Winding bottom shuttle replacing device

Abstract

The invention discloses a winding bottom shuttle replacing device and method. The winding bottom shuttle replacing device comprises a winding mechanism, a shuttle grabbing mechanism, a wire clamping mechanism and a pressing disc mechanism. After the empty shuttle peg and the empty shuttle case are taken out, the shuttle grabbing mechanism places the empty shuttle peg and the empty shuttle case on the winding mechanism, the empty shuttle peg and the empty shuttle case are separated, the thread clamping mechanism pulls a bottom thread to abut against the end face of the empty shuttle peg, and the pressing disc mechanism presses the bottom thread on the end face of the empty shuttle peg; the winding mechanism rotates at a pre-winding speed until the bottom thread is wound on the empty shuttle peg; the pressing disc mechanism is far away from the empty shuttle peg, and the winding mechanism rotates at the winding speed until the empty shuttle peg is fully wound with the bottom thread, so that automatic pre-winding can be realized before automatic winding, manual winding is not needed, the manual participation degree is reduced, and the replacement efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of template machines, in particular to a winding and bottom shuttle changing device. Background Art

[0002] In the garment processing industry, some garment pieces need to be processed with the help of template machines. Existing template machines usually have built-in rotary hooks and needles, which work together to interweave the bottom thread and the top thread on the fabric to form a lock stitch. The shuttle is equipped with a bobbin, which can only wrap a limited number of bottom threads, and the bobbin needs to be replaced frequently during operation.

[0003] When replacing the bobbin, it is necessary to first take out the bobbin case and bobbin in the rotary shuttle. After taking out the bobbin, remove the remaining thread in the bobbin, and then put the bobbin and bobbin case full of bottom line into the rotary shuttle. After the template machine works, the empty bobbin and bobbin case are wound, and the bottom line is introduced into the bobbin case, and the bobbin and bobbin case full of bottom line are transferred to the standby position. However, due to the limitations of the prior art, the entire replacement process cannot be fully automated. For example, the bobbin automatic bobbin case and threading device provided by the patent with application number CN201410557778.2 only discloses the automatic transfer of the bobbin full of bottom line into the bobbin case and the automatic introduction of the bottom line on the bobbin into the bobbin case. For another example, the method for replacing the bottom shuttle of a sewing machine provided by the patent with application number CN201310616933.9 only discloses the automatic loading of the bobbin and bobbin case full of bottom line into the shuttle table and the automatic transfer of the bobbin and bobbin case full of bottom line to the standby position.

[0004] Obviously, the existing bobbin replacement process has a low degree of automation. For example, before automatic winding, the bottom line must be manually pressed onto the bobbin for pre-winding to prevent the bottom line from being unable to be fixed on the bobbin during winding. Only then can the bobbin be automatically wound. The entire winding process cannot be fully automated and still requires manual participation, and the bobbin replacement efficiency is relatively low. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a bobbin winding and bottom changing device and method, which can realize automatic pre-winding before automatic winding, with high replacement efficiency, and solve the technical problem of low bobbin core replacement efficiency.

[0006] To achieve the above-mentioned purpose, the present invention provides a bottom shuttle winding device, comprising a winding mechanism, a shuttle grabbing mechanism, a thread clamping mechanism and a pressure plate mechanism;

[0007] A shuttle grabbing mechanism, used for placing the empty bobbin and bobbin case into the winding mechanism;

[0008] A thread clamping mechanism, used for pulling the bottom thread to abut against the end surface of the empty bobbin after the empty bobbin is separated from the bobbin case;

[0009] The winding mechanism is used to rotate at a pre-winding speed until the bottom line is wound around the empty bobbin after the pressure plate mechanism presses the bottom line onto the end surface of the empty bobbin, and is used to rotate at a winding speed until the bottom line is fully wound around the empty bobbin after the pressure plate mechanism presses the end surface of the bobbin when the bottom line leaves the end surface of the empty bobbin.

[0010] Preferably, the thread clamping mechanism is further used to push the empty bobbin into the winding mechanism from the notch of the bobbin case after the empty bobbin and the bobbin case are placed in the winding mechanism;

[0011] The shuttle grabbing mechanism is also used to remove the bobbin case after the empty bobbin is pushed into the winding mechanism.

[0012] Preferably, it also includes a mechanical arm, and the thread clamping mechanism, the shuttle grabbing mechanism and the pressure plate mechanism are all fixedly arranged at the execution end of the mechanical arm. The mechanical arm includes a rotatable transmission shaft, a first rotating arm movably arranged on the transmission shaft and a second rotating arm rotatably arranged on the first rotating arm; the second rotating arm is equipped with at least one actuator.

[0013] Preferably, the shuttle grabbing mechanism comprises:

[0014] A fixed seat and a floating seat arranged opposite to each other;

[0015] At least one floating elastic member compressed between the fixed seat and the floating seat;

[0016] A guide rod passing through the floating seat and fixed to the fixed seat;

[0017] The floating seat has an active cavity, which is used to provide a movement space for the floating seat to move relative to the guide rod; the floating seat swings radially along the radial direction of the guide rod and rotates around the axial direction of the guide rod.

[0018] Preferably, the shuttle grabbing mechanism also includes a left limit plate and a right limit plate respectively fixed on two opposite sides of the fixed seat, the floating seat is clamped between the left limit plate and the right limit plate, the distance between the left limit plate and the right limit plate is greater than the width of the floating seat, and the left limit plate and the right limit plate are used to limit the movement of the floating seat relative to the guide rod.

[0019] Preferably, it also includes a thread cutting mechanism and a shuttle pushing mechanism;

[0020] A thread cutting mechanism, used for cutting the bottom thread pulled in by the thread clamping mechanism after the shuttle grabbing mechanism places the shuttle case into the winding mechanism;

[0021] The shuttle pushing mechanism is used to push the bobbin core fully wound with the bottom line into the bobbin case wound with the bottom line after the thread clamping mechanism pulls the cut bottom line into the guide groove of the bobbin case;

[0022] The thread clamping mechanism is also used to pull the bottom line into the thread clamping piece of the bobbin case after the bobbin core fully wound with the bottom line is pushed into the bobbin case wound with the bottom line until the bottom line is pulled out from the rotating shuttle hole of the bobbin case.

[0023] Preferably, the winding mechanism is provided with a separation air blowing pipe, and the separation air blowing pipe is used to blow the bottom line away from the end surface of the empty bobbin after the pressure plate mechanism leaves the end surface of the empty bobbin.

[0024] Preferably, it also includes a residual thread removal mechanism;

[0025] The residual thread removing mechanism is used to remove the residual thread remaining in the bobbin to be replaced after the shuttle grabbing mechanism takes out the bobbin and bobbin case to be replaced from the rotary hook;

[0026] The shuttle grabbing mechanism is also used to transfer the bobbin core and bobbin case fully wound with the bottom line from the winding mechanism to the standby position, and is also used to transfer the bobbin core and bobbin case fully wound with the bottom line from the standby position to the rotating hook.

[0027] Preferably, it further comprises a carrying plate, and the residual thread removing mechanism is fixedly arranged on the carrying plate, and the residual thread removing mechanism comprises:

[0028] A wire-removing driving gear rotatably arranged on the carrying plate;

[0029] A wire-removing driven gear slidably disposed on the bearing plate;

[0030] A wire-removing motor connected to a wire-removing driving gear;

[0031] The gear adjusting cylinder is connected to the thread removing driven gear; the gear adjusting cylinder is used for linearly driving the thread removing driven gear so that the thread removing driven gear and the thread removing driving gear rotate through meshing to pull the excess thread wound on the bobbin.

[0032] Preferably, the residual thread removing mechanism further comprises:

[0033] A wire suction tube fixedly mounted on the carrying plate;

[0034] a vacuum tube connected to the suction line tube;

[0035] The end of the wire suction tube away from the vacuum tube is aligned with the meshing seam between the wire removal driving gear and the wire removal driven gear, and the wire suction tube is used to suck the excess wire pulled out by the wire removal driven gear and the wire removal driving gear.

[0036] The present invention also provides a method for winding and changing a bottom shuttle, the steps comprising:

[0037] The shuttle grabbing mechanism places the empty bobbin and bobbin case into the winding mechanism;

[0038] Separate the empty bobbin and bobbin case;

[0039] The thread clamping mechanism pulls the bottom thread against the end surface of the empty bobbin;

[0040] The pressure plate mechanism presses the bottom thread against the end face of the empty bobbin;

[0041] The winding mechanism rotates at the pre-winding speed until the bottom line is wound around the empty bobbin;

[0042] When the bottom line leaves the end surface of the empty bobbin, the pressure plate mechanism presses on the end surface of the bobbin again;

[0043] The winding mechanism rotates at the winding speed until the bottom thread is fully wound around the empty bobbin.

