An easy-to-lock ribbon embroidery tray assembly and a ribbon embroidery machine

Abstract

This invention discloses a lockable ribbon embroidery reel assembly and a ribbon embroidery machine. The ribbon embroidery reel assembly includes a reel support, a reel detachably mounted on the support, and a reel assembly locking structure located on the support. The locking structure engages with a reel assembly positioning structure to secure the ribbon embroidery reel assembly. This invention ensures that the ribbon embroidery reel assembly remains locked to the ribbon embroidery machine head and the color-changing and material-storing device of the ribbon embroidery reel assembly.

Description

[Technical Field]

[0001] This invention belongs to the technical field of embroidery equipment, specifically relating to a ribbon embroidery machine. [Background Technology]

[0002] Referring to Chinese invention patent application CN114232235A, current commercially available ribbon embroidery machines for multi-color ribbon embroidery primarily utilize multiple ribbon discs arranged circumferentially around the M-axis assembly. These discs rotate around the M-axis, delivering the desired ribbon disc to the needle for color changing. However, due to the limited circumferential space of the M-axis assembly, only two ribbon discs are typically used, limiting the number of color changes possible in multi-color ribbon embroidery.

[0003] To address this, the applicant developed a solution that includes a color-changing and material-storing device for the ribbon embroidery reel assembly and an automatic reel assembly replacement device for ribbon embroidery above the head of the ribbon embroidery machine. However, this requires the simultaneous development of entirely new ribbon embroidery reel assemblies that facilitate the automatic reel assembly replacement device in transferring the ribbon embroidery reel assembly between the head of the ribbon embroidery machine and the color-changing and material-storing device, while also ensuring that the ribbon embroidery reel assembly remains locked to the head of the ribbon embroidery machine and the color-changing and material-storing device. [Summary of the Invention]

[0004] To address the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide a ribbon embroidery tray assembly and a ribbon embroidery machine, ensuring that the ribbon embroidery tray assembly remains locked to the ribbon embroidery machine head and the ribbon embroidery tray assembly color-changing and material storage device.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] First, a lockable embroidery tape assembly is provided, including a tape holder, a tape reel detachably mounted on the tape holder, and a tape assembly locking structure disposed on the tape holder. The tape assembly locking structure is used to cooperate with the tape assembly positioning structure to fix the embroidery tape assembly.

[0007] Preferably, the reel assembly locking structure includes locking sliders slidably disposed on the left and right sides of the reel support, and the reel assembly positioning structure is provided with a locking groove, wherein the locking sliders cooperate with the locking groove.

[0008] Preferably, the tape assembly locking structure further includes a locking pin hole disposed on the tape support and corresponding to the locking slider, the locking pin hole being perpendicular to the sliding direction of the locking slider, the tape assembly positioning structure including a locking pin, the locking pin hole being used to cooperate with the locking pin, and the locking groove being disposed on the locking pin.

[0009] Preferably, the locking slider is connected to a slider return spring, and a slider guide rail is provided between the locking slider and the disc bracket.

[0010] Preferably, the slider guide rail includes a slider guide groove disposed on the locking slider and a guide pin disposed on the disc bracket, wherein the slider guide groove and the guide pin cooperate.

[0011] Preferably, the locking slider has a locking protrusion that mates with the locking groove, and the locking protrusion has a limiting inclined surface that mates with the locking groove; and / or, the end of the locking slider and the side of the tape tray bracket are respectively provided with gripping recesses, and the gripping recesses mate with the gripper of the robotic arm.

[0012] Preferably, the tray support is provided with a positioning pin hole that cooperates with the positioning pin on the gripping robot arm.

[0013] Preferably, the tape tray support is provided with a presser foot structure, the presser foot structure includes a presser foot slider that can slide linearly up and down along the tape tray support, a presser foot installed on the presser foot slider, and a presser foot guide rail provided between the tape tray support and the presser foot slider. The presser foot slider is inserted into a presser foot drive component on the M-axis assembly, and the presser foot slider is driven to move up and down by the presser foot drive component.

[0014] Preferably, the tray support is provided with a magnet at the high position corresponding to the presser foot slider to attract and fix the presser foot slider.

[0015] The present invention also provides a ribbon embroidery machine, wherein the head of the ribbon embroidery machine is provided with the aforementioned ribbon embroidery disc assembly.

[0016] The technical solution adopted in this invention has the following beneficial effects:

[0017] 1. Above the head of the ribbon embroidery machine, there is a ribbon embroidery tape reel component color changing and storage device and a ribbon embroidery automatic tape reel component changing device. The ribbon embroidery tape reel component color changing and storage device stores at least two ribbon embroidery tape reel components. Ribbon embroidery color changing means replacing the entire ribbon embroidery tape reel component. The ribbon embroidery automatic tape reel component changing device removes the ribbon embroidery tape reel component from the ribbon embroidery machine head and places it into the ribbon embroidery tape reel component color changing and storage device. Then, it installs the other ribbon embroidery tape reel component stored in the ribbon embroidery tape reel component color changing and storage device onto the ribbon embroidery machine head to complete the color changing.

[0018] Because the tray support is equipped with a tray component locking structure and a tray component positioning structure to fix the tray component, a tray component positioning structure can be set in the tray embroidery machine head and the tray embroidery tray component color changing and storage device to ensure that the tray embroidery tray component is locked to the tray embroidery machine head and the tray embroidery tray component color changing and storage device.

