CN110373827A - A kind of movable type automatic shuttle changing core apparatus and automatic shuttle changing core method - Google Patents
A kind of movable type automatic shuttle changing core apparatus and automatic shuttle changing core method Download PDFInfo
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- CN110373827A CN110373827A CN201910632153.0A CN201910632153A CN110373827A CN 110373827 A CN110373827 A CN 110373827A CN 201910632153 A CN201910632153 A CN 201910632153A CN 110373827 A CN110373827 A CN 110373827A
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- China
- Prior art keywords
- bobbin case
- mechanical finger
- sliding block
- material storage
- spindle
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B59/00—Applications of bobbin-winding or -changing devices; Indicating or control devices associated therewith
- D05B59/04—Devices for changing the bobbin
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention discloses a kind of mobile automatic shuttle changing core apparatus and automatic shuttle changing core method, which includes spaced apart peg or spindle replacement actuating station and infeed end, the automatic replacement spindle device between peg or spindle replacement actuating station and infeed end, automatic spindle device of replacing can be made to replace the driving mechanism moved between actuating station and infeed end in peg or spindle；Automatic replacement spindle device includes executing terminal, and executing terminal includes with the mechanical finger for grabbing and decontroling bobbin case movement；Infeed end is equipped with material storage dish, and material storage dish is equipped with multiple bobbin cases and stores station, and multiple bobbin case storage stations can be corresponded with the mechanical finger executed in terminal；Automatic replacement spindle device is equipped with rotating mechanism, and rotating mechanism can make to execute terminal rotation, and the bobbin case center for storing mechanical finger with bobbin case on station is corresponding.The present invention applies to template machine, embroidery machine or sewing machine, and when solving replacement peg or spindle, worker needs to get into the problem of replacing below platen, alleviates labor intensity.
Description
Technical field
The present invention relates to field of textile equipment, specifically a kind of mobile automatic shuttle changing core apparatus and automatic shuttle changing core
Method.
Background technique
Currently, being all the portion by being made of bobbin case and peg or spindle in the template machine, computerized emboridering machine, bobbin thread for sewing machine used
For part come what is completed, template machine, computerized emboridering machine, sewing machine require replacement peg or spindle when the baseline run in rotating shuttle is finished
And bobbin case.It is in the past entirely to use artificial substitute mode, since coiling amount is less in peg or spindle, equipment operation fast speed need to disappear
The baseline amount of consumption is also larger, thus need to frequently replace peg or spindle, leads to operative employee's large labor intensity, influences production efficiency.Especially
Template machine and embroidery machine, are all provided with one piece of biggish table top of area, and shuttle changing shell will expend more downtimes, and operate simultaneously
Work need to bend over to operate, and get into below platen, more changed jobs to the position of rotating shuttle to the bobbin case in rotating shuttle.Working strength is also more
Greatly, operative employee's quantity also needs to increase accordingly, to increase labor cost, influences Business Economic Benefit.
Summary of the invention
In order to solve problem above, the present invention is to provide a kind of mobile automatic shuttle changing core apparatus and automatic shuttle changing core side
Method.
The technical scheme is that a kind of parallel-moving type automatic shuttle changing core apparatus, which includes spaced apart peg or spindle
Replacement actuating station and infeed end, can make automatically the automatic replacement spindle device between peg or spindle replacement actuating station and infeed end
Replacement spindle device replaces the driving mechanism moved between actuating station and infeed end in peg or spindle；The automatic replacement spindle device packet
Execution terminal is included, the terminal that executes includes with the mechanical finger for grabbing and decontroling bobbin case movement；The infeed end is equipped with storage
Charging tray, the material storage dish are equipped with multiple bobbin cases and store station, and the multiple bobbin case storage station can be with the machine in execution terminal
Tool finger corresponds；The automatic replacement spindle device is equipped with rotating mechanism, and the rotating mechanism can make to execute terminal turn
Dynamic, the bobbin case center for storing mechanical finger with bobbin case on station is corresponding.
Preferably, the driving mechanism includes carrying the mobile sliding block of automatic replacement spindle device, control sliding block trend
Moving guide rail, the mobile driving motor of the sliding block walked on moving guide rail of driving sliding block and with the mobile driving motor of sliding block
The moving drive structure of connection.
As it is further preferred that the moving guide rail both ends are equipped with trigger device, the movement and transmission mechanism packet
Include lead screw transmission, chain drive, gear drive, toothed belt transmission, hydraulic cylinder transmission or cylinder-driven.
As still further preferably, the trigger device includes travel switch, optocoupler.
As it is further preferred that the infeed end is equipped with support frame, which is fixedly connected with moving guide rail；
The storing end is equipped with rollway, which includes material storage dish, material storage dish rotational drive motor, connection material storage dish and storing
The terminal pad of disk rotational drive motor, the material storage dish rotational drive motor are fixed with the support frame, material storage dish rotation
The output shaft of driving motor is fixedly connected after passing through support frame with the spindle central of terminal pad.
As still further preferably, when the described material storage dish rotation, there is a bobbin case storage station always on material storage dish
It is corresponding with the mechanical finger in the execution terminal of automatic replacement spindle device；The material storage dish rotational drive motor carries magnetic
Photoelectric coder.
As still further preferably, being Detachable connection structure, the connection between the material storage dish and terminal pad
The front side center of disk is equipped with connecting column, and the storing disk center is equipped with the fixed channel of connecting column, and the connecting column is set to should
Connecting column carries out centralized positioning in fixed channel；The periphery that the trailing flank of the material storage dish is located at the fixed channel of connecting column is equipped with
Magnet and positioning pin, corresponding position is equipped with magnet and location hole in terminal pad, and material storage dish and terminal pad are attracted using magnet, are positioned
The detachable connection method of finger setting combination；Ball is equipped in terminal pad between magnet, the front end of ball is raised in connection
The end face of disk is simultaneously resisted against on the material storage dish, after material storage dish and terminal pad are mutually attracted, is stayed between material storage dish and terminal pad
There is gap.