[0044] Preferably, after the winding mechanism rotates at the winding speed until the bottom line is fully wound around the empty bobbin, the step further includes:

[0045] The shuttle grabbing mechanism places the bobbin case into the winding mechanism;

[0046] The thread cutting mechanism cuts the bottom line pulled in by the thread clamping mechanism;

[0047] The thread clamping mechanism pulls the cut bottom thread into the thread guide groove of the bobbin case;

[0048] The shuttle push mechanism pushes the bobbin with the bottom line wound on it into the bobbin case with the bottom line wound on it;

[0049] The thread clamping mechanism pulls the bottom thread into the thread clamping piece of the bobbin case until the bottom thread is pulled out from the rotating hook hole of the bobbin case;

[0050] The shuttle grabbing mechanism transfers the bobbin core and bobbin case fully wound with the bottom line from the winding mechanism to the standby position.

[0051] Preferably, before the shuttle grabbing mechanism places the empty bobbin core and bobbin case into the winding mechanism, the step further includes:

[0052] The shuttle grabbing mechanism takes out the bobbin and bobbin case to be replaced from the rotary hook;

[0053] The shuttle grabbing mechanism places the bobbin and bobbin case to be replaced on the residual thread removing mechanism, and the residual thread removing mechanism removes the residual thread remaining in the bobbin to be replaced;

[0054] The shuttle grabbing mechanism transfers the bobbin and bobbin case fully wound with the bottom line from the standby position to the rotary hook.

[0055] Compared with the background technology, the present invention provides a winding and bottom shuttle replacement device, which includes a winding mechanism, a clamping mechanism, a shuttle grabbing mechanism and a pressure plate mechanism. After taking out the empty bobbin and bobbin case, the shuttle grabbing mechanism places the empty bobbin and bobbin case into the winding mechanism, separates the empty bobbin and bobbin case, the clamping mechanism pulls the bottom line against the end face of the empty bobbin, and the pressure plate mechanism presses the bottom line against the end face of the empty bobbin; the winding mechanism rotates at the pre-winding speed until the bottom line is wound around the empty bobbin; the pressure plate mechanism is away from the empty bobbin, and the winding mechanism rotates at the winding speed until the bottom line is fully wound around the empty bobbin, so that automatic pre-winding can be achieved before automatic winding, without manual winding, reducing the degree of manual participation, and improving the replacement efficiency.

[0056] The thread winding and bottom shuttle changing method provided by the present invention has the same beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0058] Figure 1 An isometric view of a thread winding and bottom changing shuttle device provided by a specific embodiment of the present invention;

[0059] Figure 2 for Figure 1 Another axonometric view of

[0060] Figure 3 for Figure 1 Assembly drawings of the various mechanisms mounted on the middle load-bearing plate;

[0061] Figure 4 for Figure 3 The main view;

[0062] Figure 5 for Figure 1 The structural diagram of the middle grabbing shuttle mechanism;

[0063] Figure 6 for Figure 5 Another view of;

[0064] Figure 7 for Figure 5 Exploded diagram of

[0065] Figure 8 for Figure 5 Structural diagram of the middle floating seat;

[0066] Fig. 9 for Figure 1 Structural diagram of the center clamping mechanism;

[0067] Fig.10 for Figure 1 Structural diagram of the intermediate pressure plate mechanism;

[0068] Fig.11 for Figure 1 The structure diagram of the robot arm;

[0069] Fig.12 for Fig.11 Another view of;

[0070] Fig.13 for Fig.12 A partial enlarged view of

[0071] Fig.14 for Fig.12 A layout diagram of the actuators installed on the second rotating arm;

[0072] Fig.15 for Fig.12 Structural diagram of the middle tight hoop;

[0073] Fig.16 for Figure 1 Structural diagram of the secant mechanism;

[0074] Fig.17 for Figure 1 Assembly diagram of the winding mechanism and the shuttle push mechanism;

[0075] Fig.18 for Figure 1 Structural diagram of the middle push shuttle mechanism;

[0076] Fig.19 for Figure 1 Structural diagram of the residual wire removal mechanism;

[0077] Fig. 20 for Fig.19 Front view of

[0078] Fig.21 for Fig.19 Rear view of

[0079] Fig. 22 for Fig.19 Exploded diagram of

[0080] Fig.23 A state diagram of a bobbin-winding and bottom-changing shuttle device provided by a specific embodiment of the present invention when the residual thread removing mechanism removes the residual thread of the bobbin;

[0081] Fig.24 A state diagram of a winding and bottom shuttle changing device provided by a specific embodiment of the present invention, in which the shuttle grabbing mechanism installs an empty bobbin core and a bobbin case into the winding mechanism;

[0082] Fig.25 for Fig.24 A partial enlarged view of middle A;

[0083] Fig.26 A state diagram of a bobbin winding and bottom changing shuttle device provided by a specific embodiment of the present invention when the pressure plate mechanism is about to press on the end surface of the bobbin core;

[0084] Fig. 27 for Fig.26 A partial enlarged view of B in the middle;

[0085] Fig.28 A state diagram of a bobbin case when the bobbin case is installed on a bobbin core with a full bottom line by a bobbin-winding and bottom-changing shuttle device provided by a specific embodiment of the present invention;

[0086] Fig.29 for Fig.28 A partial enlarged view of

[0087] Fig.30 A state diagram of a bobbin-winding and bottom-changing shuttle device provided by a specific embodiment of the present invention when the shuttle-pushing mechanism pushes the bobbin core with the bottom line fully wound into the bobbin case;

[0088] Fig.31 for Fig.30 A partial enlarged view of D in the middle;

[0089] Fig.32 for Figure 1 Assembly diagram of the middle bobbin and bobbin case;

[0090] Fig.33 for Fig.32 Another view of;

[0091] Fig.34 for Figure 1 The structure diagram of the middle bobbin.

[0092] The reference numerals are as follows:

[0093] Bobbin 001 and bobbin case 002;

[0094] Winding post 0011 and flange 0012;

[0095] The hook claw 0021, the pick 0022, the hook portion 0023, the guide groove 0024, the clamping piece 0025 and the rotary hook hole 0026;

[0096] The winding mechanism 100, the shuttle grabbing mechanism 200, the thread clamping mechanism 300, the pressing plate mechanism 400, the mechanical arm 500, the thread cutting mechanism 600, the shuttle pushing mechanism 700, the excess thread removing mechanism 800 and the fixing frame 900;

[0097] Winding motor 101, winding shaft 102 and separation blowing pipe 103;

[0098] Fixed seat 201, floating seat 202, floating elastic member 203, guide rod 204, shuttle hook 205, fixed claw 206, shuttle drive member 207, shuttle shaft 208, reset elastic member 209, fixed slot 210, left limit plate 211, right limit plate 212 and locking screw 213;

[0099] Active cavity 2021 and guide hole 2022;

[0100] Locking plane 2041;

[0101] A wire clamping seat 301, a fixed clamping jaw 302, a movable clamping jaw 303, a wire clamping drive cylinder 304 and a wire clamping return spring 305;

[0102] A wire pressing cover 401, a support rod 402, a guide sleeve 403, a limit seat 404 and a wire pressing spring 405;

[0103] Transmission shaft 501, first rotating arm 502, second rotating arm 503, actuator 504, sliding sleeve 505, connecting sleeve 506, sliding driving pulley 507, sliding driven pulley 508, sliding synchronous belt 509, driving driven pulley 510, driving driving pulley 511, sliding driving shaft 512, driving synchronous belt 513, sliding driving motor 514, extrusion plate 515, rotating driving motor 516, rotating driving pulley 517, rotating driven pulley 518, rotating synchronous belt 519, rotating driving motor 520, and tight hoop 521;

[0104] Guide key 5011;

[0105] Anti-slip protrusion 5151;

[0106] Adjustment slit 5211 and adjustment screw 5212;

[0107] Electromagnet 701 and top plate 702;

[0108] A wire-removing driving gear 801, a wire-removing driven gear 802, a wire-removing motor 803, a gear adjusting cylinder 804, a wire-sucking tube 805, a vacuum tube 806, a tube fixing seat 807, a first air blowing tube 808, a second air blowing tube 809, a wire-removing driven shaft 810, an adapter seat 811, a limiting shaft sleeve 812, a wire-removing shaft 813 and a tube clamp seat 814;

[0109] Shaft end retaining ring 8101;

[0110] Connecting hole 8111;

[0111] Carrying plate 901;

[0112] Waist-shaped hole 9001. DETAILED DESCRIPTION

[0113] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0114] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0115] First of all, it should be noted that the structures of the bobbin 001 and the bobbin case 002 in the text can refer to the simple automatic bobbin changing device 001 based on the ratchet mechanism and the sewing equipment provided by the patent application number CN201721209244.6. Figures 32 to 34 As shown, the bobbin case 002 has a bobbin case 002 body, a hook 0021 and a paddle 0022 are provided on the outer end surface of the bobbin case 002 body, the bobbin core 001 has a winding post 0011, and flanges 0012 are integrated at both ends of the winding post 0011. The bobbin core 001 is installed in the bobbin case 002 body, and a hook portion 0023 is provided at the outer end of the hook 0021. One end of the paddle 0022 can be pushed outward in a direction away from the bobbin case 002 body. When one end of the paddle 0022 is not pushed outward or is not pushed outward completely, the hook 0021 does not move, and the hook portion 0023 at the outer end of the hook 0021 protrudes outward from the outer periphery of the bobbin case 002 and does not hook the flange 0012 of the bobbin core 001. At this time, the bobbin core 001 can rotate and move in the bobbin case 002. When one end of the paddle 0022 is fully pushed outward, the hook 0021 will move inward, and the hook portion 0023 at the outer end of the hook 0021 hooks the flange 0012 of the bobbin 001, so that the bobbin 001 and the bobbin case 002 are relatively stationary and can move synchronously.

