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] This invention belongs to the technical field of embroidery equipment, specifically relating to an automatic bobbin wrapping machine and an automatic bobbin assembly machine. Background Technology

[0002] Currently, some automatic bobbin winding and automatic bobbin case assembly machines have appeared on the market. Referring to Chinese invention patent application CN111379094A, a bobbin and bobbin case separation automatic bobbin winding and bobbin case removal integrated equipment and process method are disclosed. This aims to overcome the shortcomings of existing technologies where bobbin excess thread removal and rewinding, as well as bobbin and bobbin case assembly and bobbin case winding, still require manual labor. It provides an automated equipment that replaces the tedious manual work of bobbin excess thread removal, bobbin winding, bobbin case winding, bobbin and bobbin case assembly, thread clamping, and thread breaking. Its structure includes a base and a main board mounted on the base. The base has a gripping device positioned relative to the main board. The main board is equipped with a winding device, a bobbin removal device, a bobbin supply device, and a thread breaking mechanism. The winding device includes a winding spindle that drives the bobbin to rotate, a spindle drive motor that drives the winding spindle to rotate, a movable top head, and a rotating winder. The bobbin removal device includes a bobbin removal wheel assembly, a bobbin separation guide, and a bobbin suction mechanism. The longitudinal movement of the mechanical gripper and the longitudinal guide wheel of the bobbin each require a motor to drive, resulting in a large number of motors and higher costs. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide a combined control structure and automatic machine for a robotic arm and a bobbin guide wheel, thereby solving the problem of excessive cost caused by a large number of motors.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: Firstly, a combined control structure of a robotic arm and a bobbin guide wheel is provided, comprising: A lateral movement mechanism, comprising a lateral movement control motor and a lateral movement component, wherein the lateral movement control motor controls the lateral movement component, and the lateral movement component drives the robot arm and the bobbin guide wheel to move laterally in sync, so that the robot arm and the bobbin guide wheel correspond to and are offset from the winding position in the lateral direction; 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 and second longitudinal movement components are respectively connected to a robot and a bobbin guide wheel. The longitudinal movement control motor controls the first and second longitudinal movement components to move in opposite directions in the longitudinal direction through the longitudinal transmission component, so that the robot and the bobbin guide wheel move closer to and further away from the winding position in the longitudinal direction.

[0005] Preferably, the first longitudinal moving component includes a first longitudinal guide rail, a first longitudinal slider that slides with the first longitudinal guide rail, and a first longitudinal screw and nut assembly. The nut in the first longitudinal screw and nut assembly is connected to the first longitudinal slider, and the first longitudinal slider is connected to the robot arm.

[0006] Preferably, the second longitudinal moving component includes a second longitudinal guide rail, a second longitudinal slider that slides 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 bobbin guide wheel.

[0007] Preferably, the longitudinal transmission component includes a driving gear and a first driven gear and a second driven gear meshing with the driving gear, wherein the first driven gear and the second driven gear are respectively connected to the lead screw in the first longitudinal lead screw and nut assembly and the lead screw in the second longitudinal lead screw and nut assembly.

[0008] Preferably, the longitudinal movement mechanism further includes a longitudinal fixing frame, and the longitudinal movement control motor, longitudinal transmission component, first longitudinal movement component and second longitudinal movement component are mounted on the longitudinal fixing frame.

[0009] 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 drive gear of the longitudinal transmission component; and / or, the longitudinal transmission component further includes a gearbox, and the drive gear, the first driven gear and the second driven gear are disposed in the gearbox.

[0010] Preferably, the lateral moving component includes a lateral guide rail, a lateral slider that slides with the lateral guide rail, and a lateral lead screw and nut assembly, wherein the nut in the lateral lead screw and nut assembly is connected to the lateral slider.

[0011] Preferably, the lateral movement mechanism further includes a lateral fixing frame, on which the lateral movement control motor and the lateral movement component are mounted.

[0012] Preferably, a transverse drive belt assembly is provided between the output shaft of the transverse movement control motor and the lead screw of the transverse movement component; and / or, the combined control structure of the manipulator and the bobbin guide wheel further includes a right-angled triangular base, one of the straight sides of the right-angled triangular base being parallel to the horizontal plane, and the hypotenuse being connected to the transverse fixing frame.