Preferably, the side that each bobbin case storage station is located on the material storage dish is equipped with bobbin case locating piece, the bobbin case
It is equipped with the notch cooperated with bobbin case in locating piece, fixes, realizes with the cooperation of bobbin case locating piece when bobbin case is put into bobbin case storage station
The plectrum of bobbin case and the mechanical finger that executes in terminal stir that direction is identical and the opening direction of plectrum is towards mechanical finger, shuttle
Winding clamp is additionally provided with beside shell storage station.
As it is further preferred that the automatic replacement spindle device includes executing terminal, support frame, rotating mechanism,
The rotating mechanism includes connection pedestal and base rotation driving motor, the connection pedestal directly or indirectly with execute end
End connection, the base rotation driving motor are fixed with the support frame, and the output shaft of base rotation driving motor passes through branch
Support is fixedly connected with the connection pedestal.
As still further preferably, the base rotation driving motor carries magnetism encoder.
As still further preferably, the output shaft end of the base rotation driving motor is additionally provided with rotational positioning knot
Structure, the frame mode that the rotary positioning structure is cooperated using positioning pin and electromagnet, including positioning pin, electromagnet and from even
Connect the locating piece that pedestal tail portion is extended；The locating piece is equipped with the location hole of at least two different locations, the branch
Support is equipped with through-hole, and positioning pin is set to the top of the electromagnet, and the on/off of electromagnet realizes that positioning pin is positioning
Positioning in hole；The electromagnet is fixed on the lower section of support frame as described above by fixed frame, and is held in position pin and through-hole phase
Mutually corresponding, the positioning pin is equipped with flange collar, and positioning pin outer cover is equipped with the spring that driving positioning pin resets, both ends of the spring point
It is not resisted against in flange collar and support frame.
Preferably, the execution terminal includes base connector, bobbin case fixing seat, mechanical finger driving motor, machinery
The tail portion of finger, the bobbin case fixing seat and bobbin case is bonded to each other, the bottom end of mechanical finger be equipped with the STATEMENT OF FEDERALLY SPONSORED to link therewith,
Mechanical finger resetting-mechanism, the output end of mechanical finger driving motor can drive the swing of STATEMENT OF FEDERALLY SPONSORED end, drive mechanical finger
It rotates to stir the plectrum of bobbin case, mechanical finger resetting-mechanism driving manipulator refers to reset, realizes that mechanical finger cooperation bobbin case is solid
Bobbin case drive movement is decontroled in reservation crawl.
As it is further preferred that the automatic replacement spindle device further includes connecting with the execution terminal tail activity
The adaptive equalization regulating device connect, the adaptive equalization regulating device under external force, have back and forth or left and right or on
Lower direction move freely function.
A kind of movable type automatic shuttle changing core method, including the following steps:
A, the execution terminal of replacement spindle device replaces actuating station, i.e. bobbin case fixing seat and mechanical finger part towards peg or spindle automatically
Towards rotating shuttle；The mobile driving motor driving sliding block of sliding block moves on moving guide rail, replaces actuating station close to peg or spindle, mechanical at this time
The output of finger actuation motor is in state promptly in elongation state, mechanical finger；
B, when sliding block is moved to the replacement actuating station of the peg or spindle on moving guide rail, and touches trigger device, mechanical finger driving electricity
The output end of machine shortens, and mechanical finger is flared out under the action of mechanical finger resetting-mechanism, mechanical finger driving motor
Output end elongation, drives mechanical finger inwardly to rotate, while sliding block is moved on to rotating shuttle, until the tail portion of empty bobbin case is resisted against
Bobbin case fixation is taken, and mechanical finger stirs the plectrum on sky bobbin case during this, and empty bobbin case is caught；
C, the mobile driving motor of sliding block drives sliding block counter motion, and sliding block drives the execution terminal and sky of automatic replacement spindle device
Bobbin case retreats, and empty bobbin case is taken out from rotating shuttle；
D, the driving of base rotation driving motor executes terminal and is turned to, and bobbin case fixing seat and mechanical finger are partially toward storing
Disk；
The fixation position of base rotation driving motor rotation is triggered, before will not being with rotating shuttle generation touching when executing terminal rotation
It mentions；
E, the mobile driving motor of sliding block continues to drive sliding block that automatic replacement spindle device is driven to continue the infeed end to moving guide rail
It retreats；
F, automatic to replace bobbin case in spindle device when sliding block backs to the infeed end on moving guide rail, and touches trigger device
Empty bobbin case in fixing seat is just aligned the bobbin case storage station of the open position on material storage dish, and contacts in place；At this point, mechanical
The output end of finger actuation motor shortens, and drives mechanical finger to unclamp the plectrum on empty bobbin case, empty bobbin case is unclamped；
G, the execution terminal that the mobile driving motor of sliding block is driven forward the automatic replacement spindle device of sliding block drive is held to peg or spindle replacement
Row terminal is mobile, and empty bobbin case is placed on the bobbin case storage station of material storage dish；
H, it is postponed when sliding block proceeds to fixed bit, material storage dish rotational drive motor drives material storage dish to rotate a station, will install
There is the bobbin case storage station face of bobbin case to be installed to replace spindle device automatically；
The fixation position for triggering the rotation of material storage dish rotational drive motor, will not be with automatic replacement spindle device when being rotated with material storage dish
Premised on touching；According to the presetting position of actual condition in real work；
I, material storage dish rotational drive motor rotation finishes, and controller issues signal, and the mobile driving motor of sliding block is driven reverse sliding block
The infeed end on moving guide rail is backed to, and touches trigger device, the output end of mechanical finger driving motor shortens, mechanical finger
It is flared out under the action of mechanical finger resetting-mechanism, the output end elongation of mechanical finger driving motor drives mechanical finger
Inwardly rotation, while sliding block is moved on to material storage dish, is taken until the tail portion of bobbin case to be installed is resisted against bobbin case fixation, this
Mechanical finger stirs the plectrum on sky bobbin case during a, and bobbin case to be installed is caught；
J, the execution terminal that the mobile driving motor of sliding block is driven forward the automatic replacement spindle device of sliding block drive is held to peg or spindle replacement
Row end is advanced, and bobbin case to be installed is removed from material storage dish；
K, the driving of base rotation driving motor executes terminal and is turned to, and bobbin case fixing seat and mechanical finger are partially toward rotating shuttle；
The fixation position of base rotation driving motor rotation is triggered, it will not be with adding under rotating shuttle and platen when executing terminal rotation
Premised on strengthening tendons are touched；
L, the mobile driving motor of sliding block continues that sliding block is driven to move on moving guide rail, replaces actuating station close to peg or spindle；
M, automatic to replace peg or spindle dress when sliding block is moved to the replacement actuating station of the peg or spindle on moving guide rail, and touches trigger device
The bobbin case fixing seat set just is moved to rotating shuttle position, and bobbin case to be installed is buckled on rotating shuttle, the contracting of mechanical finger driving motor
Short, driving manipulator refers to the plectrum unclamped on bobbin case to be installed, and bobbin case to be installed is unclamped；
N, the mobile driving motor of sliding block inverts, and sliding block drives the execution terminal of automatic replacement spindle device to retreat, when execution terminal
When not contacting completely with rotating shuttle, rotating shuttle is started to work, and the present apparatus is stayed where one is, pending further orders；
O, when the line in the peg or spindle in bobbin case is finished, A-N step is repeated, realizes that peg or spindle next time more changes jobs.
