Manipulator and shuttle peg pressing guide wheel combined control structure and automatic machine

Abstract

The invention discloses a mechanical arm and shuttle peg pressing guide wheel combined control structure and an automatic machine, and relates to embroidery equipment, the number of motors can be reduced, the mechanical arm and shuttle peg pressing guide wheel combined control structure comprises a transverse moving mechanism and a longitudinal moving mechanism, the transverse moving mechanism comprises a transverse moving control motor and a transverse moving component, and the transverse moving component is controlled by the transverse moving control motor; the transverse moving part drives the manipulator and the shuttle peg pressing guide wheel to synchronously and transversely move, so that the manipulator and the shuttle peg pressing guide wheel correspond to and are staggered from the winding position in the transverse direction; the longitudinal moving mechanism comprises a longitudinal moving control motor, a longitudinal transmission part, a first longitudinal moving part and a second longitudinal moving part, and the first longitudinal moving part and the second longitudinal moving part are connected with the manipulator and the shuttle peg pressing guide wheel respectively; the longitudinal movement control motor controls the first longitudinal movement component and the second longitudinal movement component to move reversely in the longitudinal direction through the longitudinal transmission component so that the mechanical arm and the shuttle peg pressing guide wheel can get close to and get away from the winding position in the longitudinal direction.

Description

[Technical field]

[0001] The invention belongs to the technical field of embroidery equipment, and in particular relates to an automatic bobbin winding and bobbin case assembling machine. [Background technology]

[0002] At present, some automatic winding and bobbin case assembly machines have appeared on the market. With reference to the Chinese invention patent application with publication number CN111379094A, a bobbin case and bobbin core separated automatic wire removal and winding integrated equipment and process method are disclosed, aiming to overcome the shortcomings of the prior art in that the bobbin core excess wire removal and rewinding work, as well as the bobbin core and bobbin case assembly and bobbin case winding work, need to be completed manually, and provide a series of automated work for bobbin core excess wire removal, bobbin core winding, bobbin case winding, bobbin core and bobbin case assembly, wire jamming, and wire breaking, replacing the tedious work that originally needed to be completed manually. Its structure includes a base and a main board arranged on the base, and the base is provided with a gripping device at a relative position of the main board, and the main board is provided with a winding device, a wire removal device, a wire supply device and a wire breaking mechanism; the winding device includes a winding spindle that can drive the bobbin core to rotate, a spindle drive motor that drives the winding spindle to rotate, a movable head and a rotating winder; the wire removal device includes a wire removal wheel assembly, a separation wire plate and a wire suction mechanism. The longitudinal movement of the mechanical gripper and the longitudinal guide wheel of the shuttle core guide wheel each require a motor drive, resulting in more motors and higher costs. [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 combined control structure of a manipulator and a shuttle core guide wheel and an automatic machine to solve the problem of excessively high costs caused by a large number of motors.

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

[0005] Firstly, a combined control structure of a manipulator and a shuttle core pressing guide wheel is provided, comprising:

[0006] A transverse movement mechanism, the transverse movement mechanism comprising a transverse movement control motor and a transverse movement component, the transverse movement control motor controls the transverse movement component, and the transverse movement component drives the manipulator and the shuttle core guide wheel to move synchronously transversely, so that the manipulator and the shuttle core guide wheel correspond to and stagger with the winding position in the transverse direction;

[0007] Longitudinal movement mechanism, the longitudinal movement mechanism includes a longitudinal movement control motor, a longitudinal transmission component, a first longitudinal movement component, and a second longitudinal movement component. The first longitudinal movement component and the second longitudinal movement component are respectively connected to the manipulator and the shuttle core guide wheel. The longitudinal movement control motor controls the first longitudinal movement component and the second longitudinal movement component to move in the longitudinal direction in the opposite direction through the longitudinal transmission component, so that the manipulator and the shuttle core guide wheel approach and move away from the winding position in the longitudinal direction.

[0008] Preferably, the first longitudinal movement component includes a first longitudinal guide rail, a first longitudinal slider slidably engaged with the first longitudinal guide rail, and a first longitudinal lead screw nut assembly. The nut in the first longitudinal lead screw nut assembly is connected to the first longitudinal slider, and the first longitudinal slider is connected to the manipulator.