[0013] In addition, the present invention also provides an automatic bobbin winding machine and an automatic bobbin assembly machine, including the aforementioned robotic arm and bobbin core guide wheel combination control structure.

[0014] The present invention adopts the above technical solution and has the following technical effects: 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 robot arm and the bobbin guide wheel to move laterally in sync, so that the robot arm and the bobbin guide wheel correspond to and are offset from the winding position in the lateral direction. Therefore, the lateral movement control of the robot arm and the bobbin guide wheel only requires one lateral movement control motor.

[0015] Furthermore, since the robotic arm and the bobbin-pressing guide wheel will not be simultaneously located at the winding position, their longitudinal movements are designed to be opposite. That is, when the robotic arm moves longitudinally closer to the winding position, the bobbin-pressing guide wheel moves longitudinally away from the winding position, and vice versa. Based on this, a longitudinal movement mechanism is designed, comprising a longitudinal movement control motor, a longitudinal transmission component, a first longitudinal movement component, and a second longitudinal movement component. The first and second longitudinal movement components are respectively connected to the robotic arm and the bobbin-pressing guide wheel. The longitudinal movement control motor controls the first and second longitudinal movement components to move in opposite directions longitudinally through the longitudinal transmission component, so that the robotic arm and the bobbin-pressing guide wheel move longitudinally closer to and away from the winding position. In this way, the longitudinal movement control of the robotic arm and the bobbin-pressing guide wheel shares a single longitudinal movement control motor, eliminating the need for separate motors, thus saving motors and reducing costs.

[0016] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0017] The invention will be further described below with reference to the accompanying drawings: Figure 1 This is a partial structural schematic diagram of the automatic bobbin winding and automatic shuttle shell assembly machine of the present invention; Figure 2 This is a schematic diagram of the bobbin thread quantity detection mechanism; Figure 3 This is a schematic diagram of the combined control structure of the robotic arm and the bobbin guide wheel; Figure 4 This is a schematic diagram of the combined control structure of the robotic arm and the bobbin guide wheel; Reference numerals: 1. Vacuum suction tube; 2. Threading rod; 3. Thread pulling wheel opening and closing mechanism; 4. Shuttle shell guide rod; 5. Winding mechanism; 6. Material storage tray frame device; 7. Material storage tray; 8. Winding position guide rod. The 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 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; The components include: bobbin and bobbin case assembly 12, robotic arm 13, robotic arm control motor 14, bobbin pressing guide wheel 15, longitudinal movement control motor 16, longitudinal fixing frame 161, transverse movement control motor 103, transverse drive transmission belt assembly 1031, transverse fixing frame 1032, second longitudinal lead screw and nut assembly 104, second longitudinal guide rail 105, second longitudinal slider 1051, transverse lead screw and nut assembly 106, transverse guide rail 107, transverse slider 1071, first longitudinal guide rail 108, first longitudinal slider 1081, first longitudinal lead screw and nut assembly 109, first driven gear 110, driving gear 111, and second driven gear 112. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0019] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.

[0020] The terminology used in this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "front," "rear," "longitudinal," and "lateral," which indicate orientation or positional relationship, are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0024] like Figure 1 As shown, the automatic bobbin winding and automatic bobbin assembly machine includes a vacuum suction tube 1, a thread-feeding rod 2 rotating mechanism, a thread-pulling wheel mechanism 3, a bobbin guide rod 4, a winding mechanism 5, a storage tray frame device 6, a winding position guide rod 8, a bobbin thread quantity detection mechanism 9, a robot arm 13, a bobbin pressing guide wheel 15, a thread pressing mechanism, a thread hooking mechanism, a scissor mechanism, etc. (some structural diagrams are not shown). Its basic structure and working principle can refer to existing technologies. The thread-pulling wheel mechanism 3 includes two oppositely arranged thread-pulling wheels, with the vacuum suction tube 1 located below the two thread-pulling wheels. The winding mechanism 5 is used to wind the bobbin thread and includes a winding rotor and a winding drive motor that drives the winding rotor to rotate. The winding rotor drives the bobbin and bobbin assembly 12 to rotate to wind the bobbin thread. A winding position is provided corresponding to the winding position of the winding mechanism. In addition, the structure of the robot arm can also refer to existing technologies, such as the structure in the background technology, including a robot arm gripping component for performing gripping actions and a robot arm control motor 14 for controlling the actions of the robot arm gripping component. The storage tray rack device 6 includes multiple storage tray positioning stations, and the storage tray 7 is positioned at the storage tray positioning station.

