Manipulator error automatic adjusting structure of automatic bottom line replacing device

Abstract

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

Description

Technical field

[0001] The utility model belongs to the technical field of embroidery equipment, and particularly relates to an automatic bobbin thread changing device. [Background Technology]

[0002] Currently available automatic bobbin changing devices on the market achieve this by automatically replacing the bobbin case and bobbin core (hereinafter referred to as the bobbin core). Reference is made to Chinese utility model patent publication number CN 210215827 U, which discloses a multi-station automatic bobbin case changing system. This system, equipped with a bobbin case changing device, can handle bobbin case changes at several pre-set stations. Disassembled bobbin cases and spare bobbin cases are placed on a storage turntable. When the spare bobbins in the bobbin case storage area are exhausted, an operator can replace the storage turntable at a pre-set station, simultaneously recovering disassembled bobbins and replenishing spare bobbins. This eliminates the need for the operator to move back and forth between stations to recover and replenish bobbins. The bobbin case gripping unit, or robotic arm, comprises a second baseplate, a swinging and retracting mechanism, and a robotic finger mechanism. The swinging and retracting mechanism is rotatably connected to the second baseplate. The robotic finger mechanism is mounted on the swinging and retracting mechanism. When the swinging and retracting mechanism swings downward, the robotic finger mechanism points to the bobbin case storage station on the storage turntable. Due to the long length of the horizontal guide mechanism, there will be position deviation when the bobbin case changing device runs along the horizontal guide mechanism to different bottom line changing stations. In serious cases, it will cause the robot arm to be unable to accurately grasp the bottom line. [Utility Model Content]

[0003] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an automatic error adjustment structure for a manipulator of an automatic bottom line changing device, thereby eliminating position errors of different bottom line changing stations so that the manipulator can accurately grasp the bottom line.

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

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

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

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

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

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

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

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

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

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

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

[0015] The utility model adopts the above technical solution and has the following technical effects:

[0016] The gripper assembly is driven by a robotic arm assembly to move, and the gripper assembly grasps the bottom line. The robotic arm assembly includes a manipulator swing arm connected to the gripper assembly. An automatic manipulator error adjustment mechanism is connected to the manipulator swing arm. The automatic manipulator error adjustment mechanism includes a driver and a guide rail connected to the manipulator swing arm. The driver drives the manipulator swing arm along the guide rail to eliminate errors. Therefore, when the robot moves to a different bottom line change station, the known error corresponding to that station is controlled by controlling the movement direction and distance of the manipulator swing arm to eliminate the error, ensuring that the robot can accurately grasp the bottom line at each station.

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

[0018] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0019] The utility model is further described below with reference to the accompanying drawings:

[0020] Figure 1 This is a partial structural diagram of a multi-station automatic bottom thread changing device;

[0021] Figure 2 yes Figure 1 A schematic diagram of the structure at the center (the gripper assembly is in the first gripping position);

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

[0023] Figure 4 This is a side view of the multi-station automatic bottom thread changing equipment with the automatic bottom thread changing device located on the side of the storage tray;

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

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

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

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

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

[0029] Figure 10 Schematic diagram of an automatic bottom thread changing device equipped with a manipulator error automatic adjustment structure;

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

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

[0032] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0033] Those skilled in the art will appreciate that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0034] The terms used in this utility model are for the purpose of describing specific embodiments only and are not intended to limit the utility model. For example, the terms "upper," "lower," "front," "rear," "X-direction," "Y-direction," and the like, which indicate orientation or positional relationships, are based solely on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the utility model. They do not indicate or imply that the device or element referred to must have a specific orientation or be constructed or operated in a specific orientation. Therefore, they should not be construed as limiting the utility model.

