A tape embroidery machine with automatic color change and increased color change quantity

Abstract

The present invention discloses a tape embroidery machine that automatically changes colors and increases the number of color changes. The technical problem to be solved is to increase the number of color changes while realizing automatic color change. The machine comprises a tape embroidery machine head and a tape embroidery tape reel assembly. The tape embroidery tape reel assembly is provided with a tape reel. A tape embroidery tape reel assembly color-changing storage device and a tape embroidery automatic tape reel assembly device are provided above the tape embroidery machine head. The tape embroidery tape reel assembly color-changing storage device and a tape embroidery automatic tape reel assembly device are stored in the tape embroidery tape reel assembly color-changing storage device. The tape embroidery tape reel assembly automatic tape-reel assembly device removes the tape embroidery tape reel assembly on the tape embroidery machine head and places it in the tape embroidery tape reel assembly color-changing storage device, or installs the tape embroidery tape reel assembly stored in the tape embroidery tape reel assembly color-changing storage device onto the tape embroidery machine head. The tape embroidery automatic tape-reel assembly device is provided with a grabbing robot for grabbing the tape embroidery tape reel assembly.

Description

Technical Field

[0001] The invention belongs to the technical field of embroidery equipment, and in particular relates to a coiling embroidery machine. Background Art

[0002] Referring to Chinese invention patent application publication number CN114232235A, currently available tape embroidery machines utilize a multi-color tape embroidery structure that primarily utilizes multiple tape reels positioned circumferentially around an M-axis assembly. These reels rotate around the M-axis, delivering the desired reel to the needle to achieve color changes. However, due to the limited circumferential space of the M-axis assembly, only two reels are typically required, making it difficult to increase the number of reels, thus limiting the number of color changes possible in multi-color tape embroidery. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a tape embroidery machine with automatic color change and increased number of color changes, thereby increasing the number of color changes while achieving automatic color change.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: an embroidery machine with automatic color change and increased color change quantity, comprising a embroidery machine head, a embroidery tape reel assembly provided on the embroidery machine head, the embroidery tape reel assembly comprising a tape reel and a presser foot structure, the presser foot structure comprising a presser foot slider which can move up and down linearly and a presser foot mounted on the presser foot slider, the presser foot slider being provided with a presser foot driving member connecting portion, a color change storage device of the embroidery tape reel assembly being provided above the embroidery machine head, and a presser foot driving member connecting portion being provided above the embroidery machine head. And an automatic tape reel replacement device for tape embroidery; at least two tape reel assemblies are stored in the tape embroidery tape reel assembly color change storage device, and the automatic tape reel replacement device for tape embroidery removes the tape reel assembly on the tape embroidery machine head and places it in the tape reel assembly color change storage device, or installs the tape reel assembly stored in the tape embroidery tape reel assembly color change storage device onto the tape embroidery machine head, and the automatic tape reel replacement device for tape embroidery is provided with a grabbing robot for grabbing the tape reel assembly.

[0005] Preferably, the tape embroidery tape reel assembly includes a reel bracket, the reel bracket is provided with a reel assembly locking structure, the tape embroidery machine head and the tape embroidery tape reel assembly color changing and storage device are provided with a reel assembly positioning structure, and the reel assembly locking structure cooperates with the reel assembly positioning structure to fix the tape embroidery tape reel assembly.

[0006] Preferably, the tape reel assembly locking structure includes locking sliders slidably arranged on the left and right sides of the tape reel bracket, and the tape reel assembly positioning structure is provided with a locking groove, and the locking sliders cooperate with the locking groove.

[0007] Preferably, the reel assembly locking structure also includes a locking pin hole provided on the reel bracket and corresponding to the locking slider, the locking pin hole is axially perpendicular to the sliding direction of the locking slider, the reel assembly positioning structure includes a locking pin, the locking pin hole cooperates with the locking pin, and the locking groove is provided on the locking pin.

[0008] Preferably, the locking slider is connected to a slider return spring, and a slider guide rail is provided between the locking slider and the reel bracket; and / or, a locking protrusion is provided on the locking slider, and the locking protrusion is provided with a limiting inclined surface.

[0009] Preferably, the grabbing robot is provided with a positioning pin, and the tape reel bracket is provided with a positioning pin hole that cooperates with the positioning pin; and / or, a presser foot guide rail is provided between the tape reel bracket and the presser foot slider, and the presser foot drive component connection part is plugged into the presser foot drive component on the M-axis assembly, and the presser foot slider is driven up and down by the presser foot drive component.

[0010] Preferably, the automatic reel replacement assembly device for tape embroidery is provided with a swing arm mechanism, the swing arm mechanism comprising a swing arm bracket and a swing arm body, a swing arm shaft is fixed to the tail end of the swing arm body, the swing arm shaft is rotatably supported on the swing arm bracket, and the swing arm bracket is provided with a swing arm drive assembly for driving the swing arm body to swing and driving the grabbing manipulator to rotate;

[0011] The grabbing robot comprises a robot body, a positioning pin hole is provided on the tape reel bracket, a positioning pin which cooperates with the positioning pin hole on the tape reel assembly and a caliper for clamping the tape reel assembly is provided on the robot body.

[0012] Preferably, the automatic reel replacement assembly device for tape embroidery also includes a beam bracket, a front and rear linear guide rail is provided between the beam bracket and the swing arm bracket, and the front and rear drivers of the swing arm drive the swing arm bracket and the swing arm body to move forward and backward along the front and rear linear guide rails; and / or, the caliper includes two claws arranged side by side on the left and right, and the claws are installed on a claw slider, and a claw guide rail is provided between the claw slider and the manipulator body, and the two claw sliders are driven by the claw driver to open and close.