[0009] Preferably, the second longitudinal movement component includes a second longitudinal guide rail, a second longitudinal slider slidably engaged with the second longitudinal guide rail, and a second longitudinal lead screw nut assembly. The nut in the second longitudinal lead screw nut assembly is connected to the second longitudinal slider, and the second longitudinal slider is connected to the shuttle core guide wheel.

[0010] Preferably, the longitudinal transmission component includes a driving gear and a first driven gear and a second driven gear engaged with the driving gear. The first driven gear and the second driven gear are respectively connected to the lead screws in the first longitudinal lead screw nut assembly and the second longitudinal lead screw nut assembly.

[0011] Preferably, the longitudinal movement mechanism further includes a longitudinal fixing frame, and the longitudinal movement control motor, the longitudinal transmission component, the first longitudinal movement component, and the second longitudinal movement component are installed on the longitudinal fixing frame.

[0012] Preferably, the longitudinal movement control motor and the longitudinal transmission component are arranged longitudinally, and the output shaft of the longitudinal movement control motor is connected to the driving gear of the longitudinal transmission component; and / or, the longitudinal transmission component further includes a gear box, and the driving gear, the first driven gear, and the second driven gear are arranged in the gear box.

[0013] Preferably, the transverse movement component includes a transverse guide rail, a transverse slider slidably engaged with the transverse guide rail, and a transverse lead screw nut assembly. The nut in the transverse lead screw nut assembly is connected to the transverse slider.

[0014] Preferably, the transverse movement mechanism further includes a transverse fixing frame, and the transverse movement control motor and the transverse movement component are installed on the transverse fixing frame.

[0015] Preferably, a transverse drive belt assembly is provided between the output shaft of the transverse movement control motor and the screw rod of the transverse movement component; and / or, the manipulator and shuttle core guide wheel combination control structure also includes a right-angled triangle pedestal, one of the straight sides of the right-angled triangle pedestal is parallel to the horizontal plane, and the hypotenuse is connected to the transverse fixed frame.

[0016] In addition, the present invention also provides an automatic bottom thread winding and bobbin case assembling machine, which includes the manipulator and the bobbin core pressing guide wheel combined control structure.

[0017] The present invention adopts the above technical solution and has the following technical effects:

[0018] The lateral movement mechanism includes a lateral movement control motor and a lateral movement component. The lateral movement control motor controls the lateral movement component, and the lateral movement component drives the manipulator and the shuttle core guide wheel to move synchronously laterally, so that the manipulator and the shuttle core guide wheel correspond to and staggered with the winding position in the lateral direction. Then, the lateral movement control of the manipulator and the shuttle core guide wheel only requires one lateral movement control motor.

[0019] In addition, since the manipulator and the shuttle core guide wheel will not be located at the winding position at the same time, the movement of the two in the longitudinal direction is designed to have an inverse relationship, that is, when the manipulator approaches the winding position in the longitudinal direction, the shuttle core guide wheel moves away from the winding position in the longitudinal direction, and vice versa. On this basis, a longitudinal moving mechanism is designed, which includes a longitudinal moving control motor, a longitudinal transmission component, a first longitudinal moving component, and a second longitudinal moving component. The first longitudinal moving component and the second longitudinal moving component are connected to the manipulator and the shuttle core guide wheel respectively. The longitudinal moving control motor controls the first longitudinal moving component and the second longitudinal moving component to move in the opposite direction in the longitudinal direction through the longitudinal transmission component, so that the manipulator and the shuttle core guide wheel are close to the winding position and away from the winding position in the longitudinal direction. In this way, the longitudinal movement control of the manipulator and the shuttle core guide wheel share a longitudinal moving control motor, and there is no need to set up motors separately, which can save motors and save costs.

[0020] 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

[0021] The invention will be further described below in conjunction with the accompanying drawings:

[0022] Figure 1 It is a partial structural schematic diagram of the automatic bobbin winding and bobbin shell assembling machine of the present invention;

[0023] Figure 2 It is a schematic diagram of the bobbin thread amount detection mechanism;

[0024] Figure 3It is a schematic diagram of the combined control structure of the manipulator and the presser bobbin guide wheel;

[0025] Figure 4 It is a schematic diagram of the combined control structure of the manipulator and the presser bobbin guide wheel;

[0026] Reference numerals: vacuum suction pipe 1, thread laying rod 2, thread pulling wheel opening and closing mechanism 3, bobbin wire guiding rod 4, winding mechanism 5, storage tray rack device 6, storage tray 7, winding position wire guiding rod 8;