[0035] In this utility model, unless otherwise specified or limited, the terms "installation," "connection," "fixation," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0036] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0037] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0038] like Figure 1 As shown, the multi-station automatic bobbin changing device includes a transverse guide mechanism 2 and an automatic bobbin changing device 1. For multi-head embroidery machines, multiple machine head and shuttle housing combinations are arranged horizontally. The upper portion is the machine head, and the lower portion corresponds to the shuttle housing 3. The shuttle housing 3 houses a rotary hook 31 and the bobbin thread mounted thereon. The bobbin thread here refers to the bobbin core 32 and bobbin case 33 combination used to hold the bobbin thread. When the bobbin thread runs out, it needs to be replaced, and the automatic bobbin changing device 1 is used to do this. The transverse guide mechanism 2 is positioned below the shuttle housing 3 and extends horizontally, sufficient to cover the entire length of the shuttle housing 3. This ensures that the automatic bobbin changing device 1 can move along the transverse guide mechanism 2 and reach the corresponding position in the shuttle housing 3 to complete the bobbin thread changing process. The number of automatic bobbin changing devices 1 can be one or more. As the number of heads in multi-head embroidery machines increases, multiple automatic bobbin changing devices 1 are typically installed, each responsible for changing the bobbin thread for a corresponding number of machine head and shuttle housing combinations.

[0039] The automatic bobbin thread changing device 1 includes a storage tray 12 for placing multiple bobbin threads and a manipulator assembly 13 for automatically changing the bobbin thread. The storage tray 12 is rotatable and has multiple storage positions for placing bobbin threads along its circumference, with at least one empty position reserved. The manipulator assembly 13 replaces the used bobbin thread on the rotary hook and places it on the empty position on the storage tray 12, and places the unused bobbin thread on the storage tray 12 onto the rotary hook. Of course, if there is no unused bobbin thread on the storage tray, the entire storage tray needs to be replaced.

[0040] Therefore, the method used by the prior art automatic bobbin changing device 1 to change the bobbin thread is as follows: a storage tray is equipped with a bobbin core and a bobbin case with a pre-wound bobbin thread, referred to herein as a bobbin thread, which generally stores 10 pre-wound bobbins, and a space is reserved for the next bobbin thread to be replaced. When the bobbin thread needs to be replaced, the manipulator assembly 13 removes the empty bobbin thread from the shuttle on the embroidery machine and places it in the space reserved in the storage tray. Then, the manipulator assembly 13 is lifted, and the storage tray 12 rotates, rotating the pre-wound bobbin thread to a position where the manipulator assembly 13 can grab it. At this time, the manipulator assembly 13 grabs a pre-wound bobbin thread and places it in the shuttle of the embroidery machine, completing the replacement of the bobbin thread of one head of the embroidery machine. When the bobbin thread corresponding to the next head needs to be replaced, the automatic bobbin thread changing device with the storage tray 12 moves along the transverse guide mechanism 2 to the next head position, and then the manipulator assembly 13 repeats the cycle of the first head bobbin thread replacement action to complete the replacement of the second head bobbin thread, and so on, completing the replacement of the corresponding bobbin threads of the entire embroidery machine head.

[0041] Embroidery machines typically have different numbers of automatic bobbin changers depending on the number of heads. Currently, there's typically one automatic bobbin changer for every ten heads. Once the entire machine's bobbin thread is replaced, all the automatic bobbin changers move along the transverse guide mechanism 2 to one end of the machine, waiting for the worker to replace the empty bobbin storage tray with a fully wound one. Once the replacement is complete, the reset button is manually pressed to reset each automatic bobbin changer to its initial position, ready for the next job. This completes the machine's automatic bobbin change function.

