A shuttle conveying device

Abstract

The utility model discloses a kind of thread shuttle conveying devices, comprising: the first transmission component and second transmission component of installation plate of thread winding machine are set;The first transmission component includes first linear drive and first mobile base plate, and at least two thread shuttle holders for storing thread shuttle are equipped on the first mobile base plate;The first linear drive can drive the first mobile base plate to reciprocate displacement along transverse, make the thread shuttle holder into and out the working range of second transmission component and into and out the working range of mechanical arm of thread winding machine;The second transmission component includes second linear drive and second mobile base plate, and mechanical claw for taking and placing thread shuttle is equipped on the second mobile base plate;The second linear drive can drive the second mobile base plate to reciprocate displacement along longitudinal, make the mechanical claw take and place thread shuttle on sewing machine rotary shuttle and take and place thread shuttle on thread shuttle holder.Employment of the utility model can improve thread shuttle transfer speed.

Description

Technical Field

[0001] This utility model relates to the field of textile equipment technology, and in particular to a shuttle conveying device. Background Technology

[0002] The thread length on a sewing machine bobbin is fixed. Therefore, the bobbin must be replaced after completing a set length of sewing. Previously, this replacement process had to be done manually by the operator, which was inefficient. To improve work efficiency, technicians developed a thread winding machine to replace the complex steps of manually changing the bobbin and winding the thread. Most thread winding machines on the market today are equipped with a robotic arm for winding the thread and transferring the bobbin. The replacement of the bobbin on the sewing machine's rotary hook is achieved through the robotic arm in conjunction with a bobbin transfer device. The existing bobbin replacement process is relatively time-consuming, which to some extent affects the working efficiency of the sewing machine. Summary of the Invention

[0003] This invention provides a shuttle conveying device to improve the shuttle transfer speed.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A shuttle conveying device includes: a first transmission component and a second transmission component disposed on a mounting plate of a winding machine;

[0006] The first transmission component includes a first linear drive and a first movable base plate, wherein the first movable base plate is provided with at least two shuttle holders for storing shuttles;

[0007] The first linear drive can drive the first moving substrate to move laterally back and forth, so that the shuttle placer enters and exits the working range of the second transmission component and the working range of the mechanical arm of the winding machine;

[0008] The second transmission component includes a second linear drive and a second moving base plate, wherein the second moving base plate is provided with a mechanical gripper for picking up and placing the shuttle.

[0009] The second linear drive can drive the second moving base plate to move back and forth longitudinally, so that the mechanical claw can pick up and place the shuttle on the sewing machine rotary shuttle and the shuttle pick-up and place-down device.

[0010] Furthermore, the shuttle placement device includes a positioning mandrel and a positioning bracket fixed on the first movable base plate. The positioning mandrel is provided with a mandrel groove, and the positioning bracket is provided with a positioning opening. The width of the positioning opening matches the positioning hook of the shuttle core sleeve's bottom plate.

[0011] When the shuttle door cover of the shuttle core sleeve is not gripped by the mechanical claw, the bottom plate of the shuttle door engages with the spindle groove.

[0012] When the shuttle door cover of the shuttle core sleeve is gripped by the mechanical claw, the shuttle door cover will open to the limit position, and the bottom plate of the shuttle door will no longer lock the spindle groove.

[0013] Furthermore, the first linear drive includes a first motor, a first driving pulley, and a first driven pulley;

[0014] The mounting plate is provided with an elongated hole extending laterally. The first motor is fixed to the mounting plate by bolts in the elongated hole. The first driving pulley is disposed on the output shaft of the first motor. The first driven pulley is rotatably connected to the mounting plate. The first driving pulley and the first driven pulley are connected by a first synchronous belt. The first movable base plate is fixed on the first synchronous belt by a clamping block.

[0015] Furthermore, the second linear drive includes a second motor, a second driving pulley, a second driven pulley, and a drive mounting base;

[0016] The drive mounting base is vertically mounted on the mounting plate. The second motor is fixed on the motor bracket. The motor bracket has an elongated hole extending longitudinally. The motor bracket is fixed to the drive mounting base by bolts in the elongated hole. The second drive pulley is mounted on the output shaft of the second motor. The second driven pulley is rotatably connected to the drive mounting base. The second drive pulley and the second driven pulley are connected by a second synchronous belt. The second movable base plate is fixed on the second synchronous belt by a clamping block.

