is housed in the support column 4 and transmits the power of the X-motor 95 to the upper belt 54 and lower belt 74. The upper belt 54 is fixed to the back of the needle bar mechanism 6. The lower belt 74 is fixed to the back of the shuttle mechanism 7. The shuttle mechanism 7 and the needle bar mechanism 6 move left and right in response to the rotation of the X-motor 95.

[0037] The beam 5 is mounted between the pillars 3 and 4. The beam 5 extends continuously in the left-right direction between the pair of pillars 3 and 4. The beam 5 has a housing 51. The housing 51 extends continuously between the upper ends of the pillars 3 and 4 and between the rear ends of the pillars 3 and 4. A pair of upper rails 53 (see FIG. 5 ) are provided in the space enclosed by the pillars 3, 4 and the housing 51. Figure 2 ). The upper rail 53 is rod-shaped and is mounted between the pillars 3 and 4. The upper rail 53 supports the needle bar mechanism 6 in such a way that the needle bar mechanism 6 can move in the left and right directions. The serpentine 52 is provided over the front ends of the pillars 3 and 4, the housing 51, and the left and right ends of the needle bar mechanism 6 described later. The serpentine 52 covers the front side of the upper rail 53, the upper belt 54, and the upper spline shaft 55. The serpentine 52 and the needle bar mechanism 6 reciprocate in the left and right directions along the upper rail 53 and extend and retract accordingly.

[0038] like Figure 2 As shown, the needle bar mechanism 6 is arranged on the front side relative to the beam portion 5. The needle bar mechanism 6 includes a needle bar 61, a presser foot 62, a thread take-up mechanism 63, a thread clamping device 64, and an upper shaft. The needle bar 61 extends in the vertical direction, and a needle 65 can be mounted on the lower end. The needle bar 61 can move in the vertical direction. The presser foot 62 has a through hole for the needle 65 to pass through in response to the movement of the needle bar 61, and the presser foot 62 presses the sewn material from the top. The thread take-up mechanism 63 operates in response to the vertical movement of the needle bar 61 to lift the upper thread. The thread clamping device 64 adjusts the tension of the upper thread. The back of the needle bar mechanism 6 is connected to the upper belt 54. The upper rail 53 in the beam portion 5 supports the needle bar mechanism 6 in a manner that allows it to move in the left-right direction. Therefore, the needle bar mechanism 6 can move in the left-right direction along the front end of the beam portion 5. The upper shaft extends in the left-right direction within the needle bar mechanism 6. The transmission mechanism transmits the power of the upper spline shaft 55 to the upper shaft. The needle bar 61 extends in the up-down direction, is connected to the upper shaft, and moves up-down when driven by the main motor 32 .

[0039] The shuttle mechanism 7 is arranged below the needle bar mechanism 6 and inside the machine base 2. The shuttle mechanism 7 includes a lower shaft, a shuttle 71 and a transmission mechanism. The housing 70 is box-shaped and includes a needle plate 72 at the upper left end. The needle plate 72 has a needle hole for the needle 65 to pass through. The needle hole is located below the needle bar 61. The back of the shuttle mechanism 7 is connected to the lower belt 74. The lower spline shaft 75 passes through the shuttle mechanism 7. The shuttle mechanism 7 is supported by the lower track 73. The shuttle mechanism 7 can move left and right along the lower track 73 in synchronization with the needle bar mechanism 6 under the drive of the conveying mechanism 9. The transmission mechanism transmits the power of the lower spline shaft 75 to the lower shaft. The shuttle 71 is connected to the lower shaft and rotates in synchronization with the up and down movement of the needle bar 61 under the drive of the main motor 32.

[0040] like Figure 1 As shown, the cloth feeding mechanism 10 (refer to Figure 7 ) causes the holding mechanism 8 holding the article to be sewn to move forward and backward relative to the needle bar mechanism 6 and the shuttle mechanism 7. The cloth feeding mechanism 10 includes connecting parts 11 and 12. The lower left end of the connecting part 11 is arranged on the front and rear rails located on the left side of the machine base 2. The lower right end of the connecting part 12 is arranged on the front and rear rails located on the right side of the machine base 2. The connecting parts 11 and 12 are connected to the holding mechanism 8. The holding mechanism 8 is capable of holding the article to be sewn. The holding mechanism 8 has an upper frame 81, a lower frame 82 and cylinders 83 and 84. The upper frame 81 and the lower frame 82 are rectangular frames when viewed from above, and the article to be sewn is clamped between the upper frame 81 and the lower frame 82. The upper frame 81 is opened and closed up and down relative to the lower frame 82 using the cylinders 83 and 84 as driving sources.

[0041] The operating unit 15 is supported by the left end of the base 21. The operating unit 15 includes a switch group 13 and a display unit 14. The switch group 13 inputs various instructions according to the operator's operation. The display unit 14 is a liquid crystal display that can display various images.

[0042] Reference Figures 3 to 6 Next, the bobbin case replacing device 100 will be described. The bobbin case replacing device 100 replaces the bobbin case 101 by removing the bobbin case 101 containing a used bobbin from the shuttle 71 and attaching the bobbin case 101 containing an unused bobbin wound with bobbin thread to the shuttle 71. The bobbin case replacing device 100 is located below the retaining plate 23 within the base 21 of the machine base 2, near the left end of the base 21. The rear portion of the bobbin case replacing device 100 is located near the left end of the range within which the shuttle mechanism 7 moves left and right along the lower rail 73. The rear portion of the bobbin case replacing device 100 is located below the front end of the retaining plate 23.