[0027] Bobbin thread quantity detection mechanism 9, thread quantity detection rod 98, detection part 981, trigger part 982, hinge part 983, second limit part 984, first limit part 985, thread quantity detection screw rod nut assembly 201, detection motor bracket 202, thread quantity detection moving bracket 203, detection motor 24, origin limit part 25, detection positioning part 26, thread quantity detection switch 27, trigger rod 271;

[0028] Bobbin and bobbin case assembly 12, manipulator 13, manipulator control motor 14, presser bobbin guide wheel 15, longitudinal movement control motor 16, longitudinal fixing frame 161, transverse movement control motor 103, transverse drive belt assembly 1031, transverse fixing frame 1032, second longitudinal screw rod nut assembly 104, second longitudinal guide rail 105, second longitudinal slider 1051, transverse screw rod nut assembly 106, transverse guide rail 107, transverse slider 1071, first longitudinal guide rail 108, first longitudinal slider 1081, first longitudinal screw rod nut assembly 109, first driven gear 110, driving gear 111, second driven gear 112.

Detailed implementation manners

[0029] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings of the embodiments of the present invention. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of the present invention.

[0030] Those skilled in the art can understand that, without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0031] 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 terms indicating orientation or position relationship such as "upper", "lower", "front", "rear", "longitudinal", "transverse", etc. are only based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device / component referred to must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention.

[0032] In the present invention, unless otherwise clearly specified or limited, terms such as "installation", "connection", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified or limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0034] In addition, terms such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0035] As Figure 1 shown, an automatic bobbin thread winding and automatic shuttle shell assembling machine includes a vacuum suction pipe 1, a rotating mechanism of a thread laying rod 2, a thread pulling wheel mechanism 3, a shuttle shell wire guiding rod 4, a winding mechanism 5, a storage tray rack device 6, a wire guiding rod 8 at the winding position, a bobbin thread quantity detecting mechanism 9, a manipulator 13, a presser bobbin guide wheel 15, a wire pressing mechanism, a thread hooking mechanism, a scissor mechanism, etc. (not shown in some structure diagrams). Its basic structure and working principle can refer to the prior art. The thread pulling wheel mechanism 3 includes two oppositely arranged thread pulling wheels, and a vacuum suction pipe 1 is arranged below the two thread pulling wheels. The winding mechanism 5 is used for winding the bobbin thread and includes a winding rotor and a winding driving motor for driving the winding rotor to rotate. The winding rotor drives the bobbin and shuttle shell assembly 12 to rotate for winding the bobbin thread, and a winding position corresponding to the winding mechanism is provided. In addition, the structure of the manipulator can also refer to the prior art, such as the structure in the background art, and includes a manipulator grasping component for performing the grasping action and a manipulator control motor 14 for controlling the action of the manipulator grasping component. The storage tray rack device 6 includes a plurality of storage tray positioning stations, and the storage tray 7 is positioned at the storage tray positioning stations.

[0036] After threading the thread, the manipulator 13 takes out the used bobbin and bobbin case assembly 12 from the storage tray 7 and places it on the winding mechanism 5. The manipulator 13 grabs the bobbin case and moves backward to separate the bobbin case from the bobbin. The thread guiding rod 2 rotates one week to extract the thread connecting the bobbin and the bobbin case from the thread channel of the bobbin case. The vacuum suction pipe 1 is activated to suck the extracted thread end into the vacuum suction pipe. At this time, the thread pulling wheel mechanism 3 closes to clamp the thread end, and the presser bobbin guide wheel 15 moves to the concentric position of the winding rotor of the winding mechanism 5 to press the bobbin. Then the thread pulling wheel operates, and the auxiliary vacuum suction pipe 1 pulls out the waste thread on the bobbin.

[0037] The bobbin thread quantity detection mechanism 9 is used to detect the bobbin thread quantity. When it detects that the waste thread on the bobbin is exhausted, the winding mechanism 5 stops operating. The presser bobbin guide wheel 15 retreats to leave a distance from the bobbin. The thread guiding rod 8 at the winding position moves to move the threaded thread to the position where the presser bobbin guide wheel 15 just clamps the thread when pressing the bobbin. At this time, the presser bobbin guide wheel 15 presses the threaded thread and the bobbin, and the winding mechanism 5 starts to rotate forward to wind the thread on the bobbin.

