Self-walking mechanism of automatic bottom line replacing device

Abstract

The invention discloses a self-walking mechanism of an automatic bottom thread replacing device, the automatic bottom thread replacing device runs along a transverse guide mechanism, the self-walking mechanism comprises a power driving assembly arranged on the automatic bottom thread replacing device, and the power driving assembly comprises a driving motor and a power battery for supplying power to the driving motor. The driving motor is connected with a power output component, and the power output component is matched with the transverse guide mechanism to drive the automatic bottom line replacing device to move. The power battery of the automatic bottom line replacing device supplies power to the driving motor, contact power taking is not needed, in the operation process, the power connection part of the automatic bottom line replacing device does not make contact with the transverse guide mechanism, and the problem caused by power connection in the operation process of the automatic bottom line replacing device on the transverse guide mechanism is avoided.

Description

[Technical field]

[0001] The invention belongs to the technical field of embroidery equipment, and in particular relates to an automatic bottom thread changing device for an embroidery machine. [Background technology]

[0002] The automatic bobbin thread changing device currently on the market achieves the purpose of automatically changing the bobbin thread by automatically changing the bobbin case and the bobbin core. Referring to the Chinese invention patent application with the publication number CN110340628A, a multi-station robotic arm bobbin thread changing device is disclosed, which can be responsible for the bobbin thread changing work of several preset stations, and the disassembled bobbin thread and the spare bobbin thread are placed in the bobbin thread storage tray. Specifically, the equipment structure includes a horizontal guide mechanism and a bobbin thread changing device, and the bobbin thread changing device includes a bobbin thread gripper, a rectangular coordinate robotic arm, a translation base, a rotary drive mechanism and a bobbin thread storage tray, and the translation base is slidably connected to the horizontal guide rail. The translation base is provided with a sliding guide seat, and the sliding guide seat is slidably connected to the horizontal guide rail. The guide surface of the horizontal guide rail is provided with two conductive sheets extending along the horizontal guide rail, and the translation base is provided with brushes at the corresponding conductive sheet positions. When the translation base slides along the horizontal guide rail, the brushes are always in contact with the conductive sheet and are conductive. The brush includes a brush mounting seat and a carbon brush; the brush mounting seat is arranged on the side of the translation base facing the horizontal guide rail, and two rows of accommodating cavities for installing carbon brushes are arranged on the side of the brush mounting seat facing the horizontal guide rail. A spring is arranged in the accommodating cavity, and a carbon brush is arranged at the end of the spring. The two rows of carbon brushes are respectively against two conductive sheets and are connected with the conductive sheets. The power supply adopts the power supply method of electric belt contact, that is, a copper belt circuit is laid on the horizontal moving path, and a conductive block is arranged on the device. One end of the conductive block is affected by the elastic force of the shrapnel, so that the conductive block is closely connected with the copper belt circuit, and then the electric energy is transmitted to the control board of the device to control the operation of the device. The advantage of this circuit is that it has stable operation and solves the problem that the traditional device drags the wires to run left and right, causing metal fatigue of the wires. However, the disadvantages are also obvious: the conductive block and the driving force spring behind the conductive block are installed vertically on the contact surface of the conductive belt, and the device runs left and right along the conductive belt. When the device runs left and right, the force exerted on the conductive block is not only on the driving force spring behind it, but also on the left and right surfaces where the insulating sleeve that holds the conductive block is in contact with the conductive block. When the device runs left and right, the movement of the conductive block is like a person shaking a small tree left and right. After long-term operation, the friction of the conductive block will cause the insulating sleeve that holds the conductive block to deform, and there is a risk of getting stuck and not conducting electricity. When running at high speed, the problem will be more obvious. [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 self-propelled mechanism for an automatic bottom thread changing device, so as to avoid the risk of jamming and non-conductivity in the prior art where a brush and a conductive sheet are in contact for conduction.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The self-propelled mechanism of the automatic thread-changing device runs along the transverse guide mechanism. The self-propelled mechanism includes a power drive assembly arranged on the automatic thread-changing device. The power drive assembly includes a drive motor and a power battery for powering the drive motor. The drive motor is connected to a power output component. The power output component cooperates with the transverse guide mechanism to drive the automatic thread-changing device to move.