[0043] The bobbin case replacement device 100 includes a base 110, a moving device 120, a chuck mechanism 130, a magazine 150, and a carriage 160. The base 110 is a roughly rectangular plate extending in the front-to-back direction. The base 110 extends obliquely forward from a position in front of the shuttle mechanism 7 at the left end of the left-to-right range of motion, with the front end portion being located lower than the rear end portion. The base 110 is fixed to the frame 22 of the machine base 2. The base 110 is provided with a linear cylinder 121 of the moving device 120, a rail 112 for moving the carriage 160, a fixing device 115, and a pair of release pins 111 on its upper surface. The linear cylinder 121 is fixed to the upper surface of the left end portion of the base 110 and extends in the front-to-back direction. The rail 112 is fixed to the upper surface of the right side of the base 110 and extends obliquely in the front-to-back direction along the base 110. A pair of release pins 111 are arranged at the same position in the front-to-back direction on the left and right sides of the rail 112 and extend upward. The release pins 111 can be changed to multiple positions in the front-to-back direction. The base 110 has 10 positions in the front-to-back direction where the release pins 111 can be arranged. The fixing device 115 is fixed to the upper surface of the right rear portion of the base 110. Figure 4 As shown, fixing device 115 is an air-driven pin cylinder that causes a pin rod 116, which is movable in the left-right direction, to protrude leftward during operation and retract rightward during non-operation. Pin rod 116 has a tapered tip 117. When pin rod 116 protrudes leftward, it engages with a fixing hole 183A formed in a reinforcement plate 183 located at the rear end of carriage 160. Pin rod 116 and fixing hole 183A can have the same diameter.

[0044] like Figure 3As shown, the moving device 120 is an electric cylinder that rotates a ball screw connected to the drive shaft of a servo motor 122, thereby linearly moving a slider 123 via a linear guide disposed within a linear cylinder 121. The moving device 120 is disposed on the upper surface of the base 110 and extends in the front-to-back direction. The slider 123 moves in the front-to-back direction on the upper surface of the linear cylinder 121.

[0045] like Figure 5 As shown, the chuck mechanism 130 is used to replace the bobbin case 101 held in the magazine 150 with the bobbin case 101 mounted on the shuttle 71. The chuck mechanism 130 includes a support plate 131, rails 136 and 146, movable cylinders 137 and 147, and chuck devices 132 and 142. The support plate 131 is a generally rectangular plate extending in the front-to-back direction. The support plate 131 is fixed to the slider 123 of the movable device 120 and is moved in the front-to-back direction by the linear cylinder 121. Rails 136 and 146 are respectively fixed to the upper surface of the support plate 131 and extend in the left-to-right direction. Rail 136 is located behind rail 146 and is arranged parallel to rail 146. The movable cylinders 137 and 147 are respectively fixed to the upper surface of the support plate 131. The movable cylinder 137 is located to the left rear of the rail 136, and the movable cylinder 147 is located to the left front of the rail 146. The movable cylinders 137 and 147 are air-driven pin cylinders. They have pins that can move left and right, protruding to the right when in operation and retracting to the left when not in operation. The pins of the movable cylinders 137 and 147 are connected to the chuck units 132 and 142, respectively.

[0046] The chuck devices 132 and 142 each include a base 138 or 148, a grip 133 or 143, claws 134 or 144, and an opening and closing cylinder 135 or 145. The chuck device 142 also includes a connecting plate 149. The bases 138 or 148 are mounted on rails 136 or 146, respectively. The rails 136 or 146 support the bases 138 or 148, respectively, allowing them to move left and right. The grips 133 or 143 are fixed to the tops of the bases 138 or 148, respectively. The grips 133 or 143 each have a gripping surface 133A or 143A on their right ends that matches the outer surface shape of the bobbin case 101. The claws 134 or 144 are located on the right front side of the grips 133 or 143, respectively, and are fixed to the bases 138 or 148. The claws 134 and 144 have hook-shaped protrusions that bend and extend from the vertical axis toward the right rear. When the claws 134 and 144 rotate, the tips of the protrusions move from the right to the rear.

[0047] The opening and closing cylinders 135 and 145 are respectively arranged on the left front side of the holding parts 133 and 143 and fixed to the bases 138 and 148. The opening and closing cylinders 135 and 145 are pin cylinders driven by air. The opening and closing cylinders 135 and 145 have pin rods that can move in the left and right directions. When in operation, they protrude to the right and when not in operation, they retreat to the left. When in operation, the pin rods of the opening and closing cylinders 135 and 145 press the claws 134 and 144, causing the protrusions of the claws 134 and 144 to rotate from the right to the rear. When the opening and closing cylinders 135 and 145 are not in operation, the protrusions of the claws 134 and 144 are rotated from the rear to the right by a spring. The connecting plate 149 is fixed to the base 148 of the chuck device 142. The connecting plate 149 protrudes toward the rear from the bottom of the holding part 143, bends, and extends to the right. The connecting plate 149 is a plate having a width in the front-to-back direction and a thickness in the vertical direction, and its right end is arranged below and behind the gripping surface 143A of the gripping portion 143. The connecting plate 149 engages with a receiving member 184 provided at the rear end of the carriage 160 to connect the chuck mechanism 130 to the carriage 160.