[0019] 2. The locking slider can slide relative to the locking groove. When engaged with the locking groove, it secures the entire ribbon embroidery reel assembly to the ribbon embroidery reel assembly's color-changing and storage device or the ribbon embroidery machine head. When disengaged from the locking groove and unlocked, the entire ribbon embroidery reel assembly can be separated from the ribbon embroidery reel assembly's color-changing and storage device or the ribbon embroidery machine head. The method of controlling the sliding of the locking slider is technically mature and facilitates locking and unlocking.

[0020] 3. After the locking pin is inserted into the locking pin hole, the locking slider slides and cooperates with the locking groove to realize the locking cooperation between the tape assembly locking structure and the tape assembly positioning structure. Therefore, after placing the tape embroidery tape assembly in place, the locking pin can be inserted into the locking pin hole to realize the locking of the tape embroidery tape assembly and the tape embroidery tape assembly color changing storage device or tape embroidery machine head. No other operation is required, which is convenient for color changing and improves color changing efficiency.

[0021] 4. To ensure that the locking slider slides in alignment with the locking groove when locking is required, a slider guide rail is provided between the locking slider and the disc bracket.

[0022] Because the locking slider is connected to the slider return spring, in the free state, the locking slider slides under the action of the slider return spring and cooperates with the locking groove to realize the locking cooperation between the disc assembly locking structure and the disc assembly positioning structure. Therefore, the slider return spring can maintain the locking state of the disc assembly locking structure and the disc assembly positioning structure.

[0023] 5. Since the end of the locking slider cooperates with the gripper of the robotic arm, the locking structure of the tape reel assembly can be unlocked by using the gripper of the robotic arm without manual unlocking. In this way, the gripper can unlock the locking structure of the tape reel assembly while gripping it tightly. After gripping it tightly, the gripper can directly transfer the tape reel assembly, which improves the color changing efficiency.

[0024] 6. Because the locking slider is provided with a locking protrusion and the locking protrusion is provided with a limiting slope, it can cooperate with the locking groove port to form a limit. In this way, under the action of the slider return spring, the locking slider slides and cooperates with the locking groove, but will not separate from the locking groove. It can only be disengaged from the locking groove by moving in the opposite direction.

[0025] 7. When the gripping robot grips the ribbon embroidery tray assembly, the relative positions of the two must be ensured first to ensure that the gripping recess and the robot's claws are properly engaged. Therefore, the gripping robot is equipped with a positioning pin, and a corresponding positioning pin hole is provided on the ribbon embroidery tray assembly to engage with the positioning pin.

[0026] 8. Because the presser foot slider is plugged into the presser foot drive component on the M-axis assembly, the presser foot slider and presser foot drive component are engaged simultaneously when the automatic tape reel changing device installs the tape reel assembly onto the tape embroidery machine head. Conversely, the presser foot slider and presser foot drive component are separated simultaneously when the automatic tape reel changing device detaches the tape reel assembly from the tape embroidery machine head. Therefore, the assembly and disassembly of the presser foot drive component and presser foot slider are convenient.

[0027] 9. When the automatic tape reel changing device separates the tape reel assembly from the tape embroidery machine head, the presser foot slider also separates from the presser foot drive. At this time, the presser foot slider is not subject to external force and will automatically fall under gravity. When the tape reel assembly is reassembled with the tape embroidery machine head, the insertion and engagement positions of the presser foot slider and the presser foot drive may not correspond. To solve this problem, a magnet is installed. Thus, when the presser foot slider is in the high position, after separation from the presser foot drive, the magnet helps maintain the presser foot slider in the high position. When the tape reel assembly is reassembled with the tape embroidery machine head, the insertion and engagement positions of the presser foot slider and the presser foot drive will still correspond, allowing for normal insertion and engagement between the presser foot drive and the presser foot slider.

[0028] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. [Attached Image Description]

[0029] The invention will be further described below with reference to the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the multi-color disc embroidery device;

[0031] Figure 2 This is an exploded structural diagram of the ribbon embroidery disc assembly;

[0032] Figure 3 This is a schematic diagram of the locking slider structure;

[0033] Figure 4 This is a schematic diagram of the tape locking structure;

[0034] Figure 5 This is a structural diagram of the presser foot assembly;

[0035] Figure 6 This is a schematic diagram of the structure of the fixed block with a disc;

[0036] Figure 7 This is a schematic diagram of the assembly structure of the ribbon embroidery tray assembly;

[0037] Figure 8 This is a schematic diagram of the exploded structure of the gripping robot;

[0038] Figure 9This is a schematic diagram of the assembly structure of the gripping robot.

[0039] Figure 10 This is an exploded structural diagram of the swing arm assembly;

[0040] Figure 11 This is a schematic diagram of the assembly structure of the swing arm assembly;

[0041] Figure 12 This is a schematic diagram of the assembly structure of the automatic tape reel changing device for tape embroidery.