[0038] When the bobbin thread quantity detection mechanism 9 detects that the bobbin is full, the manipulator 13 grabs the bobbin case and slips the bobbin into it. At this time, the bobbin case thread guiding rod 4 will pour the thread into the thread guiding groove of the bobbin case according to the thread loading method of the bobbin case of the sewing equipment, completing the assembly of the bobbin case and bobbin. Then the manipulator 13 grabs the bobbin case and bobbin assembly 12 and places it back on the storage tray 7. At this time, the wire pressing mechanism is driven by the air cylinder to press the thread end, the thread hooking mechanism hooks the thread into the thread clamping device of the tray, and the scissor mechanism cuts it off, completing the work of drawing, winding, and assembling a bobbin case and bobbin. After the manipulator 13 places the bobbin case and bobbin assembly 12 back on the storage tray 7, the winding and assembling work of the next bobbin case and bobbin assembly can be carried out.

[0039] To ensure that the detection rod is accurately in the bobbin detection position, as Figure 2 shown, the bobbin thread quantity detection mechanism 9 provided in this embodiment includes a thread quantity detection moving bracket 203, a thread quantity detection driver for driving the thread quantity detection moving bracket 203 to move relative to the bobbin, and a thread quantity detection component provided on the thread quantity detection moving bracket. Among them, the thread quantity detection component includes a thread quantity detection rod 98 and a thread quantity detection switch 27 cooperating with the thread quantity detection rod. The thread quantity detection switch 27 cooperates with the thread quantity detection rod 98 to detect the bobbin thread quantity, and the thread quantity detection switch 27 is provided with a trigger rod 271. In addition, the bobbin thread quantity detection mechanism further includes a detection positioning member 26. The thread quantity detection rod 98 is provided with a detection portion 981, a trigger portion 982, and a second limiting portion 984. The detection positioning member 26 cooperates with the second limiting portion 984 to make the detection portion 981 in the bobbin detection position. The detection portion 981 contacts the outer circle of the thread wound on the bobbin, so as to drive the thread quantity detection rod 98 to rotate counterclockwise during the thread winding process of the bobbin, and when the bobbin thread is full, the trigger portion 271 triggers the thread quantity detection switch 27.

[0040] Specifically, the thread amount detection rod 98 is hingedly installed on the thread amount detection moving bracket 203 and is connected with an elastic member that drives the thread amount detection rod to rotate. Among them, the thread amount detection rod 98 is L-shaped, including a first straight edge and a second straight edge. The second end of the first straight edge is connected to the first end of the second straight edge. The detection portion 981 is provided at the first end of the first straight edge. A trigger portion 982 that cooperates with the thread amount detection switch is provided at the second end of the first straight edge. The thread amount detection switch 27 is located above the trigger portion 982. An articulated portion 983 that is articulated with the thread amount detection moving bracket 203 is provided at the middle position of the second straight edge. The second limiting portion 984 is connected to the articulated portion and extends in a direction opposite to the first straight edge. The detection positioning member 26 is located behind the second limiting portion 984 but in front of the thread amount detection switch. Since the detection positioning member cooperates with the second limiting portion, the thread amount detection switch can be triggered, so that according to the trigger signal, the detection portion is in the bobbin detection position, ensuring that the thread amount detection rod is accurately in the bobbin detection position.

[0041] In some embodiments, the bobbin thread amount detection mechanism further includes an origin limiting member 25 fixed relative to the thread amount detection moving bracket 203. The thread amount detection rod 98 is provided with a first limiting portion 985. The origin limiting member 25 is in limiting cooperation with the first limiting portion 985 to rotate the thread amount detection rod and trigger the thread amount detection switch. Specifically, the first limiting portion 985 is provided at the second end of the second straight edge and is located below the origin limiting member 25. The origin limiting member 25 is located in front of the detection positioning member 26. The origin limiting member 25 is L-shaped and includes a vertical side and a lower horizontal side. The vertical side is fixed to the detection motor fixed bracket, and the lower horizontal side cooperates with the first limiting portion 985.

