Manipulator error automatic adjusting structure of automatic bottom line replacing device

Abstract

The invention discloses a mechanical arm error automatic adjusting structure of an automatic bottom line replacing device, a mechanical arm comprises a mechanical arm assembly and a gripper assembly, the mechanical arm assembly comprises a mechanical arm swing arm connected with the gripper assembly, the mechanical arm error automatic adjusting structure comprises a driver and a guide rail connected with the mechanical arm swing arm, and the driver is connected with the manipulator swing arm. The driver drives the manipulator swing arm to move along the guide rail to eliminate errors. When the manipulator moves to different bottom line replacement stations, the moving direction and distance of the swing arm of the manipulator can be controlled to be eliminated according to known errors corresponding to the stations, and it is guaranteed that the manipulator can accurately grab the bottom lines at the different stations.

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. [Background technology]

[0002] The automatic bobbin case changing device currently on the market achieves the purpose of automatically changing the bobbin case by automatically changing the bobbin case and the bobbin core (hereinafter referred to as the bobbin case). The Chinese patent with reference announcement number CN 210215827 U discloses a multi-station automatic bobbin case changing system, which can be responsible for the bobbin case changing work of several preset stations by configuring the bobbin case changing device, and the disassembled bobbin case and the spare bobbin case are placed on the storage turntable. When the spare bobbin case on the bobbin case storage part is used up, the operator can replace the storage turntable at a preset station, and at the same time recover the disassembled bobbin case and replenish the spare bobbin case, without the need for the operator to walk back and forth at each station to recover and replenish the bobbin case. The bobbin case grabbing part, that is, the manipulator, includes a second substrate, a swing telescopic mechanism and a mechanical finger mechanism. The swing telescopic mechanism is rotatably connected to the second substrate, and a mechanical finger mechanism is arranged on the swing telescopic mechanism. When the swing telescopic mechanism swings to the bottom, the mechanical finger mechanism points to the bobbin case storage station on the storage turntable. Since the horizontal guide mechanism is relatively long, there will be position deviation when the bobbin case changing device runs along the horizontal guide mechanism to different bottom line changing stations. In serious cases, it will cause the robot arm to be unable to accurately grasp the bottom line. [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 manipulator error automatic adjustment structure of an automatic bottom line changing device to eliminate the position errors of different bottom line changing stations so that the manipulator can accurately grasp the bottom line.

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

[0005] The automatic error adjustment structure of a manipulator of an automatic bottom line changing device, the manipulator comprises a manipulator arm assembly and a gripper assembly, the manipulator arm assembly comprises a manipulator swing arm connected to the gripper assembly, the automatic error adjustment structure of the manipulator comprises a driver and a guide rail connected to the manipulator swing arm, the driver drives the manipulator swing arm to move along the guide rail to eliminate the error.

[0006] Preferably, the driver includes a screw nut assembly and a screw motor driving the screw nut assembly.

[0007] Preferably, the robotic arm assembly also includes a robotic arm sliding block, and the guide rail is arranged between the robotic arm sliding block and the robotic arm swing arm. The robotic arm sliding block drives the robotic arm swing arm to swing, and the robotic arm swing arm moves along the guide rail and moves relative to the robotic arm sliding block at the same time.

[0008] Preferably, the robot arm sliding block is connected to a fixing plate, the fixing plate is fixed to a nut in a screw-nut assembly, and the screw motor is fixed to a robot arm swing arm.

[0009] Preferably, the automatic error adjustment structure of the manipulator further includes a position sensor for detecting the moving position of the manipulator swing arm along the guide rail.

[0010] Preferably, the position sensor comprises an optical coupling sensing sheet and a zero point position sensing optical coupling plate arranged relative to the optical coupling sensing sheet.

[0011] Preferably, the robotic arm assembly also includes a robotic arm swing connecting rod, a robotic arm sliding rod, and a robotic arm operation guide groove, the robotic arm swing connecting rod is connected to the robotic arm swing shaft, the robotic arm swing shaft is driven to rotate by the robotic arm driving motor, and drives the robotic arm swing connecting rod to swing, the robotic arm sliding rod is hingedly installed, the robotic arm sliding block is slidably connected to the robotic arm sliding rod, the robotic arm sliding block is connected to a guide rod, the robotic arm swing connecting rod is provided with a slide groove, the guide rod is slidably connected to the slide groove and to the robotic arm operation guide groove, the robotic arm swing connecting rod drives the robotic arm sliding block to slide along the robotic arm sliding rod during the swinging process, and at the same time the robotic arm sliding rod rotates, the guide rod slides along the slide groove and the robotic arm operation guide groove, and the robotic arm sliding block is guided to change height, front and rear position and relative angle through the robotic arm operation guide groove.