[0042] Figure 13 This is a schematic diagram of the color-changing and material storage device for the ribbon embroidery tray assembly;

[0043] Figure 14 yes Figure 13 Enlarged structural diagram at point A in the middle;

[0044] Figure 15 yes Figure 13 Enlarged structural diagram at point B;

[0045] Figure label:

[0046] The ribbon assembly consists of: a ribbon support 11, an upper fixing block 111, a locking pin hole 1111, a positioning pin hole 1112, a sliding groove 1113, an upper gripping recess 1114, a lower boss 1115, a central groove 1116, a guide shaft fixing hole 1117, a spring pin mounting hole 1118, a guide pin fixing hole 1119, a locking block lower cover plate 112, a guide pin 1121, a support arm 113, a ribbon 12, a locking slider 13, a slider guide groove 131, a locking protrusion 132, a limiting inclined surface 1321, a spring mounting shaft 133, and a lower gripping... 134 recess, 14 belt locking structure, 141 ejector pin shaft, 142 locking spring, 1421 bending part, 143 spring pin, 144 ejector pin spring, 15 presser foot slider, 151 middle recess, 152 slot, 153 linear bearing, 154 belt conveyor through groove, 16 presser foot, 17 embroidery pressing plate, 18 guide shaft, 19 magnet, 191 magnet fixing plate; 2 gripping robot, 21 robot body, 22 positioning pin, 221 cone head, 222 cone surface limiting part, 23 gripper, 231 gripping pin, 24 gripper guide rail assembly, 25 gripper guide... Rail 241, claw slider 242, guide rail limit plate 243, claw driver 25, claw drive cylinder 251, cylinder connecting block one 252, cylinder connecting block two 253, push rod connecting block 254, robot arm rotating shaft 26; swing arm mechanism 3, swing arm bracket 31, left bracket 311, right bracket 312, volute 313, swing arm body 32, swing arm drive assembly 33, swing arm drive motor 331, worm 332, worm wheel 333, handwheel 334, beam bracket 34, front and rear linear guide rails 35, robot arm joint drive shaft 36, the first A first driving pulley 361, a first driven pulley 362, a first tensioning pulley 363; a color-changing and material storage device 4 for the ribbon embroidery disc assembly, a material rack 41, a turntable 42, a central rotating shaft 421, a bushing 422, a spoke claw 423, a turntable drive assembly 43, a turntable drive motor 431, a second driving pulley 432, an arc-shaped part 4231, a fixing part 4232, a second driven pulley 433, a second tensioning pulley 434, a motor fixing stud 435, a positioning plate 44, a locking pin 441, a locking groove 4411, a material rack guide rail 45, and a ribbon embroidery machine head 5.

Detailed Implementation Methods

[0047] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0048] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.

[0049] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "left," and "right" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0050] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0053] Example 1

[0054] Based on market demand for multi-color ribbon embroidery, and building upon existing multi-color ribbon embroidery techniques, this design references... Figures 1 to 15As shown, a multi-color ribbon embroidery device capable of automatic color changing and increasing the number of color changes is designed. It includes a ribbon embroidery machine head 5, on which a ribbon embroidery tray assembly 1 is mounted. The ribbon embroidery tray assembly 1 has a tray 12, and the ribbon color or size on the tray 12 can be set to different values. Here, color changing in multi-color ribbon embroidery involves replacing the entire ribbon embroidery tray assembly 1. Above the ribbon embroidery machine head 5, there is a ribbon embroidery tray assembly color-changing storage device 4 and an automatic ribbon embroidery tray assembly changing device. The ribbon embroidery tray assembly color-changing storage device 4 stores at least two ribbon embroidery tray assemblies 1. The automatic ribbon embroidery tray assembly changing device removes the ribbon embroidery tray assembly 1 from the ribbon embroidery machine head 5 and places it in the ribbon embroidery tray assembly color-changing storage device 4. Then, it installs the other ribbon embroidery tray assembly 1 stored in the ribbon embroidery tray assembly color-changing storage device 4 onto the ribbon embroidery machine head 5, completing the automatic color changing.

[0055] In this embodiment, the multi-color ribbon embroidery device allows multiple ribbon embroidery tray components 1 to be stored in the ribbon embroidery tray component color-changing storage device 4. Since the ribbon embroidery tray component color-changing storage device 4 is set independently of the M-axis component, it is less restricted in terms of space. Therefore, theoretically, it can store more ribbon embroidery tray components 1, which is the basis for increasing the number of color changes.

[0056] In addition, the automatic tape reel changing device for ribbon embroidery can operate automatically, including removing the ribbon reel assembly 1 from the ribbon embroidery tape reel assembly color changing storage device 4 and the ribbon embroidery machine head 5, and placing the ribbon embroidery tape reel assembly 1 onto the ribbon embroidery tape reel assembly color changing storage device 4 and the ribbon embroidery machine head 5, thereby achieving automatic color changing and improving color changing efficiency.

[0057] like Figures 2 to 7 As shown, the ribbon embroidery reel assembly 1 includes a reel bracket 11, a reel 12 detachably mounted on the reel bracket 11, and a reel assembly locking structure located on the reel bracket 11. The reel assembly locking structure cooperates with the reel assembly positioning structure to fix the ribbon embroidery reel assembly 1. Whether the ribbon embroidery reel assembly 1 is placed on the ribbon embroidery reel assembly color-changing storage device 4 or installed on the ribbon embroidery machine head 5, it needs to be kept fixed. Therefore, a reel assembly locking structure is provided on the reel bracket 11, and corresponding reel assembly positioning structures are provided on the ribbon embroidery reel assembly color-changing storage device 4 and the ribbon embroidery machine head 5. Because the reel bracket is equipped with a reel assembly locking structure that cooperates with the reel assembly positioning structure to fix the ribbon embroidery reel assembly, it ensures that the ribbon embroidery reel assembly remains locked to the ribbon embroidery machine head and the ribbon embroidery reel assembly color-changing storage device.

