CN111379100B

CN111379100B - Multi-station automatic bobbin-changing shell wire-removing and wire-winding assembly integrated system and process method

Info

Publication number: CN111379100B
Application number: CN202010282206.3A
Authority: CN
Inventors: 徐海苗
Original assignee: Zhuji Light Industry Times Robot Technology Co ltd
Current assignee: Zhuji Light Industry Times Robot Technology Co ltd
Priority date: 2020-04-11
Filing date: 2020-04-11
Publication date: 2023-08-29
Anticipated expiration: 2040-04-11
Also published as: CN111379100A

Abstract

The application provides a multi-station automatic bobbin-changing bobbin-removing and winding assembly integrated system and a process method, wherein a bobbin-changing device is configured to be capable of taking charge of bobbin-changing work of a plurality of preset stations, the disassembled bobbin and standby bobbin are placed on a rotary dump tray, when the standby bobbin on a bobbin storage part is used up, a series of automatic operations of bobbin-removing residual threads, bobbin-winding, bobbin-shell assembly, thread clamping and thread breaking are performed on a bobbin and bobbin with insufficient residual threads on the bobbin storage part, so that the full-automatic replacement of the residual threads of an embroidery machine is realized, and the production efficiency is remarkably improved. The system includes a cross rail, a bobbin case changing device, and a unwind winding apparatus.

Description

Multi-station automatic bobbin-changing shell wire-removing and wire-winding assembly integrated system and process method

Technical Field

The application relates to the field of textile equipment, in particular to an automatic system for replacing a bobbin case and bobbin case winding of multi-station sewing equipment with a rotating shuttle and an integrated full-automatic method for completing thread removal and winding assembly.

Background

In recent years, in order to improve the production efficiency of a computerized embroidery machine or a sewing machine, the manual investment is gradually reduced to realize automatic production, and those skilled in the art are constantly striving to develop an automatic bobbin thread (bobbin) replacing device.

The existing multi-head embroidery machine is characterized in that a row of machine head stations are arranged on a frame of the existing multi-head embroidery machine, a shuttle box body is arranged at each machine head station, and a machine head for installing a shuttle shell is arranged in the shuttle box body. The latch handle and the latch sliding piece are arranged on the shuttle shell, and the latch sliding piece can slide inwards by pulling the latch handle to quickly unlock the shuttle shell, so that the installation and the disassembly of the shuttle shell are realized. In the prior art, some enterprises develop a device for automatically replacing the bobbin thread, namely, the purpose of automatically replacing the bobbin thread is achieved by automatically replacing the bobbin case and the bobbin core. However, such prior art devices utilize only mechanical actuators to accomplish the removal and proper operation of the bobbin case. The disassembled empty bobbin case is placed in a receiving hopper arranged in the device, and is required to be recovered manually. And the shuttle shell used for replacement on the device also needs to be maintained in time, because the shuttle box body, the machine head and related configuration components on each station of the embroidery machine are arranged tightly, the work of recovering and replacing the standby shuttle shell by the operator is still time-consuming and labor-consuming, thus larger labor investment is still needed, and the work efficiency is seriously influenced.

However, the replaced bobbin needs to be replaced with a sewing thread to continue use. In the process, the residual thread of the residual sewing thread in the shuttle peg is required to be removed, special automatic equipment is lacked, a certain manpower investment is still required, and full-automatic treatment cannot be realized. In the process, the residual thread end is required to be found, the thread end is separated from the shuttle shell, the residual thread is prevented from being wound on the shuttle shell, and then the residual thread is drawn out from the residual thread end. Because the shuttle core and the shuttle shell are smaller in size, and the sewing thread is thinner, lighter and easy to bond and wind, the surplus thread removing operation is tedious and laborious, and special automatic surplus thread removing equipment is needed, so that the production efficiency is improved, and the labor input is reduced.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a multi-station automatic bobbin case removing and winding assembly integrated system and a process method, wherein a bobbin case replacing device is configured to be capable of taking charge of bobbin case changing work of a plurality of preset stations, the disassembled bobbin case and standby bobbin case are placed on a rotary dump tray, when the standby bobbin case on a bobbin case storage part is used up, a series of automatic operations of bobbin case removing, bobbin case winding, bobbin case assembling, wire clamping and wire breaking are performed on the bobbin case and the bobbin case with insufficient residual wires on the bobbin case storage part, so that the full automatic replacement of the residual wires of the bobbin case of an embroidery machine is realized, and the production efficiency is remarkably improved.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention relates to a multi-station automatic bobbin case changing, wire removing and winding integrated system, which comprises a transverse guide rail, a bobbin case changing device and wire removing and winding equipment,

the horizontal guide mechanism is arranged below the shuttle box body of the embroidery machine, the horizontal guide mechanism extends along the connecting line direction of each shuttle box body, the shuttle shell replacing device comprises a shuttle shell grabbing part, a shuttle shell storing part and a translation driving part, the translation driving part is connected with the horizontal guide mechanism in a sliding manner and can slide in a translation manner along the horizontal guide mechanism, the shuttle shell storing part comprises a rotatable rotary storing disc, and a plurality of storing stations are arranged around the rotary storing disc;

The wire-removing and winding equipment comprises a base station and a main board arranged on the base station, wherein the base station is provided with a grabbing device opposite to the main board, and the main board is provided with a wire-winding device, a wire-removing device, a wire-supplying device and a wire-breaking mechanism;

the winding device comprises a winding spindle capable of driving the shuttle core to rotate, a spindle driving motor for driving the winding spindle to rotate, a movable plug and a rotary winder, wherein the winding spindle protrudes out of the front surface of the main board, the spindle driving motor is arranged on the back surface of the main board and is connected with the winding spindle, and an electromagnet is arranged around the winding spindle on the main board; a plug moving mechanism is arranged between the movable plug and the base, and the rotary winder comprises a wire buckling piece arranged on one side of the winding spindle and a wire buckling piece driving mechanism for driving the wire buckling piece to rotate around the winding spindle and axially move back and forth along the winding spindle;

the grabbing device comprises a mechanical gripper and a gripper moving mechanism for driving the mechanical gripper to move;

the wire feeding device comprises a wire feeding frame, a wire pressing mechanism and a wire pulling mechanism, wherein the wire pressing mechanism and the wire feeding frame are respectively positioned at two sides of a winding main shaft, the wire pressing mechanism is positioned at one side of the winding main shaft, which is close to a material coiling swivel base, and the wire feeding frame is positioned at the other side of the winding main shaft; the thread pulling mechanism comprises an upper thread pulling device and a lower thread pulling device which can pull the thread up and down relative to the winding spindle and an in-out thread pulling device which can pull the thread axially relative to the winding spindle; the upper wire pulling device, the lower wire pulling device and the wire feeding and discharging device are arranged between the wire feeding frame and the winding main shaft;

The wire removing device comprises a wire removing wheel assembly, a separation wire pulling sheet and a wire sucking mechanism, one end of the separation wire pulling sheet is rotatably fixed on a main board, a separation driving motor for driving the separation wire pulling sheet to swing is arranged on the main board, and the other end of the separation wire pulling sheet passes between a winding main shaft and a grabbing device and the wire removing wheel assembly when the separation wire pulling sheet swings;

the wire breaking mechanism comprises a wire breaking cutter and a wire breaking cylinder for driving the wire breaking cutter to open and close, and the wire breaking cutter is arranged on one side, far away from the winding spindle, of the wire pressing mechanism.

Preferably, the material storage station comprises a mandrel, a bobbin case locating piece and an elastic wire clamp, wherein the mandrel is arranged on the side surface of the rotary material storage disc, the bobbin case locating piece is arranged on the inner side of the mandrel along the normal direction of the side surface of the rotary material storage disc, and the elastic wire clamp is arranged on the outer side of the mandrel; the first servo motor of the bobbin case storage part is connected with the rotary dumping tray and drives the rotary dumping tray to rotate.

Preferably, the bobbin case grabbing part comprises a grabbing part substrate, a swinging telescopic mechanism and a mechanical finger mechanism, the swinging telescopic mechanism is rotationally connected with the grabbing part substrate, the mechanical finger mechanism is arranged on the swinging telescopic mechanism, and when the swinging telescopic mechanism swings to the lower side, the mechanical finger mechanism points to a storage station on the rotary storage tray.