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

[0043] Among them, the robotic arm assembly 134 includes a robotic arm swing link 1341, a robotic arm sliding block 1342, a robotic arm sliding rod 1343, and a robotic arm operation guide groove 1344. The robotic arm sliding rod 1343 is hingedly installed, the robotic arm sliding block 1342 is slidingly connected to the robotic arm sliding rod 1343, the robotic arm swing link 1341 is connected to the robotic arm swing shaft 13411, the robotic arm swing link 1341 is provided with a slide groove 13412, the robotic arm sliding block 1342 is connected to a guide rod 13421, the guide rod 13421 is slidingly connected to the slide groove 13412 and to the robotic arm operation guide groove 1344, and the robotic arm swing shaft 13411 is driven to rotate by the robotic arm drive motor, driving the robotic arm swing link 1341 to swing. During the swinging of the robotic arm swing link 1341, the robotic arm sliding block 1342 is driven to slide along the robotic arm sliding rod 1343. Simultaneously, the robotic arm sliding rod 1343 rotates, and the guide rod 13421 slides along the slide groove 13412 and the robotic arm operation guide groove 1344. The robotic arm operation guide groove 1344 guides the robotic arm sliding block 1342 to change its height, front-back position, and relative angle. The robotic arm sliding block 1342 has a first position and a second position, wherein the first position corresponds to the first gripping position of the gripper assembly, and the second position corresponds to the second gripping position of the gripper assembly. Furthermore, in the first position, the robotic arm sliding rod 1343 is parallel to the horizontal plane, and in the second position, the robotic arm sliding rod 1343 is perpendicular to the horizontal plane.

[0044] Specifically, the robotic arm swing shaft 13411 is rotatably supported by the automatic bobbin changing device body 11. The robotic arm operation guide slot 1344 is located on the upper side of the automatic bobbin changing device body. The material storage tray 12 is mounted on the lower side of the automatic bobbin changing device body. The robotic arm operation guide slot 1344 is located on the lateral side of the automatic bobbin changing device body 11, namely on the side where the material storage tray is mounted. Specifically, it comprises an upper horizontal section 13441, a lower vertical section 13443, and an oblique section 13442 connecting the upper and lower vertical sections. The lower vertical section is lower than the upper horizontal section. The upper horizontal section 13441 is positioned rearward, located at the upper rear side of the automatic bobbin changing device body, closer to the rotary hook. The lower vertical section 13443 is positioned forward, located at the upper front side of the automatic bobbin changing device body. The slide slot 13412 is a waist-shaped slot. The guide rod 13421 is connected to a rolling bearing that mates with the robotic arm operation guide slot.

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

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

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

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

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

[0050] The arm drive motor drives the arm swing link to swing, drives the arm sliding block to slide along the guide track of the arm running guide groove, and pushes the gripper assembly connected with the arm sliding block to the direction of the embroidery machine shuttle. Finally, the gripper assembly moves to the first position, and waits for the gripper assembly to catch the bobbin case with the bottom thread in the shuttle. Then, the arm drive motor reverses, drives the arm swing link and the arm sliding block to run in the opposite direction along the guide track of the arm running guide groove, takes out the bobbin case with the empty thread, and puts it into the zero position of the storage tray (the vacant position reserved for the bobbin case), and then the gripper releases the bobbin case. Finally, the arm drive motor reverses again for a short distance, lifts the arm assembly to a position where it does not affect the rotation of the storage tray, and the storage tray starts to rotate to a certain angle, so that the bobbin case with the bottom thread is rotated to a position where it can be grasped by the arm assembly.

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

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

[0053] There are front-to-back clearances, lateral clearances, and vertical clearances between the manipulator adaptive balancing seat 132 and the manipulator support seat 131. The adaptive balancing structure includes an elastic support component elastically supported between the manipulator adaptive balancing seat 132 and the manipulator support seat 131.

[0054] In this embodiment, a movable groove is provided between the manipulator adaptive balancing base 132 and the manipulator support base 131. The elastic support component includes a support ball 1316 and upper and lower support springs 1315. The support ball 1316 is typically a steel ball. The support ball 1316 is connected to the upper and lower support springs and is located in the movable groove. The movable groove moves simultaneously when the manipulator adaptive balancing base 132 and the manipulator support base 131 move relative to each other, causing the support ball 1316 to change position within the movable groove.