[0116] The embodiment of the present invention discloses a winding and bottom shuttle changing device, as shown in the attached Figures 1 to 4 As shown, it includes a winding mechanism, a shuttle grabbing mechanism, a thread clamping mechanism and a pressure plate mechanism. Among them, the shuttle grabbing mechanism is used to place the empty bobbin 001 and the bobbin case 002 into the winding mechanism, and its structure and working principle can refer to the following content.

[0117] The thread clamping mechanism 300 is used to pull the bottom line against the end surface of the empty bobbin 001 after the empty bobbin 001 is separated from the bobbin case 002. Fig. 9As shown, the line clamping mechanism 300 includes a line clamping seat 301, a fixed clamping jaw 302, a movable clamping jaw 303, a line clamping drive cylinder 304 and a line clamping reset spring 305. The fixed clamping jaw 302 and the movable clamping jaw 303 are arranged opposite to each other and are both fixed on the line clamping seat 301. The line clamping drive cylinder 304 is fixed on the line clamping seat 301. The piston rod of the line clamping drive cylinder 304 is connected to the movable clamping jaw 303, which is used to drive the movable clamping jaw 303 to approach or move away from the fixed clamping jaw 302, so as to clamp or release the bottom line accordingly. The movable clamping jaw 303 is hingedly connected to the line clamping drive cylinder 304 through the clamping shaft. One end of the clamping reset spring 305 is connected to the clamping shaft, and the other end is connected to the cylinder barrel of the clamping drive cylinder 304, which is used to assist the movable clamping jaw 303 to quickly reset after releasing the bottom line, so that the line clamping mechanism 300 is normally kept in a clamping state. In addition, the fixed jaw 302 is fixed with a limit pin, and the movable jaw 303 is correspondingly provided with a limit slot. When the wire clamping mechanism 300 is in a clamping state, the fixed jaw 302 and the movable jaw 303 abut against each other, and the limit pin cooperates with the limit slot to prevent the wire clamping mechanism 300 from being subjected to excessive impact and causing the movable jaw 303 and the fixed jaw 302 to be misaligned, which is beneficial for the wire clamping mechanism 300 to quickly and reliably clamp the bottom line.

[0118] The winding mechanism 100 is used to rotate at a pre-winding speed until the bottom line is wound around the empty bobbin 001 after the pressing plate mechanism 400 presses the bottom line onto the end surface of the empty bobbin 001, and is used to rotate at a winding speed until the bottom line is fully wound around the empty bobbin 001 after the pressing plate mechanism 400 presses onto the end surface of the bobbin 001. It should be noted that the pre-winding speed is much smaller than the winding speed, that is, the winding mechanism 100 rotates slowly during pre-winding and rotates quickly during winding.

[0119] The winding mechanism 100 is fixed on the carrier plate 901 and is used to wind the bottom line on the empty bobbin 001. The structure of the winding mechanism 100 can be specifically referred to the bobbin 001 automatic bobbin shell 002 and threading device provided by the patent with application number CN201410557778.2, which discloses the structure and working principle of the winding mechanism 100. In short, the winding mechanism 100 includes a winding motor 101 and a winding shaft 102, and the output shaft of the winding motor 101 is coaxially connected to the winding shaft 102 to drive the winding shaft 102 to rotate. The winding post 0011 of the bobbin 001 is hollow, and the winding shaft 102 is used to pass through the winding post 0011. The output shaft of the winding motor 101 can be directly connected to the winding shaft 102, and of course it can be indirectly connected through a gear transmission mechanism or a belt transmission mechanism. The winding motor 101 may be a servo motor, and the control module may control the winding motor 101 to rotate according to a set rotation speed and number of turns.

[0120] As attached Fig.10As shown, the pressure plate mechanism 400 includes a wire pressing cover 401, a support rod 402, a guide sleeve 403, a limit seat 404 and a wire pressing spring 405. The support rod 402 can be slidably arranged, the guide sleeve 403 is fixedly arranged at the end of the support rod 402, the wire pressing cover 401 can be slidably coaxially sleeved outside the guide sleeve 403, the limit seat 404 is fixedly sleeved on the limit seat 404 and maintains an appropriate distance from the guide sleeve 403, the wire pressing spring 405 is sleeved on the support rod 402, and the two ends of the wire pressing spring 405 are respectively abutted against the limit flanges provided on the limit seat 404 and the support rod 402. When the pressing cover 401 is pressed against the end surface of the bobbin 001, the pressing cover 401 is pressed against the guide sleeve 403, and the guide sleeve 403 drives the support rod 402 to move away from the bobbin 001, squeezing the pressing spring 405, so that the pressing cover 401 relies on the elastic force of the pressing spring 405 to press the end surface of the bobbin 001. The limit seat 404 is used to limit the position of the pressing cover 401 along the axial direction of the support rod 402.

[0121] After taking out the empty bobbin 001 and the bobbin case 002, the shuttle grabbing mechanism 200 places the empty bobbin 001 and the bobbin case 002 into the winding mechanism 100, separates the empty bobbin 001 and the bobbin case 002, the thread clamping mechanism 300 pulls the bottom line to abut against the end surface of the empty bobbin 001, and the pressure plate mechanism 400 presses the bottom line against the end surface of the empty bobbin 001; the winding mechanism 100 rotates at the pre-winding speed until the bottom line is wound around the empty bobbin 001; the pressure plate mechanism 400 moves away from the empty bobbin 001, and the winding mechanism 100 rotates at the winding speed until the bottom line is fully wound around the empty bobbin 001, so that automatic pre-winding can be achieved before automatic winding, without the need for manual winding, reducing manual participation and improving replacement efficiency.

[0122] The step of separating the empty bobbin 001 from the bobbin case 002 can be divided into two steps. The thread clamping mechanism 300 pushes the empty bobbin 001 into the winding mechanism 100 from the notch of the bobbin case 002, and the shuttle grabbing mechanism 200 removes the bobbin case 002. The thread clamping mechanism 300 is also used to push the empty bobbin 001 into the winding mechanism 100 from the notch of the bobbin case 002 after the empty bobbin 001 and the bobbin case 002 are placed in the winding mechanism 100; the shuttle grabbing mechanism 200 is also used to remove the bobbin case 002 after the empty bobbin 001 is pushed into the winding mechanism 100. The shuttle grabbing mechanism 200 can transfer the bobbin case 002 from the winding mechanism 100 to the standby position. Obviously, the thread clamping mechanism 300 plays two functions of separating the bobbin 001 and the bobbin case 002 and clamping the bottom line. Of course, the separation of the empty bobbin 001 and the bobbin case 002 can also be achieved by other types of separation mechanisms, not limited to the thread clamping mechanism 300, and is not specifically limited here. The standby position in the text is used to store the bobbin 001 and the bobbin case 002 that are fully wound with the bottom line, and the bobbin case 002 removed from the winding mechanism 100. The standby position is set on the carrier plate 901, and the carrier plate 901 is provided with an L-shaped support for supporting the bobbin 001.

[0123] The above-mentioned winding and bottom shuttle changing device also includes a mechanical arm 500, and the thread clamping mechanism 300, the shuttle grabbing mechanism 200 and the pressure plate mechanism 400 are all fixedly arranged at the execution end of the mechanical arm 500, so that the mechanical arm 500 drives the three to perform different tasks at different positions. Of course, the thread clamping mechanism 300, the shuttle grabbing mechanism 200 and the pressure plate mechanism 400 can also be independently arranged on three mechanical arms 500, and the positions of the three can also be flexibly adjusted.

[0124] As attached Figures 11 to 15 As shown, the mechanical arm 500 includes a transmission shaft 501, a first rotating arm 502 and a second rotating arm 503. The transmission shaft 501 is rotatably arranged, and the first rotating arm 502 is movably arranged on the transmission shaft 501, so that the first rotating arm 502 can not only rotate synchronously with the transmission shaft 501, but also slide along the axial direction of the transmission shaft 501. The movement mode of the first rotating arm 502 can specifically slide along the axial direction of the transmission shaft 501, but is not limited to this. Specifically, two opposite sides of the fixed frame 900 are respectively provided with rotating grooves, and the two ends of the transmission shaft 501 can be rotatably inserted into the two rotating grooves respectively. A bearing is provided between the transmission shaft 501 and the rotating groove, so that the bearing supports the transmission shaft 501 to rotate relative to the fixed frame 900. Of course, the installation method of the transmission shaft 501 is not limited to this. The rotation range of the first rotating arm 502 can be adaptively adjusted according to the execution action of the mechanical arm 500, and is not specifically limited here.