Preferably, the swing telescopic mechanism comprises a second servo motor, a connecting rod, a sliding base and a swing shifting fork, wherein the connecting rod and the swing shifting fork are rotationally connected with two diagonal positions of the grabbing part substrate, a guide groove is formed between the connecting rod and the swing shifting fork, the upper end of the guide groove points to the horizontal direction, the lower end of the guide groove points to a rotary dumping tray, the sliding base is in sliding connection with the connecting rod, and the sliding base is in sliding connection with the swing shifting fork; the second servo motor is arranged on the grabbing part substrate and connected with the swing shifting fork and used for driving the swing shifting fork to rotate; the mechanical finger mechanism comprises a connecting base, an electromagnetic push rod, a shuttle shell fixing frame and a poking hook, wherein the connecting base is connected with a sliding base, the end of the sliding base is provided with the shuttle shell fixing frame, the sliding base is rotationally connected with the poking hook on one side of the shuttle shell fixing frame, the poking hook is provided with a poking piece and a reset torsion spring, the connecting base is provided with the electromagnetic push rod on one side of the poking piece, the poking hook rotates to one side of the shuttle shell fixing frame through poking the poking piece when the electromagnetic push rod is pushed out, the poking hook is used for poking a bolt locking handle, the shuttle shell fixing frame is of an L-shaped structure, and a limit bump matched with a bolt locking handle middle through hole of the shuttle shell is arranged on the inner side of the shuttle shell fixing frame.

Preferably, the horizontal guiding mechanism comprises a plurality of sections of linear horizontal guide rails and linear racks, the translation driving part comprises a translation part base plate, a third servo motor, a driving gear and a sliding guide seat, the third servo motor and the sliding guide seat are arranged on the translation part base plate, the third servo motor is connected with the driving gear, the sliding guide seat is connected with the horizontal guide rails in a sliding manner, the linear racks are arranged along the horizontal guide rails, and the driving gear is meshed with the linear racks.

Preferably, a lifting mechanism is arranged between the bobbin case grabbing part and the translation driving part and used for lifting or lowering the height of the bobbin case grabbing part relative to the translation driving part, the lifting mechanism comprises a lifting screw rod, a lifting seat and a fourth servo motor, the lifting screw rod is vertically arranged between the bobbin case grabbing part and the translation driving part, the lifting seat is provided with a threaded hole for engaging the lifting screw rod, the lifting seat is connected with the bobbin case grabbing part, the fourth servo motor is arranged on the translation driving part, and the fourth servo motor is connected with the lifting screw rod and used for driving the lifting screw rod to rotate.

Preferably, the system comprises a control host and a position sensor, wherein the position sensor is arranged on the bobbin case changing device and the embroidery machine frame, the control host is used for controlling the bobbin case changing device and the position sensor, and the position sensor is used for positioning the position of the bobbin case changing device.

Preferably, the main board is close to one side of the storage device and is provided with a wire clamping mechanism, the wire clamping mechanism comprises a wire clamping cylinder and a wire clamping hook, the wire clamping cylinder is arranged on one side of the main board close to the storage device and is located between the wire breaking mechanism and the rotary storage disc, the wire clamping hook is connected with the wire clamping cylinder, the tail end of the wire clamping hook is in a hook-shaped structure bent towards one side of the main board, and the wire clamping cylinder drives the wire clamping hook to slide towards one side of the main board.

Preferably, the wire removing wheel assembly comprises a driving wheel, a driven wheel, a wire removing driving motor for driving the driving wheel to rotate and a clamping mechanism for moving the driven wheel to prop against the driving wheel, wherein the driving wheel is rotatably fixed on a main board, the wire removing driving motor is connected with the driving wheel, a limiting hole is formed in one side of the main board, close to a winding main shaft, of the driving wheel, one end of the limiting hole points to the driving wheel, the driven wheel is connected with the limiting hole in a sliding mode, the clamping mechanism drives the driven wheel to slide along the limiting hole to prop against the driving wheel, a wire removing space right below the winding main shaft is formed between the driving wheel and the driving wheel, and the wire sucking mechanism is arranged at the bottom of the main board and located below the wire removing space.

Preferably, the clamping mechanism comprises a clamping swing rod, a swing rod shaft, a one-way bearing, a driving gear and a driven gear, wherein the limiting hole is arc-shaped, the swing rod shaft is rotatably fixed on the main board, the one-way bearing is sleeved on the swing rod shaft, the driven gear is sleeved on the one-way bearing, one end of the clamping swing rod is connected with the swing rod shaft, the other end of the clamping swing rod extends to the limiting hole, the driven gear is rotatably connected with the end of the clamping swing rod, which is located in the limiting hole, and the driving gear is coaxially connected with the driving gear, and the driving gear is meshed with the driven gear.

Preferably, the clamping mechanism comprises a clamping cylinder, the limiting hole is in a strip shape, the clamping cylinder is arranged on the main board, a cylinder rod of the clamping cylinder is connected with the driven wheel, and the clamping cylinder drives the driven wheel to slide along the limiting hole.

Preferably, the line pressing mechanism comprises a line pressing boss, a pressing cylinder and a line pressing block, wherein the line pressing boss is arranged on the main board, the line pressing boss is arranged on one side of the winding main shaft, the line pressing block is connected with the pressing cylinder, and the pressing cylinder pushes the line pressing block to prop against the line pressing boss.

Preferably, an elongated vertically extending up-down sliding hole is arranged between the winding main shaft and the wire feeding frame of the main board; the upper and lower wire pulling device comprises an upper and lower wire pulling piece capable of sliding up and down along the upper and lower sliding holes and an upper and lower driving element for driving the upper and lower wire pulling piece to slide up and down; the upper ends of the upper wire pulling sheet and the lower wire pulling sheet are provided with wire passing rings, and the lower ends of the upper wire pulling sheet and the lower wire pulling sheet penetrate through the upper sliding holes and the lower sliding holes to be connected with the upper driving element and the lower driving element.

Preferably, a strip-shaped vertically extending slide inlet and outlet hole is arranged between the upper slide inlet and the lower slide outlet of the main board and the winding main shaft; the wire inlet and outlet device comprises a wire inlet and outlet piece which passes through the wire inlet and outlet sliding hole to slide, and an inlet and outlet driving element which drives the wire inlet and outlet piece to slide; one side of the wire inlet and outlet pulling piece penetrates through the wire inlet and outlet sliding hole to be connected with the wire inlet and outlet driving element.

Preferably, the electromagnet is arranged around the winding spindle, the wire buckling piece driving mechanism comprises an annular seat, an annular gear, a driving gear, a wire buckling piece motor and a toggle mechanism, wherein the annular seat is sleeved on the winding spindle in a sliding manner, the annular gear is coaxially connected with the annular seat, the wire buckling piece motor is used for driving the driving gear, the wire buckling piece motor and the driving gear are arranged on the main board, the wire buckling piece is connected with the annular gear, the driving gear drives the wire buckling piece to rotate around the winding spindle through the annular gear, and wire hooking grooves are respectively formed in two sides of the wire buckling piece; the annular groove is formed in the side face of the annular seat in a surrounding mode, the poking mechanism comprises an in-out poking fork and a poking element, a roller is arranged at the tail end of the in-out poking fork and is inserted into the annular groove, the in-out poking fork is connected with the poking element, and the poking element pokes the annular seat to axially slide in-out along the winding spindle by driving the in-out poking fork to swing; the stirring element is a stirring motor or a stirring screw rod sliding table.

Preferably, the gripper moving mechanism comprises a main screw rod sliding table and a gripper screw rod sliding table, the main screw rod sliding table is obliquely arranged on the base station, the gripper screw rod sliding table is arranged on the main screw rod sliding table, the mechanical gripper is arranged on the gripper screw rod sliding table, the gripper screw rod sliding table drives the mechanical gripper to axially slide in parallel with the winding spindle, and the main screw rod sliding table drives the gripper screw rod sliding table to obliquely lift and move; the plug moving mechanism is a plug screw sliding table arranged on the main screw sliding table, and the plug screw sliding table drives the movable plug to move in parallel with the direction of the winding main shaft.

Preferably, the gripper moving mechanism comprises a horizontal screw rod sliding table, a vertical screw rod sliding table and a gripper screw rod sliding table, wherein the horizontal screw rod sliding table is arranged on the base station, the vertical screw rod sliding table is vertically connected with the horizontal screw rod sliding table, the gripper screw rod sliding table is arranged on the vertical screw rod sliding table, the mechanical gripper is arranged on the gripper screw rod sliding table, and the gripper screw rod sliding table drives the mechanical gripper to axially slide in parallel with the winding spindle; the plug moving mechanism is a plug screw sliding table arranged on the vertical screw sliding table, and the plug screw sliding table drives the movable plug to move in parallel with the direction of the winding main shaft.

Preferably, a steering motor for driving the mechanical gripper to steer horizontally is arranged on the gripper screw sliding table, a swing arm is arranged on the steering motor, and the mechanical gripper is arranged on the swing arm.

Preferably, the main board is provided with a laser range finder for testing the distance of the winding spindle above the winding spindle.