[0058] In this embodiment, the locking structure of the tape reel assembly includes locking sliders 13 slidably disposed on the left and right sides of the tape reel bracket 11. Taking the tape reel assembly color-changing and storage device 4 as an example, the tape reel assembly positioning structure is provided with a locking groove 4411, and the locking slider 13 cooperates with the locking groove. The locking slider can slide relative to the locking groove. When it cooperates with the locking groove, the entire tape reel assembly 1 is fixed to the tape reel assembly color-changing and storage device 4 or the tape reel embroidery machine head 5; when it disengages from the locking groove and is unlocked, the entire tape reel assembly 1 can be separated from the tape reel assembly color-changing and storage device 4 or the tape reel embroidery machine head 5. The method of controlling the sliding of the locking slider is technically mature and convenient for locking and unlocking.

[0059] Furthermore, the locking structure of the reel assembly also includes a locking pin hole 1111 disposed on the reel bracket 11 and corresponding to the locking slider 13, wherein the axial direction of the locking pin hole 1111 is perpendicular to the sliding direction of the locking slider 13. Figures 13 to 15 As shown, taking the ribbon embroidery tray assembly color-changing and storage device 4 as an example, the tray assembly positioning structure includes a locking pin 441. The locking pin hole 1111 is used to cooperate with the locking pin 441. The locking groove 4411 is provided on the locking pin 441, perpendicular to the locking pin, and passes through the radial direction of the locking pin. That is, after the locking pin 441 is inserted into the locking pin hole 1111, the locking slider 13 slides and cooperates with the locking groove, realizing the locking cooperation between the tray assembly locking structure and the tray assembly positioning structure. Therefore, after the ribbon embroidery tray assembly is placed in place, the locking pin can be inserted into the locking pin hole to realize the locking of the ribbon embroidery tray assembly with the ribbon embroidery tray assembly color-changing and storage device 4 or the ribbon embroidery machine head 5. No other operation is required, which is convenient for color changing and improves color changing efficiency.

[0060] Furthermore, the locking slider 13 is connected to a slider return spring. The locking slider 13 is provided with a spring mounting shaft 133. One end of the slider return spring is mounted on the spring mounting shaft 133, and the other end is connected to a spring positioning part on the reel bracket 11. The spring positioning part can be a circular groove. That is, under the action of the slider return spring, the locking slider 13 slides and cooperates with the locking groove to realize the locking cooperation between the reel assembly locking structure and the reel assembly positioning structure. Therefore, when the reel assembly is placed on the reel embroidery reel assembly color changing and storage device or the reel embroidery machine head, the slider return spring can maintain the locked state of the reel assembly locking structure and the reel assembly positioning structure.

[0061] To ensure that the locking slider slides in alignment with the locking groove when locking is required, a slider guide rail is provided between the locking slider 13 and the reel bracket 11. Specifically, the slider guide rail includes a slider guide groove 131 on the locking slider 13 and a guide pin 1121 on the reel bracket 11, and the slider guide groove 131 and the guide pin 1121 cooperate with each other.

[0062] Furthermore, the locking slider 13 is provided with a locking protrusion 132, and the locking protrusion 132 is provided with a limiting inclined surface 1321. Specifically, the locking slider 13 is generally rectangular in structure, and the locking protrusion 132 protrudes upward from the rectangular body, forming a right-angled trapezoid or an isosceles trapezoid. One limiting inclined surface or two limiting inclined surfaces can be formed through the inclined surface. Since the locking groove 4411 is located on the locking pin 441 and is approximately rectangular, the length of the lower base of the trapezoid is greater than the width of the locking groove 4411, allowing it to cooperate with the locking groove port to form a limiting position. Thus, under the action of the slider return spring, the locking slider 13 slides and cooperates with the locking groove, but will not separate from it; it can only disengage from the locking groove by moving in the opposite direction.

[0063] The automatic tape reel changing device for ribbon embroidery uses a gripping robot 2 to grip the ribbon reel assembly 1. The ribbon reel assembly 1 can only be moved away after its locking structure is unlocked. To unlock the locking structure, the locking slider 13 needs to overcome the resistance of the slider return spring, separating the locking protrusion 132 from the locking groove 4411. Therefore, the gripping robot's claws can be used to unlock the tape reel assembly's locking structure without manual unlocking, or an additional unlocking mechanism can be added to the gripping robot. That is, while gripping the ribbon reel assembly 1, the gripping robot's claws simultaneously drive the locking slider 13 to move, unlocking the tape reel assembly's locking structure and then firmly gripping the ribbon reel assembly 1 again.

[0064] Corresponding to the gripper of the robotic arm, the end of the locking slider 13 and the side of the tape tray support are respectively provided with gripping recesses, which cooperate with the gripper of the robotic arm. That is, corresponding to the lower gripping recess 134 provided on the locking slider and the upper gripping recess 1114 provided on the side of the tape tray support, due to the action of the slider return spring, in the free state, the lower gripping recess 1114 protrudes outward from the upper gripping recess 134. Therefore, when the robotic arm 2 grips the tape tray assembly 1, the gripper of the robotic arm first acts with the lower gripping recess, driving the locking slider 13 to move inward. When the lower gripping recess 134 and the upper gripping recess 1114 are flush, the tape tray assembly locking structure has been unlocked, and the gripper of the robotic arm just grips the upper gripping recess. In this way, the robotic arm grips the tape tray assembly and unlocks the tape tray assembly locking structure at the same time. After gripping, the robotic arm directly transfers the tape tray assembly, improving the color changing efficiency.

[0065] It is understandable that the positions of the disc assembly locking structure and the disc assembly positioning structure can be interchanged.