[0012] Preferably, the gripper assembly includes a manipulator support seat, a manipulator adaptive balance seat and an adaptive balance structure arranged between the manipulator adaptive balance seat and the manipulator support seat, the adaptive balance structure includes a front and rear movable gap, a lateral movable gap and an upper and lower movable gap arranged between the manipulator adaptive balance seat and the manipulator support seat, and an elastic support component elastically supported between the manipulator adaptive balance seat and the manipulator support seat, the manipulator adaptive balance seat is movable relative to the manipulator support seat when it contacts the bottom line through the elastic support action of the elastic support component, a movable groove is provided between the manipulator adaptive balance seat and the manipulator support seat, the elastic support component includes upper and lower support springs and a support ball connected to the upper and lower support springs and arranged in the movable groove, the movable groove is simultaneously movable when the manipulator adaptive balance seat and the manipulator support seat move relative to each other, and causes the support ball to change position in the movable groove.

[0013] Preferably, the manipulator support seat is provided with a central fixing part, the manipulator adaptive balancing seat is provided with a movable limiting part movably connected to the central fixing part, a front and rear movable gap and a lateral movable gap are provided between the central fixing part and the movable limiting part, the manipulator support seat is provided with an upper limit part and a lower limit part on the upper and lower sides of the central fixing part respectively, the movable limiting part is movably arranged on the outside of the central fixing part and is limited by the upper limit part and the lower limit part, and an upper and lower movable gap is provided between the upper limit part and / or the lower limit part and the movable limiting part.

[0014] Preferably, an upper limit hole is provided on the upper limit portion, the upper and lower support springs are arranged in the upper limit hole and the lower ends are abutted against the support ball; and / or, the movable groove is a V-shaped groove formed between the inner wall of the movable limiting portion and the outer wall of the central fixed portion, and the support ball is driven by the upper and lower support springs to make the support ball cooperate with the V-shaped groove, and when the relative width and height between the two side walls of the V-shaped groove change, the support ball moves in the V-shaped groove.

[0015] The present invention adopts the above technical solution and has the following technical effects:

[0016] The gripper assembly is driven by the mechanical arm assembly to move, and the gripper assembly grabs the bottom line, wherein the mechanical arm assembly includes a mechanical arm swing arm connected to the gripper assembly, and the mechanical arm error automatic adjustment structure is connected to the mechanical arm swing arm, and the mechanical arm error automatic adjustment structure includes a driver and a guide rail connected to the mechanical arm swing arm, and the driver drives the mechanical arm swing arm to move along the guide rail to eliminate the error. Therefore, when running to a different bottom line replacement station, according to the known error corresponding to the station, the movement direction and distance of the mechanical arm swing arm can be controlled to eliminate the error, ensuring that the mechanical arm can accurately grab the bottom line at different stations.

[0017] In addition, the gripper assembly is provided with an adaptive balancing structure. After the automatic error adjustment structure of the manipulator eliminates large errors, the manipulator can use the flexible swing of the adaptive balancing seat of the manipulator to allow the gripper assembly to move in a smaller range and align with the bottom line when grabbing the bottom line.

[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 yes Figure 1 A is an enlarged structural diagram of the center (the gripper assembly is in the first gripping position);

[0022] Figure 3 yes Figure 1 The enlarged structural diagram at B in the middle;

[0023] Figure 4 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;

[0024] Figure 5 is a structural schematic diagram of the manipulator assembly when the gripper assembly is in the second gripping position;

[0025] Figure 6 It is a structural diagram of the gripper assembly;

[0026] Figure 7 It is an exploded view of the gripper assembly;

[0027] Figure 8 is a top view of the gripper assembly;

[0028] Fig. 9 yes Figure 8 Middle AA section view;

[0029] Fig.10 A schematic diagram of an automatic bottom line changing device provided with a robot error automatic adjustment structure;

[0030] Fig.11 yes Fig.10 The enlarged structural diagram at C in the middle;

[0031] Figure numerals: automatic bottom thread changing device 1, main body 11, storage tray 12, manipulator assembly 13, manipulator support seat 131, central fixing portion 1311, lower limit portion 1312, upper limit block 1313, upper limit hole 13131, upper limit cover plate 1314, upper and lower support springs 1315, support ball 1316, V-shaped groove 1317, front and rear guide rods 1318, front and rear support springs 1319, manipulator adaptive balancing seat 132, movable limit portion 1321, bobbin case positioning plate 1322, adaptive balancing portion 1323, bobbin core sensing switch 1324, claw mechanism 133, manipulator claw 1331, claw driving rod 1332, second torsion spring 1333, driving portion 1334, driving groove 13341, claw driving motor 1335, driving head 13351, manipulator assembly 134, manipulator swing connecting rod 1341, mechanical arm swing shaft 13411, slide 13412, mechanical arm sliding block 1342, guide rod 13421, mechanical arm sliding rod 1343, first connecting seat 13431, second connecting seat 13432, first torsion spring 13433, mechanical arm operation guide groove 1344, upper horizontal section 13441, oblique section 13442, lower vertical section 13443, mechanical arm swing arm 1345, installation Segment 13451, main body extension section 13452, manipulator error automatic adjustment structure 135, guide rail 1351, screw motor 1352, screw nut assembly 1353, optical coupling sensor sheet 1354, zero position sensing optical coupling plate 1355, fixing plate 1356, transverse guide mechanism 2, transverse guide rail 21, transverse rack 22, shuttle box body 3, rotary shuttle 31, bobbin core 32, bobbin case 33, bobbin case buckle plate 331. [Specific implementation method]

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The automatic bottom thread changing device 1 includes a storage tray 12 for placing a plurality of bottom threads and a manipulator assembly 13 for automatically changing the bottom thread. The storage tray 12 can rotate. The storage tray is provided with a plurality of storage positions for placing the bottom thread along the circumferential direction, and at least one empty position is reserved. The manipulator assembly 13 replaces the bottom thread used up on the rotary hook and places it on the empty position of the storage tray 12, and places the unused bottom thread placed 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.

