Automatic wire winding machine

Abstract

The utility model discloses an automatic wire winding machine which comprises a wire winding module, a wire blowing module, a wire feeding module and a mechanical arm. The wire feeding module is used for feeding, clamping and tightening wires; the mechanical arm is used for grabbing the thread shuttle and driving the thread shuttle to move along the rotating axis of the thread winding module; the thread blowing module is used for blowing a sewing thread into the thread shuttle; the thread winding module comprises a thread shuttle driving part, a thread winding knife, a thread winding knife driving part, a thread trimmer for trimming threads and a thread taking-up shifting fork for taking up the threads; the thread shuttle driving component drives the thread shuttle to rotate so as to wind the blown sewing thread, the mechanical arm and the thread shuttle driving component are matched to drive the thread shuttle to slide along the rotating axis so as to adjust the position of the thread shuttle, and the thread winding cutter driving component drives the thread winding cutter to rotate around the thread shuttle. Through mutual cooperation of the winding module, the thread blowing module, the thread feeding module and the mechanical arm, direct winding of the shuttle peg in the shuttle peg sleeve is achieved, a thread end can be led, winding actions are reduced, the winding speed is increased, the winding device is simpler and more compact, and integration on a production line is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of sewing machine technology, and in particular to an automatic thread winding machine. Background Technology

[0002] Industrial sewing machines are designed for large-scale production of sewn parts in factories and other industrial sectors. The rotary hook of an industrial sewing machine contains a bobbin, which consists of a bobbin case and a bobbin with thread wound around it. Because the bobbin has a limited thread capacity, sewing must be stopped once the thread in the bobbin is exhausted to replace it with a fully threaded bobbin. To achieve high-capacity sewing production on industrialized assembly lines, automatic shuttle changing devices have been developed. Currently, there are two types of automatic shuttle changing devices: one type stores bobbins in a storage tray, removes the bobbin from the sewing machine's rotary hook, and replaces it with a fully threaded bobbin from the storage tray; the other type removes the bobbin from the sewing machine's rotary hook, winds it with thread using a thread winding mechanism, and then puts it back into the sewing machine's rotary hook.

[0003] The utility model patent application CN114164575A, entitled "An Automatic Thread Winding and Bottom-Changing Mechanism," discloses a second-type structure, comprising a thread supply device, a thread winding and threading control device, a thread hooking device, an automatic shuttle changing device, and a bobbin thread removal device. The thread supply device supplies bobbin thread to the automatic thread winding and bottom-changing mechanism, measures the length of the bobbin thread transport, controls the bobbin thread tension, and performs a pulling action as the bobbin thread passes through the bobbin sleeve. The thread winding and threading control device winds the thread onto the bobbin and automatically threads the end of the thread onto the bobbin sleeve. The thread hooking device passes the thread end through the first thread guide hole on the bobbin sleeve. The automatic shuttle changing device removes the bottom shuttle from the sewing machine and replaces it with the wound bobbin. The bobbin thread removal device removes excess thread from the removed bottom shuttle to facilitate the next thread winding step.

[0004] This method requires first retrieving the bobbin to be replaced from the sewing machine's rotary hook, then placing it in the thread winding control device for winding, and then retrieving the fully threaded bobbin and transferring it back into the sewing machine's rotary hook. Compared to the first method, this eliminates the need to stop the machine to wait when changing the stock tray. However, it requires a bobbin sleeve gripping device to grip the bobbin sleeve and separate the bobbin. Air is blown from the bobbin sleeve using a second air pipe, causing the bobbin to fall onto the second telescopic shaft. The bobbin sleeve gripping device then moves aside, and the pressure roller descends to press down on the bobbin and begin winding. After the bobbin has been wound with the bobbin thread on the second telescopic shaft, the pressure roller moves aside, the bobbin sleeve gripping device and the bobbin sleeve move to the bobbin, the shaft in the middle of the bobbin sleeve inserts into the hole in the middle of the bobbin, and the second telescopic shaft retracts into the winding drive shaft. The winding and threading control device has a third air pipe that blows in the opposite direction to the second air pipe. This third air pipe can also blow the bobbin from the second telescopic shaft into the bobbin sleeve. Subsequently, the bobbin sleeve gripping device places the bobbin with the wound bobbin thread and the bobbin sleeve together onto the first mounting rod for later use. This results in problems such as numerous winding actions, slow winding speed, and complex mechanical structure.

[0005] Therefore, there is a need to design an automatic winding machine with fewer winding actions, faster winding speed, and simpler mechanical structure. Utility Model Content

[0006] This utility model provides an automatic winding machine to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows:

[0008] The automatic wire winding machine includes: a wire winding module, a wire blowing module, a wire feeding module, and a robotic arm;

[0009] The threading module is used for threading, clamping, and tightening the sewing thread;

[0010] The robotic arm is used to grasp the shuttle and feed it to the winding module, and can drive the shuttle to move along the rotation axis of the winding module;

[0011] The blowing module is used to blow the sewing thread into the bobbin at the winding module;

[0012] The thread winding module includes: a shuttle drive component for driving the shuttle to rotate, a thread winding knife, a thread winding knife drive component, a thread cutter for cutting the sewing thread, and a thread take-up fork for taking up the sewing thread; the shuttle drive component drives the shuttle to rotate to wind the sewing thread blown by the blowing module, the robotic arm and the shuttle drive component cooperate to drive the shuttle to slide along the rotation axis to adjust the position of the shuttle, and the thread winding knife drive component drives the thread winding knife to rotate around the shuttle.

[0013] Beneficial effects:

[0014] The automatic winding machine disclosed in this application achieves direct winding of the bobbin within the bobbin sleeve by setting up a winding module, a blowing module, a thread feeding module, and a robotic arm working together. It can also guide the thread end after winding, reducing winding actions, increasing winding speed, and making the mechanical structure simpler and more compact, which is conducive to integration into the production line to increase production capacity. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the shuttle's structure;

[0017] Figure 2 This is a bottom view of the shuttle;

[0018] Figure 3 This is a top view of the shuttle;

[0019] Figure 4 This is a schematic diagram of the bobbin core structure;

[0020] Figure 5 This is a schematic diagram of the second type of bobbin sleeve;

[0021] Figure 6 This is a bottom view of the second type of bobbin sleeve;

[0022] Figure 7 This is a top view of the second type of bobbin sleeve;

[0023] Figure 8 This is a schematic diagram of the structure of the assembly of the shuttle drive component and the winding knife drive component of the automatic winding machine disclosed in this utility model.

[0024] Figure 9 This is a left view of the assembly of the shuttle drive component and the winding knife drive component of the automatic winding machine disclosed in this utility model.

[0025] Figure 10 This is a cross-sectional view of the assembly of the shuttle drive component and the winding knife drive component of the automatic winding machine disclosed in this utility model.

[0026] Figure 11 for Figure 10 A magnified view of a section of section I;

[0027] Figure 12 This is a schematic diagram of the structure of the automatic wire winding machine shuttle drive mounting base disclosed in this utility model;

[0028] Figure 13 This is a schematic diagram of the structure of the winding sleeve of the automatic winding machine disclosed in this utility model;

[0029] Figure 14 This is a schematic diagram of the structure of the winding spindle of the automatic winding machine disclosed in this utility model;

[0030] Figure 15 This is a schematic diagram of the structure of the winding station disc of the automatic winding machine disclosed in this utility model;

[0031] Figure 16 This is a front view of the automatic winding machine disclosed in this utility model;

[0032] Figure 17 This is a schematic diagram of the structure of the automatic winding machine disclosed in this utility model;

[0033] Figure 18 This is a front view of the upper winding module of the automatic winding machine disclosed in this utility model;

[0034] Figure 19 This is a schematic diagram of the upper winding module of the automatic winding machine disclosed in this utility model;

[0035] Figure 20 This is a schematic diagram of the structure of the robotic arm of the automatic winding machine disclosed in this utility model;

[0036] Figure 21 This is a cross-sectional view of the robotic arm of the automatic winding machine disclosed in this utility model;

[0037] Figure 22 This is a schematic diagram of the winding knife of the automatic winding machine disclosed in this utility model;

[0038] Figure 23 This is a top view of the winding knife of the automatic winding machine disclosed in this utility model;

[0039] Figure 24 This is a front view of the winding knife of the automatic winding machine disclosed in this utility model;

[0040] Figure 25 This is a schematic diagram showing the cooperation between the winding knife, the winding knife rotary driver, and the cutting block of the automatic winding machine disclosed in this utility model;

[0041] Figure 26 This is a schematic diagram of the structure of the take-up fork of the automatic winding machine disclosed in this utility model. Figure 1 ;

[0042] Figure 27 This is a schematic diagram of the structure of the take-up fork of the automatic winding machine disclosed in this utility model. Figure 2 ;

[0043] Figure 28 This is a rear view of the take-up fork of the automatic winding machine disclosed in this utility model;

[0044] Figure 29 This is a left view of the thread take-up fork of the automatic winding machine disclosed in this utility model;

[0045] Figure 30 This is a schematic diagram showing the positions of the thread take-up fork and the thread winding knife of the automatic thread winding machine disclosed in this utility model.

[0046] Figure 31 This is a schematic diagram of the transmission module of the automatic winding machine disclosed in this utility model. Figure 1 ;

[0047] Figure 32 for Figure 31 Enlarged view of point B;

[0048] Figure 33 This is a schematic diagram of the transmission module of the automatic winding machine disclosed in this utility model. Figure 2 ;

[0049] Figure 34 This is a front view of the transmission module of the automatic winding machine disclosed in this utility model;

[0050] Figure 35 for Figure 34 Enlarged view of point C;

[0051] Figure 36 This is a schematic diagram of the structure of the automatic winding machine disclosed in this utility model when storing the shuttle;

[0052] Figure 37 This is a schematic diagram of the transmission module of the automatic winding machine disclosed in this utility model mounted on the mounting plate;

[0053] Figure 38 This is a schematic diagram of the mechanical claw of the automatic winding machine disclosed in this utility model;

[0054] Figure 39 This is a rear view of the mechanical gripper of the automatic winding machine disclosed in this utility model;

[0055] Figure 40 This is a side view of the mechanical claw of the automatic winding machine disclosed in this utility model;

[0056] Figure 41 for Figure 41 AA section view;

[0057] Figure 42 This is a schematic diagram of the mechanical claw of the automatic winding machine disclosed in this utility model grasping the yarn shuttle;

[0058] Figure 43 This is a cross-sectional schematic diagram of the mechanical claw of the automatic winding machine disclosed in this utility model grasping the shuttle. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0060] The device described in this application is used for automatic shuttle changing and automatic winding and lead-in of the shuttle. For ease of explanation, the structures of the two corresponding shuttle types are introduced below. Combined with... Figure 1-4 As shown, the first type of shuttle 7 includes a bobbin case 71 and a bobbin 72. The bobbin 72 can be inserted into the bobbin case 71, and a positioning circular hole 721 is provided on the end face of the bobbin 72. The bobbin case 71 includes: a shuttle housing 711, a shuttle door cover plate 712, a shuttle door bottom plate 713, and a bobbin skin 714. The shuttle door cover plate 712 and the shuttle door bottom plate 713 are installed on the top of the shuttle housing 711, and the bottom of the shuttle housing 711 has a flat hole 7111, through which the bobbin 72 is inserted into the bobbin case 71. The shuttle door bottom plate 713 is provided with a shuttle door bottom plate positioning hook 7131. The shuttle housing 711 includes: a thread passage hole 715, a thread pull groove 716, a needle drop hole 717, a positioning notch 718, and a bobbin shaft 719. The hook-shaped tip of the bobbin skin 714 corresponds to the thread passage hole 715 and divides the thread passage hole 715 into a first section 715a and a second section 715b. The bobbin 719 can be inserted into the winding shaft 722 of the bobbin 72, and a core hole 7191 is provided in the middle of the bobbin 719. When the shuttle door cover 712 is opened to the limit position, the shuttle door bottom plate 713 cannot pop out, and the shuttle door bottom plate positioning hook 7131 of the shuttle door bottom plate 713 can hold the bobbin 72 to prevent it from falling out. After the shuttle door cover 712 is flattened, the shuttle door bottom plate 713 can pop out to engage the mandrel groove of the positioning mandrel inside the rotary hook.