[0048] like Figure 4 、 Figure 6 As shown, the magazine 150 can hold multiple bobbin cases 101, which are used to store unused bobbins wound with bobbins. The magazine 150 includes a retaining plate 151, retaining positions 152, a locking pin 153, and a handle 154. The retaining plate 151 is plate-shaped and extends in the vertical and front-to-back directions, and is elongated in the front-to-back direction. The retaining plate 151 has eight retaining positions 152 arranged in the front-to-back direction on the upper left surface. Retaining pins 152A and positioning tabs 152B are located at the retaining positions 152. Retaining pins 152A protrude to the left at the retaining positions 152. When the bobbin case 101 is retained at the retaining positions 152, the retaining pins 152A engage with the axial hole of the bobbin housed in the bobbin case 101. Positioning tabs 152B engage with the side of bobbin case 101, aligning the orientation of bobbin case 101 held in holding position 152 with the orientation maintained by chuck devices 132 and 142. Locking pins 153 are located at the left front lower portion, left rear lower portion, right front lower portion, and right rear lower portion of retaining plate 151, projecting forward and backward from retaining plate 151. When magazine 150 is mounted on carriage 160, each locking pin 153 engages with supporting recesses 161A, 161B, 171A, and 171B, respectively, of carriage 160. Handle 154 is cylindrical and protrudes forward from the front end of retaining plate 151. When replacing magazine 150, the operator can grasp handle 154 to remove magazine 150 from carriage 160.

[0049] The carriage 160 is used to mount the magazine 150 and moves along the rail 112 between a replacement position and a loading and unloading position. The replacement position is where the carriage 160 is positioned for replacing the bobbin case 101 and is at the rear end of the range in which the carriage 160 can move in the front-to-back direction along the rail 112. The fixing device 115 can fix the carriage 160 in the replacement position. The loading and unloading position is where the carriage 160 is positioned for loading and unloading the magazine 150 and is where, when the carriage 160 moves forward along the rail 112, the release pin 111 releases the lock on the magazine 150, allowing the magazine 150 to be removed from the carriage 160. The replacement position is located close to the shuttle mechanism 7, while the loading and unloading position is a position where the carriage 160 is pulled toward the front of the sewing machine 1 at a greater distance from the shuttle mechanism 7 than the replacement position. Since the base 110 and the rail 112 are tilted toward the front, the carriage 160 and the magazine 150 can obtain a gap between the frame 22 and the lower surface of the retaining plate 23 at the loading and unloading position. In addition, the loading and unloading position can be changed in stages by the operator, and the position of the release pin 111 can be determined according to the setting of the loading and unloading position.

[0050] The carriage 160 comprises a pair of support plates 161 and 171, support rods 181 and 182, a pair of sliders 163 and 173, a reinforcing plate 183, a receiving member 184, and a pair of fixing mechanisms 165 and 175. The pair of support plates 161 and 171 are plate-shaped, extending in the vertical and front-to-back directions, with the longitudinal direction being longer. Support plate 161 is positioned on the left side of support plate 171. Support rod 181 bridges between the front end of support plate 161 and the front end of support plate 171, and is fixed to the front end and the front end of support plate 161, respectively. Support rod 182 bridges between the rear end of support plate 161 and the rear end of support plate 171, and is fixed to the rear end and the rear end of support plate 171, respectively. Slider 163 is fixed to the right surface of support plate 161 and extends in the front-to-back direction. Slider 173 is fixed to the left surface of support plate 171 and extends in the front-to-back direction. Slider 163 and slider 173 face each other in the left-right direction. Sliders 163 and 173 and rail 112 of base 110 form a linear guide. Sliders 163 and 173 sandwich rail 112 from both sides, thereby supporting carriage 160 in a manner that allows it to move in the front-to-back direction.

[0051] The support plate 161 has support recesses 161A and 161B cut into a concave shape facing downward at the upper rear end and the upper front end, respectively. The support plate 171 has support recesses 171A and 171B cut into a concave shape facing downward at the upper rear end and the upper front end, respectively. Support recess 161A is located at a position opposite to support recess 171A in the left-right direction, and support recess 161B is located at a position opposite to support recess 171B in the left-right direction. When the magazine 150 is mounted on the slide 160, the support recesses 161A, 161B, 171A, and 171B respectively support the four locking pins 153 of the magazine 150. The support plates 161 and 171 have a pair of fixing pins 161C and 171C in the middle portion in the left-right direction. Fixing pin 161C protrudes leftward from the left surface of support plate 161, and fixing pin 171C protrudes rightward from the right surface of support plate 171. Two tension springs 185 have one end hooked on fixing pins 161C and 171C, respectively. The rear end of support plate 161 protrudes rearward from the rear end of support plate 171.

[0052] The reinforcing plate 183 is fixed to the rear lower portion of the support plate 161. The support plate 161 and the reinforcing plate 183 have fixing holes 183A that pass through in the left-right direction. When the slide 160 is in the replacement position, the fixing device 115 inserts the top end 117 of the pin 116 into the fixing hole 183A to position the slide 160 on the base 110. The receiving member 184 is fixed above the reinforcing plate 183. The receiving member 184 is a shape formed by bending the front and rear ends of a plate extending in the front-back direction to the left. The receiving member 184 can engage with the right end of the connecting plate 149 provided in the chuck device 142 of the chuck mechanism 130.

[0053] Fixing mechanisms 165 and 175 are disposed on the left and right surfaces of support plate 161 and 171, respectively. Fixing mechanisms 165 and 175 are parallel links that rotate fixing pieces 166A, 166B, 176A, and 176B. These fixing pieces 166A, 166B, 176A, and 176B lock the locking pins 153 of each magazine 150 into the supporting recesses 161A, 161B, 171A, and 171B of carriage 160. Fixing mechanisms 165 and 175 include fixing pieces 166A, 166B, 176A, and 176B, connecting rods 167 and 177, and operating pins 168 and 178.