The invention has the benefit that the present invention uses a moving track, the mode of two rotation axis cooperation realizes shuttle
Core more changes jobs, and the artificial mode for replacing bobbin case one by one of script is changed to continuous feeding, by it is moveable it is automatic more
Shuttle changing housing apparatus is replaced automatically, and empty bobbin case is recycled to material storage dish and carries out unified replacement.Infeed end is set to platen
Outermost end, worker station can be achieved with the line movement that refoots automatically to template machine, embroidery machine or sewing machine on platen side, be not necessarily to
Worker gets into below platen.And when worker's replacement material storage dish, only entire material storage dish need to be taken out and replaced in the outermost end of platen
, the material storage dish equipped with bobbin case to be installed is changed, it is very convenient.Material storage dish realizes Quick Release using demountable device
Fast-assembling facilitates operation.In use process of the present invention, the time that equipment downtime replaces baseline is short, accelerates working efficiency, reduces
Labor intensity of workers.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is main view of the invention.
Fig. 3 is one of the fractionation structural representation of rollway of the invention.
Fig. 4 is the two of the fractionation structural representation of rollway of the invention.
Fig. 5 is one of the structural schematic diagram of automatic replacement spindle device of the invention.
Fig. 6 is the fractionation structural representation of automatic replacement spindle device of the invention.
Fig. 7 is the second structural representation of automatic replacement spindle device of the invention.
Fig. 8 is one of working state schematic representation of the invention.
Fig. 9 is the two of working state schematic representation of the invention.
Figure 10 is control block diagram of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As shown, a kind of movable type automatic shuttle changing core apparatus, which includes spaced apart peg or spindle replacement actuating station 7
And it infeed end 2, set on peg or spindle replaces automatic replacement spindle device between actuating station 7 and infeed end 2, can make to replace peg or spindle automatically
Device replaces the driving mechanism moved between actuating station 7 and infeed end 2 in peg or spindle；The automatic replacement spindle device includes executing
Terminal, the terminal that executes includes with the mechanical finger 29 for grabbing and decontroling bobbin case movement；The infeed end 2 is equipped with material storage dish
16, the material storage dish 16 is equipped with multiple bobbin cases and stores station 17, the multiple bobbin case storage station 17 can with execute in terminal
Mechanical finger 29 correspond；The automatic replacement spindle device is equipped with rotating mechanism, and the rotating mechanism can make to execute
Terminal rotation, the bobbin case center for storing mechanical finger 29 with bobbin case on station 17 are corresponding.
In the present embodiment, the driving mechanism includes carrying the mobile sliding block 8 of automatic replacement spindle device, control sliding block
The sliding block that moving guide rail 4, the driving sliding blocks 8 of 8 trends are walked on moving guide rail 4 moves driving motor 3 and moves with sliding block
The moving drive structure that driving motor 3 connects.
In the present embodiment, 4 both ends of moving guide rail are equipped with trigger device 6, and the movement and transmission mechanism includes silk
5 transmission of thick stick, chain drive, gear drive, toothed belt transmission, hydraulic cylinder transmission or cylinder-driven.
When for lead screw transmission, the mobile driving motor 3 of sliding block that is rotated including moving guide rail 4, lead screw 5, driving lead screw 5 and
The sliding block 8 that cooperates and can walk on moving guide rail 4 and lead screw 5 with moving guide rail 4, lead screw 5；The two of the lead screw 5
End is fixed on the moving guide rail 4 by fixed plate, and moving guide rail 4 is equipped with the mobile driving motor 3 of sliding block, and the sliding block
The output shaft of mobile driving motor 3 passes through fixed plate and connect with the lead screw 5, and driving lead screw 5 is rotated.
When for gear drive, including mobile moving guide rail, rack gear, the gear being engaged with rack are fixedly connected with gear
Sliding block and the mobile driving motor of the sliding block of sliding tooth wheel rotation, the mobile driving motor sliding tooth wheel rotation of sliding block, gear and tooth
Item engagement band movable slider is walked on moving guide rail.
When being driven for synchronous band forms, including moving guide rail, the synchronous pulley set on moving guide rail both ends, connection synchronous belt
The synchronous belt of wheel drives the mobile driving motor of sliding block of one of synchronous pulley rotation, and sliding block is fixedly connected with synchronous belt, sliding
The mobile driving motor driving synchronous pulley rotation of block, is walked on moving guide rail by synchronous belt band movable slider.When for chain drive,
Principle is identical with this.
For hydraulic cylinder transmission or when cylinder-driven, directly the piston of sliding block and hydraulic cylinder or cylinder is fixed, by hydraulic
Cylinder or cylinder driving piston driving sliding block move between material storage dish and peg or spindle replacement actuating station.
In the present embodiment, the trigger device 6 includes travel switch, optocoupler.
In the present embodiment, the infeed end 2 is equipped with support frame 12, which is fixedly connected with moving guide rail 4；
The storing end is equipped with rollway 1, which includes material storage dish 16, material storage dish rotational drive motor 24, connection material storage dish
16 and material storage dish rotational drive motor 24 terminal pad 23, the material storage dish rotational drive motor 24 and the support frame 12
Fixed, the output shaft of material storage dish rotational drive motor 24 is fixedly connected after passing through support frame 12 with the spindle central of terminal pad 23.