[0006] Preferably, the lateral guide mechanism is provided with a contact charging seat for charging the power battery, and one of the contact charging seat and the power drive assembly is provided with a charging interface, and the other is provided with a charging connector, and the charging connector is plugged into the charging interface.

[0007] Preferably, the lateral guiding mechanism is provided with a wireless charging seat for charging the power battery, and the power driving assembly is provided with a wireless charging circuit which is wirelessly connected to the wireless charging seat for charging.

[0008] Preferably, the self-propelled mechanism further comprises a transverse rack arranged on the transverse guide mechanism, the power output component is a self-propelled gear meshing with the transverse rack, and the drive motor drives the self-propelled gear to rotate.

[0009] Preferably, the self-propelled mechanism further comprises a synchronous belt arranged on the transverse guide mechanism, the power output component is a synchronous pulley meshing with the synchronous belt, and the driving motor drives the synchronous pulley to rotate.

[0010] Preferably, the self-propelled mechanism further comprises a chain arranged on the transverse guide mechanism, the power output component is a sprocket engaged with the chain, and the drive motor drives the sprocket to rotate.

[0011] Preferably, the transverse guiding mechanism comprises a transverse guide rail, the automatic bottom thread changing device is provided with a transverse slider slidably matched with the transverse guide rail, and the transverse rack is arranged below the transverse guide rail with the tooth surface facing downward.

[0012] Preferably, the drive motor is a stepper motor; and / or the power battery is a lithium battery.

[0013] Preferably, the driving motor is installed at the bottom of the automatic bottom thread changing device.

[0014] Preferably, the automatic bottom thread changing device is provided with an infrared ranging sensor or a proximity switch.

[0015] Preferably, the automatic bottom thread changing device is provided with an infrared distance measuring sensor or a proximity switch; and / or, the automatic bottom thread changing device is provided with a wireless communication module, and receives control signals through the wireless communication module to achieve self-propelled movement.

[0016] The present invention adopts the above-mentioned technical scheme and has the following technical effects: the automatic bottom thread changing device uses its own power battery to power the driving motor, and there is no need to contact for power supply. During operation, the power connection part of the automatic bottom thread changing device does not contact the transverse guide mechanism, thereby avoiding problems caused by power connection during the operation of the automatic bottom thread changing device on the transverse guide mechanism.

[0017] Moreover, the automatic bottom thread changing device can be charged through a contact charging stand or a wireless charging stand in standby mode to ensure power supply during operation.

[0018] 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

[0019] The invention will be further described below in conjunction with the accompanying drawings:

[0020] Figure 1 It is a partial structural diagram of a multi-station automatic bottom line changing device;

[0021] Figure 2 This is a side view of the multi-station automatic bottom line changing equipment where the automatic bottom line changing device is located on the side of the storage tray;

[0022] Figure 3 yes Figure 2 The enlarged structural diagram at A in the middle;

[0023] Figure 4 It is a schematic diagram of the structure of the conductive copper sheet and the insulating circuit support plate;

[0024] Figure 5 It is a schematic diagram of the automatic bottom thread changing device running along the lateral guide mechanism;

[0025] Figure 6 It is a structural schematic diagram of the contact conductive mechanism;

[0026] Figure 7 It is a schematic diagram of two automatic bottom thread changing devices running along the lateral guide mechanism;

[0027] Figure numerals: automatic bottom thread changing device 1, main body 11, storage tray 12, manipulator assembly 13, transverse slider 14, contact conductive mechanism 15, fixed seat 151, insulating swing arm 152, conductive sheet 153, transverse extension section 1531, horizontal extension section 1532, branch insulating swing arm 154, pin 155, torsion spring 156, power drive assembly 16, drive motor 161, self-propelled gear 162, sensor 17, transverse guide mechanism 2, bracket 20, transverse guide rail 21, transverse rack 22, insulating circuit support plate 23, mounting groove 231, conductive copper strip 232, shuttle box body 3, rotary shuttle 31, shuttle core 32, shuttle case 33. [Specific implementation method]