[0054] The fixing pieces 166A, 166B, 176A, and 176B are each in the shape of a plate bent in a roughly L-shaped manner. The fixing pieces 166A and 166B are provided with a rotation axis at the bent portion and are rotatably supported on the support plate 161 on the left side of the support plate 161 and in front of the support recesses 161A and 161B. The connecting rod 167 is in the shape of a plate extending in the front-to-back direction and is arranged below the fixing pieces 166A and 166B on the left side of the support plate 161. The rear end of the connecting rod 167 supports the end of the fixing piece 166A extending downward from the bent portion so that the fixing piece 166A can rotate, and the front end of the connecting rod 167 supports the end of the fixing piece 166B extending downward from the bent portion so that the fixing piece 166B can rotate. The other ends of the fixing pieces 166A and 166B extend upward and rearward from their respective bent portions. When the connecting rod 167 moves rearward, the other end portions of the fixing pieces 166A and 166B rotate upward from behind the rotation axis. When the connecting rod 167 moves forward, the other end portions of the fixing pieces 166A and 166B rotate rearward from above the rotation axis.

[0055] The fixing pieces 176A and 176B have rotation axes provided in their curved portions and are rotatably supported on the support plate 171 on the right side of the support plate 171, in front of the support recesses 171A and 171B. The connecting rod 177 is a plate extending in the front-to-back direction and is positioned below the fixing pieces 176A and 176B on the right side of the support plate 171. The rear end of the connecting rod 177 supports the end of the fixing piece 176A extending downward from the curved portion so that the fixing piece 176A can rotate. The front end of the connecting rod 177 supports the end of the fixing piece 176B extending downward from the curved portion so that the fixing piece 176B can rotate. The other ends of the fixing pieces 176A and 176B extend upward and rearward from their respective curved portions. When the connecting rod 177 moves rearward, the other end of the fixing pieces 176A, 176B rotates upward from behind the rotating shaft. When the connecting rod 177 moves forward, the other end of the fixing pieces 176A, 176B rotates rearward from above the rotating shaft.

[0056] When the other ends of the fixing pieces 166A, 166B, 176A, and 176B are located above the rotation axis, the tops of the support recesses 161A, 161B, 171A, and 171B are open, allowing the locking pin 153 of the magazine 150 to be freely inserted and removed. When the other ends of the fixing pieces 166A, 166B, 176A, and 176B are located behind the rotation axis, the tops of the support recesses 161A, 161B, 171A, and 171B are closed, retaining the locking pin 153 in the support recesses 161A, 161B, 171A, and 171B.

[0057] Connecting rods 167 and 177 have operating pins 168 and 178 positioned rearward of their centers in the front-to-back direction. Operating pins 168 and 178 protrude leftward and rightward from connecting rods 167 and 177, respectively. When carriage 160 is moved forward with operating pins 168 and 178 abutting release pin 111, connecting rods 167 and 177 move rearward relative to support plates 161 and 171. Fixing plates 166A, 166B, 176A, and 176B rotate clockwise when viewed from the left side, opening the upper portions of support recesses 161A, 161B, 171A, and 171B. Connecting rods 167 and 177 have fixing protrusions 167A and 177A projecting upward at positions rearward of the operating pins 168 and 178. Two tension springs 185 have their other ends hooked onto fixing protrusions 167A and 177A. Specifically, tension spring 185 is tensioned between fixing protrusions 167A and 177A and fixing pins 161C and 171C of support plates 161 and 171. When carriage 160 moves rearward and operating pins 168 and 178 separate from release pin 111, connecting rods 167 and 177 are biased by tension spring 185 to move forward relative to support plates 161 and 171. This causes fixing plates 166A, 166B, 176A, and 176B to rotate counterclockwise when viewed from the left side, closing the upper portions of support recesses 161A, 161B, 171A, and 171B.

[0058] Reference Figure 7 The electrical structure of the sewing machine 1 will now be described. The control unit 25 of the sewing machine 1 includes a CPU 16, a ROM 17, a RAM 18, a storage device 19, an input / output interface (I / O) 20, and drive circuits 41 to 50. The CPU 16 uniformly controls the operation of the sewing machine 1. The ROM 17 pre-stores programs for executing various processes. The RAM 18 temporarily stores various information generated during the execution of various processes. The storage device 19 is non-volatile and stores various set values.

[0059] The drive circuits 41-50, encoders 56-59, and switch group 13 are connected to the I / O 20. The drive circuit 41 is connected to the main motor 32 of the synchronization mechanism 31 and drives the main motor 32 according to control commands from the CPU 16. The drive circuit 42 is connected to the X motor 95 of the conveying mechanism 9 and drives the X motor 95 according to control commands from the CPU 16. The drive circuit 43 is connected to the Y motor 96 of the cloth feeding mechanism 10 and drives the Y motor 96 according to control commands from the CPU 16. The drive circuit 41 is connected to the air cylinders 83 and 84 of the holding mechanism 8 and drives the air cylinders 83 and 84 according to control commands from the CPU 16. The drive circuit 45 is connected to the fixing device 115 and supplies air according to control commands from the CPU 16 to drive the fixing device 115. The drive circuit 46 is connected to the opening and closing air cylinders 135 and 145 of the chuck devices 132 and 142 and drives the opening and closing air cylinders 135 and 145 according to control commands from the CPU 16. The drive circuit 47 is connected to the moving cylinders 137 and 147 of the chuck devices 132 and 142, and drives the moving cylinders 137 and 147 according to the control instructions of the CPU 16. The drive circuit 48 is connected to the servo motor 122 of the moving device 120, and drives the servo motor 122 according to the control instructions of the CPU 16. The drive circuit 49 is connected to the display unit 14, and displays various information on the display unit 14 according to the control instructions of the CPU 16.