In the present embodiment, when the material storage dish 16 rotates, have always on material storage dish 16 a bobbin case storage station 17 with
Mechanical finger 29 in the execution terminal of automatic replacement spindle device is corresponding；The material storage dish rotational drive motor 24 is included
Magnetism encoder.Material storage dish can be to be horizontal or vertical, when being horizontal, and the central axis of material storage dish is vertical direction；When being vertical,
The central axis of material storage dish is horizontal direction；Material storage dish can even is that inclined；The setting of material storage dish is unrestricted, only need to ensure to store up
Charging tray in the course of rotation, has the position face mechanical finger of a bobbin case storage station, and opposite with mechanical finger always
It answers, puts down sky bobbin case for mechanical finger, grab bobbin case to be installed.
It is Detachable connection structure, the terminal pad 23 between the material storage dish 16 and terminal pad 23 in the present embodiment
Front side center be equipped with connecting column 21,16 center of material storage dish is equipped with the fixed channel 26 of connecting column, the connecting column 21
Centralized positioning is carried out in the fixed channel 26 of the connecting column；The trailing flank of the material storage dish 16 is located at the fixed channel of connecting column
26 periphery is equipped with magnet 14 and positioning pin 25, and corresponding position is equipped with magnet 14 and location hole 22, material storage dish 16 in terminal pad 23
It is attracted with terminal pad 23 using magnet 14, the detachable connection method of 25 bit combination of positioning pin；It is located at magnet in terminal pad 23
Ball 13 is equipped between 14, the front end of ball 13 is raised in the end face of terminal pad 23 and is resisted against on the material storage dish 16, storage
After charging tray 16 and terminal pad 23 are mutually attracted, there are gaps between material storage dish 16 and terminal pad 23.The structure is by material storage dish 16
Face contact between terminal pad 23 is converted into point contact, and the end of a thread in peg or spindle is avoided to be wound the case where clamping.
The side for being located at each bobbin case storage station 17 in the present embodiment, on the material storage dish 16 is equipped with bobbin case locating piece
15, notch cooperate with bobbin case is equipped in the bobbin case locating piece 15, when bobbin case is put into bobbin case storage station 17 and bobbin case locating piece
15 cooperations are fixed, realize the plectrum 19 of bobbin case and the mechanical finger 29 in execution terminal stir that direction is identical and plectrum 19 is opened
Towards mechanical finger 29, such structure setting is the plectrum 19 stirred on bobbin case for cooperative mechanical finger 29, shuttle in mouth direction
The side of shell storage station 17 is additionally provided with winding clamp 20, and in real work, the work of winding clamp 20 is by the line of end in peg or spindle
Positioning is fixed in head, prevents peg or spindle the end of a thread too long, the problem of winding.Bobbin case storage station can be set in material storage dish
Periphery also can be set in the disk of material storage dish, only need to ensure material storage dish in the course of rotation, have a bobbin case to deposit always
Put the position face mechanical finger of station, and the plectrum of bobbin case and the mechanical finger that executes in terminal to stir direction identical and dial
The opening direction of piece is towards mechanical finger.
In the present embodiment, the automatic replacement spindle device includes executing terminal, support frame 12, rotating mechanism, described
Rotating mechanism include connection pedestal 32 and base rotation driving motor 34, the connection pedestal 32 directly or indirectly with execution
Terminal connection, the base rotation driving motor 34 and the support frame 12 are fixed, the output of base rotation driving motor 34
Axis passes through support frame 12 and is fixedly connected with the connection pedestal 32.
In the present embodiment, the base rotation driving motor 34 carries magnetism encoder.
In the present embodiment, the output shaft end of the base rotation driving motor 34 is additionally provided with rotary positioning structure, described
The frame mode that is cooperated using positioning pin 25 and electromagnet 39 of rotary positioning structure, including positioning pin 25, electromagnet 39 and from
The locating piece 33 that connection 32 tail portion of pedestal is extended；The locating piece 33 is equipped with the location hole 22 of at least two different locations
And 22-1, the support frame 12 are equipped with through-hole 36, positioning pin 25 is set to the top of the electromagnet 39, electromagnet 39
On/off realizes positioning of the positioning pin 25 in location hole 22；The electromagnet 39 is fixed on the support by fixed frame
The lower section of frame 12, and be held in position pin 25 and corresponded to each other with through-hole 36, the positioning pin 25 is equipped with flange collar 38, positioning pin 25
Outer cover is equipped with the spring 37 that driving positioning pin 25 resets, and 37 both ends of spring are born against in flange collar 38 and support frame 12.
In the present embodiment, the execution terminal includes base connector 31, bobbin case fixing seat 28, mechanical finger driving electricity
The tail portion of machine 35, mechanical finger 29, the bobbin case fixing seat 28 and bobbin case 18 is bonded to each other, and the bottom end of mechanical finger 29 is equipped with
The STATEMENT OF FEDERALLY SPONSORED that links therewith, 29 resetting-mechanism of mechanical finger, the output end of mechanical finger driving motor 35 can drive STATEMENT OF FEDERALLY SPONSORED last
The swing at end, drives the rotation of mechanical finger 29 to stir the plectrum 19 of bobbin case, and 29 resetting-mechanism driving manipulator of mechanical finger refers to
29 reset, and 29 resetting-mechanism of mechanical finger is dynamic clamping head and quiet clamping head, and the output end elongation of mechanical finger driving motor 35 can drive
STATEMENT OF FEDERALLY SPONSORED is swung, and mechanical finger 29 is driven inwardly to be stirred, when the output end of mechanical finger driving motor 35 is retracted, mechanical finger 29
Resetting-mechanism drives mechanical finger 29 to be flared out, and realizes that mechanical finger 29 cooperates the crawl of bobbin case fixing seat 28 or decontrols bobbin case band
Movement.It is additionally provided with inductive switch near mechanical finger 29, to incude the movement of crawl and the relieving of mechanical finger 29.