[0040] 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.

[0041] 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.

[0042] like Figures 1 to 9 As shown, in this embodiment, the manipulator assembly 13 includes a gripper assembly and a manipulator arm assembly 134, wherein the manipulator arm assembly 134 drives the gripper assembly to switch between a first gripping position and a second gripping position. Figure 1 and Figure 2 As shown, in the first grabbing position, the gripper assembly corresponds to the position of the rotary hook on the shuttle box body, and is used to grab the bottom line from the rotary hook position or place the bottom line at the rotary hook position; Figure 4 As shown, in the second grabbing position, the gripper assembly corresponds to the position of the storage tray, and is used to grab the bottom line from the storage tray or place the bottom line on the storage tray.

[0043] Among them, the robot arm assembly 134 includes a robot arm swing link 1341, a robot arm sliding block 1342, a robot arm sliding rod 1343, and a robot arm operation guide groove 1344. The robot arm sliding rod 1343 is hingedly installed, the robot arm sliding block 1342 is slidably connected to the robot arm sliding rod 1343, the robot arm swing link 1341 is connected to the robot arm swing shaft 13411, the robot arm swing link 1341 is provided with a slide groove 13412, the robot arm sliding block 1342 is connected to a guide rod 13421, the guide rod 13421 is slidably connected to the slide groove 13412 and to the robot arm operation guide groove 1344, and the robot arm swing shaft 13411 is driven to rotate by the robot arm driving motor, driving the robot arm swing link 1341 to swing. During the swinging process of the mechanical arm swing link 1341, the mechanical arm sliding block 1342 is driven to slide along the mechanical arm sliding rod 1343. At the same time, the mechanical arm sliding rod 1343 rotates, and the guide rod 13421 slides along the slide groove 13412 and the mechanical arm operation guide groove 1344, and the mechanical arm sliding block 1342 is guided to change the height, front and rear position and relative angle through the mechanical arm operation guide groove 1344. The mechanical arm sliding block 1342 has a first position and a second position, wherein the first position corresponds to the first gripping position of the gripper assembly, and the second position corresponds to the second gripping position of the gripper assembly. In the first position, the mechanical arm sliding rod 1343 is parallel to the horizontal plane, and in the second position, the mechanical arm sliding rod 1343 is perpendicular to the horizontal plane.

[0044] Specifically, the mechanical arm swing shaft 13411 is rotatably supported on the automatic thread changing device body 11, the mechanical arm operation guide groove 1344 is arranged on the upper side of the automatic thread changing device body, and the storage tray 12 is installed on the lower side of the automatic thread changing device body. The mechanical arm operation guide groove 1344 is arranged on the lateral side of the automatic thread changing device body 11, that is, the side where the storage tray is installed. Specifically, an upper horizontal section 13441, a lower vertical section 13443 and an oblique section 13442 connecting the upper horizontal section and the lower vertical section are provided, and the lower vertical section is lower than the upper horizontal section. The upper horizontal section 13441 is arranged backward and arranged on the rear side of the upper side of the automatic thread changing device body, closer to the position of the rotary hook, and the lower vertical section 13443 is arranged forward and arranged on the front side of the upper side of the automatic thread changing device body. The slide groove 13412 is a waist-shaped groove. The guide rod 13421 is connected with a rolling bearing, and the rolling bearing cooperates with the mechanical arm operation guide groove.

[0045] Furthermore, two mechanical arm sliding rods 1343 are arranged side by side, the first ends of the two mechanical arm sliding rods are connected to the first connecting seat 13431, and the second ends are connected to the second connecting seat 13432. The first connecting seat is hinged by a pin shaft and is connected to a first torsion spring 13433.

[0046] Furthermore, the robot arm assembly 134 also includes a robot swing arm 1345, the first end of which is fixed to the robot arm sliding block 1342, and the second end is connected to the gripper assembly. The robot swing arm is an L-shaped structure, including a main body extension section 13452 and a mounting section 13451, wherein the main body extension section is perpendicular to the robot arm sliding rod and fixed to the robot arm sliding block, and the mounting section is connected to the gripper assembly.