[0017] Furthermore, the first linear drive also includes a first linear guide rail disposed on the mounting plate, the first linear guide rail being disposed laterally, and the first movable base plate being mounted on the first linear guide rail by a slider.

[0018] Furthermore, the second linear drive also includes a second linear guide rail disposed on the mounting plate, the second linear guide rail being disposed longitudinally, and the second movable base plate being mounted on the second linear guide rail by a slider.

[0019] Furthermore, it also includes an extension frame that extends longitudinally, and the mechanical gripper is fixed to the second movable base plate via the extension frame.

[0020] Furthermore, it also includes a tensioning seat fixed to the mounting plate, the tensioning seat being provided with bolts;

[0021] Tightening the bolts on the tensioning seat can push the first motor to move laterally.

[0022] Furthermore, it also includes a limiting stop set on the mounting plate, the limiting stop being located at the end of the first linear guide rail.

[0023] Furthermore, it also includes a proximity switch disposed on the drive mounting base and a sensing plate disposed on the second movable substrate, wherein the proximity switch is located at the end of the second linear guide rail;

[0024] When the sensor triggers the proximity switch, the second motor stops.

[0025] Beneficial effects: The bobbin thread conveying device provided by this utility model uses a second linear drive of the second transmission component to move the second moving base plate back and forth, enabling the mechanical claw to pick up and place bobbins on the sewing machine rotary hook and on the bobbin thread holder. The first linear drive of the first transmission component moves the first moving base plate back and forth, allowing the bobbin thread holder to move back and forth between the second transmission component and the robotic arm, thus enabling the simultaneous actions of "the mechanical claw on the second moving base plate removing an empty bobbin thread from the rotary hook" and "the robotic arm placing a bobbin threaded with sewing thread into the bobbin thread holder." Furthermore, the simultaneous actions of "the mechanical claw on the second moving base plate removing a bobbin threaded with sewing thread from the bobbin thread holder and placing a bobbin thread onto the rotary hook" and "the bobbin thread holder carrying an empty bobbin thread into the working range of the robotic arm to await grabbing" can also be performed simultaneously, without needing to be performed sequentially. This reduces the time required to change bobbins and improves the working efficiency of the sewing machine. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is a schematic diagram of the structure of a shuttle conveying device disclosed in this utility model. Figure 1 ;

[0028] Figure 2 for Figure 1 Enlarged view of point B;

[0029] Figure 3 This is a schematic diagram of the structure of a shuttle conveying device disclosed in this utility model. Figure 2 ;

[0030] Figure 4 This is a front view of a shuttle conveying device disclosed in this utility model;

[0031] Figure 5 for Figure 4 Enlarged view of point C;

[0032] Figure 6This is a schematic diagram of the structure of a shuttle carrier for storing shuttles, as disclosed in this utility model.

[0033] Figure 7 This is a schematic diagram of the structure of a shuttle conveying device disclosed in this utility model, installed on a winding machine;

[0034] Figure 8 This is a schematic diagram of the structure of a mechanical claw for gripping a shuttle wire disclosed in this utility model;

[0035] Figure 9 This is a rear view of a mechanical gripper for grasping a shuttle thread, as disclosed in this utility model.

[0036] Figure 10 This is a side view of a mechanical gripper for grasping a shuttle wire disclosed in this utility model;

[0037] Figure 11 for Figure 10 AA section view;

[0038] Figure 12 This is a schematic diagram of a mechanical claw for gripping a shuttle, as disclosed in this utility model.

[0039] Figure 13 This is a cross-sectional schematic diagram of a mechanical claw for gripping a shuttle disclosed in this utility model.

[0040] Figure 14 This is a schematic diagram of the structure of a shuttle disclosed in this utility model;

[0041] Figure 15 This is a schematic diagram of the bobbin sleeve of a shuttle equipped with a thread guide spring, as disclosed in this utility model.