[0013] Preferably, the swing arm drive assembly includes a swing arm drive motor and a worm gear fixed to the swing arm rotating shaft, the output shaft of the swing arm drive motor is connected to a worm, and the worm is meshed with the worm gear, the head end of the swing arm body is provided with a manipulator joint drive shaft, a swing arm transmission component is provided between the output shaft of the swing arm drive motor and the manipulator joint drive shaft, the manipulator body is connected to a manipulator rotating shaft, and the manipulator rotating shaft is connected to the manipulator joint drive shaft for driving the grabbing manipulator to rotate; and / or, when the grabbing manipulator grabs the tape embroidery tape reel assembly, the caliper is aligned with the tape reel assembly locking structure, and the tape reel assembly locking structure is unlocked while clamping the tape embroidery tape reel assembly.

[0014] Preferably, the color-changing and storing device of the tape embroidery tape disc assembly includes a material rack, a turntable provided on the material rack and a turntable driving assembly for driving the turntable to rotate, a material rack guide rail extending axially along the turntable, and a material rack translation driving assembly for driving the material rack to move horizontally along the material rack guide rail. The turntable is provided with at least two positioning plates distributed along the circumference, and the positioning plates extend axially along the turntable and are provided with at least two tape disc assembly positioning structures along the extension direction.

[0015] The technical solution adopted by the present invention has the following beneficial effects:

[0016] 1. A tape embroidery reel assembly color-changing and material-storing device and a tape embroidery automatic reel assembly replacement device are provided above the tape embroidery machine head, wherein the tape embroidery reel assembly color-changing and material-storing device stores at least two tape embroidery reel assemblies.

[0017] Since the color-changing storage device of the embroidery tape reel assembly is independently arranged from the M-axis assembly, it is less restricted in space. Therefore, in theory, more embroidery tape reel assemblies can be stored, thereby increasing the number of color changes.

[0018] The color changing of tape embroidery means replacing the tape reel assembly as a whole. The automatic tape reel assembly replacing device for tape embroidery removes the tape reel assembly on the tape embroidery machine head and places it on the tape reel assembly color changing storage device, and then installs another tape reel assembly stored in the tape reel assembly color changing storage device onto the tape embroidery machine head to complete the automatic color changing.

[0019] 2. Since the reel bracket is provided with a reel assembly locking structure, the reeling embroidery machine head and the reeling embroidery reel assembly color changing and storage device are provided with a reel assembly positioning structure, the reel assembly locking structure cooperates with the reel assembly positioning structure to ensure that the reeling embroidery reel assembly and the reeling embroidery machine head and the reeling embroidery reel assembly color changing and storage device remain locked.

[0020] 3. The locking structure of the tape reel assembly and the positioning structure of the tape reel assembly are coordinated by the locking slider and the locking groove. The locking slider can slide relative to the locking groove. When coordinated with the locking groove, the entire tape reel assembly is fixed to the tape reel assembly color-changing and material-storing device or the tape reel embroidery machine head; when disengaged from the locking groove and unlocked, the entire tape reel assembly can be separated from the tape reel assembly color-changing and material-storing device or the tape reel embroidery machine head. The technology of controlling the sliding of the locking slider is mature and convenient for locking and unlocking.

[0021] 4. The axial direction of the locking pin hole is perpendicular to the sliding direction of the locking slider. The locking groove is set on the locking pin. After the locking pin is inserted into the locking pin hole, under the action of the slider return spring, the locking slider slides and cooperates with the locking groove to realize the locking cooperation between the tape reel assembly locking structure and the tape reel assembly positioning structure. Therefore, the slider return spring can maintain the locking state of the tape reel assembly locking structure and the tape reel assembly positioning structure.

[0022] Since a slider guide rail is provided between the locking slider and the reel bracket, it can be ensured that the locking slider is aligned with the locking groove and slides when locking is required, so that the locking slider is locked with the locking groove.

[0023] Since the locking slider is provided with a locking protrusion, and the locking protrusion is provided with a limiting inclined surface, under the action of the slider return spring, the locking slider slides and cooperates with the locking slot, but will not separate from the locking slot. It can only be disengaged from the locking slot by moving in the opposite direction.

[0024] 5. Since the presser foot slider is plugged into the presser foot driver on the M-axis assembly, the presser foot slider and the presser foot driver are plugged into each other when the automatic tape embroidery reel assembly replacement device installs the tape embroidery reel assembly onto the tape embroidery machine head. The presser foot slider and the presser foot driver are also separated when the automatic tape embroidery reel assembly replacement device separates the tape embroidery reel assembly from the tape embroidery machine head. This facilitates the assembly and separation of the presser foot driver and the presser foot slider.

[0025] 6. The tape reel assembly is provided with a positioning pin hole, and the grabbing manipulator of the tape reel assembly is provided with a positioning pin that matches the positioning pin hole. In this way, before the caliper clamps the tape reel assembly, the tape reel assembly and the grabbing manipulator have been positioned. On the one hand, it can ensure that the caliper and the tape reel assembly are aligned. On the other hand, after the caliper clamps the tape reel assembly, the tape reel assembly will basically not shift. After the grabbing manipulator transfers the tape reel assembly to the corresponding positions of the tape reel assembly color changing storage device and the tape reel embroidery machine head, the tape reel assembly positioning structure and the tape reel assembly locking structure can be aligned.

[0026] 7. To change colors, the automatic reel-changing device for reel embroidery only needs to drive the swing arm body to swing and the robot arm to rotate, and then drive the swing arm body back and forth when necessary. This requires fewer movements than a conventional robot arm, and the swing arm body's swing stroke is relatively short. Furthermore, because the swing arm body and the robot arm's rotation are driven by a single swing arm drive assembly, the structure is simpler. Therefore, the combination of fewer movements, shorter stroke, and simple structure significantly improves color-changing efficiency.