[0125] The second rotating arm 503 is rotatably disposed on the first rotating arm 502, so that the second rotating arm 503 can move synchronously with the first rotating arm 502, and can also rotate independently relative to the first rotating arm 502. In this specific embodiment, the rotation axis of the first rotating arm 502 is parallel to the rotation axis of the second rotating arm 503, but the layout of the first rotating arm 502 and the second rotating arm 503 is not limited to this.

[0126] The second rotating arm 503 is equipped with at least one actuator 504, and all the actuators 504 can be fixed on the same side of the second rotating arm 503 along a linear line, or can be fixed on both sides of the second rotating arm 503. In this specific embodiment, the actuator 504 installed on the second rotating arm 503 can be a thread clamping mechanism 300, a shuttle grabbing mechanism 200, and a pressure plate mechanism 400, so that the second rotating arm 503 can perform multiple operation tasks such as clamping the bottom line, replacing the bobbin case 002, and pressing the bobbin 001. Of course, the type of the actuator 504 is not limited to this, and can be adaptively adjusted according to the replacement process of the bobbin 001.

[0127] Compared with the existing swing arm, the robot arm 500 has more degrees of freedom, a larger range of activities, and more flexible movements. It can adjust the position of the actuator 504 in multiple directions, and the second rotating arm 503 is equipped with at least one actuator 504, so that the robot arm 500 can drive different actuators 504 in multiple directions to perform different operating tasks, the movement is more efficient, and the replacement efficiency of the bobbin 001 is higher.

[0128] The transmission shaft 501 is slidably provided with a sliding sleeve 505, so that the sliding sleeve 505 can slide linearly along the axial direction of the transmission shaft 501. Of course, a locking mechanism can be added between the transmission shaft 501 and the sliding sleeve 505. When the sliding sleeve 505 slides to an ideal position along the transmission shaft 501, the locking mechanism locks the sliding sleeve 505, so that the sliding sleeve 505 is fixed on the transmission shaft 501, and the sliding sleeve 505 is prevented from sliding randomly during operation. The structure and working principle of the locking mechanism can be specifically referred to the prior art.

[0129] One end of the first rotating arm 502 is fixedly sleeved outside the sliding sleeve 505, so that the first rotating arm 502 slides along the transmission shaft 501 along with the sliding sleeve 505. The setting of the sliding sleeve 505 can effectively separate the first rotating arm 502 and the transmission shaft 501, which can not only prevent the first rotating arm 502 from being seriously worn, but also facilitate the assembly of the first rotating arm 502. Of course, the sliding connection method between the first rotating arm 502 and the transmission shaft 501 is not limited to this.

[0130] The outer side surface of the transmission shaft 501 is integrally provided with a guide key 5011, and the inner side wall of the sliding sleeve 505 is provided with a guide groove. The guide key 5011 is slidably matched with the guide groove, so that the guide key 5011 can both guide the linear sliding of the first rotating arm 502 and transmit torque to the first rotating arm 502. The cross section of the guide key 5011 can be rectangular, and the guide key 5011 extends along the axial direction of the transmission shaft 501. The length of the guide key 5011 is consistent with the length of the transmission shaft 501. Of course, the guide key 5011 can be one or more, and the number is not specifically limited.

[0131] The mechanical arm 500 further includes a connecting sleeve 506, a sliding driving pulley 507, a sliding driven pulley 508, a sliding synchronous belt 509, a driving driven pulley 510, a driving driving pulley 511, a sliding driving shaft 512, a driving synchronous belt 513 and a sliding driving motor 514. The connecting sleeve 506 is fixedly connected to the first rotating arm 502 and is used to drive the first rotating arm 502 to slide along the transmission shaft 501. The sliding driving pulley 507 and the sliding driven pulley 508 are rotatably arranged. The fixed frame 900 is provided with a wheel bracket, and the sliding driven pulley 508 is rotatably mounted on the wheel bracket through a wheel shaft. The wheel bracket is U-shaped, and arc grooves are respectively provided on both sides thereof, and the two ends of the wheel shaft are clamped in the arc grooves. The sliding synchronous belt 509 bypasses the sliding driving pulley 507 and the sliding driven pulley 508, and the sliding synchronous belt 509 is fixedly connected to the connecting sleeve 506, so that the sliding driving pulley 507 drives the first rotating arm 502 to slide linearly synchronously through the sliding synchronous belt 509. The sliding driving pulley 507 and the driving driven pulley 510 are respectively installed at both ends of the sliding driving shaft 512, so that the driving driven pulley 510 drives the sliding driving pulley 507 to rotate synchronously through the sliding driving shaft 512. The sliding driving shaft 512 is rotatably arranged. Specifically, the fixed frame 900 is provided with a hinge support, and the sliding driving shaft 512 is rotatably arranged on the hinge support through a bearing, so that the sliding driving shaft 512 can rotate freely around its own axis. The driving synchronous belt 513 bypasses the driving driven pulley 510 and the driving driving pulley 511, so that the driving driving pulley 511 drives the driving driven pulley 510 to rotate through the driving synchronous belt 513, and the sliding driving motor 514 is decelerated. The sliding drive motor 514 is fixedly connected to the driving pulley 511, so that the sliding drive motor 514 transmits torque to the sliding drive shaft 512 after deceleration. Of course, the belt transmission mechanism between the sliding drive motor 514 and the sliding drive shaft 512 can also be replaced by a deceleration mechanism such as a gear transmission mechanism or a sprocket transmission mechanism, which is not specifically limited here.

[0132] An embedding groove is provided on the outer side of the connecting sleeve 506, and the sliding synchronous belt 509 is embedded in the embedding groove. The opening of the embedding groove is fixed with a pressing plate 515, and the pressing plate 515 is fixed to the connecting sleeve 506 by means of screws, so that the pressing plate 515 presses and fixes the sliding synchronous belt 509 on the connecting sleeve 506, so that the sliding synchronous belt 509 is reliably fixed on the connecting sleeve 506. Of course, the connection method between the connecting sleeve 506 and the sliding synchronous belt 509 is not limited to this.

[0133] An anti-skid protrusion 5151 is provided on one side of the extrusion plate 515 close to the sliding synchronous belt 509, which is used to increase the friction between the extrusion plate 515 and the sliding synchronous belt 509 to prevent the sliding synchronous belt 509 from sliding relative to the extrusion plate 515. The anti-skid protrusion 5151 can be a circular arc protrusion evenly distributed along the rotation direction of the sliding synchronous belt 509, but is not limited thereto.

[0134] The robot arm 500 further includes a rotation drive motor 516, a rotation driving pulley 517, a rotation driven pulley 518 and a rotation timing belt 519. The rotation drive motor 516 is used to drive the transmission shaft 501 to rotate. The rotation driving pulley 517 is fixedly connected to the rotation drive motor 516, the rotation driven pulley 518 is fixedly connected to the transmission shaft 501, and the rotation timing belt 519 passes around the rotation driving pulley 517 and the rotation driven pulley 518, so that the rotation drive motor 516 drives the transmission shaft 501 to rotate after being decelerated by the transmission belt mechanism. Of course, the transmission belt mechanism can also be replaced by other deceleration mechanisms, which are not specifically limited here.

[0135] Mechanical arm 500 also includes a rotation drive motor 520 and a tight hoop 521, the shell of the rotation drive motor 520 is fixed on the first rotating arm 502, the output shaft of the rotation drive motor 520 passes through the first rotating arm 502 and is connected to the tight hoop 521, the tight hoop 521 is fixed on the second rotating arm 503 by a screw, so that the output shaft of the rotation drive motor 520 and the second rotating arm 503 are fixed together by the tight hoop 521, so that the rotation drive motor 520 drives the second rotating arm 503 to rotate relative to the first rotating arm 502. The setting of the tight hoop 521 is convenient for disassembling and replacing the rotation drive motor 520. Of course, the connection mode between the rotation drive motor 520 and the second rotating arm 503 is not limited to this.

[0136] The side wall of the tight hoop 521 is provided with an adjustment slot 5211 penetrating in the radial direction. The adjustment slot 5211 is provided with an adjustment screw 5212. The adjustment screw 5212 is used to adjust the width of the adjustment slot 5211 so that the tight hoop 521 can adapt to the output shaft of the rotary drive motor 520 of different specifications.

[0137] As attached Figures 5 to 8 As shown, the shuttle grabbing mechanism 200 includes a fixed seat 201, a floating seat 202, at least one floating elastic member 203 and a guide rod 204. The fixed seat 201 and the floating seat 202 are arranged opposite to each other, and the fixed seat 201 is located directly below the floating seat 202. The fixed seat 201 is fixedly arranged and mainly plays a supporting role. The floating seat 202 can move relative to the fixed seat 201, so that the shuttle grabbing mechanism 200 can float as a whole.

[0138] All floating elastic members 203 are compressed between the fixed seat 201 and the floating seat 202, so that all floating elastic members 203 provide elastic support for the floating seat 202. Four floating elastic members 203 are specifically arranged between the fixed seat 201 and the floating seat 202, and the four floating elastic members 203 are respectively distributed at the four vertex corners of the fixed seat 201, providing conditions for the floating seat 202 to float in multiple directions. The floating elastic member 203 can be a common cylindrical spring, but is not limited thereto. Of course, the number and type of the floating elastic members 203 are not limited thereto.