[0047] Since the robot arm assembly needs to drive the gripper assembly to move forward and backward as well as realize lifting motion during the conversion between the first gripping position and the second gripping position, it is usually necessary to set up a front and rear drive component and a lifting drive component, two drive sources. For example, the rectangular coordinate robot arm in the background technology needs to set up a lifting drive arm and a horizontal drive arm to realize the two directions of motion, and the two usually move one after the other, resulting in low efficiency of the conversion process, complex structure, more components and high cost. In view of this, in the present embodiment, only a robot drive motor is provided as a driving source. In order to realize that one driving source drives the gripper assembly to simultaneously complete the forward and backward movement and the lifting and lowering movement, a robot swing link 1341, a robot slide block 1342, a robot slide rod 1343, and a robot operation guide groove 1344 are used to cooperate. In this way, during the swinging process of the robot swing link, the guide rod 13421 slides along the slide groove and slides along the robot operation guide groove, thereby driving the robot slide rod 1343 to swing, and driving the robot slide block 1342 to change both the height and the front and rear position, and the gripper assembly also changes both the height and the front and rear position synchronously, thereby enabling the gripper assembly to switch between the first gripping position and the second gripping position, which not only improves the efficiency of the conversion process, but also reduces the components. Taking the use of a linear motor as a driving source as an example, a set of linear motors can be reduced, which significantly reduces the cost.

[0048] In addition, since the robot arm sliding rod is parallel to the execution end axis of the gripper assembly (a virtual line that coincides with the bottom line axis when the bottom line is being grabbed), in the first position, before the grabbing action is executed, the execution end axis corresponds to the bottom line axis on the rotary shuttle, and in the second position, before the grabbing action is executed, the execution end axis corresponds to the bottom line axis on the storage tray. In both positions, the execution end is in a position that is conducive to grabbing the bottom line. Figure 4 As shown in the example, the execution end axis coincides with the bottom line axis on the storage tray and the center line passing through the storage tray, forming a coincidence line C.

[0049] Since the robot arm operation guide groove is provided with an upper horizontal section 13441, a lower vertical section 13443 and an oblique section 13442 connecting the upper horizontal section and the lower vertical section, Figure 1As shown, in the first grasping position, the guide rod 13421 is located in the upper horizontal section 13441, and the robot arm sliding rod 1343 is parallel to the horizontal plane; Figure 4 As shown, in the second grasping position, the guide rod 13421 is located in the lower vertical section 13443, and the robot arm sliding rod 1343 is perpendicular to the horizontal plane. Figure 5 As shown, at a position between the first position and the second position, the guide rod 13421 is located in the oblique section 13442, and the robot arm sliding rod 1343 has an angle with the horizontal plane. Whether in the first grasping position or the second grasping position, the guide rod is in a relatively stable position, which is convenient for the robot arm to maintain stability and is conducive to the gripper assembly to grasp the bottom line.

[0050] When the automatic bottom line changing device starts to change the bottom line, in the mechanical arm assembly, the mechanical arm driving motor drives the mechanical arm swing connecting rod to swing, drives the mechanical arm sliding block to slide along the guide track of the mechanical arm running guide groove, and pushes the gripper assembly connected with the mechanical arm sliding block to the direction of the embroidery machine shuttle. Finally, the gripper assembly runs to the first position, and the gripper assembly catches the bobbin case with the bottom line used up in the shuttle, and then the mechanical arm driving motor reverses, drives the mechanical arm swing connecting rod and the mechanical arm sliding block, and runs in the reverse direction along the guide track of the mechanical arm running guide groove, takes out the bobbin case with the empty thread, and puts it into the zero position of the storage tray (the vacant position reserved for the bobbin case), and then the gripper releases the bobbin case, and finally the mechanical arm driving motor reverses again for a short distance, lifts the mechanical hand assembly to a position that does not affect the rotation of the storage tray, and the storage tray starts to rotate to an angle, so that the bobbin case with the bottom line rotates to a position that can be grabbed by the mechanical hand assembly.

[0051] The robot arm assembly drives the gripper assembly to switch between the first gripping position and the second gripping position. After the conversion is completed, the position accuracy cannot be absolutely guaranteed, and a certain position error is inevitable. In addition, due to the different brands of bobbin cases used by different manufacturers, the specifications of the bobbin cases are inconsistent, and the bobbin case cannot be fully matched with the conventional robot arm bobbin case fixing seat, resulting in the following problems when the robot arm changes the bobbin case: the robot arm easily misaligns the bobbin case, resulting in a low success rate for replacing the bobbin case and a significant reduction in work efficiency. There are also cases of offset and errors when the robot arm places the bobbin case. In addition, there is a large mechanical impact when the mechanical device for replacing the bobbin case is in hard contact with the bobbin case, resulting in excessive vibration during the startup process, resulting in noise, parts damage and mechanical friction, resulting in a low success rate for replacing the bobbin case.

[0052] In order to solve these problems, the gripper assembly is provided with an automatic balancing adjustment mechanism having an automatic balancing adjustment function, wherein the automatic balancing adjustment mechanism includes a manipulator support seat 131, a manipulator adaptive balancing seat 132 and an adaptive balancing structure arranged between the manipulator adaptive balancing seat and the manipulator support seat.