Preferably, the wire feeding frame comprises a wire passing wheel group formed by a plurality of wire passing wheels, a meter counting wire guiding wheel, a bracket and a tension adjusting mechanism, wherein the tension adjusting mechanism comprises a tension adjusting arm, a tension adjusting motor and a wire passing plate, the tension adjusting arm rotates to be connected with the bracket, the tension adjusting motor is arranged on the bracket and drives the tension adjusting arm to swing, the wire passing plate is arranged on two sides of the tension adjusting arm, and wire passing holes are formed in the tail ends of the wire passing plate and the tension adjusting arm.

The invention also provides a multi-station automatic bobbin-changing shell wire-removing and winding process method based on the system, which comprises the following steps:

step 1, translating a bobbin case replacing device to a preset working position along a horizontal guide mechanism, reserving an empty storage station on a rotary dumping tray, and placing spare assembled bobbin cases and bobbin cores on other storage stations, wherein each bobbin case replacing device corresponds to the bobbin case replacing work of a plurality of continuous bobbin cases;

step 2, when the bobbin thread in a certain bobbin box body is insufficient, the bobbin case replacing device moves to the lower part of the bobbin box body, the bobbin case grabbing part grabs the bobbin and the bobbin case on the bobbin box body, and the bobbin case are placed at an empty material storage station on a rotary material storage disc;

step 3, rotating the rotary storage disc by an angle of a storage station to enable a standby bobbin case and a bobbin core to face a bobbin case grabbing part, grabbing the standby bobbin case and the bobbin core by the bobbin case grabbing part and installing the standby bobbin case and the bobbin core on a bobbin case body;

step 4, repeating the step 2 and the step 3 until the standby bobbin case on the rotary storage disc is used, and translating the bobbin case replacing device along the horizontal guide mechanism to be close to the wire-removing and winding equipment;

step 5, rotating the storage disc to enable the bobbin and the bobbin case of the to-be-replaced thread on one storage station to face to the direction of the mechanical gripper, enabling the mechanical gripper to grasp the bobbin and the bobbin case assembled on a group of to-be-replaced thread to be installed at a winding spindle, and enabling an electromagnet at the side of the winding spindle to open and adsorb the bobbin;

Step 6, the mechanical arm grabs the shuttle shell to retreat so as to separate the shuttle shell from the shuttle core, the separation driving motor drives the separation poking piece to swing, the tail end of the separation poking piece is scratched between the shuttle core and the shuttle shell, the wire heads of the residual wires are separated from the shuttle shell, the wire heads of the residual wires are poked into a wire removing space between the driving wheel and the driven wheel, and the driven wheel abuts against the driving wheel to clamp the wire heads of the residual wires;

step 7, the movable top is adjusted by the top moving mechanism to prop against the shuttle core on the winding spindle, the winding spindle rotates reversely, and meanwhile, the wire removing driving motor drives the driving wheel to rotate so as to strip off the residual wire from the shuttle core, and the wire sucking mechanism sucks the residual wire below the wire removing wheel set;

step 8, the suture sequentially passes through the upper thread pulling sheet, the lower thread pulling sheet and the thread feeding and discharging sheet from the thread feeding frame, the thread ends of the suture are fixed by the thread pressing mechanism, the movable top is removed by the top screw sliding table and retreated, and the thread positions of the upper thread pulling device, the lower thread pulling device and the thread feeding and discharging device are pulled to pull the suture, so that the suture is pressed down to the end face of the shuttle core and is partially crossed with the end face of the shuttle core;

step 9, the movable plug is propped against the end face of the shuttle core again and presses the suture thread at the crossing part of the end face of the shuttle core; lifting the line pressing block by the lower pressing cylinder, and loosening the line ends of the suture; the winding spindle rotates positively, and simultaneously the thread pulling device moves in and out to pull the suture back and then the movable plug is propped against the shuttle core again after retreating, so that the suture is wound around the shuttle core and the thread end of the suture is wound into the inner side of the winding on the shuttle core; when the number of turns of the wire passing wheel set is counted and the laser range finder detects that the thickness of the wire winding reaches a preset value, the wire winding main shaft stops rotating;

Step 10, a mechanical gripper assembles a shuttle shell on a shuttle core, and a thread buckling piece toggles a suture thread to wind on the shuttle shell according to a preset track;

step 11, closing an electromagnet at the side of a winding spindle, lifting a suture on an upper thread pulling device and a lower thread pulling device, enabling a mechanical gripper to grasp an assembled bobbin case and a bobbin core, penetrating between a lifted thread pressing block and a thread pressing boss, and then installing the bobbin case and the bobbin core on a material storage station of a rotary storage tray, wherein the suture penetrates below a thread pressing mechanism;

step 12, the thread pressing cylinder drives the thread pressing block to press down to press the thread on the thread pressing boss, and at the moment, part of the thread between the shuttle shell and the thread pressing mechanism is straightened and positioned at the inner side of the thread clamping hook; the thread clamping cylinder drives the thread clamping hook mechanism to pull back the part of the thread between the shuttle shell and the thread pressing mechanism, so that the thread is clamped into the elastic thread clamping piece on the rotary material disc;

step 13, the thread breakage cylinder drives the thread breakage scissors to cut the thread, and automatic winding work of a shuttle shell matched with the lock core is completed;

and 14, repeating the steps 5 to 13 until all the shuttle cores and the shuttle shells on the rotary dumping tray finish the wire removing and winding work.

The invention realizes automatic replacement of the shuttle shell based on the system and the corresponding method, and is convenient for recycling the shuttle shell after disassembly and supplementing the standby shuttle shell. The bobbin case replacing device can translate to the lower part of the bobbin thread end use bobbin case body along the horizontal guide mechanism through the translation driving part to perform bobbin case replacing work. The rotary dump tray moves along with the bobbin case changing device, the disassembled bobbin case is placed on the bobbin case storage station of the rotary dump tray, and the standby bobbin case is directly grabbed from the bobbin case storage station of the rotary storage tray. The bobbin case replacing device is responsible for the bobbin case replacing work of a plurality of bobbin case stations until the standby bobbin case on the rotary dump tray is used up.

And after the spare bobbin case on the rotary dump tray is used up and is replaced by the bobbin case and the bobbin case with insufficient residual thread, the thread removing and winding operation of the bobbin case and the bobbin case is completed by thread removing and winding equipment.

The thread removing and winding equipment adopts a winding working mode of separating a bobbin case from a bobbin core. Because the rotating speed of the bobbin is very high in the processes of removing residual wires and winding the bobbin, the bobbin case and the bobbin are easy to wear, the bobbin case can be prevented from being worn when the bobbin rotates at a high speed by a winding mode of separating the bobbin case from the bobbin case, and the bobbin case can be automatically assembled and completed after the winding work is completed, and the winding work on the bobbin case is completed. The movable top is propped against the shuttle core when the shuttle core is sleeved on the winding spindle to rotate, so that the shuttle core is prevented from being separated from the winding spindle when the shuttle core rotates at a high speed; the movable plug can also prop against the shuttle core, the part of the suture close to the thread end is pressed on the end face of the shuttle core, so that the relative slipping of the suture and the shuttle core is prevented, and the suture can be rapidly and smoothly wound on the shuttle core when the shuttle core rotates.

Meanwhile, the work of removing the residual thread of the shuttle peg is considered, and no extra equipment and manual operation are needed to execute the procedure. And meanwhile, when the shuttle shell and the shuttle core are separated, the surplus wire heads wound on the shuttle shell are downwards shifted between the driving wheel and the driven wheel through the separation wire shifting piece, so that surplus wire heads can be prevented from being wound on the shuttle shell to lead to surplus wire clamping, the wire removing wheel assembly can be ensured to accurately clamp the surplus wire heads, and the running stability of equipment is greatly improved.

Drawings

Fig. 1 is a schematic structural diagram of an integrated system for multi-station automatic bobbin case changing, wire removing and wire winding assembly.

Fig. 2 is another schematic structural view of the multi-station automatic bobbin case changing, wire removing and winding assembly integrated system of the present invention.

Fig. 3 is a schematic left-hand view of the bobbin case changer according to the present invention.

Fig. 4 is a schematic left-hand view of the bobbin case changing device according to the present invention.

Fig. 5 is a schematic structural view of the bobbin case changing device in the present invention.

Fig. 6 is a schematic structural view of a rotary tray according to the present invention.

Fig. 7 is a schematic structural view of the mechanical finger mechanism in the present invention.

Fig. 8 is a schematic structural diagram of the wire-unwinding device according to the present invention.

Fig. 9 is a schematic partial structure of a buckle sheet driving mechanism of the wire-removing and winding apparatus according to the present invention.

Fig. 10 is a partial structural view of another alternative of the blade driving mechanism of the wire-rewinding device of the present invention.