[0060] Encoder 56 detects the rotational position and rotational speed of the output shaft of main motor 32 and inputs the detection results to I / O 20. The detection results of encoder 56 indicate the vertical position of needle bar 61 and needle 65. Encoder 57 detects the rotational direction, rotational position, and rotational speed of the output shaft of X motor 95 and inputs the detection results to I / O 20. The detection results of encoder 57 indicate the left and right positions of needle bar mechanism 6 and shuttle mechanism 7. Encoder 58 detects the rotational direction, rotational position, and rotational speed of the output shaft of Y motor 96 and inputs the detection results to I / O 20. The detection results of encoder 58 indicate the front-to-back position of holding mechanism 8. Encoder 59 detects the rotational direction, rotational position, and rotational speed of the output shaft of servo motor 122 and inputs the detection results to I / O 20. The detection results of encoder 59 indicate the front-to-back position of slider 123 of moving device 120. Switch group 13 detects various instructions and inputs the detection results to I / O 20.

[0061] Reference Figures 7 to 12Next, the magazine replacement process will be described. The magazine replacement process is executed when a magazine 150 holding a plurality of unused bobbin cases 101 is set on the carriage 160 of the bobbin case replacing device 100, or when a magazine 150 holding a plurality of used bobbin cases 101 is replaced with a new magazine 150. The magazine replacement process is activated when the operator operates the switch group 13 from the menu displayed on the display unit 14 and instructs replacement of the magazine 150.

[0062] The CPU 16 reads the program for the cartridge replacement process from the ROM 17 to the RAM 18 and executes it. Figure 8 As shown, the CPU 16 drives the servo motor 122 to move the chuck mechanism 130 to the connection position (S1). The connection position is where the connection plate 149 provided on the chuck device 142 on the front side of the chuck mechanism 130 is located on the left front side of the receiving member 184 of the slide 160. The CPU 16 drives the moving cylinder 147 to move the chuck device 142 to the right (S3). Figure 9 As shown, the connecting plate 149 is engaged with the receiving member 184. Figure 8 As shown, the CPU 16 drives the fixing device 115 to move the pin 116 to the right (S5). The fixing device 115 pulls the tip 117 of the pin 116 out of the fixing hole 183A, thereby releasing the fixing of the carriage 160.

[0063] The CPU 16 drives the servo motor 122 to move the carriage 160 connected to the chuck mechanism 130 from the replacement position to the loading and unloading position (S7). Figure 10 As shown, as the carriage 160 moves toward the loading and unloading position, the tension spring 185 applies force to the connecting rods 167 and 177 of the fixing mechanisms 165 and 175 forward relative to the carriage 160 until the operating pins 168 and 178 abut against the release pin 111. Consequently, the fixing pieces 166A, 166B, 176A, and 176B press the locking pin 153 of the cartridge 150 into the supporting recesses 161A, 161B, 171A, and 171B, maintaining the cartridge 150 fixed to the carriage 160. The position of the carriage 160 in which the cartridge 150 is fixed and within the range of movement along the rail 112 is referred to as the second position.

[0064] like Figure 11As shown, when the carriage 160 moves toward the loading and unloading position, the operating pins 168 and 178 abut against the release pin 111, and the carriage 160 enters a released state, releasing the magazine 150 from its fixed state. As the carriage 160 moves, the connecting rods 167 and 177 move rearward relative to the carriage 160. The fixing plates 166A, 166B, 176A, and 176B rotate clockwise when viewed from the left side, opening the support recesses 161A, 161B, 171A, and 171B. When the carriage 160 reaches the loading and unloading position, the locking pin 153 of the magazine 150 can be freely inserted and removed. The position of the carriage 160 in which the magazine 150 is released and within the range of movement along the rail 112 is referred to as the first position. In other words, the second position is closer to the replacement position than the first position.

[0065] like Figure 8 As shown, the CPU 16 waits for an input indicating that the replacement of the magazine 150 has been completed (S9: No). The operator removes the magazine 150 from the carriage 160 at the loading and unloading position and places a new magazine 150 with an unused bobbin case 101 mounted thereon on the carriage 160. When the placement is complete, the operator operates the switch group 13 to indicate that the replacement of the magazine 150 has been completed. When the CPU 16 detects the input of the instruction (S9: Yes), it clears the replacement history of the bobbin case 101 stored in the storage device 19 (S11). The replacement history is data stored in the storage device 19 in the order in which the bobbin case 101 was replaced, and includes a history of the holding positions 152 in the magazine 150 at which the bobbin case 101 to be replaced in the bobbin case replacement process described later was held.

[0066] The CPU 16 drives the servo motor 122 to move the slide 160 connected to the chuck mechanism 130 from the loading and unloading position to the replacement position (S13). The CPU 16 drives the fixing device 115 to move the pin 116 to the left (S15). The fixing device 115 inserts the top end 117 of the pin 116 into the fixing hole 183A, securing the slide 160 in the replacement position. The CPU 16 drives the moving cylinder 147 to move the chuck device 142 to the left (S7). The connecting plate 149 moves to the left of the receiving member 184, and the chuck mechanism 130 is disconnected from the slide 160.