[0025] After the thread is threaded, the robotic arm 13 removes the used bobbin and bobbin case assembly 12 from the storage tray 7 and places it on the winding mechanism 5. The robotic arm 13 grasps the bobbin case and moves it backward, separating the bobbin case from the bobbin. The thread-beating lever 2 rotates one revolution to pull the thread connecting the bobbin and bobbin case from the bobbin case thread track. The vacuum suction tube 1 is activated, sucking the pulled-out thread end into the vacuum suction tube. At this time, the thread-pulling wheel mechanism 3 closes to clamp the thread end, and the bobbin-pressing guide wheel 15 moves to the concentric position of the winding rotor of the winding mechanism 5, pressing the bobbin. At this time, the thread-pulling wheel rotates, and the auxiliary vacuum suction tube 1 pulls out the waste thread on the bobbin.

[0026] The bobbin thread quantity detection mechanism 9 is used to detect the bobbin thread quantity. When it is detected that the bobbin waste thread has been completely drawn out, the winding mechanism 5 stops operating, the bobbin pressing guide wheel 15 moves back to leave a distance between itself and the bobbin, the winding position guide rod 8 moves, and moves the threaded thread to the position where the bobbin pressing guide wheel 15 just clamps the thread when pressing the bobbin. At this time, the bobbin pressing guide wheel 15 presses down the threaded thread and the bobbin, and the winding mechanism 5 starts to rotate forward, winding the thread around the bobbin.

[0027] When the bobbin thread quantity detection mechanism 9 detects that the bobbin is fully wound, the robotic arm 13 grasps the bobbin case and inserts it. At this time, the bobbin case guide rod 4, according to the bobbin case thread loading method of the sewing equipment, pours the thread into the bobbin case guide groove, completing the assembly of the bobbin case and bobbin. Then, the robotic arm 13 grasps the bobbin case and bobbin assembly 12 and places it back onto the storage tray 7. At this time, the thread pressing mechanism, driven by the cylinder, presses the thread end, the thread hooking mechanism hooks the thread into the thread clamp of the tray, and the scissor mechanism cuts it, completing the thread pulling, winding, and assembly work of one bobbin case and bobbin. After the robotic arm 13 puts the bobbin case and bobbin assembly 12 back into the storage tray 7, the winding and assembly work of the next bobbin case and bobbin assembly can begin.

[0028] To ensure that the probe is accurately positioned at the core detection location, such as Figure 2 As 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 disposed on the thread quantity detection moving bracket. 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 also includes a detection positioning member 26. The thread quantity detection rod 98 is provided with a detection part 981, a trigger part 982, and a second limiting part 984. The detection positioning member 26 cooperates with the second limiting part 984 to position the detection part 981 in the bobbin detection position. The detection unit 981 contacts the outer ring of the bobbin winding, thereby driving the yarn quantity detection rod 98 to rotate counterclockwise during the bobbin winding process, and when the bobbin is fully wound, the trigger unit 271 triggers the yarn quantity detection switch 27.

[0029] Specifically, the thread quantity detection rod 98 is hinged to the thread quantity detection moving bracket 203 and connected to an elastic element that drives the thread quantity detection rod to rotate. The thread quantity detection rod 98 is L-shaped, including a first straight side and a second straight side. The second end of the first straight side is connected to the first end of the second straight side. The detection part 981 is located at the first end of the first straight side. The second end of the first straight side has a trigger part 982 that cooperates with the thread quantity detection switch. The thread quantity detection switch 27 is located above the trigger part 982. A hinge part 983, which is hinged to the thread quantity detection moving bracket 203, is located at the middle position of the second straight side. The second limiting part 984 is connected to the hinge part and extends in the opposite direction to the first straight side. The detection positioning member 26 is located behind the second limiting part 984 but in front of the thread quantity detection switch. Because the detection positioning member cooperates with the second limiting part, it can trigger the thread quantity detection switch, thereby positioning the detection part in the bobbin detection position according to the trigger signal, ensuring that the thread quantity detection rod is accurately positioned in the bobbin detection position.