Fig. 11 is a schematic structural view of a wire-removing wheel assembly of the wire-removing winding device in the present invention.

Fig. 12 is a schematic structural view of another alternative mechanical gripper of the wire-unwinding device according to the invention.

Fig. 13 is a schematic structural view of a wire pressing mechanism of the wire unwinding and winding device according to the present invention.

Fig. 14 is a schematic structural diagram of another alternative wire-unwinding device according to the present invention.

The reference numerals in the figures illustrate:

1. a horizontal guide mechanism; 101. a horizontal guide rail; 102. a linear rack; 103. a position sensor; 104. a position-marking sheet; 2. a bobbin case changing device; 3. a rotary dumping tray; 301. a mandrel; 302. an annular positioning groove; 303. a bracket; 304. a bobbin case positioning piece; 305. positioning the notch; 306. a limit protrusion; 308. an elastic clamping piece; 309. a thread end locating piece; 310. a set screw; 311. a return spring; 4. a bobbin case gripping part; 401. a gripping part substrate; 402. a second servo motor; 403. a connecting rod; 404. a sliding base; 405. swinging the shifting fork; 406. a guide groove; 407. the base is connected; 408. an electromagnetic push rod; 409. a bobbin case holder; 410. a poking hook; 411. a pulling piece; 412. a limit bump; 5. a translation driving section; 501. a translation portion substrate; 502. a third servo motor; 503. sliding the guide seat; 504. a drive gear; 601. lifting the screw rod; 602. a lifting seat; 603. a fourth servo motor; 7. a shuttle box; 8. a bobbin case; 801. a latch handle; 802. a through hole; 804. a latch slide; 10. a winding main shaft; 1001. an electromagnet; 1002. a spindle drive motor; 1003. a movable plug; 1004. a thread-buckling piece; 1005. wire hooking groove; 1006. an annular seat; 1007. a ring gear; 1008. a thread buckling gear; 1009. a cramp motor; 1010. a fork for entering and exiting; 1011. stirring the screw rod sliding table; 1012. the motor is stirred; 1013. a roller; 11. a mechanical gripper; 1101. a main screw rod sliding table; 1102. a gripper screw rod sliding table; 1103. a top screw rod sliding table; 1104. a horizontal screw rod sliding table; 1105. a vertical screw rod sliding table; 1106. a steering motor; 1107. a swing arm; 1201. a driving wheel; 1202. driven wheel; 1203. a wire removing space; 1204. clamping the swing rod; 1205. a limiting hole; 1206. a swing lever shaft; 1207. a wire-removing driving motor; 1209. separating the wire pulling sheet; 1210. a wire sucking mechanism; 1211. a one-way bearing; 1212. a drive gear; 1213. a driven gear; 1301. a wire passing wheel set; 1302. a bracket; 1303. a tension adjusting arm; 1304. a tension adjusting motor; 1305. a wire passing plate; 1306. a wire through hole; 1307. metering wire guide wheel; 1401. a line pressing boss; 1402. a pressing cylinder; 1403. a wire pressing block; 1404. an upper wire pulling sheet and a lower wire pulling sheet; 1405. wire loop passing; 1406. an upper and lower slide hole; 1407. a wire pulling sheet is moved in and out; 1408. a slide hole for entering and exiting; 1501. cutting off the wire; 1502. a wire breakage cylinder; 1503. a wire clamping hook; 16. a laser range finder; 17. a base station; 18. a main board; 19. and (5) stitching.

Detailed Description

The invention is further described below with reference to the drawings and detailed description.

As shown in fig. 1 and 2, the multi-station automatic bobbin case changing and wire removing and winding integrated system comprises a transverse guide rail, a bobbin case changing device 2 and wire removing and winding equipment.

As shown in fig. 3 and 4, the horizontal guiding mechanism 1 is disposed below the bobbin case 7 of the embroidery machine, the horizontal guiding mechanism 1 extends along the connecting line direction of each bobbin case 7, the bobbin case replacing device 2 includes a bobbin case gripping portion 4, a bobbin case storing portion and a translational driving portion 5, the translational driving portion 5 is slidably connected with the horizontal guiding mechanism 1 and can slide in a translational manner along the horizontal guiding mechanism 1, the bobbin case storing portion includes a rotatable rotary storage tray 3, and a plurality of storage stations are disposed around the rotary storage tray 3.

The wire-stripping winding equipment comprises a base 17 and a main board 18 arranged on the base 17, wherein the base 17 is provided with a grabbing device opposite to the main board 18, and the main board 18 is provided with a winding device, a wire-stripping device, a wire supply device and a wire breaking mechanism.

The winding device comprises a winding spindle 10 capable of driving the shuttle core to rotate, a spindle driving motor 1002 for driving the winding spindle 10 to rotate, a movable plug 1003 and a rotary winder, wherein the winding spindle 10 protrudes out of the front surface of a main board 18, the spindle driving motor 1002 is arranged at the back surface of the main board 18 and is connected with the winding spindle 10, and an electromagnet 1001 is arranged around the winding spindle 10 by the main board 18; a plug moving mechanism is provided between the movable plug 1003 and the base 17, and the rotary winder includes a thread-fastening piece 1004 provided on one side of the winding spindle 10, and a thread-fastening piece 1004 driving mechanism for driving the thread-fastening piece 1004 to rotate around the winding spindle 10 and to move forward and backward along the axial direction of the winding spindle 10.

A gripping device including a mechanical gripper 11 and a gripper moving mechanism driving the mechanical gripper 11 to move;

the wire feeding device comprises a wire feeding frame, a wire pressing mechanism and a wire pulling mechanism, wherein the wire pressing mechanism and the wire feeding frame are respectively positioned at two sides of the winding main shaft 10, the wire pressing mechanism is positioned at one side of the winding main shaft 10, which is close to a turntable of a material disc, and the wire feeding frame is positioned at the other side of the winding main shaft 10; the thread pulling mechanism comprises an upper thread pulling device and a lower thread pulling device which can pull the thread 19 up and down relative to the winding spindle 10 and an in-out thread pulling device which can pull the thread 19 axially relative to the winding spindle 10; the upper and lower wire pulling device and the wire feeding and discharging device are arranged between the wire feeding frame and the winding main shaft 10;

the wire removing device comprises a wire removing wheel assembly, a separation wire pulling sheet 1209 and a wire sucking mechanism 1210, wherein one end of the separation wire pulling sheet 1209 is rotatably fixed on a main board 18, a separation driving motor for driving the separation wire pulling sheet 1209 to swing is arranged on the main board 18, and the other end of the separation wire pulling sheet 1209 passes between a winding main shaft 10 and the grabbing device and the wire removing wheel assembly when the separation wire pulling sheet 1209 swings;

as shown in fig. 13, the wire breaking mechanism includes a wire breaking cutter 1501 and a wire breaking cylinder 1502 for driving the wire breaking cutter 1501 to open and close, and the wire breaking cutter 1501 is disposed on a side of the wire pressing mechanism away from the winding spindle 10.

As shown in fig. 3, 4, 5, and 6, the bobbin case replacing device 2 specifically includes the following specific structures:

the storage station comprises a mandrel 301 arranged on the side surface of the rotary storage disc 3, a bobbin case positioning piece 304 and an elastic wire clamp, wherein the axial direction of the mandrel 301 is along the normal direction of the side surface of the rotary storage disc 3, the bobbin case positioning piece 304 is arranged on the inner side of the mandrel 301, and the elastic wire clamp is arranged on the outer side of the mandrel 301; the first servo motor of the bobbin case storage part is connected with the rotary storage tray 3 and drives the rotary storage tray 3 to rotate.

The top end of the mandrel 301 is provided with an annular positioning groove 302 for positioning a central spindle hole of the bobbin case, the bottom end of the mandrel 301 is coaxially provided with a cylindrical bracket 303, and the bracket 303 is embedded in the side surface of the storage turntable 3.

The side of the bobbin case positioning piece 304 facing the mandrel 301 is an arc surface matched with a bobbin case side arc surface mechanism, the end of the arc surface of the bobbin case positioning piece 304 is provided with a positioning notch 305 matched with the end of a latch sliding piece 804804 of the bobbin case, and the arc surface of the bobbin case positioning piece 304 is provided with limiting protrusions 306 at two sides of the positioning notch 305.