[0067] The CPU 16 drives the servo motor 122 to move the chuck mechanism 130, positioning the front chuck device 142 at a position directly opposite the left front side of the holding position 152 holding the bobbin casing 101 to be replaced in the magazine 150 (S19). The magazine 150 immediately after replacement holds unused bobbin casings 101 in each of the eight holding positions 152. The CPU 16 selects the bobbin casings 101 to be replaced, for example, in the order arranged from the rear side to the front side of the magazine 150 when viewed from the left side.

[0068] The CPU 16 drives the moving cylinder 147 to move the chuck device 142 to the right. The gripping portion 143 of the chuck device 142 makes the gripping surface 143A contact the left surface of the bobbin case 101 to be replaced. The bobbin case 101 has a handle portion on the left surface side. The handle portion is in the shape of an openable and closable plate with the rear side as a support end and the front side as a free end. The handle portion is biased to the right by a spring on the free end side. The CPU 16 drives the opening and closing cylinder 145 to rotate the claw portion 144 counterclockwise when viewed from above (S21). The protrusion of the claw portion 144 pulls up the handle portion of the bobbin case 101, sandwiching the handle portion between the claw portion 143 and the gripping portion, thereby gripping the bobbin case 101 on the gripping surface 143A. The CPU 16 drives the moving cylinder 147 to move the chuck device 142 holding the bobbin case 101 to the left.

[0069] The CPU 16 stores the holding position 152 of the magazine 150 holding the bobbin case 101 to be replaced as a replacement history in the storage device 19 (S23). The CPU 16 drives the servo motor 122 to move the chuck mechanism 130. Figure 12 As shown, the rear chuck device 132 is arranged at a position facing the left front side of the shuttle 71 (S25). The CPU 16 completes the magazine replacement process through the above steps.

[0070] Reference Figure 13 The bobbin case replacement process will now be described. The bobbin case replacement process is a process in which, when the bobbin wound around the bobbin stored in the bobbin case 101 attached to the shuttle 71 becomes low or exhausted, the sewing machine 1 replaces the bobbin case 101 with one that stores an unused bobbin and is held in the magazine 150. The bobbin case replacement process is initiated when the operator operates the switch group 13 from a menu displayed on the display unit 14 and instructs replacement of the bobbin case 101.

[0071] CPU 16 reads the bobbin case replacement program from ROM 17 into RAM 18 and executes it. In step S25 of the magazine replacement process, the rear chuck device 132 is positioned directly opposite the left front side of the shuttle 71, and the front chuck device 142 is gripping an unused bobbin case 101. CPU 16 drives the moving cylinder 137 to move chuck device 132 rightward. The gripping portion 133 of chuck device 132 brings its gripping surface 133A into contact with the left surface of the used bobbin case 101 mounted on the shuttle 71. CPU 16 drives the opening and closing cylinder 135 to rotate the claw 134 counterclockwise when viewed from above. The protrusion of claw 134 pulls up the handle of bobbin case 101, sandwiching the handle between itself and gripping portion 133, thereby gripping bobbin case 101 on gripping surface 133A. The CPU 16 drives the moving cylinder 137 to move the chuck device 132 holding the used bobbin case 101 to the left (S31).

[0072] The CPU 16 drives the servo motor 122 to move the chuck mechanism 130, and arranges the front chuck device 142 at a position directly opposite the left front side of the shuttle 71 (S33). The CPU 16 drives the moving cylinder 147 to move the chuck device 142 to the right. The chuck device 142 inserts the bobbin case 101, which is to be replaced and is gripped by the gripping portion 143 and the claw portion 144, into the shuttle 71. The CPU 16 drives the opening and closing cylinder 145 to rotate the claw portion 144 clockwise when viewed from above. The protrusion of the claw portion 144 releases the handle portion of the bobbin case 101, and the unused bobbin case 101 is mounted on the shuttle 71. The CPU 16 drives the moving cylinder 147 to move the chuck device 142 to the left (S35).

[0073] Based on the replacement history stored in the storage device 19, the CPU 16 identifies the last stored holding position 152. The CPU 16 drives the servo motor 122 to move the chuck mechanism 130, positioning the rear chuck device 132 at a position directly opposite the left front of the identified holding position 152 (S37). The CPU 16 drives the moving cylinder 137 to move the chuck device 132 to the right. The chuck device 132 attaches the used bobbin case 101, which is gripped by the gripping portion 133 and the claw portion 134, to the retaining pin 152A at the holding position 152. The CPU 16 drives the opening and closing cylinder 145 to rotate the claw portion 144 clockwise when viewed from above. The protrusion of the claw portion 134 releases the handle portion of the bobbin case 101, placing the used bobbin case 101 at the holding position 152. The CPU 16 drives the moving cylinder 137 to move the chuck device 132 to the left (S39).

[0074] Based on the replacement history stored in the storage device 19, the CPU 16 determines whether the magazine 150 holds an unused bobbin case 101. The magazine 150 can hold eight bobbin cases 101. If the number of holding positions 152 to be replaced stored in the replacement history is eight (S41: No), the CPU 16 displays a message on the display unit 14 of the operation unit 15 urging replacement of the magazine 150 (S51), and ends the bobbin case replacement process. If the number of holding positions 152 to be replaced stored in the replacement history is seven or fewer (S41: Yes), the CPU 16 selects the bobbin case 101 held at the next holding position 152 in the order of arrangement as the replacement target. The CPU 16 drives the servo motor 122 to move the chuck mechanism 130, and positions the front chuck device 142 directly opposite the left front side of the holding position 152 holding the bobbin case 101 to be replaced (S43).