[0053] There are front and rear movable gaps, lateral movable gaps and upper and lower movable gaps between the manipulator adaptive balancing seat 132 and the manipulator supporting seat 131. The adaptive balancing structure includes an elastic supporting component elastically supported between the manipulator adaptive balancing seat 132 and the manipulator supporting seat 131.

[0054] In this embodiment, a movable groove is provided between the manipulator adaptive balance seat 132 and the manipulator support seat 131, and the elastic support component includes a support ball 1316 and upper and lower support springs 1315. The support ball 1316 is usually a steel ball, and the support ball 1316 is connected to the upper and lower support springs and is provided in the movable groove. The movable groove moves simultaneously when the manipulator adaptive balance seat 132 and the manipulator support seat 131 move relative to each other, and the support ball 1316 changes its position in the movable groove.

[0055] The manipulator adaptive balance seat and the manipulator support seat are connected in an active manner, with gaps in the front and back, left and right, and up and down directions. The manipulator adaptive balance seat 132 can move relative to the manipulator support seat 131, and the elastic support member can provide damping when the manipulator adaptive balance seat 132 moves relative to the manipulator support seat, so that the manipulator adaptive balance seat can swing flexibly relative to the manipulator support seat when it contacts the bottom line. When the manipulator grabs the bottom line, it can align with the bottom line through the flexible swing of the manipulator adaptive balance seat, and after releasing the bottom line, the manipulator adaptive balance seat can be returned to its original position through the elastic support member.

[0056] In addition, when the manipulator contacts the bobbin case, the elastic support component can act as a buffer, which can reduce the noise during contact when replacing the bobbin case and avoid damage to hard contact parts. At the same time, because of the buffer protection, the movement can be faster and more efficient when replacing the bobbin case and bobbin core.

[0057] Since a movable groove is provided between the manipulator adaptive balancing seat and the manipulator support seat, the elastic supporting component includes upper and lower supporting springs and supporting balls connected to the upper and lower supporting springs and arranged in the movable groove, the manipulator adaptive balancing seat moves relative to the manipulator support seat when it contacts the bottom line, and the movable groove moves at the same time when the manipulator adaptive balancing seat and the manipulator support seat move relative to each other, and causes the supporting ball to change its position in the movable groove. In this way, the upper and lower supporting springs and the supporting balls can cooperate with each other to simultaneously play an elastic damping role in the adaptive balancing seat moving in at least two directions relative to the manipulator support seat, and there is no need to set elastic supporting components in each direction, thereby simplifying the adaptive balancing structure and reducing components.

[0058] Specifically, the manipulator support seat 131 is provided with a central fixed portion 1311, and the manipulator adaptive balance seat 132 is provided with a movable limiting portion 1321 movably connected to the central fixed portion 1311, and a front-to-rear movable gap and a lateral movable gap are provided between the central fixed portion 1311 and the movable limiting portion 1321. The manipulator support seat 131 is provided with an upper limit portion and a lower limit portion 1312 on the upper and lower sides of the central fixed portion, respectively, and the movable limiting portion 1321 is movably provided outside the central fixed portion and is limited by the upper limit portion and the lower limit portion, and an upper and lower movable gap is provided between the upper limit portion and / or the lower limit portion and the movable limiting portion. The upper limit portion is provided with an upper limit hole 13131, and the upper and lower support springs 1315 are provided in the upper limit hole 13131. A V-shaped groove 1317 is formed between the inner side wall of the movable limiting portion 1321 and the outer side wall of the central fixing portion 1311, and the support ball 1316 is driven by the upper and lower support springs 1315 to make the support ball 1316 cooperate with the V-shaped groove 1317. The V-shaped groove 1317 is a movable groove, which is deformed when the manipulator adaptive balancing seat and the manipulator support seat move relative to each other, wherein the relative movement of the manipulator adaptive balancing seat and the manipulator support seat includes up-down movement and lateral movement, so that the relative width and height between the two side walls of the V-shaped groove change correspondingly, and the support ball 1316 moves relatively in the V-shaped groove 1317.

[0059] Specifically, the central fixing part 1311 is a rectangular body, the movable limiting part 1321 is a rectangular frame, the supporting balls and upper and lower supporting springs are provided in four groups and are distributed in pairs on both sides of the length of the rectangle, the top outer edge of the central fixing part is provided with a first inclined surface, and the top inner edge of the rectangular frame is provided with a second inclined surface, and the first inclined surface and the second inclined surface cooperate to form a V-shaped groove 1317, respectively serving as two side walls of the V-shaped groove 1317. The central fixing part 1311 protrudes upward, and a step surface is formed on the outer side of the bottom end, serving as the lower limiting part 1312.

[0060] In addition, the manipulator adaptive balance seat 132 is connected to a bobbin case positioning plate 1322, and of course, the two can also be an integrated structure. The bobbin case positioning plate 1322 is provided with an adaptive balance portion 1323, and the adaptive balance portion 1323 contacts the bobbin case.