[0030] In some embodiments, the bobbin thread quantity detection mechanism further includes an origin limiting member 25 fixed relative to the thread quantity detection moving bracket 203. The thread quantity detection rod 98 is provided with a first limiting part 985. The origin limiting member 25 and the first limiting part 985 cooperate to limit the rotation of the thread quantity detection rod and trigger the thread quantity detection switch. Specifically, the first limiting part 985 is located at the second end of the second straight side, 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, including a vertical side and a lower horizontal side. The vertical side is fixed to the detection motor fixing bracket, and the lower horizontal side cooperates with the first limiting part 985.

[0031] Specifically, the elastic element is a torsion spring, the line quantity detection rod 98 is connected to a pin, the torsion spring is mounted on the pin and connected to the line quantity detection rod 98. The line quantity detection driver includes a detection motor 24 and a line quantity detection lead screw and nut assembly 201 connected to the detection motor. The line quantity detection moving bracket 203 is connected to the nut of the line quantity detection lead screw and nut assembly, and the detection motor 24 is fixed to the detection motor bracket 202. The detection motor bracket 202 is L-shaped, including a vertical side and an upper horizontal side. Its upper horizontal side is fixed to the detection motor, and its vertical side has a through groove. The line quantity detection moving bracket 203 is also L-shaped, including 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 line quantity detection lead screw and nut assembly. The line quantity detection switch 27 is fixed on the vertical side. The line quantity detection moving bracket 203 is connected to a vertical moving guide rail, which guides the line quantity detection moving bracket 203 to move up and down.

[0032] Preferably, the detection unit 981 is equipped with a detection roller. The detection roller can rotate without affecting the rotation of the bobbin during winding.

[0033] When in standby mode, the detection motor 24 drives the linear quantity detection lead screw and nut assembly 201, causing the linear quantity detection moving bracket 203 and its linear quantity detection switch 27 and linear quantity detection rod 98 to move upward. When the first limit part 985 of the linear quantity detection rod 98 contacts the origin limit part 25, the linear quantity detection rod 98 rotates counterclockwise due to the contact force, causing the trigger rod 271 to lift up, triggering the linear quantity detection switch 27. The signal is transmitted to the control system, which then controls the detection motor to stop and remain in standby mode.

[0034] When operation is required, the detection motor 24 reverses its direction, causing the thread quantity detection moving bracket 203 and its thread quantity detection switch 27 and thread quantity detection rod 98 to move downwards to the bobbin detection position. At this time, the internal spring pressure of the thread quantity detection switch 27 pushes out the trigger rod 271, causing the second limit part 984 of the thread quantity detection rod 98 to fit against the detection positioning member 26, while not triggering the thread quantity detection switch 27. When the bobbin thread is fully wound, its thread quantity will push the trigger rod 271 up, triggering the thread quantity detection switch 27, which in turn transmits the signal to the control system. After receiving the signal, the control system controls the winding drive motor to stop rotating, thereby controlling the entire system to complete the subsequent work.

[0035] Since the robotic arm and the bobbin-pressing guide wheel will not be located at the winding position simultaneously, they can be controlled in combination to coordinate their movements. In some embodiments, a combined control structure for the robotic arm and the bobbin-pressing guide wheel is designed.

[0036] like Figure 3 and Figure 4 The control structure shown, which combines the robotic arm and the bobbin guide wheel, includes: A lateral movement mechanism, comprising a lateral movement control motor 103 and a lateral movement component, wherein the lateral movement control motor controls the lateral movement component, and the lateral movement component drives the robot arm 13 and the bobbin guide wheel 15 to move laterally in sync, so that the robot arm 13 and the bobbin guide wheel 15 correspond to and are offset from the winding position in the lateral direction; The longitudinal movement mechanism includes a longitudinal movement control motor 16, a longitudinal transmission component, a first longitudinal movement component, and a second longitudinal movement component. The first and second longitudinal movement components are respectively connected to the robot arm 13 and the bobbin guide wheel 15. The longitudinal movement control motor 16 controls the first and second longitudinal movement components to move in opposite directions in the longitudinal direction through the longitudinal transmission component, so that the robot arm 13 and the bobbin guide wheel 15 move closer to and further away from the winding position in the longitudinal direction.