[0075] The CPU 16 drives the moving cylinder 147 to move the chuck device 142 to the right. The gripping portion 143 of the chuck device 142 brings the gripping surface 143A into contact with the left surface of the bobbin case 101 to be replaced. The CPU 16 drives the opening and closing cylinder 145 to rotate the claw portion 144 counterclockwise when viewed from above, sandwiching the handle portion between the claw portion 144 and the gripping portion 143. The chuck device 142 then grips the bobbin case 101 to be replaced (S45). The CPU 16 drives the moving cylinder 147 to move the chuck device 142, which holds the bobbin case 101, to the left.

[0076] The CPU 16 stores the holding position 152 of the magazine 150 holding the bobbin case 101 to be replaced as a replacement history in the storage device 19 (S47). The CPU 16 drives the servo motor 122 to move the chuck mechanism 130, and positions the rear chuck device 132 at a position directly facing the left front side of the shuttle 71 (S49). The CPU 16 completes the bobbin case replacement process with the above steps.

[0077] As described above, the carriage 160 is movable between two positions: a replacement position and a loading and unloading position. When the carriage 160 is in the replacement position, the moving device 120 can move the chuck mechanism 130 between the shuttle 71 and the holding position 152 of the bobbin case 101 to be replaced in the magazine 150, thereby replacing the bobbin case 101. Specifically, when replacing the bobbin case 101, the bobbin case replacing device 100 can move the chuck mechanism 130 while the carriage 160 is in the replacement position, thereby gripping and releasing the bobbin case 101 to be replaced. Therefore, the bobbin case replacing device 100 does not need to coordinate the movement of the chuck mechanism 130 and the carriage 160, allowing for precise replacement of the bobbin case 101. Furthermore, the carriage 160 can be moved to the loading and unloading position away from the replacement position, which is located near the shuttle 71, where mechanical components such as the shuttle mechanism 7, the lower rail 73, and the lower spline shaft 75 are located. Therefore, the operator can easily remove the magazine 150 from the carriage 160 located at the attachment and detachment position and attach a new magazine 150 to the carriage 160 .

[0078] The moving device 120 can move the carriage 160 between the replacement position and the attachment and detachment position. Therefore, the bobbin case replacing device 100 can use a single drive source for moving the chuck mechanism 130 and the carriage 160, thereby simplifying the structure.

[0079] When the carriage 160 is in the first position, the fixing mechanisms 165 and 175 contact the release pin 111, releasing the magazine 150. This allows the operator to easily remove the magazine 150 when the carriage 160 reaches the loading and unloading position. When the carriage 160 is in the second position, the fixing mechanisms 165 and 175 disengage from the release pin 111, securing the magazine 150. Therefore, the magazine 150 does not become detached from the carriage 160 during movement before the carriage 160 reaches the replacement position. Furthermore, when the carriage 160 reaches the replacement position, the magazine 150 does not move while the chuck mechanism 130 holds the bobbin case 101 to be replaced. This allows for precise replacement of the bobbin case 101.

[0080] Before replacing the bobbin case 101, the CPU 16 can position the rear chuck device 132 in a position directly opposite the shuttle 71 while holding the bobbin case 101 to be replaced by the front chuck device 142. Therefore, when replacing the bobbin case 101, the bobbin case replacing device 100 can immediately remove the used bobbin case 101 from the shuttle 71 using the chuck device 132 and install the bobbin case 101 to be replaced on the shuttle 71 using the chuck device 142, thereby quickly replacing the bobbin case 101.

[0081] When the carriage 160 is in the replacement position, the tip 117 of the pin 116 is inserted into the fixing hole 183A, thereby positioning the carriage 160 relative to the magazine 150. Because the tip 117 of the pin 116 is tapered, even if the carriage 160 is positioned away from the replacement position during insertion into the fixing hole 183A, the fixing hole 183A allows the carriage 160 to follow the tapered shape and move toward the replacement position. Therefore, while the chuck mechanism 130 holds the bobbin case 101 to be replaced, the magazine 150 does not move, and the bobbin case 101 can be replaced with high precision thanks to the reliable positioning of the magazine 150.

[0082] Since the rail 112 is tilted downward from the replacement position toward the loading and unloading position, when loading and unloading the material box 150 relative to the slide 160 located at the loading and unloading position, a gap in the upper and lower directions can be ensured relative to the lower surface of the frame 22 and the retaining plate 23, so that the operator can easily perform the replacement operation of the material box 150.

[0083] In the above embodiment, the sliders 163, 173, and the rail 112 are examples of the carriage moving mechanism of the present invention. The moving device 120 is an example of the chuck moving mechanism of the present invention. The gripping portions 133, 143, the claws 134, 144, and the opening and closing cylinders 135, 145 are an example of the gripping mechanism of the present invention. The rails 136, 146, the moving cylinders 137, 147, and the bases 138, 148 are an example of the approaching / separating mechanism of the present invention. The connecting plate 149 is an example of the connecting mechanism of the present invention. The release pin 111 is an example of the release member of the present invention. The fixing hole 183A is an example of the hole portion of the present invention. The pin rod 116 is an example of the pin of the present invention. The fixing device 115 is an example of the pin driving mechanism of the present invention. The rail 112 is an example of the rail of the present invention. The chuck device 132 is an example of the first chuck of the present invention. The chuck device 142 is an example of the second chuck of the present invention. The CPU 16 performing the processes of S21 and S45 is an example of the replacement preparation unit of the present invention. The CPU 16 performing the processes of S25 and S49 is an example of the pre-configuration unit of the present invention. The CPU 16 performing the process of S31 is an example of the used removal unit of the present invention. The CPU 16 performing the process of S35 is an example of the object installation unit of the present invention. The CPU 16 performing the process of S39 is an example of the used collection unit of the present invention.