In the present embodiment, the automatic replacement spindle device further includes oneself being flexibly connected with the execution terminal tail
Balance regulator 30 is adapted to, the adaptive equalization regulating device 30 under external force, has back and forth or left and right or upper and lower
Direction move freely function.The particular content of the adaptive equalization regulating device 30 is the applicant in Shen on March 21st, 2019
Please application No. is CN201910218531.0, patent name is a kind of automatic shuttle changing shell that execution terminal adaptive equalization is adjusted
Device.The setting of adaptive equalization regulating device 30 docks with rotating shuttle 11 executing terminal, executes terminal and bobbin case stores station
Play the role of automatic adjustment and buffering in 17 docking, since the present embodiment is using motor driven, movement is all rigidity
, and the movement precision for replacing bobbin case is relatively high, if being not provided with buffering and self-checking device, in replacement bobbin case
During be easy to happen it is stuck or replacement failure the case where.
The device further includes a controller, the material storage dish rotational drive motor 24, base rotation driving motor 34,
Sliding block moves driving motor 3, mechanical finger driving motor 35, electromagnet 39 and is electrically connected with controller, is controlled by controller
Their start and stop.Wherein, the mobile driving motor 3 of material storage dish rotational drive motor 24, base rotation driving motor 34, sliding block is
Stepper motor, with reference to model PD45-4H Series Precision stepper motor or suitable product；Material storage dish rotational drive motor 24, bottom
Seat rotational drive motor 34 carries magnetism encoder, and the form of included magnetism encoder is to accurately control turning for positioning stepper motor
Dynamic angle；Mechanical finger driving motor 35 is linear motor, with reference to model LS350-103J Series Precision linear motor or phase
Work as product, using linear motor, the stretching of output end can be retracted can refer to that 29 make the dynamic of crawl and relieving with driving manipulator
Make；Inductive switch, trigger switch are electrically connected with controller, and Real-time Feedback signal is to controller, sense when incuding or touching
The reference model EE-SX670WR series inductive switch of inductive switch or suitable product；Trigger switch is optocoupler either stroke
Switch, with reference to model ZS336M series travel switch or suitable product.
A kind of movable type automatic shuttle changing core method, including the following steps:
It is illustrated as an example with template machine, reset condition is that the present invention is installed on 10 lower section of platen of template machine, infeed end
2 close to the edge of platen 10, and peg or spindle replaces rotating shuttle 11 lower section of the actuating station 7 close to template machine, the bobbin case being installed on rotating shuttle 11
Interior baseline has run out, and the inside is the peg or spindle of not baseline, that is, empty bobbin case；The state of material storage dish 16 is to store up at this time
Having a bobbin case storage station 17 on charging tray 16 is open position, which replaces spindle device, material storage dish 16 automatically
What is stored on upper others bobbin case storage station 17 is all the bobbin case with the peg or spindle for winding line, that is, bobbin case to be installed；
A, the execution terminal of replacement spindle device replaces actuating station 7, i.e. bobbin case fixing seat 28 and mechanical finger towards peg or spindle automatically
29 are partially toward rotating shuttle 11；At this time in rotary positioning structure, the location hole 22 and through-hole 36 on locating piece 33 are coaxial, electromagnet 39
Power-off, positioning pin 25 stretch out in through-hole 36 and location hole 22 under the action of spring 37, realize positioning；The mobile driving electricity of sliding block
Machine 3 drives sliding block 8 to move on moving guide rail 4, replaces actuating station 7 close to peg or spindle, mechanical finger driving motor 35 is defeated at this time
Outlet is in elongation state, and mechanical finger 29 is in state promptly；
B, when sliding block 8 is moved to the replacement actuating station 7 of the peg or spindle on moving guide rail 4, and touches trigger device 6, trigger device 6 is anti-
For feedback signal to controller, controller issues signal, and the output end of mechanical finger driving motor 35 shortens, and mechanical finger 29 is in machinery
It is flared out under the action of 29 resetting-mechanism of finger, the inductive switch on 29 side of mechanical finger senses that mechanical finger 29 opens in place
Afterwards, for feedback signal to controller, controller issues signal, and the output end elongation of mechanical finger driving motor 35 drives manipulator
Refer to 29 inwardly rotations, while sliding block 8 is moved on to rotating shuttle 11, taken until the tail portion of empty bobbin case 18 is resisted against bobbin case fixation,
Mechanical finger 29 stirs the plectrum 19 on sky bobbin case during this, and empty bobbin case is caught；
C, controller issues signal, and the mobile driving motor 3 of sliding block drives 8 counter motion of sliding block, and sliding block 8 drives automatic replacement peg or spindle
The execution terminal of device and empty bobbin case 18 retreat, and empty bobbin case is taken out from rotating shuttle 11；
D, controller issues signal, and the driving of base rotation driving motor 34 executes terminal and turned to, bobbin case fixing seat 28 and machine
Tool finger 29 is partially toward material storage dish 16, at this point, electromagnet 39 is powered, absorption positioning pin 25 is removed from location hole 22 and through-hole 36
Out, base rotation driving motor 34 rotates, and after rotateing in place, another location hole 22-1 and through-hole 36 are coaxial, and electromagnet 39 is disconnected
Electricity, positioning pin 25 reset under the action of spring 37, extend out in through-hole 36 and location hole 22-1 and realize positioning；
The fixation position that base rotation driving motor 34 rotates is triggered, will not be touched with rotating shuttle 11 when terminal rotation with executing
Premised on；
E, the mobile driving motor 3 of sliding block continues to drive sliding block 8 that automatic replacement spindle device is driven to continue the feed to moving guide rail 4
End 2 retreats；
F, automatic to replace in spindle device when sliding block 8 backs to the infeed end 2 on moving guide rail 4, and touches trigger device 6
Empty bobbin case in bobbin case fixing seat 28 is just aligned the bobbin case storage station 17 of the open position on material storage dish 16, and touches
Position；At this point, trigger switch feedback signal, to controller, controller issues signal, the output end contracting of mechanical finger driving motor 35
It is short, it drives mechanical finger 29 to unclamp the plectrum 19 on empty bobbin case, empty bobbin case is unclamped；
G, the mobile forward drive of driving motor 3 sliding block 8 of sliding block drives the execution terminal of automatic replacement spindle device to replace to peg or spindle