[0139] One end of the guide rod 204 passes through the floating seat 202 until it is fixedly connected to the fixed seat 201, and the other end thereof is integrally provided with a stop flange, the diameter of which is larger than the inner diameter of the guide hole 2022 provided in the floating seat 202, so that the stop flange effectively prevents the floating seat 202 from detaching from the guide rod 204.

[0140] An active cavity 2021 is provided at one end of the floating seat 202 facing the fixed seat 201 , and the active cavity 2021 is used to provide a movement space for the floating seat 202 to move relative to the guide rod 204 , thereby providing conditions for the floating seat 202 to move in multiple directions relative to the guide rod 204 .

[0141] During the shuttle changing process, the movable cavity 2021 enables the floating seat 202 to swing radially along the radial direction of the guide rod 204 and to rotate around the axial direction of the guide rod 204, that is, the floating seat 202 can move relative to the guide rod 204 in multiple directions, and all the floating elastic members 203 are compressed between the fixed seat 201 and the floating seat 202, so that all the floating elastic members 203 can provide buffering for the movement of the floating seat 202 in multiple directions, so that the floating seat 202 can achieve multi-directional floating. When the shuttle grabbing mechanism 200 and the bobbin case 002 are misaligned or offset, the multi-directional floating of the floating seat 202 makes it easier for the shuttle grabbing mechanism 200 to successfully grab the bobbin case 002.

[0142] The present invention optimizes the structure of the shuttle grabbing mechanism 200 and adds a floating seat 202 that floats in multiple directions, so that the grabbing success rate of the shuttle grabbing mechanism 200 is higher.

[0143] The floating seat 202 is provided with a guide hole 2022, through which the guide rod 204 passes. The inner diameter of the guide hole 2022 is larger than the diameter of the guide rod 204, so that the floating seat 202 can not only rotate around the guide rod 204 and slide along the guide rod 204, but also can swing radially relative to the guide rod 204, providing conditions for the multi-directional movement of the floating seat 202. The guide hole 2022 can be a circular through hole with a relatively small depth. The inner diameter of the guide hole 2022 can be adaptively adjusted according to the outer diameter of the guide rod 204, and can be slightly larger than the outer diameter of the guide rod 204, which is not specifically limited here. Of course, the guide hole 2022 can also be a waist-shaped hole.

[0144] The shuttle grabbing mechanism 200 also includes a shuttle grabbing hook 205 for grabbing the shuttle housing 002. The floating seat 202 is provided with a waist-shaped groove, and the length direction of the waist-shaped groove is consistent with the grabbing direction of the shuttle grabbing hook 205, so that the waist-shaped groove provides a larger activity space for the floating seat 202 to move along the grabbing direction. The guide hole 2022 is connected to the waist-shaped groove along the axial direction of the guide rod 204, and an activity cavity 2021 is formed in the waist-shaped groove. The depth of the waist-shaped groove is much greater than the depth of the guide hole 2022. The size of the waist-shaped groove can be adaptively adjusted according to the movement trajectory of the shuttle grabbing hook 205, and is not specifically limited here.

[0145] The width of the waist-shaped groove is greater than the inner diameter of the guide hole 2022 , so that the cross-sectional area of ​​the waist-shaped groove is much larger than the cross-sectional area of ​​the guide hole 2022 , so that the floating seat 202 can move within a certain range of space relative to the guide rod 204 .

[0146] The shuttle grabbing mechanism 200 further includes a fixed claw 206 and a shuttle changing driving member 207. The shuttle grabbing hook 205 is hinged to the floating seat 202. The fixed claw 206 is fixed to the floating seat 202. The fixed claw 206 includes a left plate and a right plate respectively fixed to two opposite sides of the floating seat 202 and an inclined block fixed between the left plate and the right plate and arranged obliquely. The shuttle changing driving member 207 abuts against the shuttle grabbing hook 205. The shuttle changing driving member 207 drives the shuttle grabbing hook 205 to rotate relative to the fixed claw 206 by telescoping, so that the shuttle grabbing hook 205 cooperates with the fixed claw 206 to clamp or release the bobbin case 002. The shuttle changing driving member 207 can be a cylinder, but is not limited thereto.

[0147] The shuttle grabbing mechanism 200 also includes a shuttle grabbing shaft 208 and a reset elastic member 209. The shuttle grabbing shaft 208 is rotatably connected to the shuttle grabbing hook 205 and the floating seat 202, so that the shuttle grabbing hook 205 rotates around the shuttle grabbing shaft 208 relative to the fixed claw 206. The reset elastic member 209 is connected between the shuttle grabbing shaft 208 and the outer shell of the shuttle changing driving member 207. When the shuttle grabbing hook 205 grabs the shuttle housing 002, the reset elastic member 209 is stretched. When the shuttle grabbing hook 205 releases the shuttle housing 002, the shuttle changing driving member 207 contracts, and the reset elastic member 209 restores the elastic deformation, and the reset elastic member 209 pulls the shuttle grabbing hook 205 to reset quickly. The reset elastic member 209 can be a common cylindrical spring, and the reset elastic member 209 is connected to the cylinder of the shuttle changing driving member 207.

[0148] The fixed seat 201 and the floating seat 202 are provided with a fixing groove 210 on opposite sides thereof, and one end of each floating elastic member 203 is inserted into the fixing groove 210 provided in the fixed seat 201, and the other end is inserted into the fixing groove 210 provided in the floating seat 202, so as to reliably fix the floating elastic member 203 and prevent the floating elastic member 203 from being loosely fixed. Of course, the fixing method of the floating elastic member 203 is not limited to this.

[0149] The shuttle grabbing mechanism 200 further includes a left limit plate 211 and a right limit plate 212 respectively fixed on two opposite sides of the fixed seat 201, and the floating seat 202 is sandwiched between the left limit plate 211 and the right limit plate 212. The distance between the left limit plate 211 and the right limit plate 212 is greater than the width of the floating seat 202, and there are gaps between the left limit plate 211 and the floating seat 202 and between the right limit plate 212 and the floating seat 202. The left limit plate 211 and the right limit plate 212 are used to limit the movement of the floating seat 202 relative to the guide rod 204, so as to prevent the floating seat 202 from swinging excessively and causing the floating elastic member 203 to escape from the fixed groove 210.

[0150] One end of the guide rod 204 inserted into the fixing seat 201 is provided with a locking plane 2041, and the fixing seat 201 is fixed with a locking screw 213, which abuts against the locking plane 2041 to limit the movement of the guide rod 204, so that the guide rod 204 is fixed in the fixing seat 201. Of course, the fixing method of the guide rod 204 is not limited to this.

[0151] The above-mentioned winding and bottom shuttle changing device also includes a thread cutting mechanism 600 and a shuttle pushing mechanism 700. The thread cutting mechanism 600 is fixed to the carrier plate 901 and is used to cut the bottom line released by the thread clamp. The thread cutting mechanism 600 is used to cut the bottom line pulled in by the thread clamp mechanism 300 after the shuttle grabbing mechanism 200 places the bobbin case 002 from the standby position to the winding mechanism 100. Fig.16 As shown, the thread cutting mechanism 600 includes a thread cutting knife seat, the thread cutting knife seat is provided with a thread cutting knife, a thread clamping stitch is provided between the thread cutting knife and the thread cutting knife seat, a V-shaped blade is formed on one side of the thread cutting knife, the V-shaped blade is used to cut the bottom line after the bobbin 001 is fully wound with the bottom line, and the thread clamping stitch is used to clamp the cut bottom line so that the bottom line is tensioned between the thread clamp and the cutting knife seat, so that the thread clamping mechanism 300 can quickly pull the bottom line to the bobbin 001 installed on the winding mechanism 100.

[0152] The shuttle push mechanism 700 is fixed on the carrier plate 901, and is used to push the bobbin 001 wound with the bobbin bottom line into the bobbin case 002 wound with the bobbin bottom line after the thread clamping mechanism 300 pulls the cut bottom line into the wire groove 0024 of the bobbin case 002. The structure of the shuttle push mechanism 700 can refer to the bobbin 001 automatic insertion and threading device for the bobbin case 002 provided in the application number CN201410557778.2. The patent discloses an electromagnet 701 and a top plate 702. The iron core of the electromagnet 701 is hingedly connected to the top plate 702. The top plate 702 includes a connecting part, a hub part and a pushing part. When the electromagnet 701 is energized, the iron core of the electromagnet 701 pushes the connecting part of the top plate 702 to swing backward, and the top plate 702 swings around the hub part, so that the pushing part pushes the bobbin 001 forward until the bobbin 001 is nailed into the bobbin case 002, as shown in the attached figure. Figures 17 to 18 When the electromagnet 701 is powered off, the top plate 702 is reset.

[0153] In addition to the above contents, the thread clamping mechanism 300 is also used to pull the bottom thread into the thread clamping piece 0025 of the bobbin case 002 after the bobbin core 001 with the bottom thread wound is pushed into the bobbin case 002 with the bottom thread wound thereon, until the bottom thread is pulled out from the rotary hook hole 0026 of the bobbin case 002. In this way, the thread cutting mechanism 600, the shuttle pushing mechanism 700 and the thread clamping mechanism 300 are sequentially operated, so that the bobbin case 002 automatically completes the threading, avoiding manual threading, which is conducive to further improving the replacement efficiency.