[0042] Specifically, the elastic member is a torsion spring. The thread amount detection rod 98 is connected with a pin shaft. The torsion spring is installed on the pin shaft and is connected with the thread amount detection rod 98. The thread amount detection driver includes a detection motor 24 and a thread amount detection screw nut assembly 201 connected to the detection motor. The thread amount detection moving bracket 203 is connected to the nut of the thread amount detection screw nut assembly. The detection motor 24 is fixed to the detection motor bracket 202. The detection motor bracket 202 is L-shaped and includes a vertical side and an upper horizontal side. Its upper horizontal side is fixed to the detection motor, and its vertical side is provided with a through groove. The thread amount detection moving bracket 203 is also L-shaped and includes a vertical side and an upper horizontal side. Its upper horizontal side passes through the through groove and is connected to the nut of the thread amount detection screw nut assembly. The thread amount detection switch 27 is fixed on the vertical side. The thread amount detection moving bracket 203 is connected with an up-and-down moving guide rail, and the thread amount detection moving bracket 203 is guided by the up-and-down moving guide rail to move up and down.

[0043] Preferably, the detection portion 981 is provided with a detection roller. The detection roller can rotate, without affecting the rotation and winding of the bobbin.

[0044] When on standby, the detection motor 24 drives the wire quantity detection screw nut assembly 201, so that the wire quantity detection movable bracket 203 and the wire quantity detection switch 27 and the wire quantity detection rod 98 thereon move upward. When the first limit part 985 of the wire quantity detection rod 98 contacts the origin limit part 25, the wire quantity detection rod 98 rotates counterclockwise under the influence of the contact force, so that the trigger rod 271 is lifted, triggering the wire quantity detection switch 27, and the signal is transmitted to the control system. The control system controls the detection motor to stop and stand by.

[0045] When work is required, the detection motor 24 works in reverse, causing the thread detection movable bracket 203 and the thread detection switch 27 and thread detection rod 98 thereon to move downward to the bobbin detection position. At this time, the internal spring pressure of the thread detection switch 27 pushes out the trigger rod 271, causing the second limit portion 984 of the thread detection rod 98 to fit with the detection positioning member 26, and at the same time will not trigger the thread detection switch 27. When the bobbin thread is full, its thread amount will push up the trigger rod 271, triggering the thread detection switch 27, and then transmitting the signal to the control system. After receiving the signal, the control system controls the winding drive motor to stop rotating, and then controls the entire system to complete subsequent work.

[0046] Since the manipulator and the shuttle core pressing guide wheel are not located at the winding position at the same time, the manipulator and the shuttle core pressing guide wheel can be controlled in combination to coordinate the actions of the two. In some of the embodiments, a combined control structure of the manipulator and the shuttle core pressing guide wheel is designed.

[0047] like Figure 3 and Figure 4 The combined control structure of the manipulator and the shuttle core pressing guide wheel shown includes:

[0048] A transverse movement mechanism, the transverse movement mechanism includes a transverse movement control motor 103 and a transverse movement component, the transverse movement control motor controls the transverse movement component, and the transverse movement component drives the manipulator 13 and the shuttle core guide wheel 15 to move synchronously transversely, so that the manipulator 13 and the shuttle core guide wheel 15 correspond to and stagger with the winding position in the transverse direction;

[0049] A longitudinal moving mechanism includes a longitudinal moving control motor 16, a longitudinal transmission component, a first longitudinal moving component, and a second longitudinal moving component. The first longitudinal moving component and the second longitudinal moving component are respectively connected to the manipulator 13 and the shuttle core pressing guide wheel 15. The longitudinal moving control motor 16 controls the first longitudinal moving component and the second longitudinal moving component to move in opposite directions in the longitudinal direction through the longitudinal transmission component, so that the manipulator 13 and the shuttle core pressing guide wheel 15 are close to and away from the winding position in the longitudinal direction.

[0050] Therefore, only one lateral movement control motor is required for the movement control of the manipulator and the shuttle core guide pulley in the lateral direction. Additionally, since the movements of the manipulator and the shuttle core guide pulley in the longitudinal direction (or also referred to as the front-back direction) have an inverse relationship, that is, when the manipulator approaches the winding position in the longitudinal direction, the shuttle core guide pulley moves away from the winding position in the longitudinal direction, and vice versa. Based on this, a longitudinal movement mechanism is designed. In this mechanism, the movement control of the manipulator and the shuttle core guide pulley in the longitudinal direction shares one longitudinal movement control motor, and there is no need to set up motors separately. Compared with the prior art, one motor can be saved, thus reducing costs.

