Automatic feeding and discharging device of embroidery machine and embroidery machine

Abstract

The invention discloses an automatic feeding and discharging device of an embroidery machine and the embroidery machine and belongs to the technical field of embroidery equipment. The device comprises a material frame, and a material receiving and releasing roller, which is arranged on the material frame and is used for releasing to-be-embroidered cloth or rolling embroidered cloth; the gravity tensioning pipe is connected to the material frame in a sliding mode and connected with a balance weight to provide tensioning force. The guide roller and the material collecting and discharging roller are both located on the same side of the gravity tensioning pipe; the tensioning feeding roller is connected to the material frame in a sliding mode, and a cloth pressing mechanism is arranged on the tensioning feeding roller; the cloth pressing mechanism is matched with the tensioning feeding roller to press cloth, and the tensioning feeding roller slides along the material frame to set the feeding stroke so as to complete quantitative feeding. Cloth sequentially passes through the winding and unwinding roller, the gravity tensioning pipe, the guide roller and the tensioning feeding roller, or sequentially passes through the tensioning feeding roller, the guide roller, the gravity tensioning pipe and the winding and unwinding roller. The control precision of the cloth conveying amount can be effectively improved, so that the embroidery precision of the whole pattern on the cloth is improved.

Description

Technical Field

[0001] This invention relates to the field of embroidery equipment technology, and in particular to an automatic loading and unloading device for an embroidery machine and an embroidery machine. Background Technology

[0002] Currently, in order to improve the automation level of embroidery machines, some existing embroidery machines are equipped with automatic loading and unloading devices. That is, after the embroidery work on the fabric in the embroidery frame is completed, the entire piece of fabric is output to the side of the unloading device a certain distance through the cooperation of the loading and unloading devices, so as to gradually roll up the finished embroidered fabric. At the same time, the fabric to be embroidered is released from the loading device into the embroidery frame, thereby realizing the automatic continuous embroidery of the fabric.

[0003] In the prior art, such as Chinese patent document CN110629423A, an automatic fabric visual positioning embroidery device is disclosed. It uses two sets of fabric rolling mechanisms to realize the automatic loading and unloading of fabric. The fabric rolling mechanism consists of a fabric rolling frame, a rotating shaft and a fabric rolling motor. The fabric tube is set on the rotating shaft, and the rotating shaft drives the fabric tube to rotate, thereby realizing the loading and unloading of the fabric.

[0004] However, the aforementioned fabric rolling mechanism has low control precision over the amount of fabric fed, resulting in low precision in the overall embroidery of the pattern on the fabric. Summary of the Invention

[0005] The purpose of this invention is to solve the problems existing in the prior art and to provide an automatic loading and unloading device for embroidery machines and an embroidery machine, which can effectively improve the control accuracy of the fabric feeding amount, thereby improving the embroidery accuracy of the overall pattern on the fabric.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] An automatic loading and unloading device for an embroidery machine includes a material rack and a device mounted on the material rack:

[0008] The feed roller releases the fabric to be embroidered or rolls up the fabric that has already been embroidered.

[0009] The gravity tension tube is slidably connected to the material rack and is connected to a counterweight to provide tension.

[0010] The guide roller and the take-up / untake-up roller are all located on the same side of the gravity tension tube;

[0011] The tensioning feed roller is slidably connected to the material rack, and a cloth pressing mechanism is provided on it; the cloth pressing mechanism works with the tensioning feed roller to press the cloth, and the tensioning feed roller slides along the material rack to set the feeding stroke in order to complete the quantitative feeding;

[0012] The fabric passes through the take-up and unload rollers, gravity tension tube, guide rollers and tension feed rollers in sequence, or through the tension feed rollers, guide rollers, gravity tension tubes and take-up and unload rollers in sequence.

[0013] Preferably, the material rack is mounted on the frame of the embroidery machine, and a front-to-back adjustment mechanism for the material rack is provided between the frame and the material rack.

[0014] Preferably, the front and rear adjustment mechanism of the material rack includes a front and rear linear guide rail, a front and rear drive rack, a front and rear drive gear, and a front and rear drive motor. The front and rear linear guide rail is located between the material rack and the machine frame. The front and rear drive rack and the front and rear drive motor are respectively located on the material rack and the machine frame. The front and rear drive gear is located at the output end of the front and rear drive motor and cooperates with the front and rear drive rack.