[0154] It should be noted that before the bobbin case 002 automatically completes the threading, the shuttle push mechanism 700 continues to lift up the bobbin 001 that is fully wound with the bottom line, and the shuttle push mechanism 700 returns to its original position only after the bobbin case 002 completes the threading.

[0155] It should be noted that the winding mechanism 100 is provided with a separation air blowing tube 103, which is aligned with the end face of the bobbin 001. After the pre-winding is completed, after the pressing plate mechanism 400 leaves the end face of the empty bobbin 001, the separation air blowing tube 103 blows the bottom line away from the end face of the empty bobbin 001, so as to prepare for the subsequent formal winding of the winding mechanism 100, and to prevent the bottom line pressed by the end face of the bobbin 001 from affecting the formal winding of the winding mechanism 100. The separation air blowing tube 103 can be fixed on the carrier plate 901 through a support plate.

[0156] The above-mentioned winding and bottom shuttle changing device also includes a residual thread removing mechanism 800, which is fixed to the supporting plate 901 and is used to remove the residual thread remaining in the bobbin 001 to be replaced after the shuttle grabbing mechanism 200 takes out the bobbin 001 and the bobbin case 002 to be replaced from the rotating hook.

[0157] In addition to the above contents, the shuttle grabbing mechanism 200 is also used to transfer the bobbin 001 and bobbin case 002 fully wound with the bottom line from the winding mechanism 100 to the standby position, and is also used to transfer the bobbin 001 and bobbin case 002 fully wound with the bottom line from the standby position to the rotary hook. The excess thread removing mechanism 800 and the shuttle grabbing mechanism 200 act sequentially to automatically remove the excess thread and automatically transfer the bobbin 001 and bobbin case 002 fully wound with the bottom line between the winding mechanism 100, the standby position and the bobbin 001. Combined with the above contents, it can be seen that the entire shuttle changing process can be fully automated, almost without manual participation. Compared with the existing technology, the degree of automation is higher, and the replacement efficiency of the bobbin 001 is significantly improved.

[0158] The above-mentioned winding and bottom shuttle changing device also includes a bearing plate 901, which is fixed to one side of the fixed frame. The bearing plate 901 mainly plays a supporting role and is used to support various mechanisms. The excess thread removing mechanism 800 is fixed on the bearing plate 901. Figures 19 to 22As shown, the wire-removing mechanism 800 includes a wire-removing driving gear 801, a wire-removing driven gear 802, a wire-removing motor 803 and a gear adjustment cylinder 804. Among them, the wire-removing driving gear 801 can be rotatably arranged on the carrier plate 901 and can rotate relative to the carrier plate 901. The wire-removing driven gear 802 can be slidably arranged on the carrier plate 901, and the wire-removing driven gear 802 can linearly slide relative to the wire-removing driving gear 801, so that the wire-removing driven gear 802 and the wire-removing driving gear 801 can be mutually meshed or separated. Specifically, both the wire-removing driven gear 802 and the wire-removing driving gear 801 are spur gears, but are not limited to this. It should be noted that the wire-removing driven gear 802 moves along the center line connecting the wire-removing driven gear 802 and the wire-removing driving gear 801 to ensure that the center lines of the two gears are always kept in the same plane. The wire-removing motor 803 is connected to the wire-removing driving gear 801 and is used to drive the wire-removing driving gear 801 to rotate. Specifically, the output shaft of the wire-removing motor 803 passes through the carrier plate 901, and the wire-removing active gear 801 is fixedly sleeved on the output shaft, so that the wire-removing motor 803 drives the wire-removing active gear 801 to rotate synchronously. In order to prevent serious wear between the output shaft of the wire-removing motor 803 and the carrier plate 901, a bearing can be set between the output shaft and the carrier plate 901, so that the bearing supports the output shaft to rotate relative to the through hole set in the carrier plate 901. The gear adjustment cylinder 804 is connected to the wire-removing driven gear 802, and is used to drive the wire-removing driven gear 802 to move linearly relative to the wire-removing active gear 801. The gear adjustment cylinder 804 can specifically be a cylinder, but is not limited to this.

[0159] When it is necessary to remove the excess thread on the bobbin 001, first start the gear adjusting cylinder 804, the gear adjusting cylinder 804 extends, driving the thread removing driven gear 802 to slide relative to the supporting plate 901, so that the thread removing driven gear 802 is close to the thread removing driving gear 801 until the thread removing driven gear 802 is meshed with the thread removing driving gear 801; then start the thread removing motor 803, the thread removing motor 803 drives the thread removing driving gear 801, the thread removing driven gear 802 and the thread removing driving gear 801 are meshed and rotated with each other, pulling the excess thread wound on the bobbin 001, thereby removing the excess thread.

[0160] The present invention simplifies the structure of the residual thread removing mechanism 800 by optimizing the residual thread removing mechanism 800, thereby eliminating complex belt transmission and gear transmission. The structure is simpler and easier to manufacture, and the manufacturing cost is naturally reduced.

[0161] The residual wire removal mechanism 800 also includes a wire suction tube 805 and a vacuum tube 806. The wire suction tube 805 is fixed on the carrier plate 901. The vacuum tube 806 is connected to the wire suction tube 805. One end of the wire suction tube 805 away from the vacuum tube 806 is aligned with the meshing seam between the wire removal active gear 801 and the wire removal driven gear 802, so that the wire suction tube 805 relies on the negative pressure provided by the vacuum tube 806 to suck the residual wire pulled out by the wire removal driven gear 802 and the wire removal active gear 801, so as to collect the residual wire and avoid secondary pollution. One end of the vacuum tube 806 can be connected to the vacuum pump through a vent pipe. The wire suction tube 805 can specifically be a steel wire hose, but is not limited to this.

[0162] In addition to the remaining wire mechanism 800, the tube fixing seat 807 is fixedly mounted on the bearing plate 901. The tube fixing seat 807 is clamped on the wire suction tube 805 to fix the wire suction tube 805. The tube fixing seat 807 is annular and has a notch. A connecting plate is provided on each of the two opposite sides of the notch. The two connecting plates are fixedly connected together by connecting bolts. In this way, the inner diameter of the clamping hole of the tube fixing seat 807 can be adjusted by adjusting the width of the notch, so that the tube fixing seat 807 is adapted to clamp the wire suction tubes 805 of different diameters.

[0163] The excess thread removing mechanism 800 further includes a first air blowing pipe 808 fixedly mounted on the carrier plate 901. The first air blowing pipe 808 is L-shaped. One end of the first air blowing pipe 808 is fixed on the carrier plate 901 through a pipe clamp seat 814, and the other end thereof is vertically bent. The blowing direction of the first air blowing pipe 808 is tangent to the top of the thread removing active gear 801, and air is blown from left to right to the gap between the thread removing driven gear 802 and the thread removing active gear 801. The first air blowing pipe 808 can blow the excess thread attached to the thread removing active gear 801 into between the thread removing driven gear 802 and the thread removing active gear 801, ensuring that the excess thread is always between the thread removing driven gear 802 and the thread removing active gear 801, thereby preventing the excess thread from accidentally falling out and affecting the automatic excess thread removing.

[0164] The residual thread removing mechanism 800 further includes a second air blowing pipe 809 fixedly mounted on the carrier plate 901. One end of the second air blowing pipe 809 is also fixed on the carrier plate 901 through a pipe clamp seat 814, and the other end thereof is aligned with the gap between the wire-removing active gear 801 and the wire-removing driven gear 802 after being bent several times, and blows air from top to bottom into the gap between the wire-removing driven gear 802 and the wire-removing active gear 801. The blowing direction of the second air blowing pipe 809 is aligned with the gap between the wire-removing active gear 801 and the wire-removing driven gear 802, so that the second air blowing pipe 809 can blow the residual thread into between the wire-removing active gear 801 and the wire-removing driven gear 802, further ensuring that the residual thread is always between the wire-removing driven gear 802 and the wire-removing active gear 801, and also preventing the residual thread from accidentally falling out.

[0165] The excess wire removal mechanism 800 also includes a wire removal driven shaft 810 and an adapter seat 811. The wire removal driven shaft 810 is inserted into the wire removal driven gear 802. The wire removal driven shaft 810 can be slidably inserted into the waist-shaped hole 9001 provided on the carrier plate 901, so that the wire removal driven shaft 810 drives the wire removal driven gear 802 to slide linearly along the waist-shaped hole 9001 synchronously. The adapter seat 811 is connected between the wire removal driven shaft 810 and the gear adjustment cylinder 804, so that the gear adjustment cylinder 804 drives the wire removal driven shaft 810 to slide linearly through the adapter seat 811, and then the wire removal driven shaft 810 drives the wire removal driven gear 802 to slide linearly. The adapter seat 811 can specifically be a T-shaped seat, including a connecting plate connected to the piston rod of the gear adjustment cylinder 804 and a connecting block integrally provided on the connecting plate. Of course, the structure of the adapter seat 811 is not limited to this.