[0061] The function of the upper and lower support springs 1315 is: when the adaptive surface balance surface of the manipulator adaptive balance seat contacts the bobbin case, if the upper and lower surfaces and the left and right surfaces fail to fit together, the thrust from the adaptive surface balance surface will lift, lower or move the manipulator adaptive balance seat left and right to find its balance point, and then grab the bobbin case and bobbin to take it out. When the force on its contact surface is removed, the pressure from the upper and lower support springs 1315 will press the support ball into the V-groove between the manipulator adaptive balance seat and the manipulator support seat, forcing it to return to its position to facilitate subsequent work.

[0062] In addition, the manipulator support seat 131 is provided with an upper limit block 1313 and an upper limit cover plate 1314 on the upper side of the central fixed part. The upper limit part is provided on the upper limit block 1313 to limit the lower central fixed part 1311. The upper limit cover plate 1314 is fixed on the upper surface of the upper limit block. The elastic support component includes front and rear support springs 1319 and front and rear guide rods 1318 movably connected with the front and rear support springs. One of the manipulator adaptive balance seat and the manipulator support seat is fixedly connected with the front and rear guide rods, and the other is provided with a guide hole 1322. The front and rear guide rods are guided and matched with the guide holes. Here, the front and rear guide rods 1318 extend forward from the manipulator support seat 131, and the manipulator adaptive balance seat is provided with a corresponding guide hole. When the gripper assembly contacts the bobbin case, the front and rear support springs 1319 play a buffering role, so that the noise during contact can be reduced when the bobbin case is replaced, and the damage of the hard contact parts can be avoided. At the same time, because of the protection of the buffer, when the bobbin case and the bobbin core are replaced, the action can be done faster and more efficiently.

[0063] like Figures 6 to 9 As shown, the gripper assembly is also provided with a pawl mechanism 133, which cooperates with the bobbin case positioning plate 1321 to grab the bottom line. The pawl mechanism 133 includes a manipulator pawl 1331, a pawl driving rod 1332, and a pawl driving motor 1335. The pawl driving rod 1332 is vertically arranged and the upper end is connected to the manipulator pawl 1331. The pawl driving rod 1332 is driven by the pawl driving motor 1335 to rotate in the horizontal direction and drive the manipulator pawl 1331 to cooperate with the bobbin case positioning plate 1321 to buckle the bobbin case buckle plate 331. The lower end of the pawl driving rod is provided with a driving part 1334 extending horizontally outward, and the driving part is provided with a driving slot 13341. The pawl driving motor is a linear motor and is connected to a horizontally telescopic driving head 13351, and the driving head 13351 is connected to the driving slot 13341. The pawl driving rod 1332 is connected to a second torsion spring 1333. The working method of the gripper assembly is: the adaptive balancing surface of the manipulator adaptive balancing seat fits with the surface of the grasped bobbin case, the claw driving motor pushes the claw driving rod, drives the manipulator claw to rotate, picks up the bobbin case buckle plate, and fixes it on the manipulator adaptive balancing seat.

[0064] In the prior art, when the gripper assembly grabs the bobbin case and the bobbin core, an induction switch is used to detect the bobbin case. That is, each time the gripper assembly grabs the bobbin case and the bobbin core, as long as it detects that the bobbin case is grabbed normally, the device control system will default to normal operation this time. However, if the bobbin core in the bobbin case falls off and falls out of the working range at this time, the control system cannot detect it and give feedback to the operator, resulting in the frequent loss of the bobbin core.

[0065] In order to solve the problem of bobbin loss, the mode of detecting the bobbin by an induction switch is adopted. A bobbin induction switch 1324 for induction of the bobbin is provided on the bobbin case positioning plate 1322, that is, each time the bobbin is grabbed, as long as the bobbin induction switch 1324 detects that the bobbin is grabbed normally, the device control system will default to normal operation this time. The difference is that the working principle of the device is that the gripper assembly first opens the bobbin case buckle plate of the rotary hook or bobbin case station, and then firmly grasps the bobbin case buckle plate to take out the bobbin case. When the bobbin case buckle plate is opened, the distance of the manipulator's advancement can make the corresponding card slot grab the bobbin and take it out together when the bobbin case buckle plate is opened, or it can make the corresponding card slot not buckle the bobbin when the bobbin case buckle plate is opened, but the bobbin case can be firmly grasped and taken out (the bobbin and bobbin case can be taken out together or the bobbin case can be taken out without the bobbin), and it is impossible to take out the bobbin without taking out the bobbin case, so the bobbin is missed when the bobbin induction switch 1324 only detects the bobbin case, and it is more scientific to detect the bobbin.

[0066] After the bobbin sensor switch 1324 detects the bobbin, the driving head 13351 of the claw driving motor 1335 extends, pushes the claw driving rod 1332 to rotate, and drives the manipulator claw 1331 to pick up the bobbin case buckle plate 331, and grabs the bobbin case with the used bottom line in the rotary hook. On the contrary, the driving head 13351 of the claw driving motor 1335 retracts the rod, and the claw driving rod 1332 and the manipulator claw 1331 are affected by the torsion force of the torsion spring installed by themselves, and the bobbin case is released.