[0027] When the grabbing robot grabs the embroidery tape reel assembly, the caliper is aligned with the tape reel assembly locking structure, and the tape reel assembly locking structure is unlocked while the embroidery tape reel assembly is clamped. After the grabbing robot grabs the embroidery tape reel assembly, the embroidery tape reel assembly is directly transferred, thereby improving the color changing efficiency.

[0028] 8. When a color change is required, the turntable drive assembly drives the turntable to rotate, or the rack translation drive assembly drives the rack to move horizontally along the rack guide rails, which can deliver the corresponding embroidery tape reel assembly to the color change position of the embroidery tape reel assembly color change storage device. Since embroidery tape reel assemblies can be stored both axially and circumferentially on the turntable, the number of embroidery tape reel assemblies stored in the embroidery tape reel assembly color change storage device is greatly increased.

[0029] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The invention will be further described below with reference to the accompanying drawings:

[0031] Figure 1 It is a structural diagram of a multi-color tape embroidery device;

[0032] Figure 2 It is a schematic diagram of the exploded structure of the embroidery tape reel assembly;

[0033] Figure 3 Schematic diagram of the structure of the locking slider;

[0034] Figure 4 It is a structural diagram of the tape locking structure;

[0035] Figure 5 1. It is a structural diagram of the presser foot assembly;

[0036] Figure 6 It is a structural diagram of the reel fixing block;

[0037] Figure 7 This is a schematic diagram of the assembly structure of the tape embroidery tape reel assembly;

[0038] Figure 8 It is a schematic diagram of the decomposed structure of the grasping manipulator;

[0039] Figure 9 It is a schematic diagram of the assembly structure of the grasping robot;

[0040] Figure 10 It is a schematic diagram of the exploded structure of the swing arm assembly;

[0041] Figure 11 1. It is a schematic diagram of the assembly structure of the swing arm assembly;

[0042] Figure 12 This is a schematic diagram of the assembly structure of a device for automatically replacing a reel assembly for tape embroidery;

[0043] Figure 13 It is a structural diagram of the color-changing and material-storing device of the tape reel assembly;

[0044] Figure 14 yes Figure 13 A in the middle is an enlarged structural diagram;

[0045] Figure 15 yes Figure 13 The enlarged structural diagram at B in the middle;

[0046] Reference numerals:

[0047] Tape embroidery tape reel assembly 1, tape reel bracket 11, upper fixing block 111, locking pin hole 1111, positioning pin hole 1112, slide groove 1113, upper grabbing recess 1114, lower boss 1115, middle groove 1116, guide shaft fixing hole 1117, spring pin mounting hole 1118, guide pin fixing hole 1119, locking block lower cover 112, guide pin 1121, support arm 113, tape reel 12, locking slider 13, slider guide groove 131, locking protrusion 132, limiting inclined surface 1321, spring mounting shaft 133, lower grabbing Take the recess 134, the tape locking structure 14, the thimble shaft 141, the lock spring 142, the bending part 1421, the spring pin 143, the thimble spring 144, the presser foot slider 15, the middle recess 151, the slot 152, the linear bearing 153, the tape passing groove 154, the presser foot 16, the embroidery pressing piece 17, the guide shaft 18, the magnet 19, the magnet fixing plate 191; grab the manipulator 2, the manipulator body 21, the positioning pin 22, the cone head 221, the cone limit part 222, the claw 23, the grabbing pin 231, the claw guide rail assembly 24, the claw guide Rail 241, claw slider 242, guide rail limit plate 243, claw driver 25, claw drive cylinder 251, cylinder connecting block 1 252, cylinder connecting block 2 253, push rod connecting block 254, manipulator 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 gear 333, handwheel 334, beam bracket 34, front and rear linear guide rails 35, manipulator joint drive shaft 36, the first A driving pulley 361, a first driven pulley 362, a first tensioning pulley 363; a tape embroidery tape reel assembly, a color-changing storage device 4, a material rack 41, a turntable 42, a central shaft 421, a sleeve 422, a spoke claw 423, a turntable drive assembly 43, a turntable drive motor 431, a second driving pulley 432, an arc-shaped portion 4231, a fixing portion 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 lock slot 4411, a material rack guide rail 45, and a tape embroidery machine head 5. DETAILED DESCRIPTION

[0048] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0049] Those skilled in the art will appreciate that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0050] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. For example, terms such as "upper," "lower," "left," and "right" that indicate orientation or positional relationships are based solely on the orientation or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the disclosure. They do not indicate or imply that the device or component referred to must have a specific orientation or be constructed or operated in a specific orientation. Therefore, they should not be construed as limiting the disclosure.

[0051] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0053] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. Example

[0054] Based on the market demand for multi-color tape embroidery, on the basis of the existing multi-color tape embroidery on the market, Figures 1 to 15As shown, a multi-color tape embroidery device capable of automatically changing colors and increasing the number of color changes is designed. The device includes a tape embroidery machine head 5, mounted with a tape reel assembly 1. The tape reel assembly 1 includes a tape reel 12, on which the tape color or specification can be set to different values. In this case, multi-color tape embroidery color change involves replacing the entire tape reel assembly 1. Above the tape embroidery machine head 5 are a tape reel assembly color change storage device 4 and an automatic tape reel assembly replacement device. The tape reel assembly color change storage device 4 stores at least two tape reel assemblies 1. The automatic tape reel assembly replacement device removes a tape reel assembly 1 from the tape embroidery machine head 5 and places it in the tape reel assembly color change storage device 4. Then, another tape reel assembly 1 stored in the tape reel assembly color change storage device 4 is installed on the tape embroidery machine head 5 to complete the automatic color change.

[0055] In the multi-color tape embroidery device in this embodiment, multiple tape embroidery tape reel assemblies 1 can be stored in the tape embroidery tape reel assembly color change storage device 4. Since the tape embroidery tape reel assembly color change storage device 4 is independently arranged from the M-axis assembly, it is less restricted in space. Therefore, in theory, more tape embroidery tape reel assemblies 1 can be stored, which is the basis for increasing the number of color changes.

