CN221218109U - Winding bottom shuttle replacing device and mechanical arm - Google Patents

Abstract

The utility model discloses a winding bottom shuttle replacing device and a mechanical arm thereof, wherein the mechanical arm comprises a transmission shaft which can be rotatably arranged, a first rotating arm which can be slidably arranged on the transmission shaft, and a second rotating arm which can be rotatably arranged on the first rotating arm; the second swivel arm is provided with at least one actuator. The first rotating arm can synchronously rotate along with the transmission shaft and can slide along the axial direction of the transmission shaft. The second rotating arm can synchronously move along with the first rotating arm and independently rotate relative to the first rotating arm. Therefore, compared with the existing swing arm, the mechanical arm has more degrees of freedom, larger moving range and more flexible movement, can realize multidirectional adjustment of the position of the executing piece, and the second swing arm is provided with at least one executing piece, so that the mechanical arm can drive different executing pieces to execute different operation tasks in a multidirectional manner, the action is more efficient, and the replacement efficiency of the shuttle core is higher.

Description

Winding bottom shuttle replacing device and mechanical arm

Technical Field

The utility model relates to the technical field of template machines, in particular to a winding bottom shuttle replacing device and a mechanical arm.

Background

In the clothing processing industry, part of clothing pieces are required to be processed by a template machine. The existing template machine is generally internally provided with a rotating shuttle and a needle which are matched with each other to interweave and interlock the bottom thread and the surface thread on the fabric to form a lock stitch. The quantity of the bobbin thread on the bobbin thread inside the rotating shuttle is limited, when the bobbin thread is about to run out, the bobbin thread inside the rotating shuttle needs to be taken out, and then the bobbin thread fully wound with the bobbin thread is put into the rotating shuttle.

The patent of application number CN201310616933.9 provides a method for replacing a bottom shuttle of a sewing machine, which discloses a first clamping arm and a second clamping arm for clamping a shuttle shell, both of which comprise a swing arm, one end of the swing arm is slidably matched with a rotating seat through two guide shafts, so that the swing arm can rotate along with the rotating seat and can axially slide relative to the rotating seat along the guide shafts. When the rotary hook is in operation, taking the first clamping arm as an example, the swing arm of the first clamping arm rotates to the rotary hook, then moves axially along the guide shaft, the first clamping arm clamps the bobbin case, then the first clamping arm rotates to the rotary table, moves axially along the guide shaft, and places the clamped bobbin case on the rotary table.

However, the executing piece installed on the swing arm only has one clamping arm, the number of degrees of freedom of the swing arm is small, the movable range of the swing arm is limited, the movement flexibility is poor, the clamping arm can be only controlled to replace the shuttle peg between the point to point, different operation tasks are difficult to be efficiently completed, and the replacement efficiency of the shuttle peg is affected.

Disclosure of utility model

The utility model aims to provide a winding bottom-changing shuttle device and a mechanical arm thereof, wherein the mechanical arm can execute different operation tasks in multiple directions, the replacement efficiency is higher, and the technical problem of low replacement efficiency of the existing shuttle core is solved.

In order to achieve the above-mentioned purpose, the present utility model provides a mechanical arm of a winding bottom shuttle replacing device, which comprises a transmission shaft rotatably arranged, a first rotating arm slidably arranged on the transmission shaft, and a second rotating arm rotatably arranged on the first rotating arm; the second swivel arm is provided with at least one actuator.

Preferably, the transmission shaft is slidably sleeved with a sliding sleeve, and one end of the first rotating arm is fixedly sleeved outside the sliding sleeve.

Preferably, the transmission shaft is integrally provided with a guide key, and the inner side wall of the sliding sleeve is provided with a guide groove in sliding fit with the guide key.

Preferably, the method further comprises:

The connecting sleeve is fixedly connected with the first rotating arm;

a sliding driving belt pulley and a sliding driven belt pulley which are respectively rotatably arranged;

a sliding synchronous belt which bypasses the sliding driving belt pulley and the sliding driven belt pulley and is fixedly connected with the connecting sleeve;

the driving driven belt pulley and the driving belt pulley are respectively rotatably arranged;

The two ends of the sliding driving shaft are fixedly connected with the sliding driving belt pulley and the driving driven belt pulley respectively and are rotatably arranged;

a drive timing belt that bypasses the drive driven pulley and the drive driving pulley;

and the sliding driving motor is fixedly connected with the driving belt wheel.

Preferably, the outer side surface of the connecting sleeve is provided with an embedded groove, the sliding synchronous belt is embedded in the embedded groove, and an extrusion plate for extruding and fixing the sliding synchronous belt is fixedly arranged at the opening of the embedded groove.

Preferably, the side of the extrusion plate, which is close to the sliding synchronous belt, is provided with a non-slip protrusion.

Preferably, the method further comprises:

A rotary drive motor;

A rotary driving belt wheel fixedly connected with the rotary driving motor;

a rotary driven belt wheel fixedly connected with the transmission shaft;

a rotary synchronous belt bypassing the rotary driving belt pulley and the rotary driven belt pulley.

Preferably, the method further comprises:

a rotary driving motor fixedly arranged on the first rotating arm;

And the tightening sleeve is fixedly arranged on the second rotating arm and connected with the output shaft of the rotary driving motor.

Preferably, the side wall of the tightening sleeve is provided with an adjusting slit penetrating along the radial direction, the adjusting slit is provided with an adjusting screw, and the adjusting screw is used for adjusting the width of the adjusting slit.

The utility model also provides a winding bottom shuttle replacing device, which comprises the mechanical arm.

Compared with the background art, the mechanical arm of the winding bottom shuttle replacing device comprises a transmission shaft, a first rotating arm and a second rotating arm, wherein the transmission shaft can be rotatably arranged, and the first rotating arm can be slidably arranged on the transmission shaft, so that the first rotating arm can synchronously rotate along with the transmission shaft and can axially slide along the transmission shaft. The second rotating arm can be rotatably arranged on the first rotating arm, so that the second rotating arm can synchronously act along with the first rotating arm and can independently rotate relative to the first rotating arm. Therefore, compared with the existing swing arm, the mechanical arm has more degrees of freedom, larger moving range and more flexible movement, can realize multidirectional adjustment of the position of the executing piece, and the second swing arm is provided with at least one executing piece, so that the mechanical arm can drive different executing pieces to execute different operation tasks in a multidirectional manner, the action is more efficient, and the replacement efficiency of the shuttle core is higher.

The winding bottom shuttle replacing device provided by the utility model comprises the mechanical arm and has the same beneficial effects.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is an isometric view of a robotic arm of a bobbin winder mechanism according to an embodiment of the present utility model;

FIG. 2 is another isometric view of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 1;

FIG. 4 is an assembled view of the second arm and its actuator of FIG. 1;

Fig. 5 is a structural view of the tight collar of fig. 1.

The reference numerals are as follows:

A transmission shaft 101, a first rotary arm 102, a second rotary arm 103, an actuator 104, a sliding sleeve 105, a connecting sleeve 106, a sliding driving pulley 107, a sliding driven pulley 108, a sliding timing belt 109, a driving driven pulley 110, a driving pulley 111, a sliding driving shaft 112, a driving timing belt 113, a sliding driving motor 114, a pressing plate 115, a rotation driving motor 116, a rotation driving pulley 117, a rotation driven pulley 118, a rotation timing belt 119, a rotation driving motor 120, a tightening sleeve 121, and a fixing frame 200;

A guide key 1011;

a cleat 1151;

an adjustment slot 1211 and an adjustment screw 1212.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that those skilled in the art will better understand the present utility model, the following description will be given in detail with reference to the accompanying drawings and specific embodiments.

The embodiment of the utility model discloses a mechanical arm of a winding bottom shuttle replacing device, which is fixed on a fixed frame 200. As shown in fig. 1 to 4, the mechanical arm includes a transmission shaft 101, a first rotating arm 102 and a second rotating arm 103, where the transmission shaft 101 is rotatably disposed, and the first rotating arm 102 is slidably disposed on the transmission shaft 101, so that the first rotating arm 102 can not only synchronously rotate with the transmission shaft 101, but also slide along the axial direction of the transmission shaft 101. Specifically, two opposite sides of the fixed frame 200 are respectively provided with a rotating groove, two ends of the transmission shaft 101 are respectively rotatably inserted into the two rotating grooves, and a bearing is arranged between the transmission shaft 101 and the rotating grooves, so that the bearing supports the transmission shaft 101 to rotate relative to the fixed frame 200. Of course, the mounting manner of the propeller shaft 101 is not limited thereto. The rotation range of the first rotating arm 102 may be adaptively adjusted according to the execution action of the mechanical arm, which is not specifically limited herein.

The second rotating arm 103 is rotatably arranged on the first rotating arm 102, so that the second rotating arm 103 can synchronously act with the first rotating arm 102 and can independently rotate relative to the first rotating arm 102. In this particular embodiment, the rotation axis of the first rotation arm 102 is parallel to the rotation axis of the second rotation arm 103, but the layout of both the first rotation arm 102 and the second rotation arm 103 is not limited thereto.

The second rotating arm 103 is provided with at least one actuator 104, and all the actuators 104 may be fixed on the same side of the second rotating arm 103 along a line, and of course, may be fixed on both sides of the second rotating arm 103. In this embodiment, the type of the actuator 104 mounted on the second rotating arm 103 may be a thread clamping mechanism, a shuttle changing mechanism and a pressing plate mechanism, so that the second rotating arm 103 can perform various operations of thread clamping, bobbin case changing and bobbin pressing. Of course, the type of the actuator 104 is not limited thereto, and may be adaptively adjusted according to the replacement procedure of the bobbin.

Compared with the existing swing arm, the mechanical arm has more degrees of freedom, larger moving range and more flexible movement, can realize multidirectional adjustment of the position of the executing piece 104, and the second swing arm 103 is provided with at least one executing piece 104, so that the mechanical arm can drive different executing pieces 104 to execute different operation tasks in a multidirectional manner, the action is more efficient, and the replacement efficiency of the shuttle core is higher.

The transmission shaft 101 is slidably fitted with a slide sleeve 105, so that the slide sleeve 105 can slide linearly in the axial direction of the transmission shaft 101. Of course, a locking mechanism may be added between the drive shaft 101 and the sliding sleeve 105. When the sliding sleeve 105 slides to an ideal position along the transmission shaft 101, the locking mechanism locks the sliding sleeve 105, so that the sliding sleeve 105 is fixed on the transmission shaft 101, and the sliding sleeve 105 is prevented from sliding randomly in the working process. The structure and the working principle of the locking mechanism can be specifically referred to the prior art.

One end of the first rotating arm 102 is fixedly sleeved outside the sliding sleeve 105, so that the first rotating arm 102 slides along the transmission shaft 101 along with the sliding sleeve 105. The sliding sleeve 105 can effectively separate the first rotating arm 102 and the transmission shaft 101, so that the first rotating arm 102 is prevented from being severely worn, and the first rotating arm 102 can be assembled conveniently. Of course, the sliding connection manner of the first swivel arm 102 and the transmission shaft 101 is not limited thereto.

The outer side surface of the transmission shaft 101 is integrally provided with a guide key 1011, the inner side wall of the sliding sleeve 105 is provided with a guide groove, and the guide key 1011 is in sliding fit with the guide groove, so that the guide key 1011 can guide the first rotating arm 102 to linearly slide and can transmit torque for the first rotating arm 102. The cross section of the guide key 1011 may be rectangular, the guide key 1011 extends along the axial direction of the transmission shaft 101, and the length of the guide key 1011 is consistent with the length of the transmission shaft 101. Of course, the guide key 1011 may be one or a plurality of guide keys, and the number thereof is not particularly limited.