[0067] Before using the automatic bobbin thread changing device, you need to buckle the wound bobbin thread on the storage tray. The storage tray cannot be full. There is a vacant storage position at the zero point of the storage tray, and no bobbin thread is installed. Then install the storage tray on the automatic bobbin thread changing device.

[0068] After the storage tray is installed, the worker needs to issue the "automatic bottom thread changing device reset" command through the embroidery machine main control, and each automatic bottom thread changing device will automatically return to its respective starting point and wait for further bottom thread changing commands. When the command to change the bottom line is received again, each automatic bottom line changing device starts to work and the manipulator assembly of the automatic bottom line changing device starts to move. First, the robot arm assembly drives the gripper assembly to move to the first position and pushes the gripper assembly toward the shuttle of the embroidery machine. In the first position, after the bobbin sensor switch 1324 detects the bobbin, the bobbin case with the bottom line used up in the shuttle is grasped by the gripper assembly. Then the robot arm assembly runs in the opposite direction, takes out the bobbin case with the empty thread, and puts it into the zero position of the storage tray (the vacant position reserved for the bobbin case). Then the gripper assembly releases the bobbin case. Finally, the robot arm drive motor reverses a short distance again to lift the manipulator assembly to a position that does not affect the rotation of the storage tray. The storage tray rotation drive motor drives the storage tray to start rotating to an angle, so that the bobbin case with the bottom line rotates to a position that can be grasped by the manipulator assembly.

[0069] Similarly, the robot assembly 13 takes out the bobbin case filled with the bottom thread on the storage tray and puts it into the rotary hook to complete the bottom thread changing work of the first head. At this time, the entire automatic bottom thread changing device 1 moves along the lateral guide mechanism 2 to the next head to change the bottom thread of the second head. This cycle continues until all the bottom threads of the storage tray are replaced. All automatic bottom thread changing devices 1 will move in one direction of the head to find their own replacement tray position sensors. After each of them finds the replacement tray position, the worker takes out the storage tray and replaces it in preparation for the next work. At this point, the entire automatic bottom thread changing work is completed.

[0070] Whether it is the robot in the prior art or the robot in the above-mentioned embodiment, when the automatic bottom line changing device 1 runs along the lateral guide mechanism 2 to different bottom line changing stations, there will be position deviations in the up and down directions, and the errors of each bottom line changing station are different. In severe cases, it will cause the robot to be unable to accurately grasp the bottom line.

[0071] In order to eliminate the position error of different bottom line changing stations, such as Fig.10 and Fig.11 As shown, in some embodiments, the manipulator of the automatic bottom thread changing device 1 is further provided with a manipulator error automatic adjustment structure 135, and the manipulator error automatic adjustment structure 135 includes a driver and a guide rail 1351 connected to a manipulator swing arm 1345, and the driver drives the manipulator swing arm 1345 to move along the guide rail 1351 to eliminate the error. Here, the manipulator swing arm 1345 is an executive component of the manipulator assembly 134, located between the manipulator assembly 134 and the gripper assembly, and drives the gripper assembly to switch between the first gripping position and the second gripping position, so it is connected to the manipulator error automatic adjustment structure 135.

[0072] Specifically, the driver includes a screw nut assembly 1353 and a screw motor 1352 driving the screw nut assembly, and the screw motor can be a stepping motor. The guide rail 1351 is arranged between the robot arm sliding block 1342 and the robot arm swing arm 1345, and the robot arm sliding block 1342 drives the robot arm swing arm 1345 to swing, and the robot arm swing arm 1345 moves along the guide rail 1351 and moves relative to the robot arm sliding block 1342.

[0073] According to the above technical solution, when the automatic bottom line changing device runs to different bottom line changing stations, the known errors corresponding to the stations can be eliminated by controlling the movement direction and distance of the manipulator's swing arm, ensuring that the manipulator can accurately grasp the bottom line at different stations. For example, when changing the bottom line from the No. 1 machine head to the No. 2 machine head corresponding station, if there is a deviation in the upper and lower positions, the worker will control the stepper motor to drive the manipulator's swing arm to move up and down through the control program parameter setting during the initial installation test to find its accurate position, and then save the No. 2 machine head parameter data (the error that needs to be eliminated). When the device moves to the No. 2 machine head station to change the bottom line next time, the control program will control the stepper motor to drive the manipulator's swing arm to move up and down to the previously saved data position to ensure the accuracy of the bottom line replacement.

[0074] Further, the mechanical arm sliding block 1342 is connected with a fixing plate 1356, the fixing plate 1356 is fixed to the nut in the screw nut assembly 1353, and the screw motor 1352 is fixed to the mechanical arm swing arm 1345. In this way, the nut is relatively fixed, and the screw motor moves with the mechanical arm swing arm.

[0075] In addition, the robot error automatic adjustment structure 135 also includes a position sensor for detecting the position of the robot swing arm moving along the guide rail. The position sensor includes an optical coupling sensing sheet 1354 and a zero point position sensing optical coupling plate 1355 arranged relative to the optical coupling sensing sheet. According to the signal of the optical coupling, the lead screw motor is controlled to achieve precise displacement control. Of course, it can also be replaced by other sensors.