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

[0057] like Figures 2 to 7 As shown, the tape reel assembly 1 for the embroidery tape reel comprises a reel bracket 11, a reel 12 detachably mounted on the reel bracket 11, and a reel assembly locking structure provided on the reel bracket 11. The reel assembly locking structure is used to cooperate with the reel assembly positioning structure to secure the tape reel assembly 1. Whether the tape reel assembly 1 is placed on the tape reel assembly color-changing and material-storing device 4 or installed on the tape embroidery machine head 5, it needs to remain fixed. Therefore, a reel assembly locking structure is provided on the reel bracket 11, and a reel assembly positioning structure is provided on the tape reel assembly color-changing and material-storing device 4 and the tape embroidery machine head 5 accordingly. Since the reel bracket is provided with a reel assembly locking structure that cooperates with the reel assembly positioning structure, the tape reel assembly is secured, ensuring that the tape reel assembly remains locked to the tape embroidery machine head and the tape reel assembly color-changing and material-storing device.

[0058] In this embodiment, the reel assembly locking structure includes locking sliders 13 slidably arranged on the left and right sides of the reel bracket 11. Taking the color-changing storage device 4 of the embroidery tape reel assembly as an example, the 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 engaged with the locking groove, the entire embroidery tape reel assembly 1 is fixed to the embroidery tape reel assembly color-changing storage device 4 or the embroidery machine head 5; when disengaged from the locking groove and unlocked, the entire embroidery tape reel assembly 1 can be separated from the embroidery tape reel assembly color-changing storage device 4 or the 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 reel assembly locking structure further comprises a locking pin hole 1111 provided 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 color-changing storage device 4 of the tape embroidery tape reel assembly as an example, the tape reel assembly positioning structure includes a locking pin 441, the locking pin hole 1111 is used to cooperate with the locking pin 441, and the locking groove 4411 is provided on the locking pin 441, perpendicular to the locking pin, and radially extending through 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 to achieve locking cooperation between the tape reel assembly locking structure and the tape reel assembly positioning structure. Therefore, once the tape embroidery tape reel assembly is placed in place, the locking pin can be inserted into the locking pin hole to achieve locking of the tape embroidery tape reel assembly with the tape embroidery tape reel assembly color-changing storage device 4 or the tape embroidery machine head 5. No other operations are required, which facilitates color change and improves color change 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 portion on the reel bracket 11. The spring positioning portion can be a circular groove. That is, under the action of the slider return spring, the locking slider 13 slides and engages with the locking groove, achieving a locked engagement between the reel assembly locking structure and the reel assembly positioning structure. Therefore, when the tape embroidery reel assembly is placed on the tape embroidery reel assembly color change storage device or the tape embroidery machine head, the slider return spring can maintain the locked state between the reel assembly locking structure and the reel assembly positioning structure.

[0061] In order to ensure that the locking slider slides into the locking groove when locking is required, a slider guide rail is provided between the locking slider 13 and the reel support 11. Specifically, the slider guide rail includes a slider guide groove 131 provided on the locking slider 13 and a guide pin 1121 provided on the reel support 11, and the slider guide groove 131 cooperates with the guide pin 1121.

[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 an overall rectangular structure, and the locking protrusion 132 protrudes upward from the rectangular body, forming an overall right-angled trapezoid or an isosceles trapezoid. The inclined waist can form either a single limiting inclined surface or two limiting inclined surfaces. Because the locking groove 4411 provided on the locking pin 441 is roughly rectangular, the length of the lower base of the trapezoid is greater than the width of the locking groove 4411, which 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 13 slides and engages with the locking groove, but does not separate from the locking groove. It can only be disengaged from the locking groove by moving in the opposite direction.

[0063] The automatic reel assembly replacement device for tape embroidery uses a gripping manipulator 2 to grip the tape reel assembly 1. The tape reel assembly 1 can only be removed after the reel assembly locking structure is unlocked. To unlock the reel assembly locking structure, a locking slider 13 is required to overcome the resistance of the slider's return spring, separating the locking protrusion 132 on the locking slider from the locking groove 4411. Therefore, the reel assembly locking structure can be unlocked using the gripping manipulator's claws, eliminating the need for manual unlocking or an additional unlocking mechanism on the gripping manipulator. Specifically, the gripping manipulator's claws simultaneously grasp the tape reel assembly 1 and drive the locking slider 13 to move, unlocking the reel assembly locking structure. After unlocking, the locking slider 13 also secures the tape reel assembly 1.

[0064] Corresponding to the gripping claws of the grabbing manipulator, the end of the locking slider 13 and the side of the tape holder are provided with corresponding gripping recesses, which cooperate with the gripping claws of the manipulator. Specifically, the gripping recesses correspond to the lower gripping recess 134 provided on the locking slider and the upper gripping recess 1114 provided on the side of the tape holder. Due to the action of the slider's return spring, the lower gripping recess 1114 protrudes outward from the upper gripping recess 134 in the free state. Therefore, when the grabbing manipulator 2 grabs the tape reel assembly 1, the gripping claws of the grabbing manipulator first interact with the lower gripping recess, driving the locking slider 13 inward. When the lower gripping recess 134 and the upper gripping recess 1114 are aligned, the tape reel assembly locking structure is unlocked, and the gripping claws of the grabbing manipulator precisely grasp the upper gripping recess. In this way, the grabbing manipulator simultaneously grasps the tape reel assembly and unlocks the tape reel assembly locking structure. After grasping the tape reel assembly, the grabbing manipulator directly transfers the tape reel assembly, thereby improving color changing efficiency.

[0065] It can be understood that the positions of the reel assembly locking structure and the reel assembly positioning structure can be interchanged.