[0066] When the gripping robot 2 grips the ribbon embroidery tray assembly 1, the relative positions of the two must be ensured first to guarantee that the gripping recess and the robot's claws are properly engaged. Therefore, the gripping robot 2 is equipped with a positioning pin 22, and a corresponding positioning pin hole 1112 is provided on the ribbon embroidery tray assembly 1 to engage with the positioning pin 22. Of course, in order to ensure the accuracy of positioning, two positioning pin holes 1112 and two positioning pins 22 are provided to restrict the degrees of freedom of the ribbon embroidery tray assembly 1 and the gripping robot. After the positioning pin 22 is inserted into the positioning pin hole 1112, the robot's claws can simultaneously act on the lower gripping recess and the upper gripping recess.

[0067] Understandably, the positions of the locating pin hole 1112 and the locating pin 22 can also be interchanged.

[0068] Referring to the prior art, the tape support 11 is provided with a presser foot structure. The presser foot structure includes a presser foot slider 15 that can slide linearly up and down along the tape support, a presser foot 16 installed on the presser foot slider, and a presser foot guide rail provided between the tape support 11 and the presser foot slider 15. The presser foot slider 15 is inserted into the presser foot drive component on the M-axis assembly, and the presser foot slider is driven to move up and down by the presser foot drive component.

[0069] Additionally, the tape tray support 11 is equipped with a guide shaft 18, and a linear bearing 153 is provided between the presser foot slider 15 and the guide shaft 18. The linear bearing 153 is fixed to the presser foot slider 15, and the guide shaft 18 is fixed to the tape tray support 11. The presser foot slider 15 is also equipped with an embroidery pressing plate 17, and a tape winding channel is provided between the embroidery pressing plate 17 and the presser foot slider 15 for the tape to pass through. The presser foot slider 15 has a central recess 151 on the back, and a tape winding passage 154 is provided below the central recess 151, through which the embroidery pressing plate 17 passes.

[0070] In this embodiment, the presser foot drive component includes a drive block and a drive pin. The two ends of the drive pin extend outwards from both sides of the drive block, protruding from its sides. Slots 152 are provided on the left and right sides of the central recess 151, extending rearwards through the back of the presser foot slider. Thus, when the automatic tape reel changing device installs the tape reel assembly 1 onto the tape embroidery machine head 5, the drive pin inserts into the slot; when the automatic tape reel changing device separates the tape reel assembly 1 from the tape embroidery machine head 5, the drive pin disengages from the slot. Therefore, the assembly and disassembly of the presser foot drive component and the presser foot slider are convenient.

[0071] Furthermore, a flared structure can be provided at the corresponding slot height position in the middle recess 151, and a rounded corner can be provided at the slot opening end to facilitate the insertion of the drive pin into the slot.

[0072] As the automatic tape reel changing device separates the tape reel assembly 1 from the tape embroidery machine head 5, the slot on the presser foot slider also separates from the drive pin. At this time, the presser foot slider is not subject to external force and will automatically fall under the influence of gravity. When the tape reel assembly 1 is reassembled with the tape embroidery machine head 5, the slot and drive pin positions no longer correspond. To solve this problem, a magnet 19 is provided on the tape reel bracket 11 at the high position corresponding to the presser foot slider 15 to attract and fix the presser foot slider 15. The magnet 19 is fixed to the magnet fixing plate 191. In this way, when the presser foot slider is in the high position, after the slot on the presser foot slider separates from the drive pin, the presser foot slider can be held in the high position under the action of the magnet. When the tape reel assembly 1 is reassembled with the tape embroidery machine head 5, the slot and drive pin positions still correspond, and the drive pin can be inserted into the slot normally.

[0073] During the transfer of the tape reel assembly 1 between the tape reel assembly color-changing storage device 4 and the tape reel machine head 5, and when the tape reel assembly 1 is stored in the tape reel assembly color-changing storage device 4, it is necessary to ensure that the tape on the reel does not become loose. Therefore, the tape reel assembly 1 is also provided with a tape locking structure 14. The tape locking structure 14 includes a laterally extending pin shaft 141, a spring pin 143 perpendicular to the pin shaft, a pin spring 144 installed on the spring pin, and a locking spring 142 connected to the pin shaft. The tape reel bracket 11 is provided with a spring pin mounting hole 1118. The spring pin 143 passes through the spring pin mounting hole 1118. The spring pin 143 has a limit cap at both its head and tail. The pin spring 144 is sleeved on the spring pin 143, and both ends abut against the limit caps. The locking spring 142 has a U-shaped structure. The bent portions 1421 at both ends are movably connected to the radial through holes on the ejector pin shaft, forming a gap for the conveyor belt to pass through. The spring pin mounting hole 1118 is perpendicular to and connected to the radial through holes on the ejector pin shaft. The bent portion of the locking spring 142 and the spring pin 143 are provided with a beveled fit structure. Therefore, in the free state, the gap for the conveyor belt to pass through narrows, clamping the conveyor belt and preventing it from loosening randomly.