The thread end clamping structure further comprises a set screw 310, an adjusting screw 307 and a return spring 311. The thread end positioning piece 309 and the elastic clamping piece 308 are both L-shaped. The lower parts of the thread end locating piece 309 and the elastic clamping piece 308 are fixedly connected with the side surface of the storage turntable through a locating screw 310, the thread end locating piece 309 and the upper part of the elastic clamping piece 308 are connected through an adjusting screw 307, a return spring 311 is arranged on the adjusting screw 307, and the return spring 311 abuts against one side, opposite to the thread end locating piece 309, of the upper part of the elastic clamping piece 308. The gap between the elastic clip 308 and the thread end positioning piece 309 is used for clamping the thread end. One end of the return spring 311 is limited by the screw cap structure of the adjusting screw 307, and applies a return elastic force to the elastic clip 308 so that the clip can be stably clamped. By adjusting the feeding depth of the adjusting screw 307, the compression length of the return spring 311 is adjusted to adjust the gap between the thread end positioning piece 309 and the elastic clamping piece 308 and the magnitude of the clamping force, so that the clamping force requirement of the thick thread end and the thin thread end can be met.

The bobbin case grabbing part 4 comprises a grabbing part substrate 401, a swinging telescopic mechanism and a mechanical finger mechanism, the swinging telescopic mechanism is rotationally connected with the grabbing part substrate 401, the mechanical finger mechanism is arranged on the swinging telescopic mechanism, and when the swinging telescopic mechanism swings to the lower side, the mechanical finger mechanism points to a storage station on the rotary storage tray 3.

The swing telescopic mechanism comprises a second servo motor 402, a connecting rod 403, a sliding base 404 and a swing shifting fork 405, wherein the connecting rod 403 and the swing shifting fork 405 are rotationally connected with two diagonal positions of the grabbing part substrate 401, a guide groove 406 is formed between the connecting rod 403 and the swing shifting fork 405 on the grabbing part substrate 401, the upper end of the guide groove 406 points to the horizontal direction, the lower end of the guide groove points to the rotary storage tray 3, the sliding base 404 is in sliding connection with the connecting rod 403, and the sliding base 404 is in sliding connection with the swing shifting fork 405; the second servo motor 402 is disposed on the gripping portion substrate 401, and the second servo motor 402 is connected to the swing fork 405 and is used for driving the swing fork 405 to rotate.

As shown in fig. 7, the mechanical finger mechanism includes a connection base 407, an electromagnetic push rod 408, a bobbin case fixing frame 409 and a poking hook 410, where the connection base 407 is connected with the sliding base 404, the end of the sliding base 404 is provided with the bobbin case fixing frame 409, the sliding base 404 is rotationally connected with the poking hook 410 on one side of the bobbin case fixing frame 409, the poking hook 410 is provided with a poking piece 411 and a reset torsion spring, the connection base 407 is provided with the electromagnetic push rod 408 on one side of the poking piece 411, when the electromagnetic push rod 408 is pushed out, the poking hook 410 rotates to one side of the bobbin case fixing frame 409 by poking the poking piece 411, the poking hook 410 is used for poking the latch handle 801, the bobbin case fixing frame 409 is in an L-shaped structure, and a limit bump 412 matched with a latch handle middle through hole 802 of the bobbin case is provided on the inner side of the bobbin case fixing frame 409.

The horizontal guide mechanism 1 comprises a plurality of sections of linear horizontal guide rails 101 and linear racks 102, the translation driving part 5 comprises a translation part base plate 501, a third servo motor 502, a driving gear 504 and a sliding guide seat 503, the third servo motor 502 and the sliding guide seat 503 are arranged on the translation part base plate 501, the third servo motor 502 is connected with the driving gear 504, the sliding guide seat 503 is slidably connected with the horizontal guide rails 101, the linear racks 102 are arranged along the horizontal guide rails 101, and the driving gear 504 is meshed with the linear racks 102.

The lifting mechanism is arranged between the bobbin case grabbing part 4 and the translation driving part 5 and used for lifting or lowering the height of the bobbin case grabbing part 4 relative to the translation driving part 5, the lifting mechanism comprises a lifting screw rod 601, a lifting seat 602 and a fourth servo motor 603, the lifting screw rod 601 is vertically arranged between the bobbin case grabbing part 4 and the translation driving part 5, the lifting seat 602 is provided with a threaded hole meshed with the lifting screw rod 601, the lifting seat 602 is connected with the bobbin case grabbing part 4, the fourth servo motor 603 is arranged on the translation driving part 5, and the fourth servo motor 603 is connected with the lifting screw rod 601 and used for driving the lifting screw rod 601 to rotate.

The system comprises a control host and a position sensor 103, wherein the position sensor 103 is arranged on the bobbin case changing device 2 and the embroidery machine frame, the control host is used for controlling the bobbin case changing device 2 and the position sensor 103, and the position sensor 103 is used for positioning the position of the bobbin case changing device 2.

As shown in fig. 8, the specific wire-removing and winding device includes the following specific structures:

the main board 18 is close to one side of the storage device and is provided with a wire clamping mechanism, the wire clamping mechanism comprises a wire clamping cylinder and a wire clamping hook 1503, the wire clamping cylinder is arranged on one side of the main board 18 close to the storage device and is located between the wire breaking mechanism and the rotary storage disc 3, the wire clamping hook 1503 is connected with the wire clamping cylinder, the tail end of the wire clamping hook 1503 is in a hook structure bent towards one side of the main board 18, and the wire clamping cylinder drives the wire clamping hook 1503 to slide towards one side of the main board 18.

The wire removing wheel assembly comprises a driving wheel 1201, a driven wheel 1202, a wire removing driving motor 1207 for driving the driving wheel 1201 to rotate, and a clamping mechanism for moving the driven wheel 1202 to prop against the driving wheel 1201, wherein the driving wheel 1201 is rotatably fixed on a main board 18, the wire removing driving motor 1207 is connected with the driving wheel 1201, the main board 18 is provided with a limiting hole 1205 on one side of the driving wheel 1201 close to a winding main shaft 10, one end of the limiting hole 1205 points to the driving wheel 1201, the driven wheel 1202 is slidably connected with the limiting hole 1205, the clamping mechanism drives the driven wheel 1202 to slide along the limiting hole 1205 to prop against the driving wheel 1201, a wire removing space 1203 right below the winding main shaft 10 is formed between the driving wheel 1201 and the driven wheel, and a wire sucking mechanism 1210 is arranged at the bottom of the main board 18 and below the wire removing space 1203.

As shown in fig. 11, one embodiment of the clamping mechanism is: the clamping mechanism comprises a clamping swing rod 1204, a swing rod shaft 1206, a one-way bearing 1211, a driving gear 1212 and a driven gear 1213, wherein the limiting hole 1205 is arc-shaped, the swing rod shaft 1206 is rotatably fixed on the main plate 18, the one-way bearing 1211 is sleeved on the swing rod shaft 1206, the driven gear 1213 is sleeved on the one-way bearing 1211, one end of the clamping swing rod 1204 is connected with the swing rod shaft 1206, the other end of the clamping swing rod 1204 extends to the limiting hole 1205, the driven gear 1202 is rotatably connected with the end of the clamping swing rod 1204, which is positioned in the limiting hole 1205, the driving gear 1201 is coaxially connected with the driving gear 1212, and the driving gear 1212 is meshed with the driven gear 1213. The one-way bearing 1211 is characterized by a small forward rotational resistance and a large reverse rotational resistance.

Another alternative to the clamping mechanism is: the clamping mechanism comprises a clamping cylinder, the limiting hole 1205 is in a strip shape, the clamping cylinder is arranged on the main plate 18, a cylinder rod of the clamping cylinder is connected with the driven wheel 1202, and the clamping cylinder drives the driven wheel 1202 to slide along the limiting hole 1205.

The wire pressing mechanism comprises a wire pressing boss 1401, a lower pressing cylinder 1402 and a wire pressing block 1403 which are arranged on the main board 18, the wire pressing boss 1401 is located on one side of the winding main shaft 10, the wire pressing block 1403 is connected with the lower pressing cylinder 1402, and the lower pressing cylinder 1402 pushes the wire pressing block 1403 to prop against the wire pressing boss 1401.

The main board 18 is provided with an elongated vertically extending up-down sliding hole 1406 between the winding spindle 10 and the wire feeding frame; the upper and lower wire pulling device comprises an upper and lower wire pulling sheet 1404 capable of sliding up and down along the upper and lower sliding holes 1406, and an upper and lower driving element for driving the upper and lower wire pulling sheet 1404 to slide up and down; the upper end of the upper and lower wire pulling sheet 1404 is provided with a wire passing ring 1405, and the lower end of the upper and lower wire pulling sheet 1404 passes through the upper and lower sliding hole 1406 to connect with the upper and lower driving elements.

The main plate 18 is provided with a strip-shaped vertically extending slide inlet and outlet hole 1408 between the upper slide hole 1406 and the winding spindle 10; the wire feeding and discharging device comprises a wire feeding and discharging sheet sliding through the wire feeding and discharging sliding hole 1408, and a wire feeding and discharging driving element for driving the wire feeding and discharging sheet to slide; one side of the wire pulling-in/out piece 1407 passes through the wire pulling-out sliding hole 1408 to be connected with the wire pulling-in/out driving element.