[0166] The wire-removing driven shaft 810 is integrally provided with a shaft end retaining ring 8101, and the end of the wire-removing driven shaft 810 is fixedly sleeved with a limiting sleeve 812, and the shaft end retaining ring 8101 and the limiting sleeve 812 are respectively abutted against each other at both ends of the wire-removing driven gear 802, so that the axis limits the wire-removing driven gear 802, and prevents the wire-removing driven gear 802 from axially moving along the wire-removing driven shaft 810. Of course, the axial limiting method of the wire-removing driven gear 802 is not limited to this.

[0167] The adapter 811 is provided with a connection hole 8111, one end of the wire-removing driven shaft 810 is inserted into the connection hole 8111, and the adapter 811 is provided with a fastening screw that passes through the connection hole 8111 in the radial direction and abuts against the wire-removing driven shaft 810, so that the adapter 811 and the wire-removing driven shaft 810 are fixedly connected. Of course, the connection method between the adapter 811 and the wire-removing driven shaft 810 is not limited to this, for example, it can also be an interference connection, or other similar connection methods, which are not specifically limited here.

[0168] The thread removing mechanism 800 further includes a thread removing shaft 813 fixed to the carrier plate 901, which is used to support the bobbin core 001 to rotate, so that the bobbin core 001 releases the thread by rotating under the drive of the thread removing driven gear 802 and the thread removing driving gear 801. Specifically, the thread removing shaft 813 is located above the meshing seam between the thread removing driven gear 802 and the thread removing driving gear 801, and the thread removing shaft 813 is vertically fixed to the carrier plate 901.

[0169] The working principle of the bottom shuttle winding device provided by the present invention is as follows:

[0170] Adjust the robot arm 500, align the shuttle grabbing mechanism 200 with the rotary hook, and the shuttle grabbing mechanism 200 takes out the bobbin 001 and the bobbin case 002 to be replaced from the rotary hook; then adjust the robot arm 500, align the shuttle grabbing mechanism 200 with the excess thread removing mechanism 800, and the shuttle grabbing mechanism 200 places the bobbin 001 and the bobbin case 002 to be replaced in the excess thread removing mechanism 800, as shown in the attached Fig.23As shown, the residual thread removing mechanism 800 removes the residual thread remaining in the bobbin 001 to be replaced, thereby removing the residual thread of the bobbin 001; at the same time, the mechanical arm 500 is adjusted, and the shuttle grabbing mechanism 200 is aligned with the standby position, and the shuttle grabbing mechanism 200 transfers the bobbin 001 and the bobbin case 002 wound with the bottom line from the standby position to the rotary hook, and the rotary hook works normally;

[0171] Adjust the robot arm 500, the shuttle grabbing mechanism 200 is transferred from the excess thread removing mechanism 800 to the winding mechanism 100, and the shuttle grabbing mechanism 200 places the empty bobbin core 001 and the bobbin case 002 into the winding mechanism 100, as shown in the attached Fig.24 and 25 As shown; adjust the mechanical arm 500, the thread clamping mechanism 300 is aligned with the bobbin case 002 installed in the winding mechanism 100, and the thread clamping mechanism 300 pushes the empty bobbin 001 into the winding mechanism 100 through the gap of the bobbin case 002; adjust the mechanical arm 500, the shuttle grabbing mechanism 200 is transferred from the winding mechanism 100 to the standby position, and the shuttle grabbing mechanism 200 transfers the bobbin case 002 to the standby position; adjust the mechanical arm 500, the thread clamping mechanism 300 is transferred from the thread cutting mechanism 600 to the winding mechanism 100, and the thread clamping mechanism 300 pulls out the bottom line from the thread clamping gap of the thread cutting mechanism 600 until the bottom line is against the end face of the empty bobbin 001; adjust the mechanical arm 500 until the pressure plate mechanism 400 is aligned with the end face of the bobbin 001 on the winding mechanism 100, and the pressure plate mechanism 400 presses the bottom line on the end face of the empty bobbin 001, as shown in the attached Fig.26 and 27 As shown; the winding mechanism 100 is started, the winding mechanism 100 rotates at the pre-winding speed, and the bottom line is wound around the empty bobbin 001 to achieve pre-winding;

[0172] The winding mechanism 100 stops rotating, and the separation air blowing pipe 103 blows the bottom line of the end face of the bobbin 001, and the bottom line leaves the end face of the empty bobbin 001; the mechanical arm 500 is adjusted, and the pressure plate mechanism 400 is aligned with the end face of the bobbin 001 again, and the pressure plate mechanism 400 is pressed on the end face of the bobbin 001 again; the winding mechanism 100 is started again, and the winding mechanism 100 rotates at the winding speed until the bottom line is fully wound around the empty bobbin 001, and the empty bobbin 001 is wound;

[0173] Adjust the robot arm 500, the shuttle grabbing mechanism 200 returns from the winding mechanism 100 to the standby position, the shuttle grabbing mechanism 200 grabs the bobbin case 002 removed from the winding mechanism 100 at the standby position, and then adjust the robot arm 500, the shuttle grabbing mechanism 200 is transferred from the standby position to the winding mechanism 100, and the shuttle grabbing mechanism 200 places the bobbin case 002 from the standby position to the winding mechanism 100, as shown in the attached Fig.28 and 29As shown; adjust the robot arm 500, the thread clamping mechanism 300 is transferred from the winding mechanism 100 to the thread cutting mechanism 600, the bottom line clamped by the thread clamping mechanism 300 is stuck in the thread clamping gap of the thread cutting mechanism 600, adjust the robot arm 500, the thread clamping mechanism 300 pulls the bottom line into the V-shaped blade of the thread cutting mechanism 600, and the thread cutting mechanism 600 cuts the bottom line pulled in by the thread clamping mechanism 300; adjust the robot arm 500, the thread clamping mechanism 300 is transferred from the thread cutting mechanism 600 to the winding mechanism 100, the thread clamping mechanism 300 pulls the cut bottom line into the wire groove 0024 of the bobbin case 002; start the shuttle pushing mechanism 700, and the shuttle pushing mechanism 700 pushes the bobbin 001 wound with the bottom line into the bobbin case 002 wound with the bottom line, as shown in the attached Fig.30 and 31 As shown; adjust the mechanical arm 500, the clamping mechanism 300 pulls the bottom line into the clamping piece 0025 of the bobbin case 002, until the bottom line is pulled out from the rotary hook hole 0026 of the bobbin case 002, and the bobbin case 002 completes the wire;

[0174] The robot arm 500 is adjusted, and the shuttle grabbing mechanism 200 is transferred from the winding mechanism 100 to the standby position. The shuttle grabbing mechanism 200 transfers the bobbin 001 and the bobbin case 002 wound with the bottom line from the winding mechanism 100 to the standby position, thereby completing the replacement of the bobbin 001.

[0175] The embodiment of the present invention discloses a method for winding and replacing a bottom bobbin, and the steps include: a shuttle grabbing mechanism 200 places an empty bobbin 001 and a bobbin case 002 into a winding mechanism 100; the empty bobbin 001 and the bobbin case 002 are separated; a thread clamping mechanism 300 pulls the bottom line to abut against the end surface of the empty bobbin 001; a pressure plate mechanism 400 presses the bottom line against the end surface of the empty bobbin 001; the winding mechanism 100 rotates at a pre-winding speed until the bottom line is wound around the empty bobbin 001; when the bottom line leaves the end surface of the empty bobbin 001, the pressure plate mechanism 400 presses on the end surface of the bobbin 001 again; the winding mechanism 100 rotates at a winding speed until the bottom line is fully wound around the empty bobbin 001.

[0176] Separating the empty bobbin 001 from the bobbin case 002 is divided into two steps: the thread clamping mechanism 300 pushes the empty bobbin 001 into the winding mechanism 100 through the gap of the bobbin case 002; and the shuttle grabbing mechanism 200 transfers the bobbin case 002 to the standby position.

[0177] After the winding mechanism 100 rotates at the winding speed until the empty bobbin 001 is fully wound with the bottom thread, the steps of the above-mentioned winding and bottom shuttle changing method also include the shuttle grabbing mechanism 200 placing the bobbin case 002 from the standby position to the winding mechanism 100; the thread cutting mechanism 600 cuts the bottom thread pulled in by the thread clamping mechanism 300; the thread clamping mechanism 300 pulls the cut bottom thread into the guide groove 0024 of the bobbin case 002; the shuttle pushing mechanism 700 pushes the bobbin 001 fully wound with the bottom thread into the bobbin case 002 wound with the bottom thread; the thread clamping mechanism 300 pulls the bottom thread into the thread clamping piece 0025 of the bobbin case 002 until the bottom thread is pulled out from the rotating shuttle hole 0026 of the bobbin case 002; the shuttle grabbing mechanism 200 transfers the bobbin 001 and the bobbin case 002 fully wound with the bottom thread from the winding mechanism 100 to the standby position. It should be noted that the shuttle grabbing mechanism 200 can directly transfer the bobbin core 001 and the bobbin case 002 fully wound with the bottom line from the winding mechanism 100 into the rotary hook without transferring them to the standby position.