[0074] In this embodiment, the tray support 11 includes an upper fixing block 111, a lower cover plate 112 for locking blocks, and a support arm 113. The upper fixing block 111 has sliding grooves 1113 on its bottom left and right sides, and a locking slider 13 is disposed within these grooves and can slide along them. The lower cover plate 112 is fixed to the bottom of the upper fixing block 111 with screws, and closes the bottom opening of the sliding grooves. The upper fixing block 111 is provided with a locking pin hole 1111, a positioning pin hole 1112, an upper gripping recess 1114, a lower boss 1115, a central groove 1116, a guide shaft fixing hole 1117, a spring pin mounting hole 1118, and a guide pin fixing hole 1119. Two locking pin holes 1111 and two positioning pin holes 1112 pass through the upper fixing block 111 of the bracket, with the two locking pin holes 1111 symmetrically arranged on the left and right sides of the upper fixing block 111, and the two positioning pin holes 1112 symmetrically arranged on the left and right sides of the upper fixing block 111. Upper gripping recesses 1114 are located on the left and right sides of the upper fixing block 111. Lower bosses 1115 are located at the bottom of the upper fixing block 111, with two lower bosses 1115 symmetrically arranged on the left and right sides of the upper fixing block 111, corresponding to the two support arms 113, which are connected to the pulley 12. A central groove 1116 is located at the middle of the rear side of the upper fixing block 111, designed to prevent interference when the pressure foot drive moves up and down. The guide shaft fixing hole 1117 is fixed to the guide shaft 18, the spring pin mounting hole 1118 is used to install the spring pin 143 and is located in the middle groove 1116, and the guide pin fixing hole 1119 is used to fix the guide pin 1121.

[0075] like Figures 8 to 12 As shown, the automatic tape reel changing device for ribbon embroidery includes a swing arm mechanism 3 and a gripping robot 2 connected to the swing arm mechanism 3. The gripping robot 2 is used to grip the ribbon embroidery tape reel assembly 1. The swing arm mechanism 3 delivers the gripping robot 2 into position, that is, aligns it with the ribbon embroidery tape reel assembly 1 in the ribbon embroidery tape reel assembly color changing storage device 4 or aligns it with the ribbon embroidery tape reel assembly 1 on the ribbon embroidery machine head 5. Then, the gripping robot 2 grasps the ribbon embroidery tape reel assembly 1, and the swing arm mechanism 3 moves, causing the gripping robot 2 and the gripped ribbon embroidery tape reel assembly 1 to transfer between the ribbon embroidery tape reel assembly color changing storage device 4 and the ribbon embroidery machine head 5.

[0076] In this embodiment, as Figure 8 and Figure 9As shown, the gripping robot 2 includes a robot body 21. The robot body 21 is provided with a positioning pin 22 that mates with a positioning pin hole on the tape reel assembly, and a clamp for clamping the tape reel assembly. The clamp includes two jaws 23 arranged side by side and a jaw driver 25 for driving the clamp to close and open. The two jaws 23 are connected to a jaw guide rail assembly 24. The jaw guide rail assembly 24 includes a jaw slider 242 and a jaw guide rail 241. The jaws 23 are mounted on the jaw slider 242, and the jaw slider 242 is located on the jaw guide rail 241. The two jaw sliders 242 are driven by the jaw driver to open and close.

[0077] The chuck actuator 25 includes a chuck drive cylinder 251, a cylinder connecting block 1 252, and a cylinder connecting block 253. The chuck drive cylinder body is fixed to the cylinder connecting block 1 252 and connected to one of the chuck sliders. The push rod of the chuck drive cylinder is fixed to the cylinder connecting block 253 and connected to the other chuck slider. The push rod is connected to the push rod connecting block 254, and the push rod connecting block is connected to the cylinder connecting block 253. With the above structure of the chuck actuator 25, when the chuck drive cylinder 251 drives the push rod to extend, the two chuck sliders 242 open; when the chuck drive cylinder 251 drives the push rod to retract, the two chuck sliders 242 close.

[0078] Furthermore, guide rail limiting plates 243 are provided on the left and right sides of the claw guide rail 241 to limit the maximum opening position of the two claw sliders 242. The claw 23 includes a claw body and a gripping pin 231 installed on the claw body. The gripping pin 231 is perpendicular to the positioning pin 22. After the positioning pin is inserted into the positioning pin hole 1112, the gripping pins 231 on the two claws 231 correspond to the positions of the lower gripping recess and the upper gripping recess. At this time, the claw drive cylinder 251 drives the push rod to retract, and the two claw sliders 242 close. First, the locking slider 13 is driven to move inward to unlock the locking structure of the tape assembly and the positioning structure of the tape assembly, and then the tape assembly 1 is clamped.

[0079] Two locating pins 22 are arranged side by side, with the tail end of each pin located on a locating pin fixing block. The head end of each locating pin has a conical tip 221 to facilitate insertion into the locating pin hole. The tail end of each locating pin has a conical limiting part 222, which limits the locating pin's position after insertion into the locating pin hole.

[0080] Furthermore, the robotic arm body 21 is connected to a robotic arm pivot 26, which is used to drive the gripping robotic arm 2 to rotate. The swing arm mechanism 3 cannot make the gripping robotic arm 2 and the ribbon tray assembly 1 completely aligned by swinging alone, so the swing arm mechanism 3 can also drive the robotic arm pivot 26 to rotate, thereby driving the gripping robotic arm 2 to rotate.

[0081] As described above, the tape reel assembly includes a locking structure. Therefore, the calipers unlock the locking structure while clamping the tape reel assembly, allowing the reel assembly to be moved away.

[0082] The gripping robot must ensure that the tape reel assembly remains largely immobile after gripping it, thus guaranteeing alignment between its positioning and locking structures. Conventional robots often struggle to achieve this. However, the tape reel assembly features positioning pin holes, and the gripping robot is equipped with positioning pins that mate with these holes. This ensures that the tape reel assembly and the gripping robot are already positioned before the calipers clamp it. This alignment guarantees that the calipers and the tape reel assembly are aligned, and that the assembly remains virtually immobile after clamping. Once the gripping robot moves the tape reel assembly to the corresponding positions on the tape reel's color-changing storage device and the tape embroidery machine head, the positioning and locking structures of the tape reel assembly can be aligned.