[0028] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0029] Those skilled in the art will appreciate that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0030] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. For example, the following words indicating orientation or positional relationship, such as "upper", "lower", "front", "back", "X direction", "Y direction", etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present 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 cannot be understood as limiting the present invention.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0033] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0034] like Figure 1 As shown, the multi-station automatic bottom thread changing device includes a transverse guide mechanism 2 and an automatic bottom thread changing device 1. For a multi-head embroidery machine, multiple sets of machine heads and shuttle boxes are correspondingly arranged in the transverse direction, wherein the upper side is the machine head and the lower side corresponds to the shuttle box 3, on which the shuttle box 3 is provided with a rotary hook 31 and a bottom thread installed on the rotary hook. The bottom thread here refers to a combination kit of a bobbin core 32 and a bobbin case 33 for placing the bottom thread. If the bottom thread is used up, the bottom thread needs to be replaced, and the automatic bottom thread changing device 1 is used to replace the bottom thread. The transverse guide mechanism 2 is arranged below the shuttle box 3 and extends in the transverse direction. Its length is sufficient to cover the arrangement length of all shuttle boxes 3, so as to ensure that the automatic bottom thread changing device 1 runs along the transverse guide mechanism 2 and can run to the corresponding position of the shuttle box 3 to complete the bottom thread changing work. Among them, the number of automatic bottom thread changing devices 1 can be one or more, because the number of heads of multi-head embroidery machines is increasing, and usually multiple automatic bottom thread changing devices 1 are also provided, and each automatic bottom thread changing device 1 is responsible for the combination of a corresponding number of machine heads and shuttle boxes to change the bottom thread.

[0035] The automatic bottom thread changing device 1 includes a storage tray 12 for placing multiple bottom threads and a manipulator assembly 13 for automatically changing bottom threads. The storage tray 12 and the manipulator assembly 13 are installed on the body 11. The storage tray 12 can rotate. The storage tray is provided with multiple storage positions for placing bottom threads along the circumference, and at least one empty position is reserved. The manipulator assembly 13 replaces the used bottom thread on the rotary hook and places it on the empty position of the storage tray 12, and places the unused bottom thread on the storage tray 12 on the rotary hook. Of course, if there is no unused bottom thread on the storage tray, the storage tray needs to be replaced as a whole.

[0036] Therefore, the method adopted by the automatic bottom line changing device 1 in the prior art to change the bottom line is: the storage tray is equipped with a bobbin core and a bobbin case with a wound bottom line, which are referred to as bottom lines here. Generally, 10 wound bottom lines are stored, and an empty space is reserved for the replacement bottom line. When the bottom line needs to be replaced, the manipulator assembly 13 will take out the empty bottom line on the shuttle of the embroidery machine and place it in the empty space reserved in the storage tray. Then, the manipulator assembly 13 is lifted, the storage tray 12 rotates, and the wound bottom line is rotated to a position where the manipulator assembly 13 can grab it. At this time, the manipulator assembly 13 grabs a wound bottom line and places it in the shuttle of the embroidery machine, completing the replacement of the bottom line of one head of the embroidery machine. When the bottom line corresponding to the next head needs to be replaced, the automatic bottom line changing device moves to the next head position with the storage tray 12 along the lateral guide mechanism 2, and then the manipulator assembly 13 repeats the cycle of the first head changing bottom line action to complete the replacement of the second head bottom line, and so on, to complete the replacement of the corresponding bottom line of the entire embroidery machine head.

[0037] Generally, different numbers of heads of embroidery machines are equipped with different numbers of automatic bobbin thread changing devices. Currently, there is generally one automatic bobbin thread changing device for every 10 heads. When the bobbin thread of the entire embroidery machine is replaced, all the automatic bobbin thread changing devices will move to one end of the embroidery machine along the horizontal guide mechanism 2, waiting for the worker to replace the empty bobbin thread storage tray with the bobbin thread storage tray. After the replacement is completed, the reset button is manually pressed to reset each automatic bobbin thread changing device to its initial position for replacing the bobbin thread, in preparation for the next work, thereby completing the automatic bobbin thread changing function of the embroidery machine.