Terminal movement is executed, empty bobbin case is placed on the bobbin case storage station 17 of material storage dish 16；
H, it is postponed when sliding block 8 proceeds to fixed bit, material storage dish rotational drive motor 24 drives material storage dish 16 to rotate a station, will
Bobbin case storage 17 face of station for being equipped with bobbin case to be installed replaces spindle device automatically；
The fixation position that material storage dish rotational drive motor 24 rotates is triggered, when the rotation of material storage dish 16 peg or spindle will not be replaced with automatic
Premised on device touching；According to the presetting position of actual condition in real work；
I, the rotation of material storage dish rotational drive motor 24 finishes, and controller issues signal, and the mobile driving motor 3 of sliding block, which is driven reverse, to be slided
Block 8 backs to the infeed end 2 on moving guide rail 4, and touches trigger device 6, and the output end of mechanical finger driving motor 35 shortens,
Mechanical finger 29 is flared out under the action of 29 resetting-mechanism of mechanical finger, and the output end of mechanical finger driving motor 35 is stretched
It is long, drive mechanical finger 29 inwardly to rotate, while sliding block 8 is moved on to material storage dish 16, until the tail portion of bobbin case to be installed
It is resisted against bobbin case fixation to take, mechanical finger 29 stirs the plectrum 19 on sky bobbin case during this, and bobbin case to be installed is grabbed
Firmly；
J, the mobile forward drive of driving motor 3 sliding block 8 of sliding block drives the execution terminal of automatic replacement spindle device to replace to peg or spindle
Actuating station 7 is advanced, and bobbin case to be installed is removed from material storage dish 16；
K, controller issues signal, and the driving of base rotation driving motor 34 executes terminal and turned to, bobbin case fixing seat 28 and machine
Tool finger 29 is partially toward rotating shuttle 11, at this point, electromagnet 39 is powered, absorption positioning pin 25 is removed from location hole 22 and through-hole 36
Out, base rotation driving motor 34 rotates, and after rotateing in place, location hole 22 and through-hole 36 are coaxial, and electromagnet 39 powers off, positioning pin
25 reset under the action of spring 37, extend out in through-hole 36 and location hole 22 and realize positioning；
The fixation position that base rotation driving motor 34 rotates is triggered, it will not be with rotating shuttle 11 and platen 10 when executing terminal rotation
Under reinforcing rib touch premised on；
L, the mobile driving motor 3 of sliding block continues that sliding block 8 is driven to move on moving guide rail 4, replaces actuating station 7 close to peg or spindle；
M, when sliding block 8 is moved to the replacement actuating station 7 of the peg or spindle on moving guide rail 4, and touches trigger device 6, more shuttle changing automatically
The bobbin case fixing seat 28 of core apparatus is just moved to 11 position of rotating shuttle, bobbin case to be installed is buckled on rotating shuttle 11, mechanical finger
Driving motor 35 shortens, and driving manipulator refers to the plectrum 19 on 29 releases bobbin case to be installed, and bobbin case to be installed is unclamped；
N, the mobile driving motor 3 of sliding block inverts, and sliding block 8 drives the execution terminal of automatic replacement spindle device to retreat, when executing end
When end does not contact completely with rotating shuttle 11, rotating shuttle 11 is started to work, and the present apparatus is stayed where one is, pending further orders；
O, when the line in the peg or spindle in bobbin case is finished, A-N step is repeated, realizes that peg or spindle next time more changes jobs.
In the description of description of the invention, it is to be understood that term " advance ", " retrogressing ", "upper", "lower", etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, the terms such as term " connection " shall be understood in a broad sense, example
Such as, it may be a fixed connection, may be a detachable connection, or is integral；Can be mechanical connection, be also possible to electrical connection or
It can communicate with each other；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
Logical or two elements interaction relationship.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or some or all of the technical features is carried out
Equivalent replacement；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (14)
1. a kind of movable type automatic shuttle changing core apparatus, it is characterised in that the device include spaced apart peg or spindle replacement actuating station and
Infeed end, can make to replace spindle device automatically the automatic replacement spindle device between peg or spindle replacement actuating station and infeed end
The driving mechanism moved between actuating station and infeed end is replaced in peg or spindle；The automatic replacement spindle device includes executing terminal,
The terminal that executes includes with the mechanical finger for grabbing and decontroling bobbin case movement；The infeed end is equipped with material storage dish, the storage
Charging tray is equipped with multiple bobbin cases and stores station, and the multiple bobbin case storage station can be a pair of with the mechanical finger one in execution terminal
It answers；The automatic replacement spindle device is equipped with rotating mechanism, and the rotating mechanism can make to execute terminal rotation, makes mechanical finger
It is corresponding with the bobbin case center on bobbin case storage station.
2. a kind of mobile automatic shuttle changing core apparatus according to claim 1, it is characterised in that the driving mechanism packet
The mobile sliding block of the automatic replacement spindle device of carrying, the moving guide rail of control sliding block trend, driving sliding block are included on moving guide rail
The mobile driving motor of the sliding block of walking and the moving drive structure being connect with the mobile driving motor of sliding block.
3. a kind of mobile automatic shuttle changing core apparatus according to claim 2, it is characterised in that the moving guide rail two
End is equipped with trigger device, and the movement and transmission mechanism includes lead screw transmission, chain drive, gear drive, toothed belt transmission, liquid
Cylinder pressure transmission or cylinder-driven.
4. a kind of mobile automatic shuttle changing core apparatus according to claim 3, it is characterised in that the trigger device packet
Include travel switch, optocoupler.
5. a kind of mobile automatic shuttle changing core apparatus according to claim 2, it is characterised in that the infeed end is equipped with branch
Support, the support frame lower end are fixedly connected with moving guide rail；The storing end is equipped with rollway, which includes storing
Disk, material storage dish rotational drive motor, the terminal pad for connecting material storage dish and material storage dish rotational drive motor, the material storage dish rotation
Driving motor is fixed with the support frame, and the output shaft of material storage dish rotational drive motor, which passes through, to be turned with terminal pad after support frame
Axis center is fixedly connected.