[0066] When the grabbing robot 2 grabs the tape reel assembly 1, it must first ensure the relative positions of the two to ensure that the grabbing recess and the robot claw are in place. Therefore, a positioning pin 22 is provided on the grabbing robot 2, and a positioning pin hole 1112 is correspondingly provided on the tape reel assembly 1 to cooperate 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, which can limit the freedom of the tape reel assembly 1 and the grabbing robot. After the positioning pin 22 is inserted into the positioning pin hole 1112 and is in place, the robot claw can act on the lower grabbing recess and the upper grabbing recess at the same time.

[0067] It is understandable that the positions of the locating pin hole 1112 and the locating pin 22 can also be interchanged.

[0068] Referring to the existing technology, a presser foot structure is provided on the reel bracket 11, and the presser foot structure includes a presser foot slider 15 that can slide linearly up and down along the reel bracket, a presser foot 16 installed on the presser foot slider, and a presser foot guide rail provided between the reel bracket 11 and the presser foot slider 15. The presser foot slider 15 is plugged into the presser foot driving component on the M-axis assembly, and the presser foot slider is driven up and down by the presser foot driving component.

[0069] In addition, the tape reel support 11 is provided 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 reel support 11. The presser foot slider 15 is also provided with an embroidery pressing plate 17, and a tape reeling passage is provided between the embroidery pressing plate 17 and the presser foot slider 15 for the tape reel to pass through. The presser foot slider 15 has a middle recess 151 in the middle of its back, and a tape reeling groove 154 is provided below the middle recess 151. The embroidery pressing plate 17 passes through the tape reeling groove 154.

[0070] In this embodiment, the presser foot driver includes a drive block and a drive pin, with the two ends of the drive pin extending outwardly from the sides of the drive block, protruding from the side of the drive block. Slots 152 are provided on the left and right sides of the middle recess 151, and the slots 152 extend rearward through the back of the presser foot slider. Thus, when the automatic tape reel replacement assembly device for tape embroidery installs the tape reel assembly 1 on the tape embroidery machine head 5, the drive pin is inserted into the slot. When the automatic tape reel replacement assembly device for tape embroidery separates the tape reel assembly 1 from the tape embroidery machine head 5, the drive pin is disengaged from the slot. This facilitates the assembly and separation of the presser foot driver and the presser foot slider.

[0071] Furthermore, a bell-mouth structure may be provided at the middle recess 151 at a height corresponding to the slot, and a chamfered corner may be provided at the open end of the slot to facilitate insertion of the driving pin into the slot.

[0072] When the automatic reel assembly replacement device for tape embroidery separates the tape reel assembly 1 from the tape embroidery machine head 5, the slot on the presser foot slider separates from the drive pin. At this point, the presser foot slider is not affected by external forces and automatically falls under the action of gravity. When the tape reel assembly 1 is reassembled with the tape embroidery machine head 5, the slot and the drive pin no longer correspond. To address this problem, a magnet 19 is provided on the reel bracket 11 at a position corresponding to the presser foot slider 15, which attracts and fixes the presser foot slider 15. The magnet 19 is fixed to a magnet fixing plate 191. Thus, when the presser foot slider is in the high position, after the slot on the presser foot slider separates from the drive pin, the magnet can maintain the presser foot slider in the high position. When the tape reel assembly 1 is reassembled with the tape embroidery machine head 5, the slot and the drive pin still correspond, allowing the drive pin to be inserted into the slot normally.

[0073] The automatic reel assembly replacement device for tape embroidery needs to ensure that the tape on the reel does not become loose during the process of transferring the tape reel assembly 1 between the tape reel assembly color-changing and material-storing 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 and material-storing device 4. Therefore, the tape reel assembly 1 is also provided with a tape locking structure 14, which includes a transversely extending thimble shaft 141, a spring pin 143 perpendicular to the thimble shaft, an thimble spring 144 mounted on the spring pin, and a lock spring 142 connected to the thimble shaft. A spring pin mounting hole 1118 is provided on the reel bracket 11, and the spring pin 143 passes through the spring pin mounting hole 1118. The spring pin 143 is provided with a limiting cap at the head end and a limiting cap at the tail end. The thimble spring 144 is sheathed on the spring pin 143, and the two ends abut the limiting caps. The locking spring 142 has a U-shaped structure, and the bent portions 1421 at both ends are movably connected to the radial through holes on the ejector shaft, forming a gap for the tape to pass through the spring and the ejector shaft. The spring pin mounting hole 1118 is perpendicularly intersected and connected to the radial through holes on the ejector shaft. A bevel matching structure is provided between the bent portion of the locking spring 142 and the spring pin 143. Therefore, in the free state, the gap for the tape to pass through becomes narrower, clamping the tape to prevent disorderly loosening of the tape.