[0038] Reference Figure 1 As shown, the automatic thread-changing device 1 is provided with a power drive assembly 16, which cooperates with the transverse guide mechanism 2 to achieve the lateral movement of the automatic thread-changing device along the transverse guide mechanism 2. A power supply structure is provided between the automatic thread-changing device 1 and the transverse guide mechanism 2 to supply power to the power drive assembly 16.

[0039] In order to avoid the risk of being stuck and not conducting electricity in the existing power supply method, the power supply method between the automatic bottom line changing device 1 and the lateral guide mechanism 2 can be improved, for example, a slingshot power supply method is adopted.

[0040] like Figures 1 to 6 As shown, the power taking structure includes a power transmission circuit arranged at the front side of the lateral guide mechanism 1 and extending in the lateral direction, and a contact conductive mechanism 15 arranged on the automatic bottom thread changing device 1 .

[0041] The plane where the power transmission circuit is located is arranged vertically, and the contact conductive mechanism includes a fixed seat 151, an insulating swing arm 152 hinged to the fixed seat through a pin shaft 155, a first spring arranged between the insulating swing arm and the fixed seat, and a conductive sheet 153 installed on the insulating swing arm. The first spring drives the insulating swing arm to swing horizontally relative to the plane where the power transmission circuit is located with the pin shaft as a fulcrum, and makes the conductive sheet elastically fit the power transmission circuit.

[0042] Furthermore, the insulating swing arm 152 is hingedly connected to a branch insulating swing arm 154 through a pin shaft, a second spring is provided between the branch insulating swing arm 154 and the insulating swing arm 152, and a conductive sheet 153 is installed on the branch insulating swing arm 154. The second spring drives the branch insulating swing arm to swing horizontally relative to the plane where the power transmission circuit is located with the pin shaft as a fulcrum, and makes the conductive sheet elastically fit the power transmission circuit.

[0043] Preferably, the first spring and the second spring are torsion springs 156, which are mounted on the pin 155 to drive the insulating swing arm 152 and the branch insulating swing arm 154 to twist. Therefore, under the action of the torsion spring, the insulating swing arm and the branch insulating swing arm both swing toward the lateral guide mechanism 2, and make the conductive sheet 153 contact the power transmission circuit for conduction.

[0044] Furthermore, the conductive sheet 153 is provided with a transverse extension section 1531, and the head of the transverse extension section is in contact with the power transmission circuit. The conductive sheet 153 is provided with a horizontal extension section 1532, and the insulating swing arm 152 and the branch insulating swing arm 154 are provided with a horizontal fixing surface that is in contact with the horizontal extension section 1532 and fixed by screws, so that the conductive sheet 153 is fixed to the insulating swing arm 152 and the branch insulating swing arm 154.

[0045] The above-mentioned power supply structure adopts a slingshot-type power supply method. The first spring drives the insulating swing arm to swing horizontally relative to the plane where the power transmission circuit is located with the pin shaft as the fulcrum, and makes the conductive sheet elastically fit the power transmission circuit. The reaction force of the transmission circuit on the conductive sheet during operation is opposite to the swinging direction, and it is not easy to deform the conductive sheet, thus overcoming the risk of stuck and non-conductivity in the prior art that uses brushes to contact the conductive sheet for conduction.

[0046] Moreover, the slingshot-type charging method has been used in trams and high-speed railways for many years, and its efficient and stable performance has been fully verified. Applying it to the automatic bottom thread changing device can greatly improve the stability and service life of the automatic bottom thread changing device. At the same time, it can also further improve the operating speed of the automatic bottom thread changing device, thereby improving its efficiency.

[0047] In addition, the automatic bottom line changing device and the host signal transmission in the prior art adopt the signal transmission method of wireless communication. Although wireless communication has been widely used, when using wireless communication, interference is encountered in some special occasions, and information communication is often poor. If the equipment is installed near the interference source, it will not work. The only solution is to move the factory and increase the customer's operating costs. In response to this problem, the present invention combines the slingshot-type power connection method with the communication function, that is, the lateral guide mechanism 2 is also provided with a communication circuit extending in the lateral direction, and the contact conductive mechanism 15 is provided with a conductive sheet that is in contact with the communication circuit.