[0051] Specifically, the first longitudinal movement component includes a first longitudinal guide rail 108, a first longitudinal slider 1081 slidably engaged with the first longitudinal guide rail, and a first longitudinal lead screw nut assembly 109. The nut in the first longitudinal lead screw nut assembly is connected to the first longitudinal slider 1081, and the first longitudinal slider 1081 is connected to the manipulator 13. The second longitudinal movement component includes a second longitudinal guide rail 105, a second longitudinal slider 1051 slidably engaged with the second longitudinal guide rail, and a second longitudinal lead screw nut assembly 104. The nut in the second longitudinal lead screw nut assembly is connected to the second longitudinal slider 1051, and the second longitudinal slider 1051 is connected to the shuttle core guide pulley 15.

[0052] In some embodiments, the longitudinal transmission component includes a driving gear 111 and a first driven gear 110 and a second driven gear 112 meshing with the driving gear. The first driven gear 110 and the second driven gear 112 are located on the radially opposite sides of the driving gear 111. The first driven gear 110 and the second driven gear 112 are respectively connected to the lead screws in the first longitudinal lead screw nut assembly and the second longitudinal lead screw nut assembly. The thread directions of the lead screws in the first longitudinal lead screw nut assembly and the second longitudinal lead screw nut assembly are opposite, one is a left-handed thread, and the other is a right-handed thread. The driving gear 111 can drive the first driven gear 110 and the second driven gear 112 to rotate simultaneously. Then, through the reverse movement structure design of the first longitudinal lead screw nut assembly and the second longitudinal lead screw nut assembly, the first longitudinal slider 1081 and the second longitudinal slider 1051 move in the longitudinal direction in reverse.

[0053] Specifically, the longitudinal movement mechanism further includes a longitudinal fixing frame 161. The longitudinal movement control motor 16, the longitudinal transmission component, the first longitudinal movement component, and the second longitudinal movement component are installed on the longitudinal fixing frame 161. The longitudinal movement control motor 16 and the longitudinal transmission component are arranged longitudinally, and the output shaft of the longitudinal movement control motor is connected to the driving gear 111 of the longitudinal transmission component. Additionally, the longitudinal transmission component further includes a gearbox, and the driving gear 111, the first driven gear 110, and the second driven gear 112 are arranged in the gearbox.

[0054] Specifically, the lateral moving member includes a lateral guide rail 107, a lateral slider 1071 slidably engaged with the lateral guide rail, and a lateral lead screw nut assembly 106. The nut in the lateral lead screw nut assembly is connected to the lateral slider 1071, and the lateral slider 1071 can be connected to the longitudinal fixing frame 161 to drive the entire longitudinal moving mechanism to move laterally. The lateral moving mechanism further includes a lateral fixing frame 1032, and the lateral moving control motor 103 and the lateral moving member are mounted on the lateral fixing frame. A lateral drive belt assembly 1031 is provided between the output shaft of the lateral moving control motor and the lead screw of the lateral moving member.

[0055] The lateral moving control motor 103 is used to control the lateral position of the manipulator and the presser bobbin core guide wheel; the longitudinal moving control motor 16 is used to control the longitudinal position of the manipulator and the presser bobbin core guide wheel. When the longitudinal moving control motor 16 rotates forward, the manipulator 13 moves forward (towards the winding position), and the presser bobbin core guide wheel 15 moves backward (away from the winding position), and the manipulator 13 completes the grasping work of the bobbin and the bobbin case.

[0056] When the manipulator 13 places the bobbin and the bobbin case into the winding rotor, the wire quantity detection rod 98 starts to move, blocking the edge of the bobbin. The manipulator control motor 14 controls the manipulator 13 to release the latch teeth that hold the bobbin case and grip the bobbin. At this time, the longitudinal moving control motor 16 rotates backward a certain distance (about 1 - 2 mm), and then the manipulator control motor 14 closes the latch teeth again to firmly grip the bobbin case. The longitudinal moving control motor 16 continues to rotate backward, and the bobbin and the bobbin case can be separated.