[0042] In the picture:

[0043] 4. Robotic arm;

[0044] 611. First linear drive; 6111. First motor; 6112. First driving pulley; 6113. First driven pulley; 6114. First synchronous belt; 6115. First linear guide; 6116. Limit stop; 6117. Tensioner seat;

[0045] 612. First movable substrate;

[0046] 613, Positioning mandrel; 6131, Mandrel groove;

[0047] 614. Positioning bracket; 6141. Positioning opening;

[0048] 621. Second linear drive; 6211. Second motor; 6212. Proximity switch; 6213. Sensing plate; 6214. Second synchronous belt; 6215. Drive mounting base; 6216. Second linear guide rail;

[0049] 622. Second movable substrate;

[0050] 63. Extended frame;

[0051] 7. Shuttle; 71. Shuttle core sleeve; 711. Shuttle case; 712. Shuttle door cover; 713. Shuttle door bottom plate; 7131. Shuttle door bottom plate positioning hook; 7191. Core hole; 720. Thread guide spring; 72. Shuttle core;

[0052] 8. Mounting plate;

[0053] 9. Mechanical gripper;

[0054] 91. Cylinder for hook;

[0055] 92. Hook; 921. Hook head; 922. Connecting part; 923. Crank part;

[0056] 93. Hook seat; 931. Positioning groove;

[0057] 94. Shuttle door cover support seat; 941. Cover support surface;

[0058] 95. Limiting plate;

[0059] 96. Hook pin;

[0060] 97. Return torsion spring;

[0061] 98. Photoelectric sensor. Detailed Implementation

[0062] 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.

[0063] Example 1

[0064] For ease of explanation, a brief introduction to the bobbin sleeve is given below. Figure 14 and Figure 15Two types of bobbin cases 71 commonly used in shuttles are disclosed (one type of bobbin case 711 is not equipped with a thread guide spring 720, and the other type of bobbin case 711 is equipped with a thread guide spring 720). The bobbin case 711 is provided with a shuttle door cover plate 712 and a shuttle door bottom plate 713.

[0065] This embodiment provides a shuttle conveying device, such as... Figure 1 As shown, it includes: a first transmission component and a second transmission component disposed on the mounting plate 8 of the winding machine;

[0066] like Figure 7 As shown, the first transmission component includes a first linear drive 611 and a first moving base plate 612, and the first moving base plate 612 is provided with at least two shuttle holders for storing shuttles 7.

[0067] The first linear drive 611 can drive the first moving substrate 612 to move laterally back and forth, so that the shuttle placer enters and exits the working range of the second transmission component and the working range of the mechanical arm 4 of the winding machine.

[0068] The second transmission component includes a second linear drive 621 and a second moving base plate 622, wherein the second moving base plate 622 is provided with a mechanical claw 9 for picking up and placing the shuttle 7;

[0069] The second linear drive 621 can drive the second moving base plate 622 to move back and forth longitudinally, so that the mechanical claw 9 can pick up and place the shuttle 7 on the sewing machine shuttle and the shuttle 7 on the shuttle holder.

[0070] This embodiment provides a shuttle conveying device. The second linear drive 621 of the second transmission component drives the second moving base plate 62 to move back and forth, enabling the mechanical claw 9 to pick up and place the shuttle 7 on the sewing machine's rotary shuttle and the shuttle 7 holder. The first linear drive 611 of the first transmission component drives the first moving base plate 612 to move back and forth, allowing the shuttle holder to reciprocate between the second transmission component and the robotic arm 4, rather than being fixed in position. This allows the actions of "the mechanical claw 9 on the second moving base plate 62 removing an empty shuttle from the rotary shuttle" and "the robotic arm 4 placing a shuttle with thread wound onto the shuttle holder" to be performed simultaneously. Furthermore, the actions of "the mechanical claw 9 on the second moving base plate 62 removing a shuttle with thread wound onto the shuttle holder and then placing a shuttle onto the rotary shuttle" and "the shuttle holder carrying an empty shuttle into the working range of the robotic arm 4 and waiting for the robotic arm 4 to pick it up" can also be performed simultaneously, without needing to be performed sequentially. This reduces the time required to change the shuttle and improves the working efficiency of the sewing machine.