[0048] The communication circuit and the power transmission circuit have the same structure, and both use conductive copper bars 232. Specifically, the transverse guide mechanism 2 includes a bracket 20, a transverse guide rail 2 installed on the bracket, and an insulating circuit support plate 23, and the power transmission circuit and the communication circuit are installed on the insulating circuit support plate 23. In this embodiment, the power transmission circuit includes at least two groups of conductive copper bars 232 arranged side by side, the communication circuit includes at least one row of conductive copper bars 232, and the insulating circuit support plate 23 is provided with a mounting groove 231 for mounting the conductive copper bars.

[0049] In this way, not only a power transmission circuit but also a communication circuit is laid on the transverse guide mechanism 2, that is, a "power transmission plus signal communication type electric shock guide rail" is formed. As shown in the figure, the "power transmission plus signal communication type electric shock guide rail" uses four rows of wires, that is, two power lines and two signal lines. For example, the two rows of wires on the upper side are power lines, corresponding to the conductive sheet 153 connected to an insulating swing arm 152 and a branch insulating swing arm 154 on the upper side, and the two rows of wires on the lower side are communication signal lines, corresponding to the conductive sheet 153 connected to an insulating swing arm 152 and a branch insulating swing arm 154 on the lower side. However, three rows of wires, that is, two power lines and one signal line, or five rows of wires or more rows of wires, can complete the functions required by this device. Of course, if the communication function is not considered, two power lines are sufficient, but if the communication function is considered, at least three rows of wires are required.

[0050] The above technical solution, since the contact conductive mechanism 15 and the power transmission circuit and the communication circuit adopt a slingshot contact conductive method, not only ensures the stability of the power supply, but also avoids the signal interference problem to the greatest extent, ensuring the stable operation of the equipment under various complex situations.

[0051] In order to completely avoid the risk of the brush and the conductive sheet being stuck and not conducting electricity in the prior art, as another embodiment, the contact power supply structure may not be provided, or a power drive assembly 16 may be provided on each automatic thread changing device 1 while the traditional power supply structure is provided. Figure 7 As shown, the power drive assembly 16 also includes a power battery 163 and a power output component connected to the drive motor, and the power output component cooperates with the transverse guide mechanism to drive the automatic bottom line changing device to move. Here, the power output component is a self-propelled gear 162. The power battery 163 is used to power the drive motor 161. There is no need to contact the power supply. During operation, the power supply part of the automatic bottom line changing device does not contact the transverse guide mechanism, avoiding problems caused by power supply during the operation of the automatic bottom line changing device on the transverse guide mechanism.

[0052] In some embodiments, the transverse guide mechanism 2 includes a contact charging seat, which is installed at a fixed position on one side of the transverse guide rail. The automatic thread-changing device 1 is provided with a charging interface, and the charging connector is plugged into the charging interface to charge the power battery 163. Of course, it is also possible that one of the contact charging seat and the automatic thread-changing device is provided with a charging interface, and the other is provided with a charging connector. Wireless charging technology can also be used, and the transverse guide mechanism 2 is provided with a wireless charging seat, and the automatic thread-changing device 1 is provided with a wireless charging circuit, which is wirelessly connected to the wireless charging seat to charge the power battery 163. In this way, the automatic thread-changing device 1 is charged in the standby state.

[0053] Of course, referring to the prior art, in order to realize the self-propelled operation of the automatic bottom thread changing device 1, the power drive assembly 16 cooperates with the upper part of the transverse guide mechanism to form a self-propelled mechanism. Specifically, the transverse guide mechanism is also provided with a transverse rack 22 arranged parallel to the transverse guide rail 21, the power output component is a self-propelled gear 162 meshing with the transverse rack, and the drive motor 161 is connected to the self-propelled gear 162. The drive motor 161 drives the self-propelled gear 162, thereby driving the entire automatic bottom thread changing device 1 to translate on the transverse guide rail 21 and accurately position.