The electromagnet 1001 is arranged around the winding spindle 10, the driving mechanism of the wire buckling piece 1004 comprises an annular seat 1006, a ring gear 1007, a wire buckling gear 1008, a wire buckling piece motor 1009 and a toggle mechanism, wherein the ring seat 1006 is sleeved on the winding spindle 10 in a sliding way, the ring gear 1007 is coaxially connected with the ring seat 1006, the wire buckling piece motor 1009 and the toggle mechanism are used for driving the wire buckling gear 1008, the wire buckling piece motor 1009 and the wire buckling gear 1008 are arranged on the main board 18, the wire buckling piece 1004 is connected with the ring gear 1007, the wire buckling gear 1008 drives the wire buckling piece 1004 to rotate around the winding spindle 10 through the ring gear 1007, and wire hooking grooves 1005 are respectively arranged on two sides of the wire buckling piece 1004; an annular groove is formed around the side surface of the annular seat 1006, the stirring mechanism comprises an in-out shifting fork 1010 and a stirring element, a roller 1013 is arranged at the tail end of the in-out shifting fork 1010, the roller 1013 is inserted into the annular groove, the in-out shifting fork 1010 is connected with the stirring element, and the stirring element drives the in-out shifting fork 1010 to swing so as to stir the annular seat 1006 to axially slide in-out along the winding spindle 10; the stirring element is a stirring motor 1012 or a stirring screw rod sliding table 1011.

As shown in fig. 9, one embodiment of the toggle element is a toggle motor 1012412, the toggle motor 1012 is disposed on the main board 18, one end of the in-out fork 1010 is connected to the toggle motor 1012, and the roller 1013 at the other end of the in-out fork 1010 is inserted into the annular groove of the annular seat 1006406. The poking motor 1012 drives the feeding and discharging poking fork 1010 to swing, so that the poking annular seat 1006 axially slides in and out along the winding spindle 10.

As shown in fig. 10, another embodiment of the toggle element is to use a toggle screw sliding table 1011, where the toggle screw sliding table 1011 is disposed on the main board 18 and the sliding direction is along the axial direction of the winding spindle 10, one end of the in-out shifting fork 1010 is connected to the toggle screw sliding table 1011, and the roller 1013 at the other end of the in-out shifting fork 1010 is inserted into the annular groove of the annular seat 1006. The poking screw rod sliding table 1011 drives the in-out shifting fork 1010 to axially in-out translate along the winding spindle 10, so that the poking annular seat 1006 axially in-out slides along the winding spindle 10.

The gripper moving mechanism comprises a main screw rod sliding table 1101 and a gripper screw rod sliding table 1102, the main screw rod sliding table 1101 is obliquely arranged on the base 17, the gripper screw rod sliding table 1102 is arranged on the main screw rod sliding table 1101, the mechanical gripper 11 is arranged on the gripper screw rod sliding table 1102, the gripper screw rod sliding table 1102 drives the mechanical gripper 11 to axially slide in parallel with the winding main shaft 10, and the main screw rod sliding table 1101 drives the gripper screw rod sliding table 1102 to obliquely lift and move; the plug moving mechanism is a plug screw sliding table 1103 arranged on the main screw sliding table 1101, and the plug screw sliding table 1103 drives the movable plug 1003 to move in parallel with the direction of the winding spindle 10.

As shown in fig. 12, in another alternative, the gripper moving mechanism includes a horizontal screw mandrel sliding table 1104, a vertical screw mandrel sliding table 1105 and a gripper screw mandrel sliding table 1102, the horizontal screw mandrel sliding table 1104 is disposed on the base 17, the vertical screw mandrel sliding table 1105 is vertically connected with the horizontal screw mandrel sliding table 1104, the gripper screw mandrel sliding table 1102 is disposed on the vertical screw mandrel sliding table 1105, the mechanical gripper 11 is disposed on the gripper screw mandrel sliding table 1102, and the gripper screw mandrel sliding table 1102 drives the mechanical gripper 11 to axially slide parallel to the winding spindle 10; the plug moving mechanism is a plug screw sliding table 1103 arranged on the vertical screw sliding table 1105, and the plug screw sliding table 1103 drives the movable plug 1003 to move in parallel with the direction of the winding spindle 10.

As shown in fig. 14, another alternative: the gripper screw mandrel slipway 1102 is provided with a steering motor 1106 for driving the mechanical gripper 11 to steer horizontally, the steering motor 1106 is provided with a swinging arm 1107, and the mechanical gripper 11 is arranged on the swinging arm 1107.

The main board 18 is provided with a laser rangefinder 16 above the winding spindle 10 for testing the distance of the winding spindle 10. The wire feeding frame comprises a wire passing wheel set 1301 formed by a plurality of wire passing wheel sets 1301, a meter wire guiding wheel 1307, a bracket 1302 and a tension adjusting mechanism, wherein the tension adjusting mechanism comprises a tension adjusting arm 1303, a tension adjusting motor 1304 and a wire passing plate 1305, the tension adjusting arm 1303 is rotationally connected with the bracket 1302, the tension adjusting motor 1304 is arranged on the bracket 1302 and drives the tension adjusting arm 1303 to swing, the wire passing plate 1305 is arranged on two sides of the tension adjusting arm 1303, and wire passing holes 1306 are formed in the tail ends of the wire passing plate 1305 and the tail ends of the tension adjusting arm 1303.

The system further comprises a control host, a control board and a position sensor 103103, wherein the bobbin case changing device 2 is provided with the control board and the position sensor 103, the control host is used for communicating with the control board, the control board is used for controlling the bobbin case changing device 2, and the position sensor 103 is used for positioning the position of the bobbin case changing device 2.

The position sensor 103 is provided on the side of the bobbin case changer 2 facing the horizontal rail 101. The horizontal guide rail 101 is provided with a plurality of position marking pieces 104104 for positioning the position sensor 103, the position marking pieces 104 are located under the shuttle box 77, and the tail end heights of the position marking pieces 104 correspond to the position sensor 103, so that when the shuttle shell replacing device 2 translates along the horizontal guide rail 101, the tail ends of the position marking pieces 104 can pass through an optocoupler groove on the position sensor 103, and the position sensor 103 can recognize the tail end.

step 1, translating the bobbin case changing device 2 to a preset working position along a horizontal guide mechanism 1, reserving an empty storage station on a rotary discharging tray 3, and placing spare assembled bobbin cases and bobbin cores on other storage stations, wherein each bobbin case changing device 2 corresponds to the bobbin case changing work of a plurality of continuous bobbin cases 7;

Step 2, when the bobbin thread 19 in a certain bobbin case 7 is insufficient, the bobbin case replacing device 2 moves to the lower part of the bobbin case 7, the bobbin case grabbing part 4 grabs the bobbin and the bobbin case 8 on the bobbin case 7, and the bobbin case are placed at an empty material storage station on the rotary dump tray 3;

step 3, rotating the storage disc 3 by an angle of a storage station to enable a standby bobbin case and a bobbin to face the bobbin case grabbing part 4, and enabling the bobbin case grabbing part 4 to grab the standby bobbin case and the bobbin case and install the standby bobbin case and the bobbin case on the bobbin case body 7;

step 4, repeating the steps 2 and 3 until the standby bobbin on the rotary dump tray 3 is used, and translating the bobbin replacing device 2 along the horizontal guide mechanism 1 to approach the wire-removing and winding equipment;

step 5, rotating the material storage disc 3 to enable the bobbin and the bobbin case of the to-be-replaced thread on one material storage station to face to the direction of the mechanical gripper 11, enabling the mechanical gripper 11 to grasp the bobbin and the bobbin case assembled on one group of to-be-replaced thread and to be installed at the winding spindle 10, and enabling the electromagnet 1001 at the side of the winding spindle 10 to open to adsorb the bobbin;

step 6, the mechanical arm grabs the bobbin case and retreats to separate the bobbin case from the bobbin core, and meanwhile, the separation driving motor drives the separation thread pulling piece 1209 to swing, the tail end of the separation thread pulling piece 1209 is scratched between the bobbin core and the bobbin case, the residual thread end is pulled down to separate the residual thread end from the bobbin case, the thread end of the residual thread is pulled into the thread removing space 1203 between the driving wheel 1201 and the driven wheel 1202, and the driven wheel 1202 abuts against the driving wheel 1201 to clamp the thread end of the residual thread;