[0061] Combination Figure 5-7 As shown, the difference between the second type of shuttle 7 and the first type of shuttle 7 is that its bobbin case 71 also includes a thread guide spring 720 mounted on the bobbin case 711. This application applies to the above two types of bobbin cases 71, such as: C28-high-speed small oblique bobbin case, C29-Sunstar 380 bobbin case, C30-flatbed bobbin case, C32-large embroidery bobbin case, C34-2010 bobbin case, C40-3 times large bobbin case, C07-761 buttonhole bobbin case, C03-DY bobbin case, C04-246 bobbin case, etc.

[0062] Automatic winding machine, combined with Figures 1-43 As shown, it includes: a thread winding module 1, a thread blowing module 2, a thread feeding module 3, and a robotic arm 4; the thread feeding module 3 is used for feeding, clamping, and tightening the thread; the robotic arm 4 is used to grab the bobbin 7 and send it to the thread winding module 1, and can drive the bobbin 7 to move along the rotation axis of the thread winding module 1; the thread blowing module 2 is used to blow the thread into the bobbin 7 at the thread winding module 1; the thread winding module 1 includes: a bobbin drive component for driving the bobbin 7 to rotate, a thread winding knife 121, a thread winding knife drive component, a thread cutter for cutting the thread, and a thread picking fork 13 for picking up the thread; the bobbin drive component drives the bobbin 7 to rotate to wind the thread blown by the thread blowing module 2, the robotic arm 4 and the bobbin drive component cooperate to drive the bobbin 7 to slide along the rotation axis to adjust the position of the bobbin 7, and the thread winding knife drive component drives the thread winding knife 121 to rotate around the bobbin 7. This automatic thread winding machine, through the cooperation of the thread winding module 1, the thread blowing module 2, the thread feeding module 3, and the robotic arm 4, enables the direct winding of thread within the bobbin 72, which is located inside the bobbin sleeve 71. This eliminates the need for a mechanism to remove the bobbin sleeve 71 before winding the thread onto the bobbin 72's winding shaft 722. Furthermore, it can guide the thread end after winding, reducing the winding action, increasing the winding speed, and making the mechanical structure simpler and more compact. This facilitates integration into the production line and increases production capacity.

[0063] The automatic wire winding machine also includes a mounting plate 8 and a frame 10. The frame 10 is used to install on the production line, and the mounting plate 8 is installed on the side of the frame 10 away from the production line. The wire winding module 1, the wire blowing module 2, and the robotic arm 4 are all installed on the mounting plate 8, and the wire feeding module 3 is installed on the frame 10. The side of the mounting plate 8 facing the production line is the back side, and the side away from the production line is the front side. The front surface of the mounting plate 8 is the mounting plate surface 83.

[0064] Specifically, the thread mounting module 3 includes: a thread mounting base 31, a counter, a first thread clamp 33, a second thread clamp 34, a third thread clamp 35, and a tensioning fork assembly. The thread mounting base 31 is fixed to the frame 10 by a first set of thread mounting screws. The counter, the first thread clamp 33, the second thread clamp 34, the third thread clamp 35, and the tensioning fork assembly are mounted on the thread mounting base 31. The counter includes a counting wheel 32 and a counting sensor. The counting wheel 32 is rotatably connected to the thread mounting base 31, and the counting sensor is mounted on the back side of the thread mounting base 31. The shaft of the counting wheel 32 passes through the front side of the thread mounting base 31 and connects to the counting sensor. The counting sensor detects the number of rotations of the counting wheel 32 to calculate the length of the thread passing through. The first thread clamp 33, the second thread clamp 34, and the third thread clamp 35 are arranged around the counting wheel 32. Specifically, the first thread clamp 33 is located above the counting wheel 32, the second thread clamp 34 is located to the right of the counting wheel 32, and the third thread clamp 35 is located below the counting wheel 32. The thread first passes around the first thread clamp 33, then wraps around the counting wheel 32 two to three times. Next, the thread passes around the second thread clamp 34, then passes under the third thread clamp 35, and enters the tensioning fork assembly.

[0065] Specifically, the thread tensioning fork component includes: a first guide tube 361, a thread tensioning fork 362, a third guide tube 363, and a thread tensioning fork rotary driver 364. One end of the thread tensioning fork 362 is connected to the output shaft of the thread tensioning fork rotary driver 364, and the other end is fitted with a second guide tube 3621. The thread tensioning fork rotary driver 364 drives the thread tensioning fork 362 to rotate. The thread tensioning fork rotary driver 364 uses a torque motor, which can adjust the rotation angle of the thread tensioning fork 362 according to the tension of the thread. The first guide tube 361 and the third guide tube 363 are coaxially spaced, and the thread tensioning fork 362 oscillates between the first guide tube 361 and the third guide tube 363. The thread passes sequentially through the first guide tube 361, the second guide tube 3621, and the third guide tube 363 before being introduced into the thread blowing module 2.

[0066] When the tensioning fork 362 rotates to the point where the second guide tube 3621 is coaxial with the first guide tube 361 and the third guide tube 363, the thread runs in a straight line; when the tensioning fork 362 rotates to the point where the axis of the second guide tube 3621 deviates from the axis of the first guide tube 361 and the third guide tube 363, the thread turns, thereby adjusting the tension of the thread.

[0067] Specifically, the tensioning fork component also includes a tensioning fork origin sensor 365. After the tensioning fork 362 rotates to the tensioning fork origin sensor 365, it generates an electrical signal to calibrate the reference position of the tensioning fork 362, so as to accurately control the rotation angle of the tensioning fork 362.

[0068] Preferably, the blow-out module 2 includes a blow-out gun component 21 for blowing out the sewing thread and a thread-beating component 22 for roughening the thread ends blown out by the blow-out gun component 21; the blow-out gun component 21 includes a blow-out gun 211 for blowing out the sewing thread and a blow-out gun rotation driver 212 for driving the blow-out gun 211 to rotate; the thread-beating component 22 includes: a thread-beating drive wheel 221, a thread-beating drive driver 222, a thread-beating driven wheel 223, and a thread-beating driven driver 224; the blow-out gun rotation driver 212 drives the blow-out gun 211 to rotate until the thread outlet of the blow-out gun 211 is aligned between the thread-beating driven wheel 223 and the thread-beating drive wheel 221, and the blow-out gun... 211 The thread end is blown into the space between the driven wheel 223 and the driving wheel 221; the driven driver 224 drives the driven wheel 223 to reciprocate along the line connecting the rotation centers of the driven wheel 223 and the driving wheel 221, and the driven wheel 223 and the driving wheel 221 continuously come into contact and separate; the driving driver 222 drives the driving wheel 221 to rotate; when the driven wheel 223 and the driving wheel 221 come into contact, the driving wheel 221 drives the driven wheel 223 to rotate in the opposite direction, so that the driven wheel 223 and the driving wheel 221 poke the thread end. This application uses a blower gun rotary driver 212 to drive the blower gun 211 to rotate, so that the blower gun 211 can rotate until its outlet is aligned between the driven wheel 223 and the driving wheel 221. The blower gun 211 uses airflow to blow the thread end between the driven wheel 223 and the driving wheel 221. The driven wheel 223 is driven to reciprocate by the driven driver 224, causing the driven wheel 223 and the driving wheel 221 to continuously contact and separate, which continuously strikes the thread end, making the strands of the thread end braided together loose and soft. The thread-beating drive 222 then drives the thread-beating drive wheel 221 to rotate. When the two come into contact, the thread-beating drive wheel 221 drives the thread-beating driven wheel 223 to rotate in the opposite direction, thereby roughening the thread from the beginning of the thread end. This softens the thread end and separates the strands, making it easier for the blower gun 211 to blow the thread end into the bobbin case. As the bobbin rotates, the thread end curls and wraps around the bobbin. After roughening the thread end, the blower gun 211 can rotate until its outlet is aligned with the positioning notch 718 of the bobbin shuttle 7 at the winding module 1. The blower gun 211 then uses airflow to blow the thread end into the bobbin shuttle 7 for winding.

[0069] Preferably, an adsorption element is wound around the winding shaft 722 of the bobbin 72 of the shuttle 7. The adsorption element adheres to the thread end blown into the shuttle 7 by the blower module 2. The adsorption element can be made of Velcro, coarse fiber, or abrasive belt, etc. The Velcro, coarse fiber, and abrasive belt increase the friction so that the thread end adheres to the adsorption element when the bobbin 72 rotates. In this embodiment, the adsorption element is Velcro. By roughening the thread end and cooperating with the Velcro, when the thread end is blown into the shuttle 7, the strands of the rope increase their engagement with the Velcro. The softened thread end is easy to bend and wrap around the Velcro. The Velcro can quickly adhere to the thread end, so that the thread end can be quickly and reliably wound onto the winding shaft 722 after entering the shuttle 7. This allows for rapid entry into high-speed winding, ensuring production efficiency and improving the reliability and practicality of the device.

[0070] Specifically, the blow gun 211 includes a main body 2111 and a barrel 2112. The main body 2111 has a first channel 2113 and a second channel 2114. The first channel 2113 is connected to a blow gun inlet 2115 and a blow gun outlet 2116 at its two ends, respectively. The second channel 2114 is connected to a blow gun air inlet 2117 at one end and to the middle of the first channel 2113 at the other end. A barrel fixing structure is provided at the blow gun outlet 2116 of the main body 2111 to fix the barrel 2112, so that the barrel 2112 is connected to the blow gun outlet 2116. In this embodiment, the barrel fixing structure is detachable. A slit groove 2118 is formed at the wire outlet 2116 of the gun body 2111 along the diameter direction of the wire outlet 2116. The slit groove 2118 extends through both sides of the gun body 2111 and extends a certain distance along the center line of the first channel 2113. Along the center line of the first channel 2113, the end of the slit groove 2118 away from the wire outlet 2116 is machined with an arc-shaped surface to release stress. The gun barrel 2112 is inserted from the wire outlet 2116 into the first channel 2113. By tightening the two gun barrel clamping screws 2119, the slit groove 2118 is reduced, thereby clamping the gun body 2111 with the gun barrel 2112. It is understood that the gun barrel fixing structure can also adopt a threaded connection or welding fixing method. The air inlet 2117 of the blow gun is connected to the air supply pipe of the blow gun. The gas enters the middle of the first channel 2113 through the second channel 2114 and is blown out from the outlet 2116 of the blow gun, thereby generating negative pressure at the front of the first channel 2113. After the thread enters the first channel 2113 through the inlet 2115 of the blow gun, it is first driven forward by the negative pressure and then driven forward by the airflow, passing through the first channel 2113 and the outlet 2116 of the blow gun in sequence and entering the barrel 2112 to be blown out.

[0071] Specifically, the gun body 2111 has a blow gun rotating shaft mounting hole. One end of the blow gun rotating shaft is fixed in the blow gun rotating shaft mounting hole by two set screws, and the other end is coaxially connected to the blow gun rotating driver 212.

[0072] Preferably, both the thread-beating drive wheel 221 and the thread-beating driven wheel 223 are gears. After the thread-beating drive wheel 221 and the thread-beating driven wheel 223 mesh, they clamp the thread end. The meshing and rotation of the teeth better roughen the thread and soften the thread end.

[0073] Preferably, the thread-attaching driven actuator 224 is a cylinder, which has a simple operation and high reliability. The thread-attaching driven actuator 224 drives the thread-attaching driven wheel 223 to move closer to and away from the thread-attaching driven wheel 221. When the thread-attaching driven actuator 224 drives the thread-attaching driven wheel 223 away from the thread-attaching driven wheel 221, a certain gap is left between the thread-attaching driven wheel 223 and the thread-attaching driven wheel 221, allowing the thread end to be blown into the gap; then the thread-attaching driven actuator 224 drives the thread-attaching driven wheel 223 to move closer to the thread-attaching driven wheel 221 for engagement, thereby clamping the thread end, and then the thread-attaching driven actuator 222 drives the thread-attaching driven wheel 221 to rotate. First, the thread-attaching driven wheel 223 is driven by the cylinder to move linearly, and then the thread-attaching driven actuator 222 drives the thread-attaching driven wheel 221 to rotate, which ensures that the thread end is first subjected to impact and then crushed by the teeth, so that the thread end can be better frayed.

[0074] Specifically, the wire-beating active driver 222 uses a stepper motor, which drives the wire-beating active wheel 221 to rotate. The blow gun rotation driver 212 uses a geared motor, which drives the blow gun 211 to rotate.

[0075] Preferably, the wire-punching component 22 further includes a blow-wire gun origin sensor 227 for calibrating the origin position of the blow-wire gun 211, which is used to calibrate the reference position of the blow-wire gun 211 in order to accurately control the rotation angle of the blow-wire gun 211.

[0076] Preferably, the wire-punching component 22 further includes a wire-punching gun limiting component 228 for limiting the rotational position of the wire-punching gun 211. The wire-punching gun limiting component 228 includes a wire-punching gun limiter 2281, which has a limiting plane 2282. The plane of the limiting plane 2282 passes through the area between the wire-punching driven wheel 223 and the wire-punching driving wheel 221. The wire-punching gun 211 rotates and abuts against the limiting plane 2282 to align between the wire-punching driven wheel 223 and the wire-punching driving wheel 221.

[0077] Preferably, both the blow gun component 21 and the wire-punching component 22 are mounted on the mounting plate 8.

[0078] Preferably, the wire-punching drive wheel 221, the wire-punching driven wheel 223, and the blow gun 211 are located on the same side of the mounting plate 8, i.e., the front side of the mounting plate 8. The wire-punching drive driver 222, the wire-punching driven driver 224, and the blow gun rotation driver 212 are mounted on the other side of the mounting plate 8, i.e., the back side of the mounting plate 8. The wire-punching component 22 also includes a first wire-punching shaft 225 and a second wire-punching shaft 226. The mounting plate 8 has a second elongated hole 84 along the line connecting the rotation centers of the wire-punching driven wheel 223 and the wire-punching drive wheel 221. One end of the first wire-punching shaft 225 is connected to the wire-punching drive driver 222, and the other end passes through the second elongated hole 84 and is connected to the wire-punching drive wheel 221. One end of the second wire-punching shaft 226 is connected to the wire-punching driven driver 224, and the other end passes through the second elongated hole 84 and is connected to the wire-punching driven wheel 223. The output shaft of the blow gun rotation driver 212 passes through the mounting plate 8 and is connected to the blow gun 211. This arrangement makes the structure on the punching side simpler, which is beneficial for structural layout, observation of the working process, and later maintenance.

[0079] Specifically, the driven wire bonding driver 224 is fixed to the mounting plate 8 by a first set of fixing screws, the active wire bonding driver 222 is mounted on the active wire bonding driver mounting base 2221 by a second set of fixing screws, and the active wire bonding driver mounting base 2221 is fixed to the mounting plate 8 by a third set of fixing screws. The output end of the active wire bonding driver 222 passes through the clearance cavity of the active wire bonding driver mounting base 2221 and is connected to the first wire bonding shaft 225. The second wire bonding shaft 226 is threadedly connected to the push plate of the driven wire bonding driver 224. The push plate of the driven wire bonding driver 224 can enter the clearance cavity of the active wire bonding driver mounting base 2221, allowing the first wire bonding shaft 225 and the second wire bonding shaft 226 to approach each other. The blow gun rotary driver 212 is mounted on the blow gun rotary driver mounting base 2121 by a fourth set of fixing screws, and the blow gun rotary driver mounting base 2121 is fixed to the mounting plate 8 by a fifth set of fixing screws.

[0080] Specifically, the blow gun origin sensor 227 uses a proximity switch to generate an electrical signal when the blow gun 211 rotates to the origin position, which is used for controller position calibration. The blow gun origin sensor 227 is mounted on the blow gun origin sensor mounting base 2271. The fixed end of the blow gun origin sensor mounting base 2271 is fixed to the back side of the mounting plate 8 by a sixth set of fixing screws, and the mounting end is fixed to the blow gun origin sensor 227 by a seventh set of fixing screws. The mounting plate 8 has an origin sensor clearance hole, and the mounting end of the blow gun origin sensor mounting base 2271 passes through the origin sensor clearance hole to the front side of the mounting plate 8, so that the blow gun origin sensor 227 can generate a signal when the gun barrel 2112 rotates to the origin position. In this embodiment, both the fixed end and the mounting end of the blow gun origin sensor mounting base 2271 have a third elongated hole for position adjustment during fixing.

[0081] Specifically, the blow gun limiting component 228 also includes a blow gun limiter mounting base 2283, which is L-shaped and includes a vertical part and a horizontal part. The vertical part is mounted on the front side of the mounting plate 8 by an eighth set of fixing screws, and the blow gun limiter 2281 is fixed to the upper surface of the horizontal part of the blow gun limiter mounting base 2283 by a ninth set of fixing bolts. Both the vertical and horizontal parts of the blow gun limiter mounting base 2283 have a fourth elongated hole for position adjustment during fixing.

[0082] Specifically, the blow gun limiter 2281 is made of a section of C-shaped channel steel, with the bottom of the C-shaped channel steel serving as the limiting plane 2282. The blow gun 211 is screwed into the slot of the C-shaped channel steel, and the barrel 2112 of the blow gun 211 abuts against the limiting plane 2282 to achieve positioning.

[0083] Preferably, the second elongated hole 84 is countersunk on the edge facing the wire-laying drive wheel 221. The end faces of the wire-laying drive wheel 221 and the wire-laying driven wheel 223 facing the wire-laying drive driver 222 are located between the mounting plate surface 83 on the side of the mounting plate 8 away from the wire-laying drive driver 222 and the second countersunk surface 85 where the countersunk hole was machined. If the gear faces the mounting plate surface 83 directly, a gap will be generated between the end of the gear and the mounting plate surface 83, and the wire end can easily fall into the gap and get stuck. The structure of this application can avoid this problem and ensure smooth wire laying.

[0084] Preferably, the mounting plate 8 is vertically arranged, and the rotation axes of the wire-tapping drive wheel 221 and the wire-tapping driven wheel 223 are perpendicular to the mounting plate 8, which facilitates the wire end to rest on the wire-tapping drive wheel 221 under the action of gravity. In this embodiment, the line connecting the rotation axes of the wire-tapping drive wheel 221 and the wire-tapping driven wheel 223 is vertically arranged, and the wire-tapping driven wheel 223 is located above the wire-tapping drive wheel 221, so that the wire end will not move up and down with the reciprocating motion of the wire-tapping driven wheel 223.

[0085] Preferably, the shuttle drive component includes: a winding station disk 111 for cooperating with the bobbin 72, a winding spindle 112 with a first mounting cavity at one end facing the shuttle 7, a sliding assembly coaxially fixed to the winding spindle 112, a reset elastic element 115 installed in the first mounting cavity, and a winding spindle driver 116 for driving the winding spindle 112 to rotate; the sliding assembly includes a winding mandrel 114 and a winding sleeve 113, the winding mandrel 114 and the winding sleeve 113 are coaxially arranged and connected in profile, one end of the winding mandrel 114 passes through the first mounting cavity and is connected to the reset elastic element 115, and the other end passes through the winding sleeve 113 and is coaxially fixed to the winding station disk 111, the reset elastic element 115 has the tendency to prevent the winding mandrel 114 from sliding along the axis of rotation;

[0086] The winding knife driving component includes a winding sleeve 128 coaxially arranged with the winding core 114 and a winding knife rotation driver 122 that drives the winding sleeve 128 to rotate. The winding sleeve 128 drives the winding knife 121 to rotate.

[0087] The winding module 1 drives the winding spindle 112 to rotate via the winding spindle driver 116, which in turn drives the sliding assembly to rotate synchronously. The winding sleeve 113 is coaxially connected to the winding spindle 112, and the winding mandrel 114 is connected to the surface of the winding sleeve 113. A reset elastic element 115 is used to reset the winding mandrel 114. The winding station disk 111 is connected to the winding mandrel 114 to cooperate with and support the shuttle 7. This ensures that the high-speed rotation of the bobbin 72 for winding is met, while also allowing the winding station disk 111 and the shuttle 7 to float along the rotation axis, enabling the shuttle 7 to move in coordination with the movement of the robotic arm 4 along the rotation axis. The winding knife rotation driver 122 drives the winding sleeve 128 to rotate, which in turn drives the winding knife 121 to rotate around the shuttle 7. The winding module 1 integrates three functions: bobbin rotation, winding knife rotation, and bobbin floating along the bobbin rotation axis. It can work with the robotic arm, blow gun, winding knife, and shift fork of the automatic winding machine to achieve automatic winding and thread lead-out. The winding module 1 has a simple, compact, and easy-to-assemble structure, and can meet the reliability requirements of the automatic winding machine for rotating winding.

[0088] Preferably, the sliding assembly adopts a ball spline, specifically a BLF flange-type ball spline. The ball spline enables smooth torque transmission and axial sliding, simplifying the structure, improving reliability, ensuring long-term rotational and sliding accuracy, and preventing the winding station disk 111 from jamming or breaking wires due to nutation during high-speed rotation, as well as preventing damage to the robotic arm 4 over time. It is understood that the sliding assembly can also use conventional surface connections, for example: the inner wall of the central hole of the winding sleeve 113 is provided with a winding spline, and the outer periphery of the winding mandrel 114 is provided with a winding spline groove that mates with the winding spline.

[0089] Specifically, the shuttle drive component also includes a shuttle drive mounting base 117, which has a second mounting cavity at its center. The second mounting cavity includes a first circular hole 1171, a second circular hole 1172, a third circular hole 1173, and a fourth circular hole 1174 connected in sequence. The diameter of the first circular hole 1171 matches the outer diameter of the winding knife bearing 1286, the diameter of the second circular hole 1172 matches the outer diameter of the winding knife bearing 1286, the diameter of the fourth circular hole 1174 matches the outer diameter of the winding spindle bearing 1287, and the diameter of the third circular hole 1173 is smaller than the diameter of the fourth circular hole 1174, smaller than the diameter of the second circular hole 1172, and matches the outer diameter of the winding spindle bearing 1287. This results in a first stepped surface 1175 being formed at the connection between the first circular hole 1171 and the second circular hole 1172, a second stepped surface 1176 being formed at the connection between the second circular hole 1172 and the third circular hole 1173, and a third stepped surface 1177 being formed at the connection between the fourth circular hole 1174 and the third circular hole 1173.

[0090] Specifically, the winding spindle 112 is integrally machined. The winding spindle 112 includes a connecting shaft section 1121, a first cylindrical section 1122, a second cylindrical section 1123, and a third cylindrical section 1124, with their outer diameters increasing sequentially. The outer diameter of the first cylindrical section 1122 matches the inner diameter of the winding spindle bearing 1287; the outer diameter of the second cylindrical section 1123 matches the outer diameter of the inner ring of the winding spindle bearing 1287; and the outer diameter of the third cylindrical section 1124 is larger than the diameter of the third circular hole 1173. A fourth stepped surface 1125 is formed at the connection between the first cylindrical section 1122 and the second cylindrical section 1123. During assembly, the winding spindle 112 is inserted into the first circular hole 1171 of the second mounting cavity, and the first cylindrical section 1122 enters and exits through the fourth circular hole 1174. The third cylindrical section 1124 abuts against the second stepped surface 1176 to prevent the winding spindle 112 from falling off, and facilitates the installation of the winding spindle bearing 1287 from the reverse direction. The first winding spindle bearing 1287 is fitted onto the first cylindrical section 1122 from the side of the connecting shaft section 1121 of the winding spindle 112, so that its inner ring abuts against the fourth stepped surface 1125 and its outer ring abuts against the third stepped surface 1177, thereby achieving positioning. A spacer 1126 is fitted on the first cylindrical section 1122, and the spacer 1126 abuts against the inner ring of the first winding spindle bearing 1287. The second winding spindle bearing 1287 is fitted onto the first cylindrical section 1122 from one side of the connecting shaft section 1121 of the winding spindle 112, with its inner ring abutting against the spacer 1126. A first groove is formed on the inner wall of the fourth circular hole 1174, and a retaining ring is installed in the first groove to abut against the outer ring of the second winding spindle bearing 1287. A second groove is formed on the outer wall of the first cylindrical section 1122, and a retaining ring is installed in the second groove to abut against the inner ring of the second winding spindle bearing 1287. This achieves a rotational connection between the winding spindle 112 and the shuttle drive mounting base 117.

[0091] Specifically, the first mounting cavity includes a fifth circular hole 1127, a sixth circular hole 1128, and a seventh circular hole 1129 with successively increasing diameters. The fifth circular hole 1127 is machined within the first cylindrical section 1122, the seventh circular hole 1129 is machined within the third cylindrical section 1124, and the sixth circular hole 1128 transitions from the first cylindrical section 1122 to the third cylindrical section 1124. The connection between the sixth circular hole 1128 and the seventh circular hole 1129 forms a fifth stepped surface 1120. A threaded hole is machined on the fifth stepped surface 1120. The flange-type winding sleeve 113 of the ball spline is installed within the portions of the sixth circular hole 1128 and the seventh circular hole 1129 via a first set of connecting screws. One end of the winding mandrel 114 of the ball spline passes through the fifth circular hole 1127.

[0092] Specifically, the winding spindle driver 116 is a stepper motor, and the output shaft of the winding spindle driver 116 is connected to the connecting shaft section 1121 via a coupling. The winding spindle driver 116 is mounted on the winding spindle driver mounting base 1161 via a second set of connecting screws, and the winding spindle driver mounting base 1161 is mounted on the shuttle drive mounting base 117 via a third set of connecting screws.

[0093] Preferably, the reset elastic element 115 is located between the end of the winding mandrel 114 that penetrates the first mounting cavity and the bottom wall of the first mounting cavity. When the robotic arm pushes the shuttle 7, the winding station disk 111 transmits force to the winding mandrel 114, causing it to slide into the first mounting cavity, and the winding mandrel 114 compresses the reset elastic element 115. When the robotic arm 4 moves in the opposite direction, the elastic force of the reset elastic element 115 allows the winding mandrel 114 to slide out of the first mounting cavity, always maintaining the movement of the shuttle 7 along the rotation axis under the drive of the robotic arm 4 and the winding station disk 111. In this embodiment, the reset elastic element 115 is a compression spring.

[0094] Preferably, a retaining plate 1141 is fixedly connected to one end of the winding mandrel 114 that passes through the first mounting cavity, and one end of the reset elastic member 115 abuts against the retaining plate 1141 and the other end abuts against the bottom wall of the first mounting cavity.

[0095] Specifically, the anti-reverse plate 1141 is installed inside the fifth circular hole 1127, and one end of the reset elastic member 115 abuts against the bottom of the fifth circular hole 1127 and the other end abuts against the anti-reverse plate 1141. The anti-reverse plate 1141 is fixed to the end of the winding mandrel 114 by screws.

[0096] Preferably, the winding station disc 111 is integrally formed. The winding station disc 111 includes: a winding connecting shaft section 1111, a carrier disc 1112, and a winding positioning rotating shaft 1113; one end of the winding connecting shaft section 1111 is fixedly connected to one end of the winding mandrel 114 that extends out of the winding sleeve 113, and the other end is coaxially fixed to the carrier disc 1112, and the winding connecting shaft section 1111 and the winding mandrel 114 are coaxially arranged; the winding positioning rotating shaft 1113 is coaxially fixed on the side of the carrier disc 1112 away from the winding connecting shaft section 1111; a protrusion 1114 is fixed on the carrier disc 1112 to cooperate with the positioning round hole 721 of the bobbin 72. The positioning shaft 1113 is inserted into the core hole of the bobbin sleeve 71 to achieve the positioning of the center position of the bobbin 7. The axis is positioned by the carrier plate 1112 abutting against the end face of the bobbin 72. The protrusion 1114 is inserted into the positioning round hole 721 of the bobbin 72 so that the bobbin 72 can rotate with the carrier plate 1112.

[0097] Specifically, one end of the winding connecting shaft section 1111 is machined with an external thread, and the end of the winding mandrel 114 is machined with a corresponding threaded hole. The outer circumferential surface of the winding connecting shaft section 1111 is milled flat, so that the winding connecting shaft section 1111 and the winding mandrel 114 are threadedly connected.

[0098] Preferably, the winding positioning shaft 1113 has a guide surface 1115 at the end away from the carrier plate 1112. The guide surface 1115 guides the shuttle 7 to the winding station plate 111. The guide surface 1115 can be a frustum or a spherical surface, etc.

[0099] Preferably, the winding sleeve 128 is located above the winding sleeve 113, and the winding sleeve 128 has a mandrel clearance through hole 1142 at its center to allow the winding mandrel 114 to slide. The winding knife rotary driver 122 adopts synchronous belt drive and includes: winding active synchronous pulley 1221, winding driven synchronous pulley 1222, winding synchronous belt 1223 and winding knife rotary motor 1224. The winding driven synchronous pulley 1222 is coaxially sleeved on the outer periphery of the winding sleeve 128. The winding synchronous belt 1223 connects the winding active synchronous pulley 1221 and the winding driven synchronous pulley 1222. The winding knife rotary motor 1224 drives the winding active synchronous pulley 1221 to rotate.

[0100] Preferably, a winding spindle bearing mounting sleeve 1281 is fixedly installed at one end of the winding sleeve 128 facing the winding sleeve 113. The winding spindle bearing mounting sleeve 1281 includes: a connecting circular plate 1282 fixed to the end of the winding sleeve 113, a cylindrical section 1283 fixed to the side of the connecting circular plate 1282 away from the winding sleeve 113, and a stepped section 1284 fixed to the side of the cylindrical section 1283 away from the winding sleeve 113. The connecting circular plate 1282 and the cylindrical section 1283 are also fixed. The third and fourth steps are coaxially arranged. The outer diameter of the cylindrical section 1283 is larger than the outer diameter of the winding sleeve 128, and the inner diameter is larger than the outer diameter of the winding mandrel 114. The inner diameter of the sixth step 1284 is equal to the inner diameter of the cylindrical section 1283, and the outer diameter is larger than the outer diameter of the cylindrical section 1283 to form the sixth step surface 1289. A bearing pressure plate 1285 is provided on the outer sleeve of the winding sleeve 128. The bearing pressure plate 1285 and the sixth step surface 1289 respectively press the two ends of the inner ring of the winding knife bearing 1286. The winding sleeve 128 and the winding main shaft bearing mounting sleeve 1281 are integrally machined.

[0101] Specifically, the winding knife bearing 1286 is installed in the first circular hole 1171, with its outer ring abutting against the first stepped surface 1175 and its inner ring abutting against the sixth stepped surface 1289. The winding driven synchronous pulley 1222 is coaxially sleeved on the winding sleeve 128, and its end face is fixed to the end face of the winding sleeve 128 away from the winding sleeve 113 by the fourth set of connecting screws. The bearing pressure plate 1285 is sleeved on the outside of the winding sleeve 128 and pressed against the connecting circular plate 1282 by the winding driven synchronous pulley 1222, pressing the inner ring of the winding knife bearing 1286. A bearing cover 1288 is fixed to the end face of the shuttle drive mounting base 117 by the fifth set of connecting screws, pressing the outer ring of the winding knife bearing 1286.

[0102] Preferably, the winding sleeve 128 is equipped with a winding knife origin pointer 1292 for cooperating with the winding knife origin switch 1291 to calibrate the origin of the winding sleeve 128.

[0103] Specifically, the winding knife origin pointer 1292 includes a sector-shaped fixing plate and a pointer. The sector-shaped fixing plate is fixed to the end of the winding driven synchronous pulley 1222 by a sixth set of connecting screws. The winding knife origin switch 1291 is mounted on the side of the shuttle drive mounting base 117 via a winding knife origin switch fixing seat 1293. The winding knife origin pointer 1292 rotates with the winding driven synchronous pulley 1222. When the pointer rotates to the corresponding winding knife origin switch 1291, it can generate an electrical signal for the controller to calibrate the position. The sector-shaped connecting plate 125 of the winding knife 121 is fixed to the end of the winding driven synchronous pulley 1222 by a seventh set of connecting screws. The connecting plate 125 is offset from and flush with the sector-shaped fixing plate.

[0104] Specifically, the shuttle drive component and the winding knife drive component are mounted on the mounting plate 8. Two opposing brackets 1178 are fixed on the shuttle drive mounting base 117, located on both sides of the bearing cap 1288. The brackets 1178 are fixed to the mounting plate 8 by the eighth set of connecting screws. The mounting plate 8 has a winding clearance hole, through which the winding station disc 111 can pass to one side of the mounting plate surface 83 of the mounting plate 8. The shuttle drive mounting base 117 and the brackets 1178 are integrally formed. The winding knife rotary motor 1224 is fixed to the winding knife rotary motor mounting base 1225 by the ninth set of connecting screws. The output shaft of the winding knife rotary motor 1224 passes through the clearance cavity of the winding knife rotary motor mounting base 1225 and connects to the winding drive synchronous pulley 1221. The winding knife rotary motor mounting base 1225 is fixed to the side of the mounting plate 8 away from the mounting plate surface 83 by the tenth set of connecting screws. This arrangement makes the structure on one side of the mounting plate 8 simpler, which is beneficial for the layout of the structure, observation of the working process, and subsequent maintenance.

[0105] Preferably, the two sides of the thread winding knife 121 are a positioning area 123 and a cutting area 124 for cutting the thread, respectively; the positioning area 123 includes an upper positioning part 1231, a lower positioning part 1232, and a positioning protrusion 1233 located between the upper positioning part 1231 and the lower positioning part 1232; an upper groove is formed between the positioning protrusion 1233 and the upper positioning part 1231, and a lower groove is formed between the positioning protrusion 1233 and the lower positioning part 1232; the upper positioning part 1231 is far from... The side away from the cutting area 124 is the upper guard edge 1234, and the side of the upper groove near the positioning protrusion 1233 is the upper positioning guard edge 1235; the side of the lower positioning part 1232 away from the cutting area 124 is the lower guard edge 1236, and the side of the lower groove near the positioning protrusion 1233 is the lower positioning guard edge 1237; the side of the positioning protrusion 1233 near the upper groove and the side near the lower groove are respectively the upper coarse positioning guard edge 1238 and the lower coarse positioning guard edge 1239. The thread winding knife 121 can be used for two types of bobbin cases. When applied to bobbin cases without a thread guide spring 720, the thread winding knife 121 uses the upper positioning part 1231, the positioning protrusion 1233, and the upper groove between them in the positioning area 123 to achieve precise positioning and thread guiding of the sewing thread. At the same time, the cutting area 124 is responsible for completing the sewing thread cutting operation. When applied to bobbin cases equipped with a thread guide spring 720, the thread winding knife 121 also uses the upper positioning part 1231, the positioning protrusion 1233, and the upper groove between them in the positioning area 123 to achieve precise positioning and thread guiding of the sewing thread. In addition, the thread winding knife 121 also uses the lower positioning part 1232, the positioning protrusion 1233, and the lower groove between them in the positioning area 123 to wrap the sewing thread around the thread guide spring 720. Similarly, the cutting area 124 is used to complete the sewing thread cutting operation.

[0106] Preferably, the cutting area 124 includes a guide opening 1241, a guide groove 1242, and a protrusion 1243 for cooperating with the thread cutting block 127 on the winding knife 121 to cut the sewing thread. The protrusion 1243 is provided with a positioning port 1244. The guide opening 1241, the guide groove 1242, and the positioning port 1244 are interconnected. From the side away from the guide groove 1242 to the side close to the guide groove 1242, the width of the guide opening 1241 gradually narrows. The sewing thread enters the positioning port 1244 from the guide opening 1241 through the guide groove 1242. The protrusion 1243 rotates with the winding knife 121 and contacts the thread cutting block 127 fixed on the mounting plate 8, thereby cutting the sewing thread by compression. In this embodiment, the guide opening 1241 is V-shaped.

[0107] Preferably, the thread winding knife 121 is provided with an insertion hole, and a protrusion 1243 is provided in the insertion hole. Since the protrusion 1243 needs to cooperate with the thread cutting block 127, it is prone to wear. Wear can easily affect the cutting effect of the thread. Therefore, in actual use, the protrusion 1243 can be fixedly connected to the insertion hole by hot melt adhesive. When the protrusion 1243 is worn and needs to be replaced, the protrusion 1243 can be removed by melting the hot melt adhesive. Alternatively, the protrusion 1243 can be connected to the insertion hole by interference fit.

[0108] Preferably, the device further includes a connecting plate 125, on which the winding knife 121 is welded and fixed. The connecting plate 125 has at least two bolt holes, and the connecting plate 125 is fixed to the winding knife rotary driver 122 by bolts provided in the bolt holes. By positioning at two or more points, the connecting plate 125 is prevented from rotating relative to the winding knife rotary driver 122, thus ensuring positioning accuracy. The winding knife rotary driver 122 is used to drive the winding knife 121 to rotate. In this embodiment, the winding knife 121 is arc-shaped to ensure that the winding knife 121 does not interfere with the bobbin sleeve 71 when rotating. When thread winding is required, the robotic arm 4 grasps the bobbin 7, with the thread end located inside the thread blowing module 2 responsible for supplying the thread. The thread end is blown onto the bobbin 72 by the thread blowing module 2. When thread winding is required, the thread needs to be positioned so that it can be wound into the bobbin 7. The winding knife 121 rotates clockwise under the drive of the winding knife rotary driver 122. The thread first contacts the upper thread guard 1234. The robotic arm 4, which grasps the bobbin 7, moves along the axial direction of the winding knife rotary driver 122, and the thread contacts... The upper coarse positioning stop 1238 is then followed by the winding knife 121 continuing to rotate forward under the drive of the winding knife rotary driver 122. The sewing thread contacts the bottom of the upper groove, completing the initial positioning of the sewing thread. At this time, the mechanical arm 4 that grips the bobbin 7 moves axially along the winding knife rotary driver 122 until the sewing thread contacts the upper positioning stop 1235. At this point, the sewing thread completes precise positioning relative to the plane opening of the bobbin 7 (the opening at the bottom of the bobbin case 711 for inserting the bobbin core 72), allowing the sewing thread to be pulled out of the thread draw groove. 716 is wound into the bobbin 7 to prepare for subsequent winding; when applied to the bobbin sleeve 71 with a thread guide spring 720 on the second type of bobbin case 711, the thread needs to be wound onto the thread guide spring 720, and the thread also needs to be positioned. The winding knife 121 rotates forward under the drive of the winding knife rotary driver 122, and the thread first contacts the lower thread stop 1236. The mechanical arm 4 that grabs the bobbin 7 moves along the axis of the winding knife rotary driver 122, and the thread contacts the lower coarse positioning. The thread guide 121 rotates forward under the drive of the thread guide rotary driver 122 until the thread contacts the bottom of the lower groove, completing the initial positioning of the thread. At this time, the mechanical arm 4 that grasps the shuttle 7 moves along the axis of the thread guide rotary driver 122 until the thread contacts the lower positioning guide 1237. At this time, the thread is precisely positioned relative to the thread guide spring 720 (positioned to the gap between the shuttle case 711 and the thread guide spring 720), preparing for subsequent winding. When it is necessary to cut the thread, the thread guide 121 reverses under the drive of the thread guide rotary driver 122. The thread enters the positioning port 1244 from the guide port 1241 through the guide groove 1242. The protrusion 1243 rotates with the thread guide 121 and contacts the thread cutting block 127 fixed on the winding machine, cutting the thread by squeezing.

[0109] Preferably, it further includes a limiting convex portion 126, and the limiting convex portion 126 is provided on a side of the upper positioning portion 1231 away from the positioning convex portion 1233 to prevent the sewing thread from slipping out of the upper thread blocking edge 1234 and winding around the winding cutter 121.

[0110] Preferably, the thread-picking fork 13 is installed on the front side of the mounting plate 8. The thread-picking fork 13 includes: a fork 131, a fork bracket 132, and a linear driving mechanism provided on the fork bracket 132. A guiding groove 1351 is provided on the linear driving mechanism; one end of the fork 131 is rotatably connected to the fork bracket 132, the other end of the fork 131 is used for picking the thread, the fork 131 is connected to the linear driving mechanism and is located in the guiding groove 1351, and the linear reciprocating motion of the linear driving mechanism can drive the fork 131 to swing along the guiding groove 1351. By providing the guiding groove 1351 on the linear driving mechanism, the swinging of the fork 131 is restricted, effectively preventing the fork 131 from deviating during movement. The structure of the guiding groove 1351 is simple, ensuring the stability of the movement of the thread-picking fork at a relatively low cost.

[0111] Preferably, a long hole 139 is provided on the fork 131, and the long hole 139 extends along the length direction of the fork 131. The linear driving mechanism is connected to the fork 131 located in the guiding groove 1351 through a first pin shaft 134. The long hole 139 and the guiding groove 1351 enable the linear reciprocating motion of the linear driving mechanism to be converted into the swinging of the fork 131 along the guiding groove 1351.

[0112] Preferably, the fork 131 includes a transmission rod 1311 and a thread-picking portion 1312 fixed on the transmission rod 1311. In this embodiment, the thread-picking portion 1312 is in a "C" shape. When the sewing thread is located inside the "C" shape, it can be picked by the fork 131. The long hole 139 is provided on the transmission rod 1311, and one end of the transmission rod 1311 away from the thread-picking portion 1312 is rotatably connected to the fork bracket 132 through a second pin shaft 138.

[0113] Preferably, the thread-picking portion 1312 is inclined on the transmission rod 1311, and the thread-picking portion 1312 is inclined away from the winding cutter 121 to facilitate the overall layout of the winding machine. In this embodiment, the transmission rod 1311 and the thread-picking portion 1312 are integrally formed.

[0114] Preferably, the linear driving mechanism includes a coupling block 135 and a driving mechanism. The guiding groove 1351 is provided on the coupling block 135, and the driving mechanism can drive the coupling block 135 to perform linear reciprocating motion.

[0115] Preferably, the driving mechanism is a shift fork cylinder 133. In this embodiment, the shift fork cylinder 133 is a threaded cylinder. The cylinder body of the shift fork cylinder 133 is fixed to the shift fork bracket 132 by threads, and the piston rod of the shift fork cylinder 133 is threadedly connected to the connecting block 135.

[0116] Preferably, the shift fork bracket 132 is provided with at least two bolt holes, and the shift fork bracket 132 is fixed to the mounting plate 8 by fixing bolts 136 provided in the bolt holes. The shift fork bracket 132 is prevented from rotating relative to the mounting plate 8 by positioning at two or more points, thus ensuring positioning accuracy.

[0117] Preferably, it also includes a flat washer 137, which is located between the head of the fixing bolt 136 and the shift fork bracket 132 to increase the contact area and reduce the pressure.

[0118] Preferably, both the first pin 134 and the second pin 138 are provided with retaining rings 1310. The retaining ring 1310 on the first pin 134 is used to prevent the first pin 134 from separating from the linear drive mechanism, and the retaining ring 1310 on the second pin 138 is used to prevent the second pin 138 from separating from the shift fork bracket 132. Under the drive of the thread winding knife 121, the sewing thread enters the first section 715a of the thread hole 715 through the thread pull groove 716 of the bobbin sleeve 71. At this time, the shift fork is extended and retracted by the cylinder 133, which drives the thread take-up part 1312 to swing through the transmission rod 1311. The thread take-up part 1312 picks up the sewing thread into the second section 715b.

[0119] Specifically, the robotic arm 4 includes: a robotic arm mounting frame 41, a rotating arm 42, a robotic arm linear drive assembly, a robotic arm rotary drive assembly, and a robotic gripper 9. The robotic arm mounting frame 41 is mounted on the front side of the mounting plate 8. The robotic arm linear drive assembly and the robotic arm rotary drive assembly are mounted via the robotic arm mounting frame 41 and the mounting plate 8. The robotic arm linear drive assembly drives the rotating arm 42 to move linearly along the rotation axis of the shuttle 7, while the robotic arm rotary drive assembly drives the rotating arm 42 to rotate. The robotic gripper 9 is mounted on the end of the rotating arm 42. The robotic arm rotation drive assembly drives the rotating arm 42 to rotate, so that the robotic gripper 9 is aligned with the shuttle 7 to be grasped; then the robotic arm linear drive assembly drives the rotating arm 42 to move along the rotation axis of the shuttle 7, so that the robotic gripper 9 approaches the shuttle 7 to be grasped, and then the robotic gripper 9 grasps the shuttle 7; the robotic arm linear drive assembly drives the rotating arm 42 to retract, and then the robotic arm rotation drive assembly drives the rotating arm 42 to rotate to the position to be placed, and then the robotic arm linear drive assembly drives the linear movement of the rotating arm 42 to cooperate with the robotic gripper 9 to complete the placement of the shuttle 7, and finally complete the handling of the shuttle 7.

[0120] Specifically, the robotic arm linear drive assembly adopts a synchronous belt structure, including a rotary arm linear drive synchronous belt mechanism 431 and a rotary arm linear drive motor 432. The rotary arm linear drive motor 432 drives the rotary arm linear drive synchronous belt mechanism 431 to rotate. The rotary arm linear drive motor 432 is mounted on the back side of the mounting plate 8. The driving wheel of the rotary arm linear drive synchronous belt mechanism 431 is connected to the rotary arm linear drive motor 432. The synchronous belt of the rotary arm linear drive synchronous belt mechanism 431 passes through the mounting plate 8 and then around the driven wheel of the rotary arm linear drive synchronous belt mechanism 431 mounted on the robotic arm fixture 41. The robotic arm rotary drive assembly adopts a ball spline structure. One end of the ball spline shaft is rotatably mounted on the robotic arm fixture 41, and the other end passes through the mounting plate 8 and is connected to the rotary arm rotary drive motor 441 mounted on the back side of the mounting plate 8. The shaft of the ball spline and the synchronous belt of the rotary arm linear drive synchronous belt mechanism 431 are arranged parallel and spaced apart. One end of the rotating arm 42 is fitted onto a ball spline flange sleeve 442. An axial drive sleeve 443 is also fitted onto the flange sleeve 442. The axial drive sleeve 443 and the flange of the flange sleeve 442 are fixedly connected by a set of fastening screws. The axial drive sleeve 443 and the flange sleeve 442 clamp the end of the rotating arm 42, and the fastening screws pass through the through hole at the end of the rotating arm 42. This allows the rotating arm 42 and the axial drive sleeve 443 to slide and rotate together with the flange sleeve 442. An axial connecting block 444 is rotatably provided on the outer side of the axial drive sleeve 443, and the axial connecting block 444 is fixedly connected to the synchronous belt of the linear drive synchronous belt mechanism 431 of the rotating arm. The synchronous belt of the linear drive synchronous belt mechanism 431 of the rotating arm drives the axial connecting block 444 to move, thereby driving the rotating arm 42, the axial transmission sleeve 443, and the flange sleeve 442 to move along the axis of the ball spline; the rotating arm rotation drive motor 441 drives the shaft of the ball spline to rotate, thereby driving the flange sleeve 442, the rotating arm 42, and the axial transmission sleeve 443 to rotate relative to the axial connecting block 444. The mechanical claw 9 is installed on the side of the other end of the rotating arm 42, and the mechanical claw 9 moves along the linear path of the rotating arm 42 to approach or move away from the shuttle 7.

[0121] Preferably, the system further includes a transmission module 6, which includes a first transmission component and a second transmission component disposed on the mounting plate 8. The first transmission component includes a first linear drive 611 and a first movable base plate 612. The first movable base plate 612 is provided with at least two shuttle holders 61 for storing shuttles 7. The first linear drive 611 can drive the first movable base plate 612 to move laterally back to center, so that the shuttle holders 61 can enter and exit the working range of the second transmission component and the working range of the robotic arm 4. The second transmission component includes a second linear drive 621 and a second movable base plate 622. The second movable base plate 622 is provided with a mechanical claw 9 for picking up and placing shuttles. The second linear drive 621 can drive the second movable base plate 622 to move longitudinally back to center, so that the mechanical claw 9 can pick up and place shuttles 7 on the sewing machine shuttle and pick up and place shuttles 7 on the shuttle holders 61. The transmission module 6 drives the second moving base plate 62 to move back and forth via the second linear drive 621 of the second transmission component, enabling the mechanical claw 9 to pick up and place the shuttle 7 on the sewing machine rotary shuttle and the shuttle 7 on the shuttle holder 61. The first linear drive 611 of the first transmission component drives the first moving base plate 612 to move back and forth, so that the position of the shuttle holder 61 is not fixed, but can reciprocate between the second transmission component and the robotic arm 4. This allows the actions of "the mechanical claw 9 on the second moving base plate 62 taking the empty shuttle from the rotary shuttle" and "the robotic arm 4 placing the shuttle with the sewing thread wound on it into the shuttle holder" to be performed simultaneously. It also allows the actions of "the mechanical claw 9 on the second moving base plate 62 taking the shuttle with the sewing thread wound on it from the shuttle holder 61 and placing the shuttle on the rotary shuttle" and "the shuttle holder carrying the empty shuttle into the working range of the robotic arm 4 and waiting for the robotic arm 4 to grab it" to be performed simultaneously, without having to be performed sequentially. This reduces the time for changing the shuttle 7 and improves the working efficiency of the sewing machine.

[0122] Preferably, the shuttle placement device 61 includes a positioning mandrel 613 and a positioning bracket 614 fixed on the first movable base plate 612. The positioning mandrel 613 has a mandrel groove 6131, and the positioning bracket 614 has a positioning opening 6141. The width of the positioning opening 6141 matches the positioning hook 7131 of the shuttle bottom plate 713 of the shuttle core sleeve 71. When the shuttle door cover 712 of the shuttle core sleeve 71 is not gripped by the mechanical claw 9, the shuttle bottom plate 713 engages with the mandrel groove 6131. ​​To ensure that the shuttle 7 is smoothly transferred between the various mechanisms of the winding machine, it is necessary to ensure that the angle of the shuttle 7 is consistent each time it is picked up and placed. The positioning mandrel 613 is inserted into the core hole 7191 of the shuttle 7 to constrain the position of the shuttle 7, and the positioning opening 6141 is used to place the positioning hook 7131 of the shuttle bottom plate to prevent the shuttle 7 from rotating. When the shuttle door cover 712 of the bobbin case 71 is gripped by the mechanical claw 9, the shuttle door cover 712 will open to its limit position, and the shuttle door bottom plate 713 will not pop out, thus preventing the shuttle door bottom plate 713 from locking the spindle groove 6131. ​​The shuttle door cover 712 and the shuttle door bottom plate 713 are linked. When the shuttle door cover 712 is gripped by the mechanical claw 9, it will open to its limit position, and the shuttle door bottom plate positioning hook 7131 of the shuttle door bottom plate 713 can lock the bobbin 72, ensuring that the bobbin 72 will not fall out. When the shuttle door cover 712 is flattened, the shuttle door bottom plate 713 can pop out to lock the spindle groove 6131, preventing the shuttle 7 from falling off the shuttle placer 61 during the transfer with the first moving base plate 612.

[0123] Preferably, the first linear drive 611 includes a first motor 6111, a first driving pulley 6112, and a first driven pulley 6113; the mounting plate 8 has an elongated hole extending laterally, the first motor 6111 is fixed to the mounting plate 8 by bolts in the elongated hole, making the tension of the first synchronous belt 6114 adjustable; the first driving pulley 6112 is disposed on the output shaft of the first motor 6111; the first driven pulley 6113 is rotatably connected to the mounting plate 8; the first driving pulley 6112 and the first driven pulley 6113 are connected by transmission through the first synchronous belt 6114; the first movable base plate 612 is fixed to the first synchronous belt 6114 by clamps; the second linear drive 621 includes a second motor. 6211, a second driving pulley, a second driven pulley, and a drive mounting base 6215; the drive mounting base 6215 is fixed to the mounting plate 8 by bolts, the second motor 6211 is fixed to the motor bracket by bolts, the motor bracket has an elongated hole extending longitudinally, the motor bracket is fixed to the drive mounting base 6215 by bolts in the elongated hole, so that the tension of the second synchronous belt 6214 is adjustable, the second driving pulley is set on the output shaft of the second motor 6211, the second driven pulley is rotatably connected to the drive mounting base 6215, the second driving pulley and the second driven pulley are connected by transmission through the second synchronous belt 6214, and the second movable base plate 622 is fixed to the second synchronous belt 6214 by clamping blocks.

[0124] Preferably, the first linear drive 611 further includes a first linear guide rail 6115 disposed on the mounting plate 8. The first linear guide rail 6115 is arranged laterally, and the first movable base plate 612 is mounted on the first linear guide rail 6115 by a slider. The first linear guide rail 6115 serves as a guide. The second linear drive 621 further includes a second linear guide rail 6216 disposed on the mounting plate 8. The second linear guide rail 6216 is arranged longitudinally, and the second movable base plate 622 is mounted on the second linear guide rail 6216 by a slider. The second linear guide rail 6215 serves as a guide.

[0125] Preferably, it also includes an extension frame 63, which extends longitudinally. The mechanical claw 9 is fixed on the second movable base plate 622 by the extension frame 63. By setting the extension frame 63, the requirements for the stroke of the second linear drive 621 are reduced, ensuring that the mechanical claw 9 can smoothly reach the rotary hook.

[0126] Preferably, it also includes a tensioning seat 6117 fixed on the mounting plate 8, the tensioning seat 6117 is provided with bolts, the bolts extend laterally; loosening the bolts fixing the first motor 6111 and tightening the bolts on the tensioning seat 6117 can push the first motor 6111 to move laterally, so that the tension of the first synchronous belt 611 can be finely adjusted.

[0127] Preferably, it also includes a limiting stop 6116 bolted to the mounting plate 8, the limiting stop 6116 being located at the end of the first linear guide 6115, for constraining the stroke of the first moving base plate 612.

[0128] Preferably, it also includes a proximity switch 6212 fixed on the drive mounting base 6215 and a sensing plate 6213 fixed on the second moving base plate 622. The proximity switch 6212 is located at the end of the second linear guide rail 6216. When the sensing plate 6213 triggers the proximity switch 6212, the second motor 6211 stops to avoid collision between the second moving base plate 622 and the second motor 6211.

[0129] Specifically, the blowing module 2 is located below the winding module 1, the blowing gun component 21 is located directly below the shuttle drive component of the winding module 1, the thread-attaching component 22 is located on the side of the blowing gun component 21 facing the upper winding module 3, the thread-taking fork 13 is located on the side of the shuttle drive component facing the upper winding module 3, and the transmission module 6 is located above the shuttle drive component. A buffer shuttle holder 61 is installed on the side of the shuttle drive component away from the upper winding module 3. The shuttle holder 61 is installed on the front side of the mounting plate 8, and a micro switch is set at the corresponding position on the mounting plate 8 to detect whether the shuttle holder 61 holds a shuttle 7.

[0130] Preferably, the mechanical gripper 9 includes: a linear drive device, a hook 92, and a hook seat 93. One end of the hook 92 is a hook head 921, and the other end of the hook 92 is rotatably connected to the hook seat 93. The linear drive device can drive the hook 92 to swing. The hook seat 93 has a cavity that allows the shuttle door cover plate 712 of the bobbin sleeve 71 to extend into. The cavity has a shuttle door cover plate support seat 94. The side of the shuttle door cover plate support seat 94 near the hook 92 has a cover plate support surface 941. A limiting piece 95 is installed at the top, the width of which matches the width of the through hole on the shuttle door cover plate 712. When the hook seat 93 abuts against the shuttle shell 711 of the shuttle core sleeve 71, the hook 92 swings, which causes the hook head 921 to push the shuttle door cover plate 712 and drive it to rotate. During the rotation of the shuttle door cover plate 712, the limiting piece 95 is inserted into the through hole of the shuttle door cover plate 712 for limiting. After limiting, the hook head 921 continues to swing until the shuttle door cover plate 712 rotates to be pressed against the cover plate support surface 941. When the hook seat 93 abuts against the bobbin case 711 of the bobbin sleeve 71, the hook 92 is driven to swing by the linear drive device so that the hook head 921 presses the bobbin case 712 against the cover plate support surface 941 to grasp the shuttle 7. By setting a limiting piece 95 that can be inserted into the through hole of the bobbin case 712, the shuttle 7 is prevented from rotating relative to the mechanical claw 9, ensuring that the shuttle 7 maintains the correct angle and does not deflect relative to the mechanical claw 9. This design ensures the positioning accuracy of the shuttle 7, so that it can be placed correctly and the shuttle 7 can be transmitted smoothly. When the shuttle cover plate 712 on the shuttle sleeve 71 rotates to its limit position (corresponding to when it is pressed against the cover plate support surface 941 in this embodiment), the shuttle sleeve 71 can hold the internal shuttle 72, so that the shuttle 72 can be transferred together with the shuttle sleeve 71. Since the shuttle 7 has different models, in actual production, the designer should design the shuttle cover plate support seat 94 and the limiting piece 95 according to different models to ensure that the shuttle cover plate 712 can rotate to its limit position.

[0131] Preferably, the hook seat 93 is provided with a positioning groove 931, the shape of which matches the top of the shuttle shell 711. This allows the hook seat 93 to more stably support the shuttle shell 711 when the shuttle door cover 712 is pressed against the cover support surface 941, ensuring that the mechanical claw 9 can stably transfer the shuttle 7. Preferably, it also includes a hook pin 96. The end of the hook 92 away from the hook head 921 is rotatably connected to the hook seat 93 via the hook pin 96. In this embodiment, a retaining spring is fitted on the hook pin 94 to prevent the hook 92, hook seat 93, and hook pin 94 from separating. Preferably, the end of the hook 92 away from the hook head 921 is provided with a connecting part 922, which is rotatably connected to the hook seat 93 via the hook pin 94. Preferably, the linear drive device is a hook cylinder 91. The cylinder body and hook seat 93 of the hook cylinder 91 are both fixed on the drive mechanism that drives the mechanical claw 9 to reciprocate between the shuttle placer 61 and the sewing machine shuttle (the drive mechanism is provided with a mechanical claw mounting plate, the cylinder body of the hook cylinder 91 is threadedly connected to the mechanical claw mounting plate, and the hook seat 93 is bolted to the mechanical claw mounting plate). The connecting part 922 is provided with a crank part 923 on the side near the hook cylinder 91. The piston rod of the hook cylinder 91 abuts against the crank part 923. The hook cylinder 91 can push the crank part 923 to rotate, and the crank part 923 converts the linear motion of the hook cylinder 91 into the swing of the hook 92.

[0132] Specifically, the cylinder body and hook seat 93 of the hook-type cylinder 91 of the mechanical claw on the second transmission component are both fixed on the extension frame 63. The extension frame 63 is provided with a mechanical claw mounting plate. The cylinder body of the hook-type cylinder 91 is threadedly connected to the mechanical claw mounting plate, and the hook seat 93 is bolted to the mechanical claw mounting plate.

[0133] Preferably, it also includes a reset torsion spring 97 sleeved on the hook pin 96. The two ends of the reset torsion spring 97 are fixedly connected to the hook 92 and the hook seat 93, respectively. When the hook is reset by the cylinder 91, the hook 92 is reset by the elastic force of the reset torsion spring 75 to avoid the hook 92 obstructing the reset of the shuttle door cover 712.

[0134] Preferably, the end of the limiting piece 95 near the hook 92 is rounded and tilted toward the side away from the shuttle door cover support 94, so as to ensure that the limiting piece 95 can be smoothly inserted into the through hole on the shuttle door cover 712. Preferably, the hook seat 93 is provided with an elongated hole extending along the length of the hook seat 93, and the shuttle door cover plate support 94 is fixed to the hook seat 93 by bolts in the elongated hole; in this embodiment, the hook seat 93 includes two side plates and a base plate disposed between the two side plates (the side plates and the base plate are connected by bolts), the side plates and the base plate form a cavity that allows the shuttle door cover plate 712 of the shuttle core sleeve 71 to extend into, and each side plate is provided with an elongated hole, the bolt is inserted from one side plate, passes through the shuttle door cover plate support 94 and extends out from the elongated hole of the other side plate, the extended bolt is fitted with a nut, and the shuttle door cover plate support 94 is fixed by tightening the nut, the bolt connection allows the shuttle door cover plate support 94 to be replaced according to the type of shuttle, and the elongated hole allows the position of the shuttle door cover plate support 94 to be adjusted.

[0135] Preferably, the limiting piece 95 has an elongated hole extending along its length. The limiting piece 95 is fixed to the shuttle door cover support 94 by bolts inside the elongated hole. The bolt connection allows the limiting piece 95 to be replaced according to the type of shuttle, and the elongated hole allows the position of the limiting piece 95 to be adjusted. Preferably, it also includes a photoelectric sensor 98 disposed on the hook seat 93. The photoelectric sensor 98 is used to detect whether the shuttle case 711 abuts against the hook seat 93. The photoelectric sensor 98 is connected to a controller. When the photoelectric sensor 98 detects that the shuttle case 711 abuts against the hook seat 93, the controller controls the hook cylinder 91 to actuate.

[0136] Preferably, it also includes a take-up module, which is located above the wire-tapping component 22 and on the side of the take-up fork 13 facing the upper wire module 3. The take-up module includes: a shuttle holder 61 for placing the shuttle 7, a pull-out component 52 for pulling out excess thread, and a take-up component 53 for collecting excess thread. The pull-out component 52 includes: a pull-out drive wheel 521, a pull-out drive driver 522, a pull-out driven wheel 523, and a pull-out driven driver 524. The pull-out driven driver 524 drives the pull-out driven wheel 523 to move along the line connecting the rotation centers of the pull-out driven wheel 523 and the pull-out drive wheel 521. The pull-out driven wheel 523 abuts against the pull-out drive wheel 521, thereby clamping the excess thread end of the shuttle 7. The pull-out drive driver 522 drives the pull-out drive wheel 521 to rotate, thereby causing the pull-out drive wheel 521 to drive the pull-out driven wheel 523 to rotate in opposite directions. The take-up component 53 collects the excess thread pulled out by the pull-out drive wheel 521 and the pull-out driven wheel 523. This application uses a pull-pull driven driver 524 to drive the pull-pull driven wheel 523 closer to the pull-pull driven wheel 521. After the pull-pull driven wheel 523 abuts against the pull-pull driven wheel 521, it clamps the excess thread that falls between the two. Then, the pull-pull driven driver 522 drives the pull-pull driven wheel 521 to rotate, which in turn drives the pull-pull driven wheel 523 to rotate in the opposite direction. The relative rotation of the pull-pull driven wheel 521 and the pull-pull driven wheel 523 pulls the excess thread, causing the bobbin 72 to rotate within the bobbin sleeve 71, thereby pulling out the excess thread. Furthermore, a take-up component 53 is provided to collect the pulled-out excess thread. Therefore, this application can realize the automatic removal and collection of excess thread on the shuttle 7, thereby improving production efficiency and reducing production costs.

[0137] Preferably, both the thread-pulling drive wheel 521 and the thread-pulling driven wheel 523 are gears. After the thread-pulling drive wheel 521 and the thread-pulling driven wheel 523 mesh, they clamp the thread end. The meshing and rotation of the teeth pulls the thread, causing the bobbin 72 to rotate and release the thread, thus achieving better thread pulling. Preferably, the thread-pulling driven actuator 524 is a cylinder, which has a simple operation process and high reliability. The thread-pulling driven actuator 524 drives the thread-pulling driven wheel 523 to move closer to and away from the thread-pulling drive wheel 521. When the thread-pulling driven actuator 524 drives the thread-pulling driven wheel 523 away from the thread-pulling drive wheel 521, a certain gap is left between the thread-pulling driven wheel 523 and the thread-pulling drive wheel 521, allowing the thread end to fall into it; then the thread-pulling driven actuator 524 drives the thread-pulling driven wheel 523 closer to the thread-pulling drive wheel 521 to mesh, thereby clamping the thread end, and then the thread-pulling drive actuator 522 drives the thread-pulling drive wheel 521 to rotate. First, the driven pull wheel 523 is driven by a cylinder to move linearly. Then, the active pull wheel 521 is driven to rotate by the active pull wheel driver 522. This ensures that the wire end is collected by the take-up component 53 after clamping and will not become entangled on the active pull wheel 521 during rotation. Furthermore, the linear motion of the driven pull wheel 523 prevents the teeth of the driven pull wheel 523 and the active pull wheel 521 from meshing and breaking during rotation, thus improving service life. Specifically, the active pull wheel driver 522 uses a stepper motor, which drives the active pull wheel 521 to rotate.

[0138] Preferably, the take-up component 53 and the shuttle holder 61 are respectively located on both sides of the line connecting the rotation centers of the driven pull wheel 523 and the driving pull wheel 521, so that after the shuttle 7 is positioned by the shuttle holder 61, its thread end can fall between the driven pull wheel 523 and the driving pull wheel 521, and the take-up component 53 can easily collect the thread end. The take-up component 53 includes a take-up tube 531 and a vacuum generator 532 for generating negative pressure in the take-up tube 531. The inlet end of the take-up tube 531 faces the driving pull wheel 521, and the outlet end of the take-up tube is connected to the vacuum generator 532. The vacuum generator 532 generates negative pressure in the take-up tube 531, and the thread end is sucked in from the inlet end of the take-up tube 531 to prevent the sewing thread from being pulled out and wrapped around the driving pull wheel 521.

[0139] Preferably, the side wall of the take-up tube 531 is provided with a take-up groove 5311 extending to the inlet end of the take-up tube, so as to prevent the long cable end from getting stuck on the side wall of the take-up tube 531 and hindering the suction of the cable end. Specifically, the take-up groove 5311 includes a beveled section at the inlet end of the take-up tube 531 and a long strip section along the take-up tube 531, so that the cable end can be reliably sucked into the take-up tube 531 under the action of suction. Specifically, the vacuum generator 532 includes: a vacuum generator inlet, a vacuum generator air inlet 5322, and a vacuum generator air outlet 5323. The vacuum generator air inlet 5322 of the vacuum generator 532 is connected to the vacuum generator air supply pipe. The vacuum generator air supply pipe takes in air through the vacuum generator air inlet 5322 and exits air through the vacuum generator air outlet 5323 to generate negative pressure. The take-up tube 531 is connected to the vacuum generator inlet at its outlet. After the thread end is drawn into the take-up tube 531, it enters the vacuum generator 532 through the inlet. The continuously pulled-out thread is discharged from the vacuum generator outlet 5323 along with the airflow within the vacuum generator. The vacuum generator outlet 5323 is connected to a take-up air tube to transport any excess thread to a collection box.

[0140] Preferably, the device further includes a blowing component 54 for blowing the thread end between the pull-up drive wheel 521 and the pull-up driven wheel 523. The blowing component 54 includes a blowing tube 541 for blowing air. When the pull-up driven wheel 523 is separated from the pull-up drive wheel 521, the vacuum generator outlet 5323 of the blowing tube 541 faces the space between the pull-up drive wheel 521 and the pull-up driven wheel 523. Blowing air through the blowing tube 541 guides the thread end, preventing the thread end from getting caught on the gear after the shuttle is placed in the shuttle holder 61. The blowing component 54 cooperates with the take-up component 53 to ensure that the thread end reliably falls between the pull-up drive wheel 521 and the pull-up driven wheel 523. Specifically, the blowing component 54 also includes a blowing tube mounting base, through which the blowing tube 541 is mounted. The air inlet of the blowpipe 541 is connected to the air supply pipe of the blowpipe, and the airflow flows out from the air outlet of the blowpipe and blows between the pull drive wheel 521 and the pull driven wheel 523.

[0141] Preferably, the shuttle holder 61, the wire pulling component 52, and the wire take-up component 53 are mounted on the mounting plate 8. The wire pulling drive wheel 521 and the wire pulling driven wheel 523 are located on the same side of the mounting plate 8, i.e., the front side of the mounting plate 8; the wire pulling drive driver 522 and the wire pulling driven driver 524 are mounted on the other side of the mounting plate 8, i.e., the back side of the mounting plate 8; the wire pulling component 52 also includes a first wire pulling shaft 525 and a second wire pulling shaft 526. The mounting plate 8 has a first elongated hole 81 along the line connecting the rotation centers of the wire pulling driven wheel 523 and the wire pulling drive wheel 521. One end of the first wire pulling shaft 525 is connected to the wire pulling drive driver 522, and the other end passes through the first elongated hole 81 and is coaxially fixedly connected to the wire pulling drive wheel 521. One end of the second wire pulling shaft 526 is connected to the wire pulling driven driver 524, and the other end passes through the first elongated hole 81 and is rotatably connected to the wire pulling driven wheel 523. This arrangement makes the structure on the guy wire side simpler, which is beneficial for structural layout, observation of the working process, and later maintenance.

[0142] Specifically, the pull-wire driven actuator 524 is fixed to the mounting plate 8 by a first set of mounting screws, the pull-wire driven actuator 522 is mounted on the pull-wire driven actuator mounting base by a second set of mounting screws, and the pull-wire driven actuator mounting base is fixed to the mounting plate 8 by a third set of mounting screws. The output end of the pull-wire driven actuator 522 passes through the clearance cavity of the pull-wire driven actuator mounting base and is connected to the first pull-wire shaft 525. The second pull-wire shaft 526 is threadedly connected to the push plate of the pull-wire driven actuator 524. The push plate of the pull-wire driven actuator 524 can enter the clearance cavity of the pull-wire driven actuator mounting base, allowing the first pull-wire shaft 525 and the second pull-wire shaft 526 to approach each other.

[0143] Preferably, the first elongated hole 81 is countersunk on the edge facing the pull-wire drive wheel 521. The end faces of the pull-wire drive wheel 521 and the pull-wire driven wheel 523 facing the pull-wire drive driver 522 are located between the mounting plate surface 83 on the side of the mounting plate 8 away from the pull-wire drive driver 522 and the first countersunk surface 82. If the gear faces directly towards the mounting plate surface 83, a gap will be generated between the end of the gear and the mounting plate surface 83, and the wire end can easily fall into the gap, which is not conducive to the wire end being sucked into the take-up tube 531. The structure of this application can avoid this problem and ensure the smooth collection of excess wire.

[0144] Preferably, the mounting plate 8 is vertically arranged, and the rotation axes of the pull wire drive wheel 521 and the pull wire driven wheel 523 are perpendicular to the mounting plate 8, which facilitates the wire end hanging down between the pull wire drive wheel 521 and the pull wire driven wheel 523 under the action of gravity. In this embodiment, the line connecting the rotation axes of the pull wire drive wheel 521 and the pull wire driven wheel 523 is horizontally arranged. The shuttle placement device 61 includes a positioning mandrel 613 and a positioning bracket 614 fixed on the mounting plate 83. The positioning mandrel 613 is provided with a mandrel groove 6131, and the positioning bracket 614 is provided with a positioning opening 6141. The width of the positioning opening 6141 matches the positioning hook 7131 of the shuttle bottom plate 713 of the shuttle core sleeve 71 of the shuttle 7. When the shuttle 7 is placed in the shuttle placement device 61, the shuttle bottom plate 713 is locked in the mandrel groove 6131, and the shuttle bottom plate positioning hook 7131 is located in the positioning opening 6141, thereby determining the center position and angular position of the shuttle 7 to ensure that the thread end is oriented between the pull drive wheel 521 and the pull driven wheel 523.

[0145] The working principle of the device in this application is as follows:

[0146] Thread winding process: The thread is fed into the upper thread module, with the thread end introduced into the blower gun. The blower gun blows the thread end out to a certain length, and the upper thread module clamps the thread. The blower gun rotates to the thread-beating component, and the tensioning fork rotates to adjust the length of the thread end extending from the blower gun, allowing the thread-beating component to beat the thread from the end until a section of thread is frayed. The tensioning fork rotates to retract the thread end into the blower gun, and the blower gun rotates to align with the positioning notch of the bobbin placed on the winding station tray; the winding spindle drives the bobbin to rotate, the upper thread module releases the thread, and the blower gun blows thread into the bobbin, thus winding the thread onto the winding shaft; and the upper thread module's counter calculates the length of the wound thread to meet the winding length requirements.

[0147] Lead-in steps: After the thread is wound, the upper thread module clamps the thread. Then, the winding knife rotates clockwise, and the thread first contacts the upper thread stop. The robotic arm pushes the shuttle along the axis, and the thread slides along the upper thread stop to contact the upper coarse positioning stop. Then, the winding knife continues to rotate clockwise under the drive of the winding knife rotary driver, and the thread contacts the bottom of the upper groove, completing the initial positioning of the thread. At this time, the robotic arm retracts along the axis, and the winding station plate returns to its original position under the action of the elastic force. The shuttle returns to its original position under the combined action of the robotic arm and the winding station plate. The thread slides along the bottom of the upper groove and contacts the upper positioning stop. At this time, the thread completes the precise positioning relative to the plane opening of the shuttle (the opening at the bottom of the shuttle case for inserting the bobbin). The winding knife continues to rotate clockwise, so that the thread is wound along the end face of the plane opening to the position of the corresponding pull groove. The robotic arm pushes the shuttle along the axis, so that the thread is introduced from the pull groove. The thread take-up fork moves, swinging to the position corresponding to the bottom of the upper groove; the winding knife reverses, guiding the thread along the bobbin to the first section, where the thread enters the take-up section; the thread take-up fork moves again, swinging to lift the thread, allowing it to move from the first section to the second section. The winding knife rotates forward, the upper positioning part pushes the thread out of the take-up section, and the winding knife makes the thread move aside; the thread take-up fork moves again, moving the take-up section aside to make room.