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

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

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

[0058] Specifically, the manipulator support seat 131 is provided with a central fixed portion 1311, and the manipulator adaptive balancing seat 132 is provided with a movable limiting portion 1321 movably connected to the central fixed portion 1311. A front-to-back movable gap and a lateral movable gap are provided between the central fixed portion 1311 and the movable limiting portion 1321. The manipulator support seat 131 is provided with an upper limit portion and a lower limit portion 1312 on the upper and lower sides of the central fixed portion, respectively. The movable limiting portion 1321 is movably provided outside the central fixed portion and is limited by the upper limit portion and the lower limit portion. A vertical movable gap is provided between the upper limit portion and / or the lower limit portion and the movable limiting portion. The upper limit portion is provided with an upper limit hole 13131, and the upper and lower support springs 1315 are provided in the upper limit hole 13131. A V-shaped groove 1317 is formed between the inner sidewall of the movable stop 1321 and the outer sidewall of the central fixing portion 1311. The support ball 1316 is driven by the upper and lower support springs 1315 to engage with the V-shaped groove 1317. The V-shaped groove 1317 is a movable groove that simultaneously moves and deforms when the manipulator adaptive balancing seat and the manipulator support seat move relative to each other. The relative movement of the manipulator adaptive balancing seat and the manipulator support seat includes vertical and lateral movement, resulting in corresponding changes in the relative width and height between the two side walls of the V-shaped groove, while the support ball 1316 moves relative to each other within the V-shaped groove 1317.

[0059] Specifically, the central fixing portion 1311 is a rectangular body, and the movable stop portion 1321 is a rectangular frame. Four sets of support balls and upper and lower support springs are provided, two by two, on either side of the length of the rectangle. A first inclined surface is provided on the top outer edge of the central fixing portion, and a second inclined surface is provided on the top inner edge of the rectangular frame. The first and second inclined surfaces cooperate to form a V-shaped groove 1317, serving as the two side walls of the V-shaped groove 1317. The central fixing portion 1311 protrudes upward, with a stepped surface formed on the outer side of the bottom end, serving as the lower stop portion 1312.

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

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

[0062] In addition, the manipulator support base 131 is provided with an upper limit block 1313 and an upper limit cover plate 1314 above the central fixed portion. The upper limit portion is provided on the upper limit block 1313 to limit the position of the central fixed portion 1311 below. The upper limit cover plate 1314 is fixed to the upper surface of the upper limit block. The elastic support component includes front and rear support springs 1319 and front and rear guide rods 1318 movably connected to the front and rear support springs. One of the manipulator adaptive balance base and the manipulator support base is fixedly connected to the front and rear guide rods, and the other is provided with guide holes 1322. The front and rear guide rods cooperate with the guide holes. The front and rear guide rods 1318 extend forward from the manipulator support base 131, and the manipulator adaptive balance base is provided with corresponding guide holes. When the gripper assembly contacts the bobbin case, the front and rear support springs 1319 act as a buffer, thereby reducing contact noise when replacing the bobbin case and preventing damage to hard contact parts. At the same time, due to the buffering protection, the bobbin case and bobbin core can be replaced faster and more efficiently.

[0063] like Figures 6 to 9 As shown, the gripper assembly further includes a pawl mechanism 133 that cooperates with the bobbin case positioning plate 1321 to grasp the bobbin thread. The pawl mechanism 133 includes a manipulator pawl 1331, a pawl drive rod 1332, and a pawl drive motor 1335. The pawl drive rod 1332 is vertically arranged and connected to the manipulator pawl 1331 at its upper end. The pawl drive rod 1332 is driven by the pawl drive motor 1335 to rotate horizontally, driving the manipulator pawl 1331 to cooperate with the bobbin case positioning plate 1321 to lift the bobbin case catch plate 331. The pawl drive rod has a drive portion 1334 extending horizontally outward at its lower end. The drive portion has a drive slot 13341. The pawl drive motor is a linear motor connected to a horizontally retractable drive head 13351, which is connected to the drive slot 13341. The pawl drive rod 1332 is connected to a second torsion spring 1333. The working method of the gripper assembly is: the adaptive balancing surface of the manipulator's adaptive balancing seat fits the surface of the bobbin case to be grasped, the claw drive motor pushes the claw drive rod, drives the manipulator claw to rotate, picks up the bobbin case buckle plate, and fixes it on the manipulator's adaptive balancing seat.