Step 7, the movable top 1003 is adjusted by the top moving mechanism to prop against the shuttle core on the winding spindle 10, the winding spindle 10 is reversed, and meanwhile, the wire-removing driving motor 1207 drives the driving wheel 1201 to rotate so as to strip off the residual wire from the shuttle core, and the wire sucking mechanism 1210 sucks the residual wire below the wire-removing wheel set;

step 8, the suture 19 sequentially passes through an upper thread pulling sheet 1404, a lower thread pulling sheet 1407 and a thread feeding and pulling sheet 1407 from a thread feeding frame, the thread ends of the suture 19 are fixed by a thread pressing mechanism, a plug screw sliding table 1103 moves a movable plug 1003 back, and the upper thread pulling device, the lower thread pulling device and the thread feeding and pulling device pull the position of the suture 19 to pull the suture 19, so that the suture 19 is pressed down to the end face of the shuttle core and partially crossed with the end face of the shuttle core;

step 9, the movable plug 1003 again abuts against the end surface of the shuttle core and presses the suture thread 19 at the intersection part with the end surface of the shuttle core; the pressing cylinder 1402 lifts the pressing block 1403 and loosens the thread ends of the suture 19; the winding spindle 10 rotates positively, and simultaneously the thread pulling device moves the thread 19 back and forth, and the movable plug 1003 is propped against the shuttle core again after being retracted, so that the thread 19 winds the shuttle core and the thread head of the thread 19 winds the inner side of the winding on the shuttle core; when the number of turns of the wire passing wheel set 1301 is counted and the laser range finder 16 detects that the thickness of the wire reaches a preset value, the wire winding main shaft 10 stops rotating;

Step 10, the mechanical gripper 11 assembles the bobbin case on the bobbin core, and the thread-buckling sheet 1004 toggles the suture 19 to wind on the bobbin case according to a preset track;

step 11, an electromagnet 1001 at the side of a winding spindle 10 is closed, a thread 19 is lifted by an upper thread lifting device and a lower thread lifting device, a mechanical gripper 11 grabs an assembled bobbin case and a bobbin core, passes through a space between a lifted thread pressing block 1403 and a thread pressing boss 1401 and then is arranged on a material storage station of a rotary storage tray 3, and at the moment, the thread 19 passes through the lower part of a thread pressing mechanism;

step 12, the thread pressing cylinder drives the thread pressing block 1403 to press down to press the thread 19 on the thread pressing boss 1401, and at this time, part of the thread 19 between the bobbin case and the thread pressing mechanism is straightened and positioned at the inner side of the thread clamping hook 1503; the thread clamping cylinder drives the thread hooking mechanism of the thread clamping hook 1503 to pull back the part of the thread 19 between the shuttle shell and the thread pressing mechanism, so that the thread 19 is clamped into the elastic thread clamping piece on the rotary tray;

step 13, a thread breaking cylinder 1502 drives a thread breaking shear 1501 to shear a thread 19, so as to complete automatic winding work of a bobbin case matched with a lock cylinder;

step 14, repeating the steps 5 to 13 until all bobbin cores and bobbin shells on the rotary dumping tray 3 finish the wire removing and winding work.

Claims

1. The multi-station automatic bobbin case changing, wire removing and winding integrated system is characterized by comprising a transverse guide rail, a bobbin case changing device, wire removing and winding equipment, a mechanical finger mechanism and a horizontal guide mechanism, wherein the horizontal guide mechanism is arranged below a bobbin case of an embroidery machine, and the horizontal guide mechanism extends along the wire connecting direction of each bobbin case;

The shuttle shell replacing device comprises a shuttle shell grabbing part, a shuttle shell storing part and a translation driving part, wherein the translation driving part is connected with the horizontal guiding mechanism in a sliding way and can slide in a translation way along the horizontal guiding mechanism, the shuttle shell storing part comprises a rotatable rotary storing disc, and a plurality of storing stations are arranged around the rotary storing disc;

the winding device comprises a winding spindle capable of driving the shuttle core to rotate, a spindle driving motor for driving the winding spindle to rotate, a movable plug and a rotary winder, wherein the winding spindle protrudes out of the front surface of the main board, the spindle driving motor is arranged on the back surface of the main board and is connected with the winding spindle, and an electromagnet is arranged around the winding spindle on the main board;

a plug moving mechanism is arranged between the movable plug and the base, and the rotary winder comprises a wire buckling piece arranged on one side of the winding spindle and a wire buckling piece driving mechanism for driving the wire buckling piece to rotate around the winding spindle and axially move back and forth along the winding spindle;

the wire feeding device comprises a wire feeding frame, a wire pressing mechanism and a wire pulling mechanism, wherein the wire pressing mechanism and the wire feeding frame are respectively positioned at two sides of a winding main shaft, the wire pressing mechanism is positioned at one side of the winding main shaft, which is close to a material coiling swivel base, and the wire feeding frame is positioned at the other side of the winding main shaft; the thread pulling mechanism comprises an upper thread pulling device and a lower thread pulling device which can pull the thread up and down relative to the winding spindle and an in-out thread pulling device which can pull the thread axially relative to the winding spindle;

the lower wire shifter and the wire inlet and outlet wire shifter are arranged between the wire feeding frame and the winding main shaft;

the wire breaking mechanism comprises a wire breaking cutter and a wire breaking cylinder for driving the wire breaking cutter to open and close, and the wire breaking cutter is arranged at one side of the wire pressing mechanism, which is far away from the winding spindle;

An elongated vertically extending upper and lower sliding hole is arranged between the winding main shaft and the wire feeding frame;

the upper and lower wire pulling device comprises an upper and lower wire pulling piece capable of sliding up and down along the upper and lower sliding holes and an upper and lower driving element for driving the upper and lower wire pulling piece to slide up and down;

the upper ends of the upper wire pulling sheet and the lower wire pulling sheet are provided with wire loops, and the lower ends of the upper wire pulling sheet and the lower wire pulling sheet penetrate through the upper sliding holes and the lower sliding holes to be connected with the upper driving element and the lower driving element;

the main board is provided with a strip-shaped vertically extending slide inlet and outlet hole between the upper slide hole, the lower slide hole and the winding main shaft;

the wire inlet and outlet device comprises a wire inlet and outlet piece which passes through the wire inlet and outlet sliding hole to slide, and an inlet and outlet driving element which drives the wire inlet and outlet piece to slide; one side of the wire inlet and outlet pulling piece passes through the wire inlet and outlet sliding hole to be connected with the wire inlet and outlet driving element;

the electromagnet is arranged around the winding spindle, the wire buckling piece driving mechanism comprises an annular seat, an annular gear, a wire buckling piece motor and a toggle mechanism, wherein the annular seat is sleeved on the winding spindle in a sliding manner, the annular gear is coaxially connected with the annular seat, the wire buckling piece motor is used for driving the wire buckling gear, the wire buckling piece motor and the wire buckling gear are arranged on the main board, the wire buckling piece is connected with the annular gear, the wire buckling gear drives the wire buckling piece to rotate around the winding spindle through the annular gear, and wire hooking grooves are respectively formed in two sides of the wire buckling piece;

The annular groove is formed in the side face of the annular seat in a surrounding mode, the poking mechanism comprises a poking in and out poking fork and a poking element, a roller is arranged at the tail end of the poking in and out poking fork and is inserted into the annular groove, the poking in and out poking fork is connected with the poking element, and the poking element pokes the annular seat to axially slide in and out along the winding spindle by driving the poking in and out poking fork to swing; the stirring element is a stirring motor or a stirring screw rod sliding table.

2. The multi-station automatic bobbin case changing, wire removing and winding assembly integrated system according to claim 1, wherein the material storage station comprises a mandrel, a bobbin case positioning piece and an elastic wire clamp, wherein the mandrel is arranged on the side surface of the rotary material storage disc, the axial direction of the mandrel is along the normal direction of the side surface of the rotary material storage disc, the bobbin case positioning piece is arranged on the inner side of the mandrel, and the elastic wire clamp is arranged on the outer side of the mandrel; the shuttle shell material storage part is provided with a first servo motor, and the first servo motor is connected with the rotary storage material disc and drives the rotary storage material disc to rotate.

3. The multi-station automatic bobbin case winding and unwinding assembly integrated system according to claim 1, wherein the bobbin case grabbing part comprises a grabbing part substrate, a swinging telescopic mechanism and a mechanical finger mechanism, the swinging telescopic mechanism is rotationally connected with the grabbing part substrate, the mechanical finger mechanism is arranged on the swinging telescopic mechanism, and when the swinging telescopic mechanism swings to the lower side, the mechanical finger mechanism points to a storage station on the rotary storage tray.