[0015] Preferably, a tensioning feeding drive mechanism is provided between the material rack and the tensioning feeding roller. The tensioning feeding drive mechanism includes a tensioning feeding linear guide rail, a tensioning feeding drive motor, a tensioning feeding drive synchronous belt, and tensioning feeding drive synchronous pulleys. The two tensioning feeding synchronous pulleys are respectively located at both ends of the tensioning feeding linear guide rail. The tensioning feeding drive synchronous belt drives the tensioning feeding roller to move along the tensioning feeding linear guide rail.

[0016] Preferably, the tensioning feed linear guide rail includes a slide rail and a trolley. The slide rail is provided with two track rods, and the trolley is provided with rollers that respectively cooperate with the opposite sides of the two track rods. The tensioning feed roller is mounted on the trolley through a bearing bracket. The slide rail is provided with a synchronous belt through groove, and the synchronous belt connects the trolley and the bearing bracket.

[0017] Preferably, the trolley has push blocks at both ends of the front and rear sides in the direction of movement via springs, and the push blocks are provided with dustproof parts that abut against the track rod.

[0018] Preferably, the pressing mechanism includes a pressing beam, pressing cylinders, and pressing blocks. The pressing beam is mounted above the tensioning feed roller via a beam support. Multiple pressing cylinders are mounted on the pressing beam, and each pressing cylinder has a pressing block at its output end.

[0019] Preferably, the end of the tensioning feed roller is equipped with a fabric conveying motor.

[0020] Preferably, the material rack is provided with support wheel sets at both the front and rear ends. The support wheel sets include drive wheels and driven wheels arranged at intervals. The drive wheels are connected to a material feeding and receiving drive motor. The material feeding and receiving rollers are mounted on the support wheel sets. At least one set of support wheel sets is provided with a pressing swing rod and a pressing bearing above it.

[0021] This specification also provides an embroidery machine, including an automatic loading and unloading device for an embroidery machine as described above.

[0022] The advantages of this invention are:

[0023] 1. The fabric is pressed by a pressing mechanism and a tensioning feed roller, and the feeding stroke is set by moving the tensioning feed roller to achieve quantitative feeding. The feeding amount is determined by the moving distance of the pressed point on the fabric, and is not affected by the tension of the fabric during the conveying process or the outer diameter of the fabric roll on the take-up and undo roller. Therefore, the feeding amount is more accurate, which is conducive to improving the overall embroidery accuracy.

[0024] 2. By using gravity tension tubes and counterweights to provide stable fabric tension, the fabric tension is ensured to be consistent each time it passes through the counterweights, thereby improving the accuracy of the pressing points on the fabric, and ultimately improving the accuracy of the feeding amount and the overall embroidery accuracy of the pattern.

[0025] 3. The pressing action of the fabric press head, combined with the movement of the tensioning feed roller, not only enables quantitative feeding of the fabric, but also completes the tensioning and relaxation of the fabric, so as to cooperate with the embroidery machine to complete high-quality embroidery work.

[0026] 4. The entire material rack has front and rear adjustment functions, which can correct the deviation caused during the fabric conveying process in a timely manner and ensure the flatness of the fabric. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an automatic loading and unloading device for an embroidery machine provided in the embodiments of this specification;

[0028] Figure 2 A schematic diagram illustrating the usage state of an automatic loading and unloading device for an embroidery machine, provided as an embodiment of this specification.

[0029] Figure 3 This is a structural schematic diagram from another perspective of an automatic loading and unloading device for an embroidery machine provided in an embodiment of this specification;

[0030] Figure 4 This is an exploded structural diagram of the tensioning feed drive mechanism provided in the embodiments of this specification;

[0031] Figure 5 for Figure 1 Enlarged structural diagram at point A;

[0032] In the diagram: 1-Material rack; 2-Receiving and feeding rollers; 21-Driving wheel; 22-Passive wheel; 23-Receiving and feeding drive motor; 24-Pressing swing arm; 25-Pressing bearing; 3-Gravity tensioning tube; 31-Guide groove; 32-Counterweight roller; 33-Hanging rope; 34-Counterweight; 4-Guide roller; 5-Tensioning feeding roller; 51-Tensioning feeding linear guide; 511-Slide rail; 512-Trolley; 513-Baffle; 514-Rail rod; 515-Pressure strip; 5 16 Roller; 517 Spring; 518 Push block; 519 Dustproof component; 52 Tensioning feed drive motor; 53 Tensioning feed drive synchronous belt pulley; 54 Bearing bracket; 55 Fabric conveyor motor; 6 Pressing mechanism; 61 Pressing beam; 62 Pressing cylinder; 63 Pressing block; 64 Beam bracket; 71 Front and rear linear guide rails of the material rack; 72 Front and rear drive rack of the material rack; 73 Front and rear drive gear of the material rack; 74 Front and rear drive motor of the material rack. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0034] As mentioned in the background section, the fabric winding mechanism uses two winding mechanisms in cooperation to achieve automatic fabric feeding. After the fabric in the embroidery frame is finished embroidered, one winding mechanism rolls up while the other unrolls, feeding the next section of fabric to be embroidered into the frame. The finished fabric is gradually rolled up. However, on the one hand, the amount of fabric fed each time is often controlled by adjusting the rotation angle of the motor shaft, i.e., controlling the rotation angle of the fabric tube used for winding. During the winding process, the overall outer diameter of the fabric roll continuously increases. Therefore, even if the rotation angle of the fabric tube is consistent each time, the length of fabric wound up each time increases. This leads to a sequential increase in the distance between the embroidered patterns on the fabric, affecting the overall embroidery accuracy. On the other hand, during the winding and unwinding process, the fabric tension may fluctuate due to factors such as friction and vibration. Increased tension leads to a decrease in the amount of fabric fed, and decreased tension leads to an increase in the amount of fabric fed, thus affecting the accuracy of the feeding amount and ultimately the overall embroidery accuracy.

[0035] Therefore, such as Figure 1 As shown, this embodiment provides an automatic loading and unloading device for an embroidery machine, including a material rack 1 and a device mounted on the material rack:

[0036] The feed roller 2, located at the lower part of the material rack 1, is used to release the fabric to be embroidered or to reel in the embroidered fabric. This device typically uses two rollers working in tandem. Figure 2As shown, the two devices are arranged symmetrically on the left and right, with the main body of the embroidery machine between them. The device on the right is used for unwinding, and the device on the left is used for rewinding. Of course, the functions of the two devices can be interchanged as needed, that is, the device on the left can be used to rewind, while the device on the right can unwind.

[0037] The gravity tension tube 3 is located above the feed roller 2 on the side away from the main body of the embroidery machine. It is slidably connected to the guide groove 31 on the material rack 1. Bearings are provided at both ends of the gravity tension tube 3 for limiting its movement. The bearings cooperate with the guide strip below the guide groove to achieve rolling. The guide groove 31 is set in a horizontal direction. A counterweight roller 32 is provided on the inner side of the material rack 1 at the end of the guide groove 31 that is far from the main body of the embroidery machine. The gravity tension tube 31 is connected to a hanging rope 33. The other end of the hanging rope 33 passes around the counterweight roller 32 and is connected downward to a counterweight 34. The tension force on the fabric is provided by the pull of the counterweight and the hanging rope on the gravity tension tube 3. The above-mentioned counterweight structure is provided at both ends of the gravity tension tube 3.

[0038] The guide roller 4 is positioned above the gravity tension tube 3 and close to the main body of the embroidery machine. Thus, no matter where the tension feed roller 5 moves, the fabric can always stably pass over the gravity tension tube 3 under the guidance of the guide roller 4, ensuring the stability of its gravity tensioning effect.

[0039] The tensioning feed roller 5 is located at the upper end of the material rack 1 and is slidably connected to the material rack 1 in the direction of approaching or away from the main body of the embroidery machine. A fabric pressing mechanism 6 is provided on it. The fabric passes over the tensioning feed roller 5 from above, and the fabric pressing mechanism 6 can move downward to press the fabric onto the tensioning feed roller 5. The tensioning feed roller 5 drives the pressed fabric to slide along the material rack 1 to set the feeding stroke, thus completing the quantitative feeding.

[0040] As a feeding device, the fabric is released from the take-up and unload roller 2, passes through the gravity tension tube 3, guide roller 4 and tension feed roller 5 in sequence, and is then conveyed to one side of the embroidery machine body; while as an unloading device, the fabric fed from one side of the embroidery machine body passes through the tension feed roller 5, guide roller 4 and gravity tension tube 3 in sequence and is then wound up by the take-up and unload roller 2.

[0041] The working principle of this embodiment is as follows: After the fabric in the embroidery frame is embroidered, since the fabric is still clamped by the embroidery frame, the position of the fabric area where the embroidery is completed is fixed (the embroidery frame returns to its original position). The tensioning feed roller 5 on the feeding side is moved to the feeding start position, generally located at the farthest end from the main body of the embroidery machine. At the same time, the pressing mechanism 6 on this side is released from the fabric, so that the fabric is only tensioned under the action of the counterweight. At this time, the fabric is in a relatively static state, so the tension of the fabric is relatively consistent when the counterweight is used to tension the fabric before each feeding. Of course, in order to keep the fabric in a taut state during the fabric conveying process, the pressing mechanism 6 on the unloading side also needs to relax the fabric, and is also tensioned under the action of the counterweight. Then, the pressing mechanism 6 on the feeding side presses the fabric, and then the embroidery frame is released from the fabric. The tensioning feed roller 5 can then move towards the main body of the embroidery machine to set the feeding stroke. At the same time, the take-up and unload roller 2 on the unloading side rewinds the fabric. In this process, the points on the fabric that are pressed together can be considered as fixed points on the fabric. The fixed points move by the set feeding stroke, so the feeding amount generated by this feeding stroke has high precision. It is not affected by changes in fabric tension during the conveying process, nor by the outer diameter of the fabric roll on the take-up and untake-down rollers 2. As a result, the distance between the area of ​​the fabric that has been embroidered and is conveyed from the embroidery frame to the lower side and the area of ​​the fabric to be embroidered that has just been fed into the embroidery frame from the upper side can be accurately controlled. That is, there is a more uniform and stable spacing between multiple consecutive embroidered patterns, and the overall embroidery precision of the pattern is higher.

[0042] In addition, after the above feeding is completed, the fabric needs to be tensioned before the embroidery frame clamps the fabric. At this time, the fabric pressing mechanism 6 on the feeding side is still in the state of pressing the fabric, maintaining its pressing state and position unchanged to ensure that the feeding amount remains stable before the embroidery frame clamps the fabric. At the same time, the fabric pressing mechanism 6 on the unloading side also presses the fabric, and then the tensioning feed roller 5 on the unloading side moves away from the main body of the embroidery machine to tension the fabric. Then the fabric can be clamped by the embroidery frame, and the fabric inside the embroidery frame is now fixed. Since the embroidery frame needs to move back, forth, left, and right during the embroidery process, the fabric can be pressed and moved towards the main body of the embroidery machine by the tensioning feed rollers 5 on both sides and the fabric pressing mechanism 6, so that the fabric between the embroidery frame and the feeding device is sufficiently relaxed to meet the movement needs of the embroidery frame.

[0043] To enable the movement of the tension feeding roller 5 on the material rack 1, two sets of tension feeding drive mechanisms are provided between the material rack 1 and the tension feeding roller 5. Each tension feeding drive mechanism includes a tension feeding linear guide rail 51, a tension feeding drive motor 52, a tension feeding drive synchronous belt, and tension feeding drive synchronous pulleys 53. The two tension feeding synchronous pulleys 53 are located at opposite ends of the tension feeding linear guide rail 51. The tension feeding drive synchronous belt drives the tension feeding roller 5 to move along the tension feeding linear guide rail 51. Both sets of tension feeding drive mechanisms are driven by the same motor, meaning the motor is connected to the two synchronous pulleys via the same shaft.