The mechanical arm further comprises a connecting sleeve 106, a sliding driving belt pulley 107, a sliding driven belt pulley 108, a sliding synchronous belt 109, a driving driven belt pulley 110, a driving belt pulley 111, a sliding driving shaft 112, a driving synchronous belt 113 and a sliding driving motor 114, wherein the connecting sleeve 106 is fixedly connected with the first rotating arm 102 and is used for driving the first rotating arm 102 to slide along the transmission shaft 101. Both the sliding driving pulley 107 and the sliding driven pulley 108 are rotatably provided, respectively. The fixed frame 200 is provided with a wheel bracket to which the sliding driven pulley 108 is rotatably attached via an axle. The wheel support is U-shaped, and both sides thereof are respectively provided with an arc groove, and both ends of the wheel axle are clamped in the arc grooves. The sliding synchronous belt 109 bypasses the sliding driving belt wheel 107 and the sliding driven belt wheel 108, and the sliding synchronous belt 109 is fixedly connected with the connecting sleeve 106, so that the sliding driving belt wheel 107 drives the first rotating arm 102 to synchronously and linearly slide through the sliding synchronous belt 109. The sliding driving pulley 107 and the driving driven pulley 110 are respectively mounted at two ends of the sliding driving shaft 112, so that the driving driven pulley 110 drives the sliding driving pulley 107 to synchronously rotate through the sliding driving shaft 112. The slide driving shaft 112 is rotatably provided, and specifically, the fixed frame 200 is provided with a hinge support, and the slide driving shaft 112 is rotatably provided on the hinge support through a bearing, so that the slide driving shaft 112 can freely rotate around its own axis. The drive timing belt 113 bypasses the drive driven pulley 110 and the drive driving pulley 111, and the drive driving pulley 111 drives the drive driven pulley 110 to rotate through the drive timing belt 113, thereby decelerating the slide drive motor 114. The slide driving motor 114 is fixedly connected to the driving pulley 111, so that the slide driving motor 114 transmits torque to the slide driving shaft 112 after being decelerated. Of course, the belt transmission mechanism between the slide drive motor 114 and the slide drive shaft 112 may be replaced by a reduction mechanism such as a gear transmission mechanism or a sprocket transmission mechanism, and is not particularly limited herein.

The outer side surface of the connecting sleeve 106 is provided with an embedded groove, the sliding synchronous belt 109 is embedded in the embedded groove, an extrusion plate 115 is fixedly arranged at the opening of the embedded groove, the extrusion plate 115 is fixed on the connecting sleeve 106 by means of screws, the extrusion plate 115 extrudes and fixes the sliding synchronous belt 109 on the connecting sleeve 106, and the sliding synchronous belt 109 is reliably fixed on the connecting sleeve 106. Of course, the connection manner between the connection sleeve 106 and the sliding timing belt 109 is not limited thereto.

The squeeze plate 115 is provided with a slip preventing protrusion 1151 on a side close to the slide timing belt 109 for increasing friction between the squeeze plate 115 and the slide timing belt 109, thereby preventing the slide timing belt 109 from sliding relative to the squeeze plate 115. The anti-slip protrusions 1151 may be, but not limited to, circular arc protrusions uniformly distributed in the rotation direction of the sliding timing belt 109.

The mechanical arm further includes a rotation driving motor 116, a rotation driving pulley 117, a rotation driven pulley 118, and a rotation timing belt 119, and the rotation driving motor 116 is used for driving the transmission shaft 101 to rotate. The rotation driving pulley 117 is fixedly connected with the rotation driving motor 116, the rotation driven pulley 118 is fixedly connected with the transmission shaft 101, the rotation synchronous belt 119 bypasses the rotation driving pulley 117 and the rotation driven pulley 118, the rotation driving motor 116 is decelerated by the transmission belt mechanism to drive the transmission shaft 101 to rotate, and of course, the transmission belt mechanism can be replaced by other deceleration mechanisms, and the transmission belt mechanism is not particularly limited herein.

The mechanical arm further comprises a rotary driving motor 120 and a tightening sleeve 121, wherein the outer shell of the rotary driving motor 120 is fixedly arranged on the first rotating arm 102, an output shaft of the rotary driving motor 120 penetrates through the first rotating arm 102 and is connected with the tightening sleeve 121, the tightening sleeve 121 is fixedly arranged on the second rotating arm 103 through screws, the output shaft of the rotary driving motor 120 and the second rotating arm 103 are fixedly connected together through the tightening sleeve 121, and the rotary driving motor 120 drives the second rotating arm 103 to rotate relative to the first rotating arm 102. The tightening sleeve 121 is arranged to facilitate the disassembly, assembly and replacement of the rotary driving motor 120. Of course, the connection manner between the rotary drive motor 120 and the second boom 103 is not limited thereto.