4. The multi-station automatic bobbin changing shell wire-removing and winding assembly integrated system according to claim 3, wherein the swinging telescopic mechanism comprises a second servo motor, a connecting rod, a sliding base and a swinging fork, wherein the connecting rod and the swinging fork are rotationally connected with two diagonal positions of a grabbing part substrate, a guide groove is formed between the connecting rod and the swinging fork, the upper end of the guide groove points to the horizontal direction, the lower end of the guide groove points to a rotating dumping tray, the sliding base is in sliding connection with the connecting rod, and the sliding base is in sliding connection with the swinging fork;

the second servo motor is arranged on the grabbing part substrate and connected with the swing shifting fork and used for driving the swing shifting fork to rotate;

the mechanical finger mechanism comprises a connecting base, an electromagnetic push rod, a shuttle shell fixing frame and a poking hook, wherein the connecting base is connected with a sliding base, the end of the sliding base is provided with the shuttle shell fixing frame, the sliding base is rotationally connected with the poking hook on one side of the shuttle shell fixing frame, the poking hook is provided with a poking piece and a reset torsion spring, the connecting base is provided with the electromagnetic push rod on one side of the poking piece, the poking hook rotates to one side of the shuttle shell fixing frame through poking the poking piece when the electromagnetic push rod is pushed out, the poking hook is used for poking a bolt locking handle, the shuttle shell fixing frame is of an L-shaped structure, and a limit bump matched with a bolt locking handle middle through hole of the shuttle shell is arranged on the inner side of the shuttle shell fixing frame.

5. The integrated system for assembling the multi-station automatic bobbin changing shell wire-removing and winding assembly according to claim 1, wherein the horizontal guide mechanism comprises a plurality of sections of linear horizontal guide rails and linear racks, the translation driving part comprises a translation part base plate, a third servo motor, a driving gear and a sliding guide seat, the third servo motor and the sliding guide seat are arranged on the translation part base plate, the third servo motor is connected with the driving gear, the sliding guide seat is connected with the horizontal guide rails in a sliding manner, the linear racks are arranged along the horizontal guide rails, and the driving gear is meshed with the linear racks.

6. The multi-station automatic bobbin case winding and unwinding assembly integrated system according to claim 1, wherein a lifting mechanism is arranged between the bobbin case grabbing part and the translation driving part, the lifting mechanism is used for lifting or lowering the height of the bobbin case grabbing part relative to the translation driving part, the lifting mechanism comprises a lifting screw rod, a lifting seat and a fourth servo motor, the lifting screw rod is vertically arranged between the bobbin case grabbing part and the translation driving part, the lifting seat is provided with a threaded hole for engaging the lifting screw rod, the lifting seat is connected with the bobbin case grabbing part, the fourth servo motor is arranged on the translation driving part, and the fourth servo motor is connected with the lifting screw rod and used for driving the lifting screw rod to rotate.

7. The multiple station automated bobbin case removal and winding assembly integrated system of claim 1, wherein the system comprises a control host and a position sensor, the position sensor being disposed on the bobbin case changer and the embroidery machine frame, the control host being configured to control the bobbin case changer and the position sensor, the position sensor being configured to position the bobbin case changer.

8. The multi-station automatic bobbin changing shell wire winding and assembling integrated system is characterized in that a wire clamping mechanism is arranged on one side, close to a storage device, of a main board, the wire clamping mechanism comprises a wire clamping cylinder and a wire clamping hook, the wire clamping cylinder is arranged on one side, close to the storage device, of the main board and located between a wire breaking mechanism and a rotary storage disc, the wire clamping hook is connected with the wire clamping cylinder, the tail end of the wire clamping hook is in a hook-shaped structure bent towards one side of the main board, and the wire clamping cylinder drives the wire clamping hook to slide towards one side of the main board.

9. The multi-station automatic shuttle changing shell wire-removing and winding assembly integrated system according to claim 1, wherein the wire-removing wheel assembly comprises a driving wheel, a driven wheel, a wire-removing driving motor for driving the driving wheel to rotate and a clamping mechanism for moving the driven wheel to abut against the driving wheel, the driving wheel is rotatably fixed on a main board, the wire-removing driving motor is connected with the driving wheel, a limiting hole is formed in one side of the main board, close to a winding main shaft, of the driving wheel, one end of the limiting hole points to the driving wheel, the driven wheel is connected with the limiting hole in a sliding mode, the clamping mechanism drives the driven wheel to slide along the limiting hole to abut against the driving wheel, a wire-removing space right below the winding main shaft is formed between the driving wheel and the driving wheel, and the wire-sucking mechanism is arranged at the bottom of the main board and located below the wire-removing space.

10. The integrated system for assembling the multi-station automatic bobbin changing shell and wire winding according to claim 9, wherein the clamping mechanism comprises a clamping swing rod, a swing rod shaft, a one-way bearing, a driving gear and a driven gear, the limiting hole is arc-shaped, the swing rod shaft is rotatably fixed on the main board, the one-way bearing is sleeved on the swing rod shaft, the driven gear is sleeved on the one-way bearing, one end of the clamping swing rod is connected with the swing rod shaft, the other end of the clamping swing rod extends to the limiting hole, the driven gear is rotatably connected with the end of the clamping swing rod, which is located in the limiting hole, and the driving gear is coaxially connected with the driving gear, and is meshed with the driven gear.

11. The integrated system for assembling the multi-station automatic bobbin changing shell and wire winding according to claim 9, wherein the clamping mechanism comprises a clamping cylinder, the limiting hole is in a strip shape, the clamping cylinder is arranged on the main board, a cylinder rod of the clamping cylinder is connected with the driven wheel, and the clamping cylinder drives the driven wheel to slide along the limiting hole.

12. The integrated system for assembling the multi-station automatic bobbin changing shell wire removing and winding of claim 1, wherein the wire pressing mechanism comprises a wire pressing boss, a lower pressing cylinder and a wire pressing block, wherein the wire pressing boss is arranged on a main board, the wire pressing boss is arranged on one side of a winding main shaft, the wire pressing block is connected with the lower pressing cylinder, and the lower pressing cylinder pushes the wire pressing block to abut against the wire pressing boss.

13. The multi-station automatic bobbin changing shell wire-removing and winding assembly integrated system according to claim 1, wherein the gripper moving mechanism comprises a main screw rod sliding table and a gripper screw rod sliding table, the main screw rod sliding table is obliquely arranged on the base table, the gripper screw rod sliding table is arranged on the main screw rod sliding table, the mechanical gripper is arranged on the gripper screw rod sliding table, the gripper screw rod sliding table drives the mechanical gripper to axially slide in parallel with a winding spindle, and the main screw rod sliding table drives the gripper screw rod sliding table to obliquely lift and move; the plug moving mechanism is a plug screw sliding table arranged on the main screw sliding table, and the plug screw sliding table drives the movable plug to move in parallel with the direction of the winding main shaft.

14. The multi-station automatic bobbin changing shell wire removing and winding assembly integrated system according to claim 1, wherein the gripper moving mechanism comprises a horizontal screw rod sliding table, a vertical screw rod sliding table and a gripper screw rod sliding table, the horizontal screw rod sliding table is arranged on a base station, the vertical screw rod sliding table is vertically connected with the horizontal screw rod sliding table, the gripper screw rod sliding table is arranged on the vertical screw rod sliding table, the mechanical gripper is arranged on the gripper screw rod sliding table, and the gripper screw rod sliding table drives the mechanical gripper to axially slide in parallel with a winding spindle; the plug moving mechanism is a plug screw sliding table arranged on the vertical screw sliding table, and the plug screw sliding table drives the movable plug to move in parallel with the direction of the winding main shaft.

15. The multi-station automatic bobbin changing shell wire-removing and winding assembly integrated system according to claim 13 or 14, wherein a steering motor for driving the mechanical gripper to horizontally steer is arranged on the gripper screw sliding table, a swinging arm is arranged on the steering motor, and the mechanical gripper is arranged on the swinging arm.

16. The multi-station automatic bobbin changing shell wire removing and winding assembly integrated system according to claim 1, wherein the main board is provided with a laser range finder for testing the distance of the winding main shaft above the winding main shaft.

17. The integrated system for assembling the multi-station automatic bobbin changing shell wire-removing and winding assembly according to claim 1, wherein the wire feeding frame comprises a wire passing wheel group consisting of a plurality of wire passing wheels, a meter wire guiding wheel, a bracket and a tension adjusting mechanism, the tension adjusting mechanism comprises a tension adjusting arm, a tension adjusting motor and a wire passing plate, the tension adjusting arm rotates to connect the bracket, the tension adjusting motor is arranged on the bracket and drives the tension adjusting arm to swing, the wire passing plate is arranged on two sides of the tension adjusting arm, and wire passing holes are formed in the tail ends of the wire passing plate and the tension adjusting arm.

18. A multi-station automatic bobbin-changing shell wire-removing and winding process method is characterized by comprising the following steps of: