Mechanical claw for grabbing thread shuttle
By designing a mechanical gripper that includes a linear drive device and a hook seat, the hook head moves the shuttle door cover and inserts a limiting piece, thus solving the problem of shuttle deflection, achieving precise positioning and stable transmission of the shuttle, and improving replacement efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- LIGONG TECHNOLOGY (DALIAN) CO LTD
- Filing Date
- 2025-04-28
- Publication Date
- 2026-04-28
AI Technical Summary
When existing robotic grippers grasp a shuttle, the shuttle tends to deflect relative to the gripper, affecting the placement accuracy and transmission efficiency of the shuttle.
A mechanical gripper was designed, comprising a linear drive device, a hook, and a hook base. The hook head moves the shuttle door cover and a limiting piece is inserted into the through hole for limiting, ensuring that the shuttle maintains the correct angle during the gripping process and preventing deflection.
It achieves precise positioning and stable transmission of the shuttle, improving the efficiency and accuracy of the shuttle replacement process.
Smart Images
Figure CN224173017U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of textile equipment technology, and in particular to a mechanical claw for gripping a shuttle. Background Technology
[0002] The thread length on a sewing machine bobbin is fixed. Therefore, the bobbin must be replaced after completing a predetermined sewing task. Previously, this replacement process had to be done manually by the operator, which was inefficient. To improve work efficiency, technicians developed an automatic bobbin-changing thread winder, aiming to replace the complex steps of manually changing the bobbin and winding the thread. The thread winder's bobbin feeding device may include a mechanical gripper, a bobbin holder for storing the bobbin, and a drive mechanism that drives the mechanical gripper to reciprocate between the bobbin holder and the sewing machine shuttle. To ensure smooth bobbin transfer between these mechanisms, the angle of the bobbin must remain consistent each time it is picked up and placed. Currently, during the gripping process, the bobbin tends to deflect relative to the mechanical gripper, which adversely affects the placement of the bobbin. Summary of the Invention
[0003] This invention provides a mechanical gripper for grasping a shuttle to overcome the above-mentioned problems.
[0004] To achieve the above objectives, the technical solution of this utility model is as follows:
[0005] A mechanical gripper for grasping a shuttle includes: a linear drive device, a hook, and a hook base. One end of the hook is a hook head, and the other end of the hook is rotatably connected to the hook base. The linear drive device is capable of driving the hook to swing.
[0006] The hook seat has a cavity that allows the shuttle door cover plate of the bobbin sleeve to extend into. The cavity has a shuttle door cover plate support seat. The side of the shuttle door cover plate support seat near the hook has a cover plate support surface. A limit piece is installed on the top of the shuttle door cover plate support seat. The width of the limit piece matches the width of the through hole on the shuttle door cover plate.
[0007] When the hook seat abuts against the shuttle case of the bobbin sleeve, the hook swings so that the hook head can move the shuttle door cover and drive it to rotate. During the rotation of the shuttle door cover, the limiting piece is inserted into the through hole of the shuttle door cover to limit it. After the limiting, the hook head continues to swing until the shuttle door cover rotates to be pressed against the cover support surface.
[0008] Furthermore, the hook seat is provided with a positioning groove, the shape of which matches the top of the shuttle case.
[0009] Furthermore, it also includes a hook pin, wherein the end of the hook away from the hook head is rotatably connected to the hook seat via the hook pin.
[0010] Furthermore, the end of the hook away from the hook head is provided with a connecting part, which is rotatably connected to the hook seat through a hook pin.
[0011] Furthermore, the linear drive device is a hook cylinder, the cylinder body of which is fixed on the winding machine, and a crank portion is provided on the side of the connecting part near the hook cylinder. The piston rod of the hook cylinder abuts against the crank portion, and the hook cylinder can drive the crank portion to rotate.
[0012] Furthermore, it also includes a return torsion spring sleeved on the hook pin, with the two ends of the return torsion spring connected to the hook and the hook seat, respectively.
[0013] Furthermore, the end of the limiting piece near the hook has a rounded corner and is inclined toward the side away from the shuttle door cover support.
[0014] Furthermore, the hook seat is provided with an elongated hole extending along the length of the hook seat, and the shuttle door cover support is fixed to the hook seat by bolts in the elongated hole.
[0015] Furthermore, the limiting piece is provided with an elongated hole extending along the length direction of the limiting piece, and the limiting piece is fixed to the sliding door cover support by bolts in the elongated hole.
[0016] Furthermore, it also includes a photoelectric sensor mounted on the hook seat, which is used to detect whether the shuttle case abuts against the hook seat.
[0017] Beneficial effects: The mechanical claw disclosed in this utility model for gripping a shuttle, when the hook seat abuts against the shuttle housing of the shuttle core sleeve, presses the shuttle door cover plate against the cover plate support surface through the hook head to achieve the gripping of the shuttle. By setting a limiting piece that can be inserted into the through hole of the shuttle door cover plate, the shuttle is prevented from rotating relative to the mechanical claw, ensuring that the shuttle maintains the correct angle and does not deflect relative to the mechanical claw. This design ensures the positioning accuracy of the shuttle, so that it can be correctly placed and ensures that the shuttle can be smoothly transmitted. Attached Figure Description
[0018] 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.
[0019] Figure 1 This is a schematic diagram of the structure of a mechanical claw for gripping a shuttle wire disclosed in this utility model;
[0020] Figure 2This is a rear view of a mechanical gripper for grasping a shuttle thread, as disclosed in this utility model.
[0021] Figure 3 This is a side view of a mechanical gripper for grasping a shuttle wire disclosed in this utility model;
[0022] Figure 4 for Figure 3 AA section view;
[0023] Figure 5 This is a schematic diagram of a mechanical claw for gripping a shuttle, as disclosed in this utility model.
[0024] Figure 6 This is a cross-sectional schematic diagram of a mechanical claw for gripping a shuttle disclosed in this utility model.
[0025] Figure 7 This is a schematic diagram of the structure of a shuttle disclosed in this utility model;
[0026] Figure 8 This is a schematic diagram of the bobbin sleeve of a shuttle equipped with a thread guide spring, as disclosed in this utility model.
[0027] In the picture:
[0028] 71. Shuttle core sleeve; 711. Shuttle case; 712. Shuttle door cover; 720. Thread guide spring.
[0029] 91. Cylinder for hook;
[0030] 92. Hook; 921. Hook head; 922. Connecting part; 923. Crank part;
[0031] 93. Hook seat; 931. Positioning groove;
[0032] 94. Shuttle door cover support seat; 941. Cover support surface;
[0033] 95. Limiting plate;
[0034] 96. Hook pin;
[0035] 97. Return torsion spring;
[0036] 98. Photoelectric sensor. Detailed Implementation
[0037] 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.
[0038] For ease of explanation, a brief introduction to the bobbin sleeve is given below. Figure 7 and Figure 8 Two types of bobbin cases 71 commonly used in shuttles are disclosed (one type of bobbin case 71 is not equipped with a thread guide spring 720 on the bobbin case 711, and the other type of bobbin case 711 is equipped with a thread guide spring 720), and the bobbin case 711 is provided with a shuttle door cover plate 712.
[0039] This application discloses a mechanical claw for gripping a bobbin, applicable to the above two types of bobbin sleeves 71, such as: C28-high-speed small oblique bobbin sleeve, C29-Sunstar 380 bobbin sleeve, C30-flat-speed bobbin sleeve, C32-large embroidery bobbin sleeve, C34-2010 bobbin sleeve, C40-3 times large bobbin sleeve, C07-761 buttonhole bobbin sleeve, C03-DY-speed bobbin sleeve, C04-246 bobbin sleeve, etc.
[0040] This embodiment provides a mechanical gripper for grasping a shuttle, such as... Figures 1 to 5 As shown, it 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.
[0041] 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. A limiting piece 95 is installed on the top of the shuttle cover plate support seat 94. The width of the limiting piece 95 matches the width of the through hole on the shuttle cover plate 712.
[0042] When the hook seat 93 abuts against the shuttle case 711 of the shuttle core sleeve 71, the hook 92 swings, which causes the hook head 921 to 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.
[0043] The rotation trajectory of the shuttle door cover 712 driven by the hook 92 is as follows Figure 6As shown, this embodiment discloses a mechanical gripper for grasping a shuttle. When the hook seat 93 abuts against the shuttle housing 711 of the shuttle core sleeve 71, the hook 92 is driven to swing by a linear drive device. The hook head 921 presses the shuttle door cover 712 onto the cover support surface 941 to grasp the shuttle. By setting a limiting piece 95 that can be inserted into the through hole of the shuttle door cover 712, the shuttle is prevented from rotating relative to the mechanical gripper, ensuring that the shuttle maintains the correct angle and does not deflect relative to the mechanical gripper. This design ensures the positioning accuracy of the shuttle, enabling it to be placed correctly and ensuring that the shuttle can be transmitted smoothly.
[0044] The shuttle includes a bobbin and a bobbin sleeve 71. When the shuttle door cover 712 on the bobbin sleeve 71 rotates to its limit position (corresponding to when it is pressed against the cover support surface 941 in this embodiment), the bobbin sleeve 71 can hold the internal bobbin, so that the bobbin can be transferred together with the bobbin sleeve 71. Since the shuttle models are different, in actual production, the designer should design the shuttle door cover support 94 and the limiting piece 95 according to different models to ensure that the shuttle door cover 712 can rotate to its limit position.
[0045] In a specific embodiment, such as Figure 4 As shown, the hook seat 93 is provided with a positioning groove 931. The shape of the positioning groove 931 matches the top of the shuttle shell 711, so that when the shuttle door cover 712 is pressed against the cover support surface 941, the hook seat 93 can support the shuttle shell 711 more stably, ensuring that the mechanical claw can transfer the shuttle stably.
[0046] In a specific embodiment, such as Figure 2 As shown, 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 94. In this embodiment, a retaining ring is sleeved on the hook pin 94 to prevent the hook 92, hook seat 93 and hook pin 94 from separating.
[0047] In a specific embodiment, such as Figure 3 As shown, the end of the hook 92 away from the hook head 921 is provided with a connecting part 922, and the connecting part 922 is rotatably connected to the hook seat 93 through the hook pin 94.
[0048] In a specific embodiment, such as Figures 1 to 5As shown, 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 to reciprocate between the shuttle holder 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, and the hook cylinder 91 can push the crank part 923 to rotate. The crank part 923 converts the linear motion of the hook cylinder 91 into the swing of the hook 92.
[0049] In a specific embodiment, such as Figure 3 As shown, 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.
[0050] In a specific embodiment, such as Figure 4 As shown, the end of the limiting piece 95 near the hook 92 has a rounded corner and is tilted toward the side away from the shuttle door cover support 94, to ensure that the limiting piece 95 can be smoothly inserted into the through hole on the shuttle door cover 712.
[0051] In a specific embodiment, such as Figure 1 As shown, the hook seat 93 is provided with an elongated hole extending along the length direction 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;
[0052] 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 bobbin sleeve 71 to extend into. 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 seat 94, and extends out from the elongated hole of the other side plate. A nut is fitted on the extended bolt. The shuttle door cover plate support seat 94 is fixed by tightening the nut. The bolt connection allows the shuttle door cover plate support seat 94 to be replaced according to the type of shuttle. The elongated hole allows the position of the shuttle door cover plate support seat 94 to be adjusted.
[0053] In a specific embodiment, the limiting piece 95 is provided with an elongated hole extending along the length direction of the limiting piece 95, such as... Figure 4 As shown, the limiting piece 95 is fixed to the shuttle door cover plate support 94 by bolts in the elongated hole. The bolt connection allows the limiting piece 95 to be replaced according to the shuttle type, and the elongated hole allows the position of the limiting piece 95 to be adjusted.
[0054] In a specific embodiment, such as Figure 2 As shown, 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 the controller. When the photoelectric sensor 98 detects that the shuttle case 711 abuts against the hook seat 93, the controller can control the hook cylinder 91 to move.
[0055] 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 the 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. A mechanical gripper for grasping a thread shuttle, characterized in that, include: A linear drive device, a hook (92) and a hook seat (93), wherein 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), and the linear drive device is capable of driving the hook (92) to swing; The hook seat (93) has a cavity that allows the shuttle cover plate of the bobbin sleeve 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. When the hook seat (93) abuts against the shuttle housing of the bobbin case, the hook (92) swings so that the hook head (921) can push the shuttle door cover plate and drive it to rotate. During the rotation of the shuttle door cover plate, the limiting piece (95) is inserted into the through hole of the shuttle door cover plate to limit it. After the limiting, the hook head (921) continues to swing until the shuttle door cover plate rotates to be pressed against the cover plate support surface (941).
2. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, The hook seat (93) is provided with a positioning groove (931), the shape of which matches the top of the shuttle shell.
3. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, It also includes a hook pin (96), and the end of the hook (92) away from the hook head (921) is rotatably connected to the hook seat (93) through the hook pin (96).
4. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, The hook (92) has a connecting part (922) at one end away from the hook head (921), and the connecting part (922) is rotatably connected to the hook seat (93) through the hook pin (96).
5. A mechanical gripper for grasping a thread shuttle according to claim 4, characterized in that, The linear drive device is a hook cylinder (91). The cylinder body of the hook cylinder (91) is fixed on the winding machine. 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 drive the crank part (923) to rotate.
6. A mechanical gripper for grasping a thread shuttle according to claim 3, characterized in that, It also includes a return torsion spring (97) sleeved on the hook pin (96), the two ends of which are connected to the hook (92) and the hook seat (93) respectively.
7. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, The limiting piece (95) has a rounded corner at one end near the hook (92) and is inclined toward the side away from the shuttle door cover support (94).
8. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, The hook seat (93) is provided with an elongated hole extending along the length of the hook seat (93), and the shuttle door cover support seat (94) is fixed to the hook seat (93) by bolts in the elongated hole.
9. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, The limiting piece (95) is provided with an elongated hole extending along the length direction of the limiting piece (95), and the limiting piece (95) is fixed to the sliding door cover support (94) by bolts in the elongated hole.
10. A mechanical gripper for grasping a thread shuttle according to claim 1, characterized in that, It also includes a photoelectric sensor (98) disposed on the hook seat (93), the photoelectric sensor (98) being used to detect whether the shuttle case abuts against the hook seat (93).