[0074] In this embodiment, the reel bracket 11 includes a bracket upper fixing block 111, a locking block lower cover 112, and a support arm 113. Slide grooves 1113 are provided on the left and right sides of the bottom of the bracket upper fixing block 111. The locking slider 13 is disposed within the slide grooves and can slide along the slide grooves. The locking block lower cover 112 is fixed to the bottom of the bracket upper fixing block 111 with screws and closes the bottom opening of the slide groove. The bracket upper fixing block 111 is provided with a locking pin hole 1111, a positioning pin hole 1112, an upper grabbing recess 1114, a lower boss 1115, an intermediate groove 1116, a guide shaft fixing hole 1117, a spring pin mounting hole 1118, and a guide pin fixing hole 1119. Among them, the two locking pin holes 1111 and the two positioning pin holes 1112 pass through the bracket upper fixed block 111 front to back, and the two locking pin holes 1111 are symmetrically arranged on the left and right sides of the bracket upper fixed block 111, and the two positioning pin holes 1112 are symmetrically arranged on the left and right sides of the bracket upper fixed block 111. The upper grabbing recess 1114 is arranged on the left and right sides of the bracket upper fixed block 111. The lower boss 1115 is arranged at the bottom of the bracket upper fixed block 111, and the two lower bosses 1115 are symmetrically arranged on the left and right sides of the bracket upper fixed block 111, corresponding to the two support arms 113, and the two support arms 113 are connected to the tape reel 12. The middle groove 1116 is arranged in the middle position of the rear side of the bracket upper fixed block 111, and its arrangement is to avoid interference when the presser foot drive member 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 arranged 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 reel replacement device for tape embroidery includes a swing arm mechanism 3 and a grabbing robot 2 connected to the swing arm mechanism 3. The grabbing robot 2 is used to grab the tape reel assembly 1. The swing arm mechanism 3 moves the grabbing robot 2 into position, i.e., aligns it with the tape reel assembly 1 in the tape reel assembly color-changing and material-storing device 4 or with the tape reel assembly 1 on the tape embroidery machine head 5. Then, the grabbing robot 2 grabs the tape reel assembly 1, and the swing arm mechanism 3 actuates, driving the grabbing robot 2 and the grabbed tape reel assembly 1 to transfer between the tape reel assembly color-changing and material-storing device 4 and the tape embroidery machine head 5.

[0076] In this embodiment, Figure 8 and Figure 9As shown, the gripping manipulator 2 includes a manipulator body 21, which is provided with a positioning pin 22 that cooperates with the positioning pin hole on the tape reel assembly and a caliper for clamping the tape reel assembly. The caliper includes two claws 23 arranged side by side on the left and right, and a claw driver 25 that drives the caliper to close and open. The two claws 23 are connected to a claw guide assembly 24, which includes a claw slider 242 and a claw guide rail 241. The claws 23 are mounted on the claw slider 242, which is arranged on the claw guide rail 241. The two claw sliders 242 are driven by the claw driver to open and close.

[0077] The claw actuator 25 comprises a claw actuator cylinder 251, a cylinder connecting block 1 252, and a cylinder connecting block 253. The claw actuator cylinder body is fixed to the cylinder connecting block 1 252 and connected to one of the claw sliders. The push rod of the claw actuator cylinder is fixed to the cylinder connecting block 253 and connected to the other claw 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. Due to the above structure of the claw actuator 25, when the claw actuator cylinder 251 drives the push rod to push out, the two claw sliders 242 open. When the claw actuator cylinder 251 drives the push rod to retract, the two claw sliders 242 close.

[0078] Furthermore, guide rail limit 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 grabbing pin 231 installed on the claw body. The grabbing pin 231 is perpendicular to the positioning pin 22. After the positioning pin is inserted into the positioning pin hole 1112, the grabbing pins 231 on the two claws 231 correspond to the positions of the lower grabbing recess and the upper grabbing recess. At this time, the claw drive cylinder 251 drives the push rod to retract, and the two claw sliders 242 are closed. The locking slider 13 is first driven to move inward to unlock the tape reel assembly locking structure and the tape reel assembly positioning structure, and then the tape embroidery tape reel assembly 1 is clamped.

[0079] Two locating pins 22 are arranged side by side, with their tail ends attached to the locating pin fixing block. The head ends of the locating pins are provided with a tapered head 221 to facilitate insertion of the locating pins into the locating pin holes. The tail ends of the locating pins are provided with a tapered stopper 222, which holds the locating pins in place after they are inserted into the locating pin holes.

[0080] Furthermore, the manipulator body 21 is connected to a manipulator shaft 26, which is used to drive the grabbing manipulator 2 to rotate. The swing arm mechanism 3 cannot completely align the grabbing manipulator 2 with the tape reel assembly 1 by swinging alone, so the swing arm mechanism 3 can also drive the manipulator shaft 26 to rotate and drive the grabbing manipulator 2 to rotate.

[0081] According to the above-mentioned coiling tape embroidery tape reel assembly, the coiling tape embroidery tape reel assembly is provided with a reel assembly locking structure. Therefore, the caliper unlocks the reel assembly locking structure while clamping the reel assembly, thereby the reel assembly can be transferred away.

[0082] The grabbing robot must ensure that the embroidery tape reel assembly remains essentially unchanged after being grabbed, in order to ensure that the tape reel assembly positioning structure and the tape reel assembly locking structure are aligned. However, this is difficult to achieve with conventional robots. Since the embroidery tape reel assembly is provided with a positioning pin hole, the embroidery tape reel assembly grabbing robot is provided with a positioning pin that matches the positioning pin hole. In this way, before the caliper clamps the embroidery tape reel assembly, the embroidery tape reel assembly and the grabbing robot are already positioned. On the one hand, this ensures that the caliper and the embroidery tape reel assembly are aligned. On the other hand, after the caliper clamps the embroidery tape reel assembly, the embroidery tape reel assembly remains essentially unchanged. After the grabbing robot transfers the embroidery tape reel assembly to the corresponding positions of the embroidery tape reel assembly color change storage device and the embroidery machine head, the tape reel assembly positioning structure and the tape reel assembly locking structure 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. A swing arm shaft is fixed to the tail end of the swing arm body. The swing arm shaft is rotatably supported on the swing arm bracket 31. The swing arm bracket 31 is provided with a swing arm driving component 33 that drives the swing arm body 32 to swing and drives the grasping 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 rotating 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 manipulator joint drive shaft 36, and a swing arm transmission component is provided between the output shaft of the swing arm drive motor 331 and the manipulator joint drive shaft 36. In addition, the manipulator joint drive shaft 36 is fixed to the manipulator rotating shaft 26, and the two can be tightly fixed using a clamp structure and rotate synchronously.