[0044] Specifically, such as Figure 4 As shown, the tensioning feed linear guide 51 includes a slide rail 511 and a trolley 512. A baffle 513 is provided at each end of the slide rail 511, and two track rods 514 are positioned between the two baffles 513. Pressure strips 515 are also provided above the two track rods 514 to ensure their straightness. The trolley 512 is equipped with rollers 516 that engage with the opposite sides of the two track rods 514. The tensioning feed roller 5 is positioned between the two trolleys 512 via a bearing bracket 54. A synchronous belt groove 5111 is provided inside the slide rail 511, and the synchronous belt connects the trolley 512 and the bearing bracket 54. Specifically, the lower half of the synchronous belt passes through the synchronous belt groove 5111, and the upper half passes over the slide rail 511 and connects to the trolley 512, reducing interference from external factors and ensuring the stability of its operation, thereby improving the accuracy of the feeding amount. In addition, push blocks 518 are provided at both the front and rear ends of the trolley 512 via springs 517. The push blocks 518 are provided with dustproof parts 519 that abut against the track rods 514. The dustproof parts 519 can generally be made of felt to automatically remove dust from the track rods during the movement of the trolley, ensuring the smooth and stable movement of the trolley.

[0045] like Figure 5 As shown, the fabric pressing mechanism 6 includes a fabric pressing beam 61, a fabric pressing cylinder 62, and a fabric pressing block 63. The fabric pressing beam 61 is mounted on the bearing bracket 54 via a beam support 64. Multiple fabric pressing cylinders 62 are mounted on the fabric pressing beam 61. Each fabric pressing cylinder 62 has a fabric pressing block 63 at its output end. That is, the fabric pressing block presses and releases the fabric through the extension and retraction of the fabric pressing cylinder.

[0046] Because of the gravity tension tube 3 and guide roller 4, the resistance during fabric conveying is increased. Therefore, in order to ensure the smoothness of the fabric when passing through the tension feed roller 5, a fabric conveying motor 55 is provided at the end of the tension feed roller 5 to cooperate with the take-up and undo roller 2 and improve the smoothness of fabric conveying. For example, during the quantitative feeding of fabric, the tension feed roller 5 at the undo end can rotate in conjunction with the take-up and undo roller 2 to improve the smoothness of fabric winding. On the one hand, it avoids the fabric from being wound too tightly on the take-up and undo roller, and on the other hand, it avoids the fabric from becoming excessively loose between the two tension feed rollers at the undo and undo ends.

[0047] like Figure 3As shown, in a preferred installation method for the take-up and feed roller 2, support wheel sets are provided at both the front and rear ends of the material rack 1. Each support wheel set includes a drive wheel 21 and a driven wheel 22 spaced apart. The drive wheel 21 is connected to a take-up and feed drive motor 23. The take-up and feed roller 2 sits atop the support wheel sets. A pressing lever 24 and a pressing bearing 25 are provided above one set of support wheel sets. The pressing bearing 25 applies downward pressure to the take-up and feed roller 2, ensuring a tight fit between the take-up and feed roller 2 and the support wheel sets, thus guaranteeing stable power transmission. In this way, the take-up and feed drive motor 23 transmits power to the take-up and feed roller 2 via the drive wheel 21, enabling the rotation of the take-up and feed roller 2. Furthermore, the take-up and feed roller 2 is easy to disassemble and replace; simply lifting the pressing lever 24 allows the take-up and feed roller 2 to be removed.

[0048] This embodiment is mainly used for loading and unloading fabric in an embroidery machine. Therefore, the fabric rack 1 is set on the frame of the embroidery machine. To prevent the fabric at the loading and unloading ends from shifting in the front-to-back direction during fabric feeding, thus causing fabric twisting, a front-to-back adjustment mechanism for the fabric rack 1 is provided between the frame and the fabric rack 1. The front-to-back adjustment mechanism for the fabric rack includes a front-to-back linear guide rail 71, a front-to-back drive rack 72, a front-to-back drive gear 73, and a front-to-back drive motor 74. The front-to-back linear guide rail 71 is located between the fabric rack 1 and the frame. To reduce the weight of the entire fabric rack, the front-to-back drive motor 74 is located on the frame. Correspondingly, the front-to-back drive rack 72 is located on the fabric rack 1, and the front-to-back drive gear 73 is located at the output end of the front-to-back drive motor 74 and cooperates with the front-to-back drive rack 72. Thus, the motor drives the gear to rotate, and the gear, through its cooperation with the rack, drives the entire fabric rack to move back and forth along the linear guide rail.

[0049] This specification also provides an embroidery machine, including an automatic loading and unloading device for an embroidery machine as described above.