[0037] Therefore, the lateral movement control of the robotic arm and the bobbin-pressing guide wheel only requires one lateral movement control motor. Furthermore, since the longitudinal (or forward / backward) movements of the robotic arm and the bobbin-pressing guide wheel are opposite—that is, when the robotic arm moves closer to the winding position longitudinally, the bobbin-pressing guide wheel moves away from the winding position longitudinally, and vice versa—a longitudinal movement mechanism was designed. In this mechanism, the longitudinal movement control of the robotic arm and the bobbin-pressing guide wheel shares a single longitudinal movement control motor, eliminating the need for separate motors. Compared to existing technologies, this saves one motor and reduces costs.

[0038] Specifically, the first longitudinal moving component includes a first longitudinal guide rail 108, a first longitudinal slider 1081 that slides with the first longitudinal guide rail, and a first longitudinal lead screw and nut assembly 109. The nut in the first longitudinal lead screw and nut assembly is connected to the first longitudinal slider 1081, and the first longitudinal slider 1081 is connected to the robot arm 13. The second longitudinal moving component includes a second longitudinal guide rail 105, a second longitudinal slider 1051 that slides with the second longitudinal guide rail, and a second longitudinal lead screw and nut assembly 104. The nut in the second longitudinal lead screw and nut assembly is connected to the second longitudinal slider 1051, and the second longitudinal slider 1051 is connected to the bobbin guide wheel 15.

[0039] 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 opposite radial sides of the driving gear 111. The first driven gear 110 and the second driven gear 112 are respectively connected to the lead screw in the first longitudinal lead screw and nut assembly and the lead screw in the second longitudinal lead screw and nut assembly. The lead screws in the first longitudinal lead screw and nut assembly and the second longitudinal lead screw and nut assembly have opposite thread directions, one being a left-hand thread and the other a right-hand thread. The driving gear 111 can simultaneously drive the first driven gear 110 and the second driven gear 112 to rotate. Through the reverse motion structure design of the first longitudinal lead screw and nut assembly and the second longitudinal lead screw and nut assembly, the first longitudinal slider 1081 and the second longitudinal slider 1051 can move in opposite directions longitudinally.

[0040] Specifically, the longitudinal movement mechanism further includes a longitudinal fixing frame 161, on which the longitudinal movement control motor 16, the longitudinal transmission component, the first longitudinal movement component, and the second longitudinal movement component are mounted. 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 drive gear 111 of the longitudinal transmission component. In addition, the longitudinal transmission component also includes a gearbox, in which the drive gear 111, the first driven gear 110, and the second driven gear 112 are disposed.

[0041] Specifically, the lateral moving component includes a lateral guide rail 107, a lateral slider 1071 that slides with the lateral guide rail, and a lateral lead screw and nut assembly 106. The nut in the lateral lead screw and nut assembly is connected to the lateral slider 1071, which can be connected to the longitudinal fixed frame 161 to drive the entire longitudinal moving mechanism to move laterally. The lateral moving mechanism also includes a lateral fixed frame 1032, on which the lateral moving control motor 103 and the lateral moving component are mounted. A lateral drive transmission belt assembly 1031 is provided between the output shaft of the lateral moving control motor and the lead screw of the lateral moving component.

[0042] The lateral movement control motor 103 is used to control the lateral position of the robot arm and the bobbin pressing guide wheel; the longitudinal movement control motor 16 is used to control the longitudinal position of the robot arm and the bobbin pressing guide wheel. When the longitudinal movement control motor 16 rotates forward, the robot arm 13 moves forward (closer to the winding position), and the bobbin pressing guide wheel 15 moves backward (away from the winding position), and the robot arm 13 completes the gripping work of the bobbin and bobbin case.

[0043] When the robotic arm 13 places the bobbin and bobbin case into the winding rotor, the thread detection rod 98 begins to move, blocking the edge of the bobbin. The robotic arm control motor 14 controls the robotic arm 13 to release the bobbin case from the bobbin's locking teeth. At this time, the longitudinal movement control motor 16 reverses slightly (about 1-2 mm). Then, the robotic arm control motor 14 closes the locking teeth again to firmly grip the bobbin case. The longitudinal movement control motor 16 continues to reverse, thus separating the bobbin and bobbin case.