[0071] In this embodiment, the first movable base plate 612 is provided with two shuttle holders for storing shuttles 7. When the shuttle 7 on the rotary shuttle needs to be replaced, the second linear drive 621 drives the second movable base plate 62 to approach the rotary shuttle, so that the mechanical claw 9 can grab the empty shuttle on the rotary shuttle. At the same time, the first linear drive 611 drives the first movable base plate 612 into the working range of the robotic arm 4, so that the robotic arm 4 can place a shuttle with sewing thread wrapped on one of the shuttle holders. The first linear drive 611 drives the first movable base plate 612 to move, so that the robotic arm 4 can take away the empty shuttle placed on the other shuttle holder, so that there is no shuttle on one of the shuttle holders on the first movable base plate 612.

[0072] The second linear drive 621 drives the mechanical claw 9 that grabs the empty shuttle back to its initial position. The first linear drive 611 drives the shuttle placer into the working range of the second transmission component. The mechanical claw 9 on the second moving base plate 62 places the empty shuttle onto the shuttle placer that currently has no shuttle. Then, the first linear drive 611 drives the first moving base plate 612 to move, so that the mechanical claw 9 on the second moving base plate 62 can grab the shuttle with the sewing thread wrapped on another shuttle placer. Then, the first linear drive 611 drives the first moving base plate 612 out of the working range of the second transmission component. The mechanical claw 9 on the second moving base plate 62 conveys the shuttle with the sewing thread wrapped to the sewing machine shuttle.

[0073] In a specific embodiment, such as Figure 2 As shown, the shuttle placement device includes a positioning mandrel 613 and a positioning bracket 614 fixed on the first movable base plate 612. 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 door bottom plate 713 of the shuttle core sleeve 71 of the shuttle 7.

[0074] 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 kept consistent each time it is picked up and put down. The positioning mandrel 613 is inserted into the core hole 7191 of the shuttle 7 to constrain the position of the shuttle 7. The positioning opening 6141 is used to place the positioning hook 7131 of the shuttle door bottom plate to prevent the shuttle 7 from rotating.

[0075] When the shuttle door cover plate 712 of the shuttle core sleeve 71 is not gripped by the mechanical claw 9, the shuttle door bottom plate 713 is in the pop-out state and the shuttle door bottom plate 713 locks the spindle groove 6131.

[0076] When the shuttle door cover 712 of the shuttle core sleeve 71 is gripped by the mechanical claw 9, the shuttle door cover 712 will open to the limit position, the shuttle door bottom plate 713 cannot pop out, and thus the shuttle door bottom plate 713 will no longer lock the spindle groove 6131.

[0077] The structure of the positioning mandrel 613 disclosed in this embodiment is the same as that of the positioning mandrel used for positioning the shuttle on the sewing machine rotary hook. The shuttle door cover plate 712 is linked with the shuttle door bottom plate 713. When the shuttle door cover plate 712 is gripped by the mechanical claw 9, it will open to the limit position. The shuttle door bottom plate positioning hook 7131 of the shuttle door bottom plate 713 can hold the bobbin 72 to ensure that the bobbin 72 will not fall out. When the shuttle door cover plate 712 is flattened, the shuttle door bottom plate 713 can pop out to hold the mandrel groove 6131 to prevent the shuttle from falling off the shuttle holder during the transfer with the first moving base plate 612.

[0078] In a specific embodiment, such as Figure 3 , Figure 4 as well as Figure 6 and Figure 7 As shown, the first linear drive 611 includes a first motor 6111, a first driving pulley 6112, and a first driven pulley 6113;

[0079] The mounting plate 8 is provided with an elongated hole extending laterally. The first motor 6111 is fixed to the mounting plate 8 by bolts in the elongated hole, so that the tension of the first synchronous belt 6114 is adjustable. The first driving pulley 6112 is set 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 on the first synchronous belt 6114 by a clamping block.

[0080] The second linear drive 621 includes a second motor 6211, a second driving pulley, a second driven pulley, and a drive mounting base 6215;

[0081] The drive mounting base 6215 is fixed to the mounting plate 8 by bolts, and 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, and 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. The second moving base plate 622 is fixed to the second synchronous belt 6214 by clamping blocks.

[0082] In a specific embodiment, such as Figure 6As shown, the first linear drive 611 also includes a first linear guide rail 6115 disposed on the mounting plate 8. The first linear guide rail 6115 is disposed in the horizontal direction. The first movable base plate 612 is mounted on the first linear guide rail 6115 by a slider. The first linear guide rail 6115 plays a guiding role.

[0083] The second linear drive 621 also includes a second linear guide rail 6216 disposed on the mounting plate 8. The second linear guide rail 6216 is disposed longitudinally. 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.

[0084] In a specific embodiment, such as Figure 3 As shown, 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.

[0085] In a specific embodiment, such as Figure 3 As shown, it also includes a tensioning seat 6117 fixed on the mounting plate 8, the tensioning seat 6117 being provided with bolts that extend laterally;

[0086] Loosening the bolts securing the first motor 6111 and tightening the bolts on the tensioning seat 6117 can push the first motor 6111 to move laterally, allowing the tension of the first synchronous belt 611 to be finely adjusted.

[0087] In a specific embodiment, such as Figure 4 As shown, it also includes a limiting stop 6116 bolted to the mounting plate 8. The limiting stop 6116 is located at the end of the first linear guide 6115 and is used to constrain the stroke of the first moving base plate 612.

[0088] In a specific embodiment, such as Figure 5 As shown, it also includes a proximity switch 6212 fixed on the drive mounting base 6215 and a sensing plate 6213 fixed on the second movable base plate 622. The proximity switch 6212 is located at the end of the second linear guide rail 6216.

[0089] When the sensing element 6213 triggers the proximity switch 6212, the second motor 6211 stops to prevent the second moving substrate 622 from colliding with the second motor 6211.

[0090] Example 2

[0091] This embodiment provides a shuttle conveying device. The main structure of this embodiment is the same as that of Embodiment 1. The differences between this embodiment and Embodiment 1 are as follows:

[0092] This embodiment discloses a specific structure of a mechanical gripper, suitable for applications such as... Figure 14 and Figure 15 The two types of bobbin cases 71 commonly used in thread shuttles are shown (one type of bobbin case 711 is not equipped with a thread guide spring 720, and the other type of bobbin case 711 is equipped with a thread guide spring 720), such as: C28-high-speed small oblique bobbin case, C29-Sunstar 380 bobbin case, C30-flat-speed bobbin case, C32-large embroidery bobbin case, C34-2010 bobbin case, C40-3 times large bobbin case, C07-761 buttonhole bobbin case, C03-DY-speed bobbin case, C04-246 bobbin case, etc.

[0093] like Figures 8 to 12 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.

[0094] 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.

[0095] 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.

[0096] The rotation trajectory of the shuttle door cover 712 driven by the hook 92 is as follows Figure 13 As shown, the mechanical gripper disclosed in this embodiment, when the hook seat 93 abuts against the shuttle shell 711 of the shuttle core sleeve 71, drives the hook 92 to swing through a linear drive device, so as to press the shuttle door cover 712 onto the cover support surface 941 through the hook head 921 to achieve the gripping of 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, so that it can be correctly placed and ensures that the shuttle can be smoothly transmitted.

[0097] 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.

[0098] In a specific embodiment, such as Figure 11 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.

[0099] In a specific embodiment, such as Figure 9 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.

[0100] In a specific embodiment, such as Figure 10 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.

[0101] In a specific embodiment, such as Figures 8 to 12 As shown, the linear drive device is a hook cylinder 91. The cylinder body and hook seat 93 of the hook cylinder 91 of the mechanical claw of 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 cylinder 91 is threadedly connected to the mechanical claw mounting plate. The hook seat 93 is connected to the mechanical claw mounting plate by bolts. 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. The crank part 923 converts the linear motion of the hook cylinder 91 into the swing of the hook 92.

[0102] In this embodiment, Figure 7 The robotic arm 4 shown can also be equipped with a robotic claw 9 of this type to pick up and put away the shuttle. The cylinder body of the hook cylinder 91 is connected to the end of the robotic arm by a thread, and the hook seat 93 is connected to the end of the robotic arm by a bolt.

[0103] In a specific embodiment, such as Figure 10As 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.

[0104] In a specific embodiment, such as Figure 11 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.

[0105] In a specific embodiment, such as Figure 8 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;

[0106] 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.

[0107] 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 11 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.

[0108] In a specific embodiment, such as Figure 9 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.

[0109] 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 shuttle conveying device, characterized in that, include: A first transmission component and a second transmission component are mounted on the mounting plate (8) of the winding machine; 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 for storing shuttles; The first linear drive (611) can drive the first moving substrate (612) to move laterally back and forth, so that the shuttle placer enters and exits the working range of the second transmission component and the working range of the mechanical arm of the winding machine; 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 longitudinally, so that the mechanical claw (9) picks up and puts up the shuttle on the sewing machine rotary shuttle and the shuttle pick-up and put-up holder.

2. The shuttle conveying device according to claim 1, characterized in that, The shuttle placement device includes a positioning mandrel (613) and a positioning bracket (614) fixed on a first movable base plate (612). 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 door cover plate (712) of the shuttle sleeve (71) is not gripped by the mechanical claw (9), the shuttle door bottom plate (713) engages with the spindle groove (6131). When the shuttle door cover (712) of the shuttle sleeve (71) is gripped by the mechanical claw (9), the shuttle door cover (712) will open to the limit position, and the shuttle bottom plate (713) will no longer lock the spindle groove (6131).

3. The shuttle conveying device according to claim 1, characterized in that, 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) is provided with an elongated hole extending laterally. The first motor (6111) is fixed to the mounting plate (8) by bolts in the elongated hole. The first driving pulley (6112) is set 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 a first synchronous belt (6114). The first movable base plate (612) is fixed on the first synchronous belt (6114) by a clamping block.

4. The shuttle conveying device according to claim 1, characterized in that, 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 vertically mounted on the mounting plate (8). The second motor (6211) is fixed on the motor bracket. 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. The second drive pulley is mounted on the output shaft of the second motor (6211). The second driven pulley is rotatably connected to the drive mounting base (6215). The second drive pulley and the second driven pulley are connected by a second synchronous belt (6214). The second movable base plate (622) is fixed on the second synchronous belt (6214) by a clamping block.

5. A shuttle conveying device according to claim 3, characterized in that, The first linear drive (611) also includes a first linear guide rail (6115) disposed on the mounting plate (8), the first linear guide rail (6115) is disposed laterally, and the first movable base plate (612) is mounted on the first linear guide rail (6115) by a slider.

6. A shuttle conveying device according to claim 4, characterized in that, 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) being disposed longitudinally, and the second movable base plate (622) being mounted on the second linear guide rail (6216) by a slider.

7. A shuttle conveying device according to claim 4, characterized in that, It also includes an extension frame (63) that extends longitudinally, and the mechanical claw (9) is fixed to the second movable base plate (622) by means of the extension frame (63).

8. A shuttle conveying device according to claim 3, characterized in that, It also includes a tensioning seat (6117) fixed on the mounting plate (8), the tensioning seat (6117) being provided with bolts; Tightening the bolts on the tensioning seat (6117) can push the first motor (6111) to move laterally.

9. A shuttle conveying device according to claim 5, characterized in that, It also includes a limiting stop (6116) disposed on the mounting plate (8), the limiting stop (6116) being located at the end of the first linear guide (6115).

10. A shuttle conveying device according to claim 6, characterized in that, It also includes a proximity switch (6212) disposed on the drive mounting base (6215) and a sensing plate (6213) disposed on the second movable substrate (622), wherein the proximity switch (6212) is located at the end of the second linear guide (6216); When the sensing element (6213) triggers the proximity switch (6212), the second motor (6211) stops.

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