[0085] Specifically, the swing arm transmission component includes a first driving pulley 361 mounted on the swing arm's rotating shaft and a first driven pulley 362 mounted on the manipulator joint drive shaft. A first synchronous belt is connected between the first driving pulley 361 and the first driven pulley 362. It is understood that the first synchronous belt may also be connected to a first tensioning pulley 363. In this way, while the swing arm body drives the grasping manipulator to swing, the swing arm transmission component drives the manipulator joint drive shaft 36 to rotate, thereby driving the grasping manipulator 2 to rotate.

[0086] Specifically, the swing arm bracket 31 includes a left bracket 311, a right bracket 312, and a volute 313 disposed between the left and right brackets. The two ends of the swing arm shaft are rotatably supported by the left and right brackets, respectively, and the worm gear is disposed within the volute. The swing arm body 32 includes a left swing arm housing 321 and a right swing arm housing 322, with the swing arm transmission component disposed between the left and right swing arm housings 321 and 322.

[0087] Furthermore, the worm 332 is mounted on a worm shaft, and the worm shaft is connected to a hand wheel 334. In this way, the worm can also be driven to rotate by the hand wheel.

[0088] Due to the arrangement of the swing arm transmission components, the swinging of the swing arm body 32 and the rotation of the grabbing manipulator can be coordinated. Thus, after the swing arm body 32 swings down into position, the locating pin 22 on the grabbing manipulator 2 aligns with the locating pin hole 1112 of the embroidery tape reel assembly 1 on the embroidery machine head 5. Alternatively, after the swing arm body swings up into position, the locating pin 22 aligns with the locating pin hole 1112 of the embroidery tape reel assembly 1 on the embroidery tape reel assembly color change and storage device 4. At this point, the grabbing manipulator 2 still needs to perform a forward and backward translational motion to insert the locating pin 22 on the grabbing manipulator 2 into the locating pin hole 1112 of the embroidery tape reel assembly 1. Therefore, the automatic embroidery tape reel assembly replacement device further includes a beam support 34. Front and rear linear guides 35 are disposed between the beam support 34 and the swing arm support 31. A swing arm front and rear actuator drives the swing arm support and the swing arm body forward and backward along the front and rear linear guides 35. The swing arm front and rear actuator is a front and rear drive cylinder, but can also be a linear motor, etc.

[0089] Conventional robotic arms need to be equipped with an X-direction drive mechanism, a Y-direction drive mechanism, a Z-direction drive mechanism, and an R-direction drive mechanism to ensure that after the grabbing robot grabs the tape embroidery tape reel assembly, the tape embroidery tape reel assembly is accurately transported to its proper position to ensure that the tape reel assembly positioning structure is aligned with the tape reel assembly locking structure. Since multiple mechanisms need to cooperate and there are many mechanisms, the structure is relatively complex and there are many movements, resulting in low color changing efficiency. The swing arm mechanism adopted in this embodiment only needs to drive the swing arm body to swing and the grabbing robot to rotate when changing colors, and then drive the swing arm body to move back and forth when necessary. It has fewer movements than a conventional robotic arm, and the swing stroke of the swing arm body is relatively short. Moreover, since the swing arm body and the grabbing robot rotate using a common swing arm drive assembly, the structure is simpler. Therefore, the combination of fewer movements, short stroke and simple structure can significantly improve the color changing efficiency.

[0090] Since the number of the tape reel assemblies stored in the tape reel assembly color-changing storage device determines the number of colors that can be changed, the number of the tape reel assemblies stored in the tape reel assembly 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 storage device 4 of the embroidery tape disc assembly includes a material rack 41, a turntable 42 provided on the material rack and a turntable driving assembly 43 for driving the turntable to rotate, a material rack guide rail 45 extending along the axial direction of the turntable, and a material rack translation driving assembly for driving the material rack 41 to move horizontally along the material rack guide rail 45.

[0092] The turntable 42 is circumferentially provided with at least two positioning plates 44. These positioning plates 44 extend axially along the turntable and are provided with at least two reel assembly positioning structures along the extension direction. The reel assembly positioning structures and the reel assembly locking structures secure the embroidery reel assembly 1 to the positioning plates 44, ensuring that the reel assembly 1 is securely fixed during rotation of the turntable and translation of the material rack. The reel assembly 1 can only be removed from the embroidery reel assembly color-changing and storage device 4 after the reel assembly locking structures and the reel assembly positioning structures are unlocked when the automatic reel assembly replacement device is used to remove the reel assembly 1.

[0093] Since the position where the automatic tape embroidery reel assembly device takes the tape embroidery reel assembly color-changing and storing device 4 is fixed, it can be referred to as the color-changing position. When color change is required, the turntable drive assembly 43 drives the turntable 42 to rotate, or the rack translation drive assembly drives the rack 41 to move horizontally along the rack guide rail 45, so that the corresponding tape embroidery reel assembly 1 can be sent to the color-changing position of the tape embroidery reel assembly color-changing and storing device 4.

[0094] The above technical solution can store the embroidery tape reel assemblies 1 in both the axial and circumferential directions of the turntable 42, and the number of embroidery tape reel assemblies 1 stored in the embroidery tape reel assembly color-changing storage device 4 is greatly increased. Of course, due to space limitations, two embroidery tape reel assemblies 1 are usually provided in the axial direction of the positioning plate, and three embroidery tape reel assemblies 1 are provided along the circumference of the turntable, that is, the embroidery tape reel assembly color-changing storage device 4 can store a total of six embroidery tape reel assemblies 1.

[0095] In this embodiment, the reel assembly positioning structure includes a locking pin 441 that cooperates with the locking pin hole. The locking pin is provided with a locking groove 4411 that cooperates with the locking portion. The locking pin 441 also has the same structure as the cone head 221 and the conical surface limit portion 222 on the positioning pin to facilitate cooperation with the locking pin hole.