[0076] 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 robot error automatic adjustment structure of the automatic bottom line changing device, the robot comprises a robot arm assembly and a gripper assembly, the robot arm assembly comprises a robot swing arm connected to the gripper assembly, characterized in that: The automatic error adjustment structure for the manipulator comprises a driver and a guide rail connected to the manipulator swing arm, and the driver drives the manipulator swing arm to move along the guide rail to eliminate the error.

2. The automatic error adjustment structure of the manipulator according to claim 1 is characterized in that: The driver comprises a screw nut assembly and a screw motor driving the screw nut assembly.

3. The automatic error adjustment structure of the manipulator according to claim 2 is characterized in that: The robot arm assembly also includes a robot arm sliding block, and the guide rail is arranged between the robot arm sliding block and the robot arm swing arm. The robot arm sliding block drives the robot arm swing arm to swing, and the robot arm swing arm moves along the guide rail and moves relative to the robot arm sliding block at the same time.

4. The automatic error adjustment structure of the manipulator according to claim 3 is characterized in that: The mechanical arm sliding block is connected with a fixing plate, the fixing plate is fixed to the nut in the screw nut assembly, and the screw motor is fixed to the mechanical arm swing arm.

5. The automatic error adjustment structure of the manipulator according to claim 1 is characterized in that: The automatic error adjustment structure for the manipulator also includes a position sensor for detecting the moving position of the manipulator swing arm along the guide rail.

6. The automatic error adjustment structure of the manipulator according to claim 5, characterized in that: The position sensor comprises an optical coupling sensing sheet and a zero point position sensing optical coupling plate arranged relative to the optical coupling sensing sheet.

7. The automatic error adjustment structure of the manipulator according to claim 3 is characterized in that: The robotic arm assembly also includes a robotic arm swing connecting rod, a robotic arm sliding rod, and a robotic arm operation guide groove. The robotic arm swing connecting rod is connected to the robotic arm swing shaft, and the robotic arm swing shaft is driven to rotate by the robotic arm driving motor and drives the robotic arm swing connecting rod to swing. The robotic arm sliding rod is hingedly installed, the robotic arm sliding block is slidably connected to the robotic arm sliding rod, the robotic arm sliding block is connected to a guide rod, the robotic arm swing connecting rod is provided with a slide groove, the guide rod is slidably connected to the slide groove and is slidably connected to the robotic arm operation guide groove, and the robotic arm sliding block is driven to slide along the robotic arm sliding rod during the swinging process of the robotic arm swing connecting rod, and at the same time, the robotic arm sliding rod rotates, and the guide rod slides along the slide groove and the robotic arm operation guide groove, and the robotic arm sliding block is guided to change height, front and rear position and relative angle through the robotic arm operation guide groove.

8. The automatic error adjustment structure of the manipulator according to claim 1 is characterized in that: The gripper assembly includes a manipulator support seat, a manipulator adaptive balance seat and an adaptive balance structure arranged between the manipulator adaptive balance seat and the manipulator support seat, the adaptive balance structure includes a front and rear movable gap, a lateral movable gap and an upper and lower movable gap arranged between the manipulator adaptive balance seat and the manipulator support seat, and an elastic support component elastically supported between the manipulator adaptive balance seat and the manipulator support seat, the manipulator adaptive balance seat is movable relative to the manipulator support seat when it contacts the bottom line through the elastic support action of the elastic support component, an active groove is arranged between the manipulator adaptive balance seat and the manipulator support seat, the elastic support component includes upper and lower support springs and a support ball connected to the upper and lower support springs and arranged in the active groove, the active groove is simultaneously active when the manipulator adaptive balance seat and the manipulator support seat move relative to each other, and causes the support ball to change position in the active groove.

9. The automatic error adjustment structure of the manipulator according to claim 8, characterized in that: The manipulator support seat is provided with a central fixing part, and the manipulator adaptive balancing seat is provided with a movable limiting part movably connected to the central fixing part. A front-rear movable gap and a lateral movable gap are provided between the central fixing part and the movable limiting part. The manipulator support seat is provided with an upper limit part and a lower limit part on the upper and lower sides of the central fixing part respectively. The movable limiting part is movably arranged outside the central fixing part and is limited by the upper limit part and the lower limit part. An upper and lower movable gap is provided between the upper limit part and / or the lower limit part and the movable limiting part.

10. The automatic error adjustment structure of the manipulator according to claim 9, characterized in that: An upper limit hole is provided on the upper limit portion, and the upper and lower support springs are arranged in the upper limit hole and the lower ends are abutted against the support ball; and / or the movable groove is a V-shaped groove formed between the inner wall of the movable limit portion and the outer wall of the central fixed portion, and the support ball is driven by the upper and lower support springs to make the support ball cooperate with the V-shaped groove, and when the relative width and height between the two side walls of the V-shaped groove change, the support ball moves in the V-shaped groove.

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