6. a kind of mobile automatic shuttle changing core apparatus according to claim 5, it is characterised in that the material storage dish rotation
When, there is on material storage dish a bobbin case storage station opposite with the mechanical finger in the execution terminal for replacing spindle device automatically always
It answers；The material storage dish rotational drive motor carries magnetism encoder.
7. a kind of mobile automatic shuttle changing core apparatus according to claim 6, it is characterised in that the material storage dish and company
It connects for Detachable connection structure between disk, equipped with connecting column, the storing disk center is equipped at the front side center of the terminal pad
Connecting column fixes channel, and the connecting column is set in the fixed channel of the connecting column and carries out centralized positioning；The material storage dish
The periphery that trailing flank is located at the fixed channel of connecting column is equipped with magnet and positioning pin, and corresponding position is equipped with magnet and positioning in terminal pad
Hole, material storage dish and terminal pad are attracted using magnet, the detachable connection method of positioning pin bit combination；It is located at magnet in terminal pad
Between be equipped with ball, the front end of ball is raised in the end face of terminal pad and is resisted against on the material storage dish, material storage dish and connection
After disk is mutually attracted, there are gaps between material storage dish and terminal pad.
8. a kind of movable type automatic shuttle changing core apparatus described according to claim 1 or 5 or 6, it is characterised in that the storing
The side for being located at each bobbin case storage station on disk is equipped with bobbin case locating piece, is equipped in the bobbin case locating piece and lacks with what bobbin case cooperated
Mouthful, it is fixed when bobbin case is put into bobbin case storage station with the cooperation of bobbin case locating piece, realizes the plectrum of bobbin case and execute the machine in terminal
Tool finger stir that direction is identical and the opening direction of plectrum is towards mechanical finger, be additionally provided with coiling beside bobbin case storage station
Folder.
9. a kind of mobile automatic shuttle changing core apparatus according to claim 2, it is characterised in that the automatic more shuttle changing
Core apparatus includes executing terminal, support frame, rotating mechanism, and the rotating mechanism includes connection pedestal and base rotation driving electricity
Machine, the connection pedestal are directly or indirectly connect with execution terminal, the base rotation driving motor and the support frame
Fixed, the output shaft of base rotation driving motor passes through support frame and is fixedly connected with the connection pedestal.
10. a kind of mobile automatic shuttle changing core apparatus according to claim 9, it is characterised in that the base rotation drives
Dynamic motor carries magnetism encoder.
11. a kind of mobile automatic shuttle changing core apparatus according to claim 10, it is characterised in that the base rotation
The output shaft end of driving motor is additionally provided with rotary positioning structure, and the rotary positioning structure is cooperated using positioning pin and electromagnet
Frame mode, including positioning pin, electromagnet and from the locating piece that extends of connection pedestal tail portion；The locating piece is equipped with
The location hole of at least two different locations, the support frame are equipped with through-hole, and positioning pin is set to the top of the electromagnet,
The on/off of electromagnet realizes positioning of the positioning pin in location hole；The electromagnet is fixed on the branch by fixed frame
The lower section of support, and be held in position pin and corresponded to each other with through-hole, the positioning pin is equipped with flange collar, and positioning pin outer cover is equipped with
The spring for driving positioning pin to reset, both ends of the spring are born against in flange collar and support frame.
12. a kind of mobile automatic shuttle changing core apparatus according to claim 1, it is characterised in that the execution terminal packet
Include base connector, bobbin case fixing seat, mechanical finger driving motor, mechanical finger, the tail of the bobbin case fixing seat and bobbin case
Portion is bonded to each other, and the bottom end of mechanical finger is equipped with the STATEMENT OF FEDERALLY SPONSORED to link therewith, mechanical finger resetting-mechanism, mechanical finger driving electricity
The output end of machine can drive the swing of STATEMENT OF FEDERALLY SPONSORED end, drive mechanical finger rotation to stir the plectrum of bobbin case, and mechanical finger is multiple
Mechanism driving manipulator in position refers to reset, realizes mechanical finger cooperation bobbin case fixing seat crawl or decontrols bobbin case drive movement.
13. a kind of mobile automatic shuttle changing core apparatus according to claim 11, it is characterised in that the automatic replacement
Spindle device further includes the adaptive equalization regulating device being flexibly connected with the execution terminal tail, the adaptive equalization tune
Regulating device under external force, has the function of that back and forth or left and right or up and down direction are move freely.