[0054] In addition, the transverse rack 22 is arranged below the transverse guide rail 21, and the tooth surface is downward. The self-propelled gear is a spur gear. The automatic bottom line changing device 1 is provided with a transverse slider 14 that is slidably matched with the transverse guide rail 21.

[0055] It is understandable that the transmission structure of the self-propelled gear 162 and the transverse rack 22 can also be replaced by other transmission structures. For example, the transverse guide mechanism is provided with a synchronous belt to replace the transverse rack, the power output component is a synchronous pulley meshed with the synchronous belt, and the drive motor drives the synchronous pulley to rotate. For another example, the transverse guide mechanism is provided with a chain to replace the transverse rack, the power output component is a sprocket meshed with the chain, and the drive motor drives the sprocket to rotate.

[0056] Preferably, the driving motor is a stepping motor, the power battery is a lithium battery, and the driving motor is installed at the bottom of the automatic bottom thread changing device.

[0057] Furthermore, the automatic thread changing device is provided with a sensor 17 for sensing the distance between two automatic thread changing devices, such as an infrared distance measuring sensor or a proximity switch. If the distance is too close, the device can stop running to avoid collision. The automatic thread changing device is provided with a wireless communication module, which receives wireless control signals through the wireless communication module to achieve self-propelled operation.

[0058] The above is only a specific embodiment of the invention, but the protection scope 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 drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the invention will be included in the scope of the claims.

Claims

1. The self-propelled mechanism of the automatic thread changing device runs along the lateral guide mechanism, characterized in that: The self-propelled mechanism includes a power drive component arranged on the automatic bottom thread changing device, the power drive component includes a drive motor and a power battery for powering the drive motor, the drive motor is connected to a power output component, and the power output component cooperates with the lateral guide mechanism to drive the automatic bottom thread changing device to move.

2. The self-propelled mechanism of the automatic bottom thread changing device according to claim 1, characterized in that: The lateral guide mechanism is provided with a contact charging seat for charging the power battery. One of the contact charging seat and the power drive component is provided with a charging interface, and the other is provided with a charging connector, and the charging connector is plugged into the charging interface.

3. The self-propelled mechanism of the automatic thread changing device according to claim 1, characterized in that: The lateral guiding mechanism is provided with a wireless charging seat for charging the power battery, and the power driving component is provided with a wireless charging circuit which is wirelessly connected to the wireless charging seat for charging.

4. The self-propelled mechanism of the automatic bottom thread changing device according to claim 1, characterized in that: The self-propelled mechanism further comprises a transverse rack arranged on the transverse guide mechanism, the power output component is a self-propelled gear meshed with the transverse rack, and the driving motor drives the self-propelled gear to rotate.

5. The self-propelled mechanism of the automatic bottom thread changing device according to claim 1, characterized in that: The self-propelled mechanism further comprises a synchronous belt arranged on the transverse guide mechanism, the power output component is a synchronous pulley meshed with the synchronous belt, and the driving motor drives the synchronous pulley to rotate.

6. The self-propelled mechanism of the automatic thread changing device according to claim 1, characterized in that: The self-propelled mechanism further comprises a chain arranged on the transverse guide mechanism, the power output component is a sprocket engaged with the chain, and the drive motor drives the sprocket to rotate.

7. The self-propelled mechanism of the automatic thread changing device according to claim 1, characterized in that: The transverse guiding mechanism comprises a transverse guide rail, and the automatic bottom thread changing device is provided with a transverse sliding block which is slidably matched with the transverse guide rail.

8. The self-propelled mechanism of the automatic bottom thread changing device according to claim 1, characterized in that: The driving motor is a stepping motor; and / or the power battery is a lithium battery.

9. The self-propelled mechanism of the automatic bottom thread changing device according to claim 1, characterized in that: The driving motor is installed at the bottom of the automatic bottom thread changing device.

10. The self-propelled mechanism of the automatic bottom thread changing device according to claim 1, characterized in that: The automatic bottom thread changing device is provided with an infrared distance measuring sensor or a proximity switch; and / or, the automatic bottom thread changing device is provided with a wireless communication module, and receives a control signal through the wireless communication module to realize self-propelled movement.

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