[0096] Specifically, the turntable 42 includes a central axis 421 and spokes fixed to the central axis. The spokes include a sleeve 422 and at least two spoke claws 423 evenly spaced along the circumference of the sleeve. The positioning plate 44 is fixed to the spoke claws 423. The spoke claws 423 include an arcuate portion 4231 that connects to the sleeve and a fixed portion 4232 that connects to the arcuate portion. The fixed portion is provided with a positioning and fixing surface. The fixing plate is rectangular and is fixed to the positioning and fixing surface with screws. This ensures that the positioning plate does not interfere with the grasping robot arm's grasping of the tape embroidery reel assembly 1 after the turntable is rotated into position.

[0097] Wherein, a spoke is respectively provided on the left and right sides and the middle of the central rotating shaft. In this way, the left and right sides and the middle of the positioning plate are all fixed to ensure that the positioning plate is fixed stably and reliably.

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

[0099] As an embodiment, the material rack translation drive assembly includes a material rack drive motor and a linear transmission component, wherein the linear transmission component converts the rotational motion of the material rack drive motor into linear motion of the material rack.

[0100] Specifically, the material rack 41 comprises side support plates arranged side by side. The turntable 42 is positioned between the two support plates, and the material rack guide rails 45 are connected to the side support plates. Furthermore, the side support plates are equipped with bearings that rotatably support the central rotating shaft. The turntable drive assembly is located inside the side support plates. The turntable drive motor 431 is secured to the inside of the side support plates via motor fixing studs 435. One end of the driving pulley shaft is connected to the motor output shaft, and the other end is rotatably supported by 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 will understand that the invention includes, but is not limited to, the drawings and the contents described in the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the invention are intended to be included within the scope of the claims.

Claims

1. A tape embroidery machine with automatic color change and increased color change quantity, characterized in that: The embroidery tape reel assembly is a kind of embroidery tape reel assembly, and the embroidery tape reel assembly is a kind of embroidery tape reel assembly. The embroidery tape reel assembly is a kind of embroidery tape reel assembly, and the embroidery tape reel assembly is a kind of embroidery tape reel assembly. The embroidery tape reel assembly is a kind of embroidery tape reel assembly, and the embroidery tape reel assembly is a kind of embroidery tape reel assembly. The embroidery tape reel assembly is a kind of embroidery tape reel assembly, and the embroidery tape reel assembly is a kind of embroidery tape reel assembly. The embroidery tape reel assembly is a kind of embroidery tape reel assembly, and the embroidery tape reel assembly is a kind of embroidery tape reel assembly. The cam assembly is fixed to the cam frame, and the cam frame is fixed with a plurality of locking plates, the cam frame having a plurality of locking plates and a plurality of locking plates, and the plurality of locking plates are fixed to the cam frame.

2. The tape embroidery machine with automatic color change and increased color change quantity according to claim 1, characterized in that: The grabbing robot is provided with a positioning pin, and the tape reel bracket is provided with a positioning pin hole that cooperates with the positioning pin; and / or, a presser foot guide rail is provided between the tape reel bracket and the presser foot slider, and the presser foot drive component connection part is plugged into the presser foot drive component on the M-axis assembly, and the presser foot slider is driven up and down by the presser foot drive component.

3. The tape embroidery machine with automatic color change and increased color change quantity according to claim 1, characterized in that: The automatic tape reel replacement device for tape embroidery is provided with a swing arm mechanism, which includes a swing arm bracket and a swing arm body. A swing arm shaft is fixed to the tail end of the swing arm body, and the swing arm shaft is rotatably supported on the swing arm bracket. The swing arm bracket is provided with a swing arm driving assembly for driving the swing arm body to swing and driving the grabbing robot to rotate; the grabbing robot includes a robot body, a positioning pin hole is provided on the tape reel bracket, and a positioning pin is provided on the robot body for cooperating with the positioning pin hole on the tape embroidery tape reel assembly and a caliper for clamping the tape embroidery tape reel assembly.

4. The tape embroidery machine with automatic color change and increased color change quantity according to claim 3, characterized in that: The automatic reel replacement assembly device for tape embroidery also includes a beam bracket, a front and rear linear guide rail is provided between the beam bracket and the swing arm bracket, and the front and rear drivers of the swing arm drive the swing arm bracket and the swing arm body to move forward and backward along the front and rear linear guide rails; and / or the caliper includes two claws arranged side by side on the left and right, the claws are installed on a claw slider, a claw guide rail is provided between the claw slider and the manipulator body, and the two claw sliders are driven by the claw driver to open and close.

5. The tape embroidery machine with automatic color change and increased color change quantity according to claim 3, characterized in that: The swing arm drive assembly includes a swing arm drive motor and a worm gear fixed to the swing arm rotating shaft. The output shaft of the swing arm drive motor is connected to a worm, and the worm is meshed with the worm gear. The head end of the swing arm body is provided with a manipulator joint drive shaft, and a swing arm transmission component is provided between the output shaft of the swing arm drive motor and the manipulator joint drive shaft. The manipulator body is connected to a manipulator rotating shaft, and the manipulator rotating shaft is connected to the manipulator joint drive shaft for driving the grabbing manipulator to rotate; and / or, when the grabbing manipulator grabs the tape embroidery tape reel assembly, the caliper is aligned with the tape reel assembly locking structure, and the tape reel assembly locking structure is unlocked while clamping the tape embroidery tape reel assembly.

6. The tape embroidery machine with automatic color change and increased color change quantity according to claim 1, characterized in that: The color-changing and storing device of the tape embroidery tape disc assembly includes a material rack, a turntable provided on the material rack, a turntable driving assembly for driving the turntable to rotate, a material rack guide rail extending axially along the turntable, and a material rack translation driving assembly for driving the material rack to move horizontally along the material rack guide rail. The turntable is provided with at least two positioning plates distributed along the circumference, and the positioning plates extend axially along the turntable and are provided with at least two tape disc assembly positioning structures along the extension direction.

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