[0178] Before the shuttle grabbing mechanism 200 places the empty bobbin 001 and bobbin case 002 into the winding mechanism 100, the steps of the above-mentioned winding and bottom shuttle changing method also include the shuttle grabbing mechanism 200 taking out the bobbin 001 and bobbin case 002 to be replaced from the rotating shuttle; the residual thread removing mechanism 800 clears the residual thread remaining in the bobbin 001 to be replaced; and the shuttle grabbing mechanism 200 transfers the bobbin 001 and bobbin case 002 wound with the full bottom line from the standby position to the rotating shuttle.

[0179] The thread winding and bottom shuttle changing method provided by the present invention has the same technical solution as the thread winding and bottom shuttle changing device described above, and has the same beneficial effects.

[0180] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0181] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A winding and bottom shuttle changing device, characterized in that: It comprises a winding mechanism (100), a shuttle grabbing mechanism (200), a thread clamping mechanism (300) and a pressing plate mechanism (400); The shuttle grabbing mechanism (200) is used to place the empty bobbin (001) and the bobbin case (002) into the winding mechanism (100); The thread clamping mechanism (300) is used to pull the bottom thread to abut against the end surface of the empty bobbin (001) after the empty bobbin (001) is separated from the bobbin case (002); The winding mechanism (100) is used for rotating at a pre-winding speed until the bottom line is wound around the empty bobbin (001) after the pressure plate mechanism (400) presses the bottom line onto the end surface of the empty bobbin (001), and for rotating at a winding speed until the bottom line is fully wound around the empty bobbin (001) after the bottom line leaves the end surface of the empty bobbin (001) and the pressure plate mechanism (400) presses the end surface of the bobbin (001).

2. The bottom shuttle winding device according to claim 1, characterized in that: The thread clamping mechanism (300) is also used to push the empty bobbin (001) into the winding mechanism (100) through the notch of the bobbin case (002) after the empty bobbin (001) and the bobbin case (002) are placed in the winding mechanism (100); The shuttle grabbing mechanism (200) is also used to remove the bobbin case (002) after the empty bobbin core (001) is pushed into the winding mechanism (100).

3. The bottom shuttle winding device according to claim 1, characterized in that: The invention also comprises a mechanical arm (500), wherein the thread clamping mechanism (300), the shuttle grabbing mechanism (200) and the pressure plate mechanism (400) are all fixedly arranged at the execution end of the mechanical arm (500), and the mechanical arm (500) comprises a rotatable transmission shaft (501), a first rotating arm (502) movably arranged on the transmission shaft (501) and a second rotating arm (503) rotatably arranged on the first rotating arm (502); the second rotating arm (503) is equipped with at least one execution member (504).

4. The thread winding and bottom changing shuttle device according to claim 3, characterized in that: The shuttle grabbing mechanism (200) comprises: A fixed seat (201) and a floating seat (202) arranged opposite to each other; At least one floating elastic member (203) compressed between the fixed seat (201) and the floating seat (202); A guide rod (204) passing through the floating seat (202) and fixed to the fixed seat (201); The floating seat (202) has an active cavity (2021), and the active cavity (2021) is used to provide a movement space for the floating seat (202) to move relative to the guide rod (204); the floating seat (202) performs radial swing along the radial direction of the guide rod (204) and performs rotational movement around the axial direction of the guide rod (204).

5. The thread winding and bottom changing shuttle device according to claim 4, characterized in that: The shuttle grabbing mechanism (200) further comprises a left limit plate (211) and a right limit plate (212) respectively fixed on two opposite sides of the fixed seat (201); the floating seat (202) is clamped between the left limit plate (211) and the right limit plate (212); the distance between the left limit plate (211) and the right limit plate (212) is greater than the width of the floating seat (202); the left limit plate (211) and the right limit plate (212) are used to limit the movement of the floating seat (202) relative to the guide rod (204).

6. The bottom shuttle winding device according to any one of claims 2 to 5, characterized in that: It also includes a thread cutting mechanism (600) and a shuttle pushing mechanism (700); The thread cutting mechanism (600) is used to cut the bottom thread pulled in by the thread clamping mechanism (300) after the shuttle grabbing mechanism (200) places the bobbin case (002) into the thread winding mechanism (100); The shuttle pushing mechanism (700) is used to push the bobbin (001) fully wound with the bottom thread into the bobbin case (002) wound with the bottom thread after the thread clamping mechanism (300) pulls the cut bottom thread into the thread guide groove of the bobbin case (002); The thread clamping mechanism (300) is also used to pull the bottom thread into the thread clamping piece of the bobbin case (002) after the bobbin core (001) fully wound with the bottom thread is pushed into the bobbin case (002) wound with the bottom thread until the bottom thread is pulled out from the rotating hook hole of the bobbin case (002).

7. The thread winding and bottom changing shuttle device according to claim 6, characterized in that: The winding mechanism (100) is provided with a separation air blowing pipe, and the separation air blowing pipe is used to blow the bottom thread away from the end surface of the empty bobbin (001) after the pressure plate mechanism (400) leaves the end surface of the empty bobbin (001).

8. The thread winding and bottom changing shuttle device according to any one of claims 2 to 5, characterized in that: Also includes a residual thread removal mechanism (800); The residual thread removing mechanism (800) is used to remove the residual thread remaining in the bobbin (001) to be replaced after the shuttle grabbing mechanism (200) takes out the bobbin (001) and the bobbin case (002) to be replaced from the rotary hook; The shuttle grabbing mechanism (200) is also used to transfer the bobbin (001) and the bobbin case (002) fully wound with the bottom thread from the winding mechanism (100) to a standby position, and is also used to transfer the bobbin (001) and the bobbin case (002) fully wound with the bottom thread from the standby position to the rotary hook.

9. The thread winding and bottom changing shuttle device according to claim 8, characterized in that: It also includes a carrying plate (901), and the residual thread removing mechanism (800) is fixedly arranged on the carrying plate. The residual thread removing mechanism (800) includes: A wire-removing driving gear (801) rotatably disposed on the carrying plate (901); A wire-removing driven gear (802) slidably disposed on the carrying plate (901); A wire-removing motor (803) connected to the wire-removing driving gear (801); A gear adjustment cylinder (804) connected to the thread-removing driven gear (802); the gear adjustment cylinder (804) is used to linearly drive the thread-removing driven gear (802) so that the thread-removing driven gear (802) and the thread-removing driving gear (801) rotate through meshing to pull the remaining thread wound on the bobbin (001).

10. The bottom shuttle winding device according to claim 9, characterized in that: The residual thread removing mechanism (800) further comprises: A wire suction tube (805) fixedly mounted on the supporting plate (901); a vacuum tube (806) connected to the wire suction tube (805); The end of the thread suction tube (805) away from the vacuum tube (806) is aligned with the meshing gap between the thread removal active gear (801) and the thread removal driven gear (802), and the thread suction tube (805) is used to suck the excess thread pulled out by the thread removal driven gear (802) and the thread removal active gear (801).

11. A method for winding and changing the bottom shuttle, characterized in that the steps include: The shuttle grabbing mechanism places the empty bobbin and bobbin case into the winding mechanism; separating the empty bobbin core and the bobbin case; The thread clamping mechanism pulls the bottom thread to abut against the end surface of the empty bobbin; The pressing plate mechanism presses the bottom thread onto the end surface of the empty bobbin; The winding mechanism rotates at a pre-winding speed until the bottom thread is wound around the empty bobbin; When the bottom line leaves the end surface of the empty bobbin, the pressure plate mechanism presses the end surface of the bobbin again; The winding mechanism rotates at a winding speed until the bottom thread is fully wound around the empty bobbin.

12. The method for winding and changing the bottom shuttle according to claim 11, characterized in that: After the winding mechanism rotates at the winding speed until the bottom line is fully wound around the empty bobbin, the step further includes: The shuttle grabbing mechanism places the bobbin case into the winding mechanism; The thread cutting mechanism cuts the bottom thread pulled in by the thread clamping mechanism; The thread clamping mechanism pulls the cut bottom thread into the thread guide groove of the bobbin case; The shuttle pushing mechanism pushes the bobbin core wound with the bottom line into the bobbin case wound with the bottom line; The thread clamping mechanism pulls the bottom thread into the thread clamping piece of the bobbin case until the bottom thread is pulled out from the rotary hook hole of the bobbin case; The shuttle grabbing mechanism transfers the bobbin core and the bobbin case fully wound with the bottom line from the winding mechanism to the standby position.

13. The method for winding and changing the bottom shuttle according to claim 11, characterized in that: Before the shuttle grabbing mechanism places the empty bobbin core and bobbin case into the winding mechanism, the steps further include: The shuttle grabbing mechanism takes out the bobbin and bobbin case to be replaced from the rotary hook; The shuttle grabbing mechanism places the bobbin and the bobbin case to be replaced on the remaining thread removing mechanism, and the remaining thread removing mechanism removes the remaining thread in the bobbin to be replaced; The shuttle grabbing mechanism transfers the bobbin core and the bobbin case fully wound with the bottom line from the standby position to the inside of the rotary hook.

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