14. a kind of movable type automatic shuttle changing core method, it is characterised in that including the following steps:
A, the execution terminal of replacement spindle device replaces actuating station, i.e. bobbin case fixing seat and mechanical finger part towards peg or spindle automatically
Towards rotating shuttle；The mobile driving motor driving sliding block of sliding block moves on moving guide rail, replaces actuating station close to peg or spindle, mechanical at this time
The output of finger actuation motor is in state promptly in elongation state, mechanical finger；
B, when sliding block is moved to the replacement actuating station of the peg or spindle on moving guide rail, and touches trigger device, mechanical finger driving electricity
The output end of machine shortens, and mechanical finger is flared out under the action of mechanical finger resetting-mechanism, mechanical finger driving motor
Output end elongation, drives mechanical finger inwardly to rotate, while sliding block is moved on to rotating shuttle, until the tail portion of empty bobbin case is resisted against
Bobbin case fixation is taken, and mechanical finger stirs the plectrum on sky bobbin case during this, and empty bobbin case is caught；
C, the mobile driving motor of sliding block drives sliding block counter motion, and sliding block drives the execution terminal and sky of automatic replacement spindle device
Bobbin case retreats, and empty bobbin case is taken out from rotating shuttle；
D, the driving of base rotation driving motor executes terminal and is turned to, and bobbin case fixing seat and mechanical finger are partially toward storing
Disk；
The fixation position of base rotation driving motor rotation is triggered, before will not being with rotating shuttle generation touching when executing terminal rotation
It mentions；
E, the mobile driving motor of sliding block continues to drive sliding block that automatic replacement spindle device is driven to continue the infeed end to moving guide rail
It retreats；
F, automatic to replace bobbin case in spindle device when sliding block backs to the infeed end on moving guide rail, and touches trigger device
Empty bobbin case in fixing seat is just aligned the bobbin case storage station of the open position on material storage dish, and contacts in place；At this point, mechanical
The output end of finger actuation motor shortens, and drives mechanical finger to unclamp the plectrum on empty bobbin case, empty bobbin case is unclamped；
G, the execution terminal that the mobile driving motor of sliding block is driven forward the automatic replacement spindle device of sliding block drive is held to peg or spindle replacement
Row terminal is mobile, and empty bobbin case is placed on the bobbin case storage station of material storage dish；
H, it is postponed when sliding block proceeds to fixed bit, material storage dish rotational drive motor drives material storage dish to rotate a station, will install
There is the bobbin case storage station face of bobbin case to be installed to replace spindle device automatically；
The fixation position for triggering the rotation of material storage dish rotational drive motor, will not be with automatic replacement spindle device when being rotated with material storage dish
Premised on touching；According to the presetting position of actual condition in real work；
I, material storage dish rotational drive motor rotation finishes, and controller issues signal, and the mobile driving motor of sliding block is driven reverse sliding block
The infeed end on moving guide rail is backed to, and touches trigger device, the output end of mechanical finger driving motor shortens, mechanical finger
It is flared out under the action of mechanical finger resetting-mechanism, the output end elongation of mechanical finger driving motor drives mechanical finger
Inwardly rotation, while sliding block is moved on to material storage dish, is taken until the tail portion of bobbin case to be installed is resisted against bobbin case fixation, this
Mechanical finger stirs the plectrum on sky bobbin case during a, and bobbin case to be installed is caught；
J, the execution terminal that the mobile driving motor of sliding block is driven forward the automatic replacement spindle device of sliding block drive is held to peg or spindle replacement
Row end is advanced, and bobbin case to be installed is removed from material storage dish；
K, the driving of base rotation driving motor executes terminal and is turned to, and bobbin case fixing seat and mechanical finger are partially toward rotating shuttle；
The fixation position of base rotation driving motor rotation is triggered, it will not be with adding under rotating shuttle and platen when executing terminal rotation
Premised on strengthening tendons are touched；
L, the mobile driving motor of sliding block continues that sliding block is driven to move on moving guide rail, replaces actuating station close to peg or spindle；
M, automatic to replace peg or spindle dress when sliding block is moved to the replacement actuating station of the peg or spindle on moving guide rail, and touches trigger device
The bobbin case fixing seat set just is moved to rotating shuttle position, and bobbin case to be installed is buckled on rotating shuttle, the contracting of mechanical finger driving motor
Short, driving manipulator refers to the plectrum unclamped on bobbin case to be installed, and bobbin case to be installed is unclamped；
N, the mobile driving motor of sliding block inverts, and sliding block drives the execution terminal of automatic replacement spindle device to retreat, when execution terminal
When not contacting completely with rotating shuttle, rotating shuttle is started to work, and the present apparatus is stayed where one is, pending further orders；
O, when the line in the peg or spindle in bobbin case is finished, A-N step is repeated, realizes that peg or spindle next time more changes jobs.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910632153.0A CN110373827A (en) | 2019-07-13 | 2019-07-13 | A kind of movable type automatic shuttle changing core apparatus and automatic shuttle changing core method |
| PCT/CN2019/101236 WO2021007904A1 (en) | 2019-07-13 | 2019-08-17 | Mobile automatic bobbin replacing device and automatic bobbin replacing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910632153.0A CN110373827A (en) | 2019-07-13 | 2019-07-13 | A kind of movable type automatic shuttle changing core apparatus and automatic shuttle changing core method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110373827A true CN110373827A (en) | 2019-10-25 |
Family
ID=68253016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910632153.0A Withdrawn CN110373827A (en) | 2019-07-13 | 2019-07-13 | A kind of movable type automatic shuttle changing core apparatus and automatic shuttle changing core method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110373827A (en) |
| WO (1) | WO2021007904A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110670258A (en) * | 2019-11-04 | 2020-01-10 | 拓卡奔马机电科技有限公司 | Automatic shuttle changing device of sewing machine |
| CN112193978A (en) * | 2020-09-03 | 2021-01-08 | 郑州中强凹印制版有限公司 | Automatic control system is electroplated on version roller surface |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114575053B (en) * | 2022-02-24 | 2023-05-23 | 安徽红爱实业股份有限公司 | Bionic manipulator for tailoring in clothing production |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5094060B2 (en) * | 2006-07-11 | 2012-12-12 | 東海工業ミシン株式会社 | Sewing machine bobbin changer |
| DE102006045061A1 (en) * | 2006-09-21 | 2008-03-27 | Zsk Stickmaschinen Gmbh | Embroidery, quilting or sewing machine, has upper and under thread system, and device is provided for changing under thread |
| CN206916410U (en) * | 2017-07-05 | 2018-01-23 | 启翔股份有限公司 | It is automatic to change spindle device |
| CN208533085U (en) * | 2018-07-04 | 2019-02-22 | 扬州市海力信机械有限公司 | Template machine automatic bobbin thread-replacing mechanism |
| CN108978059A (en) * | 2018-10-10 | 2018-12-11 | 谢万明 | Sewing machine for covering chain stitch automates shuttle changing device |
-
2019
- 2019-07-13 CN CN201910632153.0A patent/CN110373827A/en not_active Withdrawn
- 2019-08-17 WO PCT/CN2019/101236 patent/WO2021007904A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110670258A (en) * | 2019-11-04 | 2020-01-10 | 拓卡奔马机电科技有限公司 | Automatic shuttle changing device of sewing machine |
| CN110670258B (en) * | 2019-11-04 | 2022-02-01 | 拓卡奔马机电科技有限公司 | Automatic shuttle changing device of sewing machine |
| CN112193978A (en) * | 2020-09-03 | 2021-01-08 | 郑州中强凹印制版有限公司 | Automatic control system is electroplated on version roller surface |
| CN112193978B (en) * | 2020-09-03 | 2022-11-25 | 郑州中强凹印制版有限公司 | Automatic control system is electroplated on version roller surface |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021007904A1 (en) | 2021-01-21 |
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