[0050] The above are merely preferred embodiments of the present invention, and are implementations based on the overall concept of the present invention. Furthermore, the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic loading and unloading device for an embroidery machine, characterized in that, Including the material rack, and the items mounted on the material rack: The feed roller releases the fabric to be embroidered or rolls up the fabric that has already been embroidered. The gravity tension tube is slidably connected to the material rack and is connected to a counterweight to provide tension. The guide roller and the take-up and unload rollers are both located on the same side of the gravity tension tube; The tensioning feed roller is slidably connected to the material rack, and a cloth pressing mechanism is provided on it; the cloth pressing mechanism works with the tensioning feed roller to press the cloth, and the tensioning feed roller slides along the material rack to set the feeding stroke in order to complete the quantitative feeding; The fabric passes through the take-up and unload rollers, gravity tension tube, guide rollers and tension feed rollers in sequence, or through the tension feed rollers, guide rollers, gravity tension tubes and take-up and unload rollers in sequence.

2. The automatic loading and unloading device for an embroidery machine according to claim 1, characterized in that, The material rack is mounted on the frame of the embroidery machine, and a front-to-back adjustment mechanism for the material rack is provided between the frame and the material rack.

3. The automatic loading and unloading device for an embroidery machine according to claim 2, characterized in that, The material rack front and rear adjustment mechanism includes a material rack front and rear linear guide rail, a material rack front and rear drive rack, a material rack front and rear drive gear, and a material rack front and rear drive motor. The material rack front and rear linear guide rail is located between the material rack and the machine frame. The material rack front and rear drive rack and the material rack front and rear drive motor are respectively located on the material rack and the machine frame. The material rack front and rear drive gear is located at the output end of the material rack front and rear drive motor and cooperates with the material rack front and rear drive rack.

4. The automatic loading and unloading device for an embroidery machine according to claim 1, characterized in that, A tensioning feeding drive mechanism is provided between the material rack and the tensioning feeding roller. The tensioning feeding drive mechanism includes a tensioning feeding linear guide rail, a tensioning feeding drive motor, a tensioning feeding drive synchronous belt, and tensioning feeding drive synchronous pulleys. The two tensioning feeding synchronous pulleys are respectively located at both ends of the tensioning feeding linear guide rail. The tensioning feeding drive synchronous belt drives the tensioning feeding roller to move along the tensioning feeding linear guide rail.

5. The automatic loading and unloading device for an embroidery machine according to claim 4, characterized in that, The tensioning feed linear guide rail includes a slide rail and a trolley. The slide rail is provided with two track rods, and the trolley is provided with rollers that respectively cooperate with the opposite sides of the two track rods. The tensioning feed roller is mounted on the trolley through a bearing bracket. The slide rail is provided with a synchronous belt through groove, and the synchronous belt connects the trolley and the bearing bracket.

6. The automatic loading and unloading device for an embroidery machine according to claim 5, characterized in that, The trolley has push blocks at both ends of the front and rear sides via springs, and the push blocks are equipped with dustproof parts that abut against the track rod.

7. The automatic loading and unloading device for an embroidery machine according to claim 1, characterized in that, The fabric pressing mechanism includes a fabric pressing beam, fabric pressing cylinders, and fabric pressing blocks. The fabric pressing beam is mounted above the tensioning feed roller via a beam support. Multiple fabric pressing cylinders are mounted on the fabric pressing beam, and each fabric pressing cylinder has a fabric pressing block at its output end.

8. The automatic loading and unloading device for an embroidery machine according to claim 1, characterized in that, The tensioning feed roller is equipped with a fabric conveying motor at its end.

9. An automatic loading and unloading device for an embroidery machine according to claim 1, characterized in that, The material rack is equipped with support wheel sets at both the front and rear ends. Each support wheel set includes a drive wheel and a driven wheel that are spaced apart. The drive wheel is connected to a material feeding and receiving drive motor. The material feeding and receiving rollers are mounted on the support wheel sets. At least one set of support wheel sets is equipped with a pressing swing rod and a pressing bearing above it.

10. An embroidery machine, characterized in that, Includes an automatic loading and unloading device for an embroidery machine as described in any one of claims 1-9.

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