[0083] like Figure 10 and Figure 11 As shown, the swing arm mechanism 3 includes a swing arm bracket 31 and a swing arm body 32. The tail end of the swing arm body is fixed with a swing arm pivot. The swing arm pivot is rotatably supported by the swing arm bracket 31. The swing arm bracket 31 is provided with a swing arm drive assembly 33 that drives the swing arm body 32 to swing and drives the gripping robot 2 to rotate.

[0084] In this embodiment, the swing arm drive assembly 33 includes a swing arm drive motor 331 and a worm gear 333 fixed to the swing arm shaft. The output shaft of the swing arm drive motor is connected to a worm 332, which meshes with the worm gear 333. The head end of the swing arm body is provided with a robotic arm joint drive shaft 36. A swing arm transmission component is provided between the output shaft of the swing arm drive motor 331 and the robotic arm joint drive shaft 36. Furthermore, the robotic arm joint drive shaft 36 is fixed to the robotic arm shaft 26, and the two can be tightly fixed by a clamp structure and rotate synchronously.

[0085] Specifically, the swing arm transmission component includes a first driving pulley 361 mounted on the swing arm shaft and a first driven pulley 362 mounted on the manipulator joint drive shaft. A first synchronous belt connects the first driving pulley 361 and the first driven pulley 362. It can be understood that the first synchronous belt may also be connected to a first tension pulley 363. Thus, while the swing arm body drives the gripping manipulator to swing, the swing arm transmission component drives the manipulator joint drive shaft 36 to rotate, thereby driving the gripping manipulator 2 to rotate.

[0086] Specifically, the swing arm support 31 includes a left support 311, a right support 312, and a volute 313 disposed between the left and right supports. The two ends of the swing arm pivot are rotatably supported by the left and right supports, and the worm gear is disposed inside the volute. The swing arm body 32 includes a left swing arm housing 321 and a right swing arm housing 322, and the swing arm transmission component is disposed between the left swing arm housing 321 and the right swing arm housing 322.

[0087] Furthermore, the worm 332 is mounted on a worm shaft, and a handwheel 334 is connected to the worm shaft. Thus, the worm can also be rotated via the handwheel.

[0088] Due to the design of the swing arm transmission components, the rotation of the gripping manipulator on the swing arm body 32 can be coordinated. Thus, after the swing arm body 32 swings downwards to its designated position, the positioning pin 22 on the gripping manipulator 2 aligns with the positioning pin hole 1112 of the embroidery reel assembly 1 on the embroidery machine head 5; or after the swing arm body swings upwards to its designated position, the positioning pin 22 aligns with the positioning pin hole 1112 of the embroidery reel assembly 1 on the embroidery reel assembly color-changing storage device 4. At this point, the gripping manipulator 2 still needs to perform a forward and backward translational movement to insert the positioning pin 22 into the positioning pin hole 1112 of the embroidery reel assembly 1. Therefore, the automatic reel assembly changing device for embroidery reels also includes a main beam support 34. A front and rear linear guide rail 35 is provided between the main beam support 34 and the swing arm support 31. The swing arm front and rear drive drives the swing arm support and the swing arm body to move back and forth along the front and rear linear guide rails 35. The swing arm front and rear drive is a front and rear drive cylinder, but a linear motor, etc., can also be used.

[0089] Conventional robotic arms require X-axis, Y-axis, Z-axis, and R-axis drive mechanisms to ensure accurate delivery of the embroidery tape reel assembly after it is grasped, guaranteeing alignment between the reel assembly's positioning and locking structures. This complex structure, involving multiple mechanisms and numerous actions, results in low color-changing efficiency. The swing arm mechanism used in this embodiment only requires driving the swing arm itself to swing and the grasping robot to rotate during color changing. If necessary, the swing arm itself can be moved back and forth. This reduces the number of actions compared to conventional robotic arms, and the swing arm's swing stroke is relatively shorter. Furthermore, since a single swing arm drive assembly is shared for both swinging and rotating the grasping robot, the structure is simpler. Therefore, the combination of fewer actions, shorter stroke, and simpler structure significantly improves color-changing efficiency.

[0090] Since the number of ribbon and embroidery disc components stored in the ribbon and embroidery disc component color-changing storage device determines the number of colors that can be changed, the number of ribbon and embroidery disc components stored in the ribbon and embroidery disc component color-changing storage device should be as large as possible.

[0091] like Figures 13 to 15 As shown, in order to increase the number of color changes, the color changing and storage device 4 of the ribbon embroidery tray assembly includes a material rack 41, a turntable 42 disposed on the material rack, a turntable drive assembly 43 for driving the turntable to rotate, a material rack guide rail 45 extending along the turntable axis, and a material rack translation drive assembly for driving the material rack 41 to move horizontally along the material rack guide rail 45.

[0092] The turntable 42 has at least two positioning plates 44 distributed circumferentially. Each positioning plate 44 extends axially along the turntable and has at least two tray assembly positioning structures along its extension direction. The tray assembly positioning structure and the tray assembly locking structure fix the embroidery tray assembly 1 to the positioning plates 44, ensuring reliable fixation during turntable rotation and material rack translation. Only when the automatic tray assembly changing device for embroidery removes the tray assembly 1, after the tray assembly locking structure and tray assembly positioning structure are unlocked, can the embroidery tray assembly 1 be removed from the embroidery tray assembly color-changing storage device 4.