As shown in fig. 5, the sidewall of the tightening sleeve 121 is provided with an adjusting slit 1211 penetrating in the radial direction, the adjusting slit 1211 is provided with an adjusting screw 1212, and the adjusting screw 1212 is used for adjusting the width of the adjusting slit 1211 so as to adapt the tightening sleeve 121 to the output shafts of the rotary driving motors 120 with different specifications.

The embodiment of the utility model also discloses a winding bottom shuttle replacing device which comprises the mechanical arm and has the same beneficial effects.

It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.

The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.

Claims (9)

1. The mechanical arm of the winding bottom shuttle replacing device is characterized by comprising a transmission shaft (101) which is rotatably arranged, a first rotating arm (102) which is slidably arranged on the transmission shaft (101) and a second rotating arm (103) which is rotatably arranged on the first rotating arm (102); the second rotary arm (103) is provided with at least one actuator (104); further comprises:

a rotary drive motor (120) fixedly arranged on the first rotating arm (102);

and the tightening sleeve (121) is fixedly arranged on the second rotating arm (103) and is connected with the output shaft of the rotary driving motor (120).

2. The mechanical arm of the winding bottom shuttle replacing device according to claim 1, wherein the transmission shaft (101) is slidably sleeved with a sliding sleeve (105), and one end of the first rotating arm (102) is fixedly sleeved outside the sliding sleeve (105).

3. The mechanical arm of the winding bottom shuttle changing device according to claim 2, wherein the transmission shaft (101) is integrally provided with a guide key (1011), and the inner side wall of the sliding sleeve (105) is provided with a guide groove in sliding fit with the guide key (1011).

4. A robotic arm for a winding bottom shuttle device as defined in any one of claims 1-3, further comprising:

The connecting sleeve (106) is fixedly connected with the first rotating arm (102);

a sliding driving pulley (107) and a sliding driven pulley (108) which are respectively rotatably arranged;

a sliding synchronous belt (109) which bypasses the sliding driving belt wheel (107) and the sliding driven belt wheel (108) and is fixedly connected with the connecting sleeve (106);

a driving driven pulley (110) and a driving pulley (111) which are respectively rotatably arranged;

A sliding driving shaft (112) with two ends respectively fixedly connected with the sliding driving belt wheel (107) and the driving driven belt wheel (110) and rotatably arranged;

a drive timing belt (113) that bypasses the drive driven pulley (110) and the drive driving pulley (111);

And a sliding driving motor (114) fixedly connected with the driving belt wheel (111).

5. The mechanical arm of the winding bottom shuttle changing device according to claim 4, wherein an embedded groove is formed in the outer side surface of the connecting sleeve (106), the sliding synchronous belt (109) is embedded in the embedded groove, and an extruding plate (115) for extruding and fixing the sliding synchronous belt (109) is fixedly arranged on the opening of the embedded groove.

6. The mechanical arm of the winding bottom shuttle device according to claim 5, wherein a slip prevention protrusion (1151) is provided on a side of the pressing plate (115) close to the sliding timing belt (109).

7. A robotic arm for a winding bottom shuttle device as defined in any one of claims 1-3, further comprising:

A rotation drive motor (116);

A rotary driving pulley (117) fixedly connected with the rotary driving motor (116);

a rotary driven pulley (118) fixedly connected with the transmission shaft (101);

A rotational timing belt (119) that bypasses the rotational driving pulley (117) and the rotational driven pulley (118).

8. The mechanical arm of a winding bottom shuttle device according to claim 1, wherein the side wall of the tightening sleeve (121) is provided with an adjusting slit (1211) penetrating along the radial direction, the adjusting slit (1211) is provided with an adjusting screw (1212), and the adjusting screw (1212) is used for adjusting the width of the adjusting slit (1211).

9. A bobbin winder bottom shuttle device comprising a robotic arm as claimed in any one of claims 1 to 8.