[0084] The sewing device of the present invention can be modified in various ways in addition to the above-mentioned embodiment. The material box 150 can hold 8 bobbin cases 101, but is not limited to 8, as long as it is more than one. The fixing mechanisms 165 and 175 of the slide 160 can also be provided only on the left side of the slide 160 or only on the right side of the slide 160. The connecting plate 149 is not limited to a plate shape, but can also be pin-shaped. The slide 160 is connected to the chuck mechanism 130 and moves between the replacement position and the loading and unloading position using the moving device 120, but it is also possible not to connect to the chuck mechanism 130, but to move the slide 160 by the operator holding the handle 154. The slide 160 moves between the replacement position and the loading and unloading position along the front-to-back direction of the sewing machine 1, but is not limited to this as long as it does not interfere with other mechanisms. For example, it can also move in the left-right direction of the sewing machine 1. The fixing hole 183A is not limited to a through hole and may be a recessed portion or a pair of plate-like members that position the pin 116 in the front-rear direction. It is also possible to omit either the chuck devices 132 or 142. In this case, a placement portion for temporarily placing the bobbin case 101 during replacement may be provided in the magazine 150 or the base 110.

Claims

1. A bobbin case replacing device for removing a bobbin case containing a used bobbin from a shuttle of a shuttle mechanism of a sewing machine and installing a bobbin case containing an unused bobbin on the shuttle, characterized in that: The bobbin case replacing device comprises: a magazine capable of holding a plurality of said bobbin casings; a carriage for carrying the magazine in a manner capable of loading and unloading the magazine; a carriage moving mechanism for moving the carriage between a replacement position where the carriage is positioned for replacing the bobbin case and a loading and unloading position where the carriage is pulled out toward the front of the sewing machine at a greater distance from the shuttle mechanism than the replacement position, and where the carriage is positioned for loading and unloading the magazine; a chuck mechanism capable of holding and releasing the bobbin casing; as well as A chuck moving mechanism moves the chuck mechanism to positions capable of gripping and releasing at least one of the plurality of bobbin cases held by the magazine mounted on the carriage at the replacement position and the bobbin case mounted on the shuttle.

2. The bobbin case replacing device according to claim 1, characterized in that: The chuck mechanism has: A holding mechanism for holding and releasing the bobbin casing; an approaching / separating mechanism for moving the holding mechanism closer to and away from the bobbin case in a direction intersecting the moving direction of the chuck mechanism by the chuck moving mechanism; as well as a connecting mechanism that moves together with the holding mechanism via the approaching / separating mechanism to connect and separate the slide and the chuck mechanism; When the coupling mechanism couples the carriage and the chuck mechanism, the chuck moving mechanism and the carriage moving mechanism move the carriage between the replacement position and the attachment and detachment position in conjunction with each other.

3. The bobbin case replacing device according to claim 2, characterized in that: The slide has a fixing mechanism for fixing the magazine to the slide. The carriage moving mechanism includes a releasing member that releases the fixing of the magazine by the fixing mechanism when the releasing member contacts the fixing mechanism. When the carriage moved by the chuck moving mechanism is located at the first position, the fixing mechanism contacts the releasing member, thereby achieving a released state in which the fixing of the magazine is released. When the carriage is located at a second position closer to the replacement position than the first position, the fixing mechanism is separated from the releasing member, thereby achieving a fixed state in which the magazine is fixed.

4. The bobbin case replacing device according to claim 2 or 3, characterized in that: The bobbin case replacing device includes a control unit for controlling the driving of the chuck mechanism and the chuck moving mechanism. The chuck mechanism has: a first chuck having the holding mechanism and the approaching / separating mechanism; and a second chuck having the holding mechanism, the approaching / separating mechanism, and the connecting mechanism; The control unit functions as the following components: a replacement preparation section that moves the chuck mechanism to a position where the second chuck faces the bobbin case held by the magazine at the replacement position and holds the bobbin case with the second chuck; a pre-arrangement section that moves the chuck mechanism and arranges the first chuck at a position facing the shuttle after the bobbin case to be replaced is prepared by the replacement preparation section; a use-finished removal unit, which, when replacing the bobbin case, grasps the used bobbin case with the first chuck and removes it from the shuttle; a target mounting portion that, after the bobbin case is removed from the shuttle by the used removal portion, moves the chuck mechanism to a position where the second chuck and the shuttle face each other, mounts the bobbin case, which is a target for replacement, held by the second chuck, on the shuttle, and releases the grip of the second chuck; as well as The use-end recovery section moves the chuck mechanism to a position where the first chuck is directly opposite to the empty holding position of the bobbin case in the material box after the bobbin case is installed on the shuttle by the object installation section, so that the bobbin case gripped by the first chuck is held in the material box, releases the grip of the first chuck, and recovers the used bobbin case.

5. The bobbin case replacing device according to claim 2 or 3, characterized in that: The carriage moving mechanism comprises: a pin that is inserted into a hole provided in the slide when the slide is located at the replacement position to restrict movement of the slide; and a pin drive mechanism that inserts and extracts the pin relative to the hole portion, The pin has the same diameter as the hole, and the top end thereof is tapered.

6. The bobbin case replacing device according to claim 2 or 3, characterized in that: The carriage moves on the track. The rail is inclined downward from the replacement position toward the attachment and detachment position.

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