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

[0065] To address the problem of lost bobbins, a sensor switch is used to detect the bobbin. A bobbin sensor switch 1324 is located on the bobbin case positioning plate 1322 to sense the bobbin. Each time a bobbin is grasped, as long as the bobbin sensor switch 1324 detects normal bobbin grasping, the device control system automatically assumes normal operation. The difference lies in the device's operating principle: the gripper assembly first pries open the bobbin case, which is secured to the rotating hook or bobbin case station, and then firmly grasps the bobbin case to remove the bobbin. The distance the gripper advances when prying open the bobbin case's clasp allows the corresponding latch to be released, allowing the bobbin to be captured and removed. Alternatively, the latch may not be able to capture the bobbin, but the bobbin case can be firmly captured and removed (allowing both the bobbin and bobbin to be removed, or removing the bobbin without the bobbin). This prevents the bobbin from being removed without the bobbin case. Therefore, when the bobbin sensor switch 1324 only detects the bobbin case, the bobbin may be missed, while detecting the bobbin is more efficient.

[0066] When the bobbin sensor switch 1324 detects the bobbin, the drive head 13351 of the pawl drive motor 1335 extends, pushing the pawl drive rod 1332 to rotate, and driving the manipulator pawl 1331 to lift the bobbin case plate 331, thereby grabbing the bobbin case with the used bobbin thread in the rotary hook. Conversely, the drive head 13351 of the pawl drive motor 1335 retracts, and the pawl drive rod 1332 and the manipulator pawl 1331, under the influence of the torsion spring installed on them, release the bobbin case.

[0067] Before using the automatic bobbin thread changing device, you need to buckle the wound bobbin thread onto the storage tray. The storage tray should not be filled completely. There should be a vacant storage position at the zero point of the storage tray where no bobbin thread is installed. Then install the storage tray onto the automatic bobbin thread changing device.

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

[0069] Similarly, the robot assembly 13 removes the bobbin case filled with bobbin thread from the storage tray and places it into the hook, completing the bobbin thread changing work of the first head. At this time, the entire automatic bobbin thread changing device 1 moves along the transverse guide mechanism 2 to the next head to change the bobbin thread of the second head. This cycle continues until all the bobbins in the storage tray are replaced. All automatic bobbin thread changing devices 1 will move in the same direction towards the head to find their respective replacement tray position sensors. After each finds the replacement tray position, the worker will remove the storage tray and replace it in preparation for the next work. At this point, the entire automatic bobbin thread changing work is completed.

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

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

[0072] Specifically, the driver includes a screw-nut assembly 1353 and a screw motor 1352 that drives the screw-nut assembly. The screw motor can be a stepper motor. A guide rail 1351 is provided between the robot arm slide block 1342 and the robot arm swing arm 1345. The robot arm slide block 1342 drives the robot arm swing arm 1345 to swing. The robot arm swing arm 1345 moves along the guide rail 1351 and simultaneously moves relative to the robot arm slide block 1342.

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

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

[0075] Furthermore, the automatic error adjustment mechanism 135 also includes a position sensor for detecting the position of the manipulator's swing arm along the guide rail. This position sensor comprises an optical coupler 1354 and a zero-point position sensing optical coupler plate 1355 positioned relative to the optical coupler. The optical coupler signal controls the lead screw motor, achieving precise displacement control. Of course, other sensors can also be used.

[0076] The above description is merely a specific embodiment of the utility model, but the scope of protection of the utility model is not limited thereto. Those skilled in the art will understand that the utility model includes, but is not limited to, the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the utility model are intended to be included within the scope of the claims.

Claims

1. The automatic error adjustment structure of the manipulator of the automatic bottom thread changing device, the manipulator includes a manipulator arm assembly and a gripper assembly, the manipulator arm assembly includes a manipulator swing arm connected to the gripper assembly, characterized in that: The automatic error adjustment structure of the manipulator includes a driver and a guide rail connected to the manipulator swing arm. The driver drives the manipulator swing arm to move along the guide rail to eliminate the error.

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

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

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

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

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

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

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

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

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

Images