[0093] Since the position of the automatic tape reel changing device for ribbon embroidery, which takes the tape reel assembly, to the color-changing storage device 4 is fixed, this can be referred to as the color-changing position. When a color change is needed, the turntable drive assembly 43 drives the turntable 42 to rotate, or the material rack translation drive assembly drives the material rack 41 to move horizontally along the material rack guide rail 45, so that the corresponding tape reel assembly 1 can be delivered to the color-changing storage device 4.

[0094] The above technical solution allows for the storage of ribbon embroidery tray assemblies 1 both axially and circumferentially on the turntable 42, significantly increasing the number of ribbon embroidery tray assemblies 1 stored in the ribbon embroidery tray color-changing storage device 4. However, due to space limitations, typically two ribbon embroidery tray assemblies 1 are arranged axially on the positioning plate, and three are arranged circumferentially on the turntable, meaning the ribbon embroidery tray color-changing storage device 4 stores a total of six ribbon embroidery tray assemblies 1.

[0095] In this embodiment, the positioning structure of the disc assembly includes a locking pin 441 that mates with a locking pin hole, and the locking pin has a locking groove 4411 that mates with a locking part. Furthermore, the locking pin 441 also has the same structure as the cone head 221 and cone surface limiting part 222 on the positioning pin, to facilitate mating with the locking pin hole.

[0096] Specifically, the turntable 42 includes a central rotating shaft 421 and spokes fixed to the central rotating shaft. Each spoke includes a bushing 422 and at least two spoke claws 423 evenly distributed along the circumference of the bushing. The positioning plate 44 is fixed to the spoke claws 423. Each spoke claw 423 includes an arc-shaped portion 4231 that connects to the bushing and a fixed portion 4232 that connects to the arc-shaped portion. The fixed portion has a positioning and fixing surface, and the fixing plate is rectangular and fixed to the positioning and fixing surface with screws. This is to ensure that after the turntable rotates to its position, the positioning plate does not interfere with the gripping robot arm's ability to grip the tape reel assembly 1.

[0097] The central pivot has a spoke on each of its left and right sides and in the middle. This ensures that the positioning plate is fixed to the left and right sides and in the middle, guaranteeing its stability and reliability.

[0098] Specifically, the turntable drive assembly 43 includes a turntable drive motor 431 and a rotary transmission component connecting the output shaft of the turntable drive motor and the central shaft. The rotary transmission component includes a second drive pulley 432 mounted on the output shaft of the turntable drive motor, a second driven pulley 433 fixed to the central shaft, and a second synchronous belt connecting the second drive pulley and the second driven pulley.

[0099] In one embodiment, the material rack translation drive assembly includes a material rack drive motor and a linear transmission component, which converts the rotational motion of the material rack drive motor into the linear movement of the material rack. The linear transmission component is a lead screw and nut assembly.

[0100] Specifically, the material rack 41 includes side support plates arranged side to side, the turntable 42 is located between the two side support plates, and the material rack guide rail 45 is connected to the side support plates. Additionally, bearings are provided on the side support plates to rotatably support the central rotating shaft. The turntable drive assembly is located inside the side support plates, wherein the turntable drive motor 431 is fixed to the inside of the side support plates via motor fixing studs 435, one end of the drive pulley shaft is connected to the motor output shaft, and the other end is rotatably supported on the bearings mounted on the side support plates. A second tensioning pulley 434 is also mounted on the side support plates for tensioning the second synchronous belt.

[0101] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art should understand that the invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the invention will be included within the scope of the claims.

Claims

1. A lockable ribbon reel assembly, characterized in that, The device includes a reel support, a reel detachably mounted on the reel support, and a reel assembly locking structure on the reel support. The reel assembly locking structure cooperates with a reel assembly positioning structure to fix the reel assembly. The reel assembly locking structure includes locking sliders slidably disposed on the left and right sides of the reel support. The reel assembly positioning structure has a locking groove, and the locking sliders cooperate with the locking groove. The reel assembly locking structure also includes a locking pin hole disposed on the reel support and corresponding to the locking slider. The axial direction of the locking pin hole is perpendicular to the sliding direction of the locking slider. The reel assembly positioning structure includes a locking pin, and the locking pin hole cooperates with the locking pin. The locking groove is disposed on the locking pin. The locking slider is connected to a slider return spring. A slider guide rail is provided between the locking slider and the reel support. The slider guide rail includes a slider guide groove disposed on the locking slider and a guide pin disposed on the reel support. The slider guide groove cooperates with the guide pin. The locking slider has a locking protrusion that cooperates with the locking groove, and the locking protrusion has a limiting inclined surface that cooperates with the limiting of the locking groove.

2. The easily lockable ribbon reel assembly according to claim 1, characterized in that, The tray support is provided with positioning pin holes that cooperate with the positioning pins on the gripping robot arm.

3. The easily lockable ribbon reel assembly according to claim 1, characterized in that, The reel support is provided with a presser foot structure, which includes a presser foot slider that can slide linearly up and down along the reel support, a presser foot installed on the presser foot slider, and a presser foot guide rail located between the reel support and the presser foot slider. The presser foot slider is inserted into a presser foot drive component on the M-axis assembly, and the presser foot drive component drives the presser foot slider to move up and down.

4. The easy-to-lock ribbon coil assembly according to claim 3, characterized in that, The tray support is equipped with a magnet at the high position corresponding to the presser foot slider to attract and fix the presser foot slider.

5. A tape embroidery machine, characterized in that, The ribbon embroidery machine is equipped with a ribbon embroidery disc assembly as described in any one of claims 1 to 4.

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