[0044] After a certain distance, the thread-pulling wheel opening and closing mechanism 3 opens, the vacuum suction tube 1 starts, and then the thread-pulling rod 2 rotates one revolution, pulling the thread connecting the bobbin and bobbin case from the bobbin case and sucking it in by the vacuum suction tube 1. The thread-pulling wheel opening and closing mechanism 3 closes, clamping the excess thread. At this time, the lateral movement control motor 103 starts, moving the robot arm 13 away and moving the bobbin-pressing guide wheel 15 to the concentric position of the winding rotor. The longitudinal movement control motor 16 continues to reverse, causing the bobbin-pressing guide wheel 15 to press against the bobbin. At this time, the winding rotor reverses to pull out the excess thread, and the thread quantity detection rod 98 activates the excess thread detection function. When it is detected that all the excess thread has been pulled out, the longitudinal movement control motor 16 controls the bobbin-pressing guide wheel 15. Move backward to leave a certain space between the bobbin pressing guide wheel 15 and the bobbin. At this time, the winding position guide rod 8 starts to work, moving the threaded thread to a position where the bobbin pressing guide wheel 15 can clamp the thread when it presses down on the bobbin. The longitudinal movement control motor 16 then controls the bobbin pressing guide wheel 15 to press down on the thread and the bobbin together. The winding position guide rod 8 then moves to the inside of the bobbin. When it moves to the position where the winding drive motor is rotating forward, the thread is just wound into the bobbin. The winding drive motor starts to rotate forward until the bobbin is fully wound.

[0045] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art should understand that the invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the invention will be included within the scope of the claims.

Claims

1. A combined control structure for a robotic arm and a bobbin guide wheel, characterized in that, include: A lateral movement mechanism, comprising a lateral movement control motor and a lateral movement component, wherein the lateral movement control motor controls the lateral movement component, and the lateral movement component drives the robot arm and the bobbin guide wheel to move laterally in sync, so that the robot arm and the bobbin guide wheel correspond to and are offset from the winding position in the lateral direction; 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 and second longitudinal movement components are respectively connected to a robot and a bobbin guide wheel. The longitudinal movement control motor controls the first and second longitudinal movement components to move in opposite directions in the longitudinal direction through the longitudinal transmission component, so that the robot and the bobbin guide wheel move closer to and further away from the winding position in the longitudinal direction.

2. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 1, characterized in that, The first longitudinal moving component includes a first longitudinal guide rail, a first longitudinal slider that slides with the first longitudinal guide rail, and a first longitudinal screw and nut assembly. The nut in the first longitudinal screw and nut assembly is connected to the first longitudinal slider, and the first longitudinal slider is connected to the robot arm.

3. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 2, characterized in that, The second longitudinal moving component includes a second longitudinal guide rail, a second longitudinal slider that slides 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 bobbin guide wheel.

4. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 3, 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 lead screw in the first longitudinal lead screw and nut assembly and the lead screw in the second longitudinal lead screw and nut assembly.

5. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 4, characterized in that, The longitudinal movement mechanism also includes a longitudinal fixed frame, on which the longitudinal movement control motor, longitudinal transmission component, first longitudinal movement component and second longitudinal movement component are mounted.

6. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 5, 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 drive gear of the longitudinal transmission component; and / or, the longitudinal transmission component further includes a gearbox, and the drive gear, the first driven gear and the second driven gear are disposed in the gearbox.

7. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 1, characterized in that, The lateral moving component includes a lateral guide rail, a lateral slider that slides with the lateral guide rail, and a lateral lead screw and nut assembly, wherein the nut in the lateral lead screw and nut assembly is connected to the lateral slider.

8. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 7, characterized in that, The lateral movement mechanism also includes a lateral fixed frame, on which the lateral movement control motor and the lateral movement component are mounted.

9. The combined control structure of the robotic arm and the bobbin guide wheel according to claim 8, characterized in that, A lateral drive belt assembly is provided between the output shaft of the lateral movement control motor and the lead screw of the lateral movement component.

10. An automatic machine for automatically winding bobbin thread and automatically assembling shuttle cases, characterized in that, The control structure comprising the robotic arm and the bobbin guide wheel as described in any one of claims 1 to 9.

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