[0148] For the first type of shuttle, automatic thread winding and thread guide are now complete, and the thread cutting step can proceed. For the second type of shuttle, the thread also needs to be wound onto the thread guide spring. The thread winding knife reverses its direction, moving aside; the robotic arm pushes the shuttle axially, aligning the thread with the lower thread stop; then the thread winding knife rotates clockwise, contacting the lower thread stop; the robotic arm retracts axially, and the thread slides along the lower thread stop until it contacts the lower coarse positioning stop; the thread winding knife continues to rotate clockwise, and the thread slides to the bottom of the lower groove, completing the initial positioning of the thread. The robotic arm pushes the shuttle axially, and the thread slides along the bottom of the lower groove until it contacts the lower positioning stop, at which point the thread aligns with the gap between the thread guide spring and the top of the shuttle case. The thread winding knife continues to rotate forward, causing the thread to enter the gap position; the robotic arm continues to push the shuttle along the axis, and the thread contacts the thread guide spring; the robotic arm continues to push the shuttle along the axis, causing the thread to hook onto the thread guide spring and pass over the thread guide spring; the thread winding knife reverses and retracts, and the thread passes around the thread guide spring and is thus wound onto the thread guide spring.

[0149] Thread cutting step: The winding knife reverses its direction, the positioning area of ​​the winding knife disengages from the thread, and the cutting area of ​​the winding knife rotates to contact the thread; the thread enters the positioning port from the guide port through the guide groove, and the protrusion contacts the thread cutting block fixed on the winding machine as the winding knife rotates, cutting the thread by compression. Throughout the winding, guiding, and cutting steps, the tensioning fork rotary actuator constantly adjusts the rotation angle according to the thread tension, ensuring the thread is taut but not broken.

[0150] Handling Steps: The robotic arm moves along the axis, and the robotic gripper picks up the pre-wound shuttle and detaches it from the winding station tray. The robotic arm rotates and places the pre-wound shuttle into the buffer shuttle holder. When a shuttle change is needed, the robotic arm picks up the shuttle from the buffer shuttle holder and rotates it upwards. The robotic arm places the shuttle into a shuttle holder on the first moving base plate. The first moving base plate moves so that the shuttle to be wound on the other shuttle holder aligns with the robotic arm's gripper. The robotic arm removes the shuttle to be wound and sends it to the take-up module for retrieving excess thread. The first moving base plate moves and interacts with the second moving base plate. The robotic gripper on the second moving base plate places an empty shuttle into the empty shuttle holder on the first moving base plate. The robotic gripper on the second moving base plate then picks up a pre-wound shuttle from the other shuttle holder and removes it. The second moving base plate moves and transfers the pre-wound shuttle to the sewing machine's rotary hook.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic winding machine, characterized in that, include: The winding module (1), the blowing module (2), the loading module (3), and the robotic arm (4) are all included. The threading module (3) is used for threading, clamping and tightening the sewing thread; The robotic arm (4) is used to grab the shuttle (7) and send it to the winding module (1), and can drive the shuttle (7) to move along the rotation axis of the winding module (1); The blowing module (2) is used to blow the sewing thread into the thread shuttle (7) at the winding module (1); The thread winding module (1) includes: a thread shuttle driving component for driving the thread shuttle (7) to rotate, a thread winding knife (121), a thread winding knife driving component, a thread cutter for cutting the sewing thread, and a thread picking fork (13) for picking up the sewing thread; the thread shuttle driving component drives the thread shuttle (7) to rotate to wind the sewing thread blown by the thread blowing module (2), the robotic arm (4) and the thread shuttle driving component cooperate to drive the thread shuttle (7) to slide along the rotation axis to adjust the position of the thread shuttle (7), and the thread winding knife driving component drives the thread winding knife (121) to rotate around the thread shuttle (7).

2. The automatic wire winding machine according to claim 1, characterized in that, The shuttle drive component includes: a winding station disk (111) for cooperating with the bobbin (72), a winding spindle (112) with a first mounting cavity at one end facing the shuttle (7), a sliding assembly coaxially fixed with the winding spindle (112), a reset elastic element (115) installed in the first mounting cavity, and a winding spindle driver (116) for driving the winding spindle (112) to rotate; the sliding assembly includes a winding mandrel (114) and a winding sleeve (113), the winding mandrel (114) and the winding sleeve (113) are coaxially arranged and connected in profile, one end of the winding mandrel (114) passes through the first mounting cavity and is connected to the reset elastic element (115), and the other end passes through the winding sleeve (113) and is coaxially fixed to the winding station disk (111), the reset elastic element (115) has the tendency to prevent the winding mandrel (114) from sliding along the axis of rotation; The winding knife driving component includes a winding sleeve (128) coaxially arranged with the winding mandrel (114) and a winding knife rotation driver (122) that drives the winding sleeve (128) to rotate. The winding sleeve (128) drives the winding knife (121) to rotate.

3. The automatic wire winding machine according to claim 2, characterized in that, The winding station disk (111) includes: a winding connecting shaft section (1111), a carrier disk (1112), and a winding positioning rotating shaft (1113); one end of the winding connecting shaft section (1111) is fixedly connected to one end of the winding mandrel (114) that passes through the winding sleeve (113), and the other end is coaxially fixed to the carrier disk (1112); the winding connecting shaft section (1111) and the winding mandrel (114) are coaxially arranged; the winding positioning rotating shaft (1113) is coaxially fixed on the side of the carrier disk (1112) away from the winding connecting shaft section (1111); a protrusion (1114) that cooperates with the positioning round hole (721) of the bobbin (72) is fixed on the carrier disk (1112).

4. The automatic wire winding machine according to claim 1, characterized in that, The blow-out module (2) includes a blow-out gun component (21) for blowing out the sewing thread and a brushing component (22) for roughening the sewing thread ends blown out by the blow-out gun component (21); The blow-thread gun component (21) includes a blow-thread gun (211) that blows out the sewing thread and a blow-thread gun rotation driver (212) that drives the blow-thread gun (211) to rotate; The thread-attaching component (22) includes: a thread-attaching drive wheel (221), a thread-attaching drive driver (222), a thread-attaching driven wheel (223), and a thread-attaching driven driver (224); the blow-blow gun rotation driver (212) drives the blow-blow gun (211) to rotate until the outlet of the blow-blow gun (211) is aligned between the thread-attaching driven wheel (223) and the thread-attaching drive wheel (221), and the blow-blow gun (211) blows the thread end of the sewing thread into the space between the thread-attaching driven wheel (223) and the thread-attaching drive wheel (221); the thread-attaching driven driver (224) drives the thread-attaching driven wheel. (223) It reciprocates along the line connecting the rotation centers of the driven wheel (223) and the driving wheel (221). The driven wheel (223) and the driving wheel (221) continuously contact and separate. The driving driver (222) drives the driving wheel (221) to rotate. When the driven wheel (223) and the driving wheel (221) contact each other, the driving wheel (221) drives the driven wheel (223) to rotate in opposite directions, so that the driven wheel (223) and the driving wheel (221) knead the yarn ends.

5. The automatic wire winding machine according to claim 1, characterized in that, An adsorption element is wound on the bobbin (722) of the shuttle (7), and the adsorption element sticks to the end of the thread blown into the shuttle (7) by the blown thread module (2).

6. The automatic wire winding machine according to claim 1, characterized in that, The winding knife (121) has a positioning area (123) on one side and a cutting area (124) for cutting the suture on the other side. The positioning area (123) includes an upper positioning part (1231), a lower positioning part (1232), and a positioning protrusion (1233) located between the upper positioning part (1231) and the lower positioning part (1232); An upper groove is formed between the positioning protrusion (1233) and the upper positioning part (1231), and a lower groove is formed between the positioning protrusion (1233) and the lower positioning part (1232); The side of the upper positioning part (1231) away from the cutting area (124) is the upper line blocking edge (1234), and the side of the upper groove close to the positioning protrusion (1233) is the upper positioning edge (1235). The side of the lower positioning part (1232) away from the cutting area (124) is the lower line blocking edge (1236), and the side of the lower groove close to the positioning protrusion (1233) is the lower positioning edge (1237). The positioning protrusion (1233) has an upper coarse positioning stop (1238) on the side near the upper groove and a lower coarse positioning stop (1239) on the side near the lower groove.

7. The automatic wire winding machine according to claim 1, characterized in that, The line-picking fork (13) includes: a fork (131), a fork bracket (132), and a linear drive mechanism disposed on the fork bracket (132), wherein the linear drive mechanism is provided with a guide groove (1351); One end of the fork (131) is rotatably connected to the fork bracket (132), and the other end of the fork (131) is used for picking up the line. The fork (131) is connected to the linear drive mechanism and is located in the guide groove (1351). The linear reciprocating motion of the linear drive mechanism can drive the fork (131) to swing along the guide groove (1351).

8. The automatic wire winding machine according to claim 1, characterized in that, It also includes a take-up module, which includes a shuttle holder (61) for placing the shuttle (7), a puller (52) for pulling out excess wire, and a take-up component (53) for collecting excess wire. The wire pulling component (52) includes: a wire pulling drive wheel (521), a wire pulling drive driver (522), a wire pulling driven wheel (523), and a wire pulling driven driver (524); the wire pulling driven driver (524) drives the wire pulling driven wheel (523) to move along the line connecting the rotation centers of the wire pulling driven wheel (523) and the wire pulling drive wheel (521), the wire pulling driven wheel (523) abuts against the wire pulling drive wheel (521) to clamp the excess wire end of the shuttle (7), the wire pulling drive driver (522) drives the wire pulling drive wheel (521) to rotate, thereby causing the wire pulling drive wheel (521) to drive the wire pulling driven wheel (523) to rotate in opposite directions; the wire take-up component (53) collects the excess wire pulled out by the wire pulling drive wheel (521) and the wire pulling driven wheel (523).

9. The automatic wire winding machine according to claim 1, characterized in that, It also includes a transmission module (6), which includes: a first transmission component and a second transmission component disposed on the mounting plate (8); The first transmission component includes a first linear drive (611) and a first movable substrate (612), and the first movable substrate (612) is provided with at least two shuttle holders (61) for storing shuttles (7); The first linear drive (611) can drive the first moving substrate (612) to move laterally back and forth, so that the shuttle placer (61) enters and exits the working range of the second transmission component and the working range of the robotic arm (4); The second transmission component includes a second linear drive (621) and a second moving base plate (622), and the second moving base plate (622) is provided with a mechanical claw (9) for picking up and placing the shuttle; The second linear drive (621) can drive the second moving base plate (622) to move back and forth in the longitudinal direction, so that the mechanical claw (9) picks up and puts down the shuttle (7) on the sewing machine rotary shuttle and the shuttle (7) on the shuttle holder (61).

10. The automatic wire winding machine according to claim 9, characterized in that, The mechanical claw (9) includes: a linear drive device, a hook (92) and a hook seat (93). One end of the hook (92) is a hook head (921), and the other end of the hook (92) is rotatably connected to the hook seat (93). The linear drive device can drive the hook (92) to swing. The hook seat (93) has a cavity that allows the shuttle cover plate (712) of the bobbin sleeve (71) to extend into. The cavity has a shuttle cover plate support seat (94). The side of the shuttle cover plate support seat (94) near the hook (92) has a cover plate support surface (941). The top of the shuttle cover plate support seat (94) is equipped with a limiting piece (95). The width of the limiting piece (95) matches the width of the through hole on the shuttle cover plate (712). When the hook seat (93) abuts against the shuttle case (711) of the shuttle core sleeve (71), the hook (92) swings so that the hook head (921) can push the shuttle door cover (712) and drive it to rotate. During the rotation of the shuttle door cover (712), the limiting piece (95) is inserted into the through hole of the shuttle door cover (712) for limiting. After limiting, the hook head (921) continues to swing until the shuttle door cover (712) rotates to be pressed against the cover support surface (941).

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