[0057] After separating a certain distance, the thread pulling wheel opening and closing mechanism 3 opens, the vacuum suction pipe 1 starts, and then the thread laying rod 2 can rotate one week to draw out the thread connecting the bobbin and the bobbin case from the bobbin case and suck it into the vacuum suction pipe 1. The thread pulling wheel opening and closing mechanism 3 closes to clamp the remaining thread. At this time, the lateral moving control motor 103 starts to move the manipulator 13 away and moves the presser bobbin core guide wheel 15 to the concentric position with the winding rotor. The longitudinal moving control motor 16 continues to rotate backward to make the presser bobbin core guide wheel 15 press against the bobbin. At this time, the winding rotor rotates backward to draw out the remaining thread, and the wire quantity detection rod 98 starts to detect the remaining thread. When it detects that all the remaining thread has been drawn out, the longitudinal moving control motor 16 controls the presser bobbin core guide wheel 15 to move backward, leaving a certain space between the presser bobbin core guide wheel 15 and the bobbin. At this time, the wire guiding rod 8 at the winding position starts to work, moving the threaded wire to the position where it can clamp the wire when the presser bobbin core guide wheel 15 presses against the bobbin. The longitudinal moving control motor 16 then controls the presser bobbin core guide wheel 15 to press the wire and the bobbin together. The wire guiding rod 8 at the winding position then moves inward towards the inside of the bobbin to the position where the wire just winds into the bobbin when the winding drive motor rotates forward. The winding drive motor starts to rotate forward until the bobbin is full.

[0058] As described above, it is only the specific implementation manner 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 content described in the drawings and the above specific implementation manner. 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 combined control structure of the manipulator and the shuttle core pressing guide wheel is characterized in that: include: A transverse movement mechanism, wherein the transverse movement mechanism includes a transverse movement control motor and a transverse movement component, wherein the transverse movement control motor controls the transverse movement component, and the transverse movement component drives the manipulator and the shuttle core guide wheel to move synchronously transversely, so that the manipulator and the shuttle core guide wheel correspond to and staggered with the winding position in the transverse direction; a longitudinal movement mechanism, wherein the longitudinal movement mechanism includes a longitudinal movement control motor, a longitudinal transmission component, a first longitudinal movement component, and a second longitudinal movement component, wherein the first longitudinal movement component and the second longitudinal movement component are respectively connected to the manipulator and the shuttle core guide wheel, and the longitudinal movement control motor controls the first longitudinal movement component and the second longitudinal movement component to move in the opposite direction in the longitudinal direction through the longitudinal transmission component, so that the manipulator and the shuttle core guide wheel are close to and away from the winding position in the longitudinal direction.

2. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 1 is characterized in that: The first longitudinal moving component includes a first longitudinal guide rail, a first longitudinal slider slidingly matched with the first longitudinal guide rail, and a first longitudinal screw nut assembly. The nut in the first longitudinal screw nut assembly is connected to the first longitudinal slider, and the first longitudinal slider is connected to the manipulator.

3. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 2 is characterized in that: The second longitudinal moving component includes a second longitudinal guide rail, a second longitudinal slider slidingly matched with the second longitudinal guide rail, and a second longitudinal screw nut assembly. The nut in the second longitudinal screw nut assembly is connected to the second longitudinal slider, and the second longitudinal slider is connected to the shuttle core guide wheel.

4. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 3 is characterized in that: The longitudinal transmission component includes a driving gear and a first driven gear and a second driven gear meshing with the driving gear. The first driven gear and the second driven gear are respectively connected to the screw rods in the first longitudinal screw rod nut assembly and the screw rods in the second longitudinal screw rod nut assembly.

5. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 4 is characterized in that: The longitudinal movement mechanism further comprises a longitudinal fixing frame, and the longitudinal movement control motor, the longitudinal transmission component, the first longitudinal movement component and the second longitudinal movement component are mounted on the longitudinal fixing frame.

6. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 5 is characterized in that: The longitudinal movement control motor and the longitudinal transmission component are arranged longitudinally, and the output shaft of the longitudinal movement control motor is connected to the driving gear of the longitudinal transmission component; and / or, the longitudinal transmission component also includes a gear box, and the driving gear, the first driven gear and the second driven gear are arranged in the gear box.

7. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 1 is characterized in that: The transverse moving component comprises a transverse guide rail, a transverse slider slidably matched with the transverse guide rail, and a transverse screw rod and nut assembly, wherein the nut in the transverse screw rod and nut assembly is connected with the transverse slider.

8. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 7 is characterized in that: The lateral movement mechanism further comprises a lateral fixing frame, and the lateral movement control motor and the lateral movement component are mounted on the lateral fixing frame.

9. The combined control structure of the manipulator and the shuttle core pressing guide wheel according to claim 8 is characterized in that: A transverse driving belt assembly is arranged between the output shaft of the transverse movement control motor and the screw rod of the transverse movement component.

10. Automatic machine for automatically winding the bottom thread and automatically assembling the bobbin case, characterized in that: It comprises the combined control structure of the manipulator and the shuttle core pressing guide wheel as described in any one of claims 1 to 9.

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