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CN-121976362-A - Dynamic robot adjusting method and system for lock stitch sewing machine

CN121976362ACN 121976362 ACN121976362 ACN 121976362ACN-121976362-A

Abstract

The invention discloses a robot dynamic adjusting method and a system of a lock stitch sewing machine, which relate to the technical field of robots and comprise a shuttle core mechanical arm, wherein the shuttle core mechanical arm is arranged at a shuttle core body of the lock stitch sewing machine and is used for automatically assembling and disassembling the shuttle core body, a coil mechanical arm is arranged on the side surface of the shuttle core mechanical arm and is used for automatically selecting the specification of the coil body and automatically assembling and disassembling the coil body, a control module is loaded on the shuttle core mechanical arm and is used for collecting position data and thread storage quantity data of the coil body on the coil mechanical arm, the control module is used for collecting the required thread quantity data of the shuttle core body through the lock stitch sewing machine, and the coil mechanical arm is controlled to select the corresponding thread storage quantity data according to the required thread quantity data to be assembled into the shuttle core body, so that the automatic assembling and disassembling of the shuttle core body and the automatic replacing of the coil body are realized, and the efficiency and the adaptability of the lock stitch sewing machine are improved.

Inventors

  • CHEN WENJIE
  • MA BAILIN
  • ZHAN ZHIYONG
  • CHEN XINHU

Assignees

  • 浙江宝仁自动化科技有限公司

Dates

Publication Date
20260505
Application Date
20240312

Claims (10)

  1. 1. A robotic dynamic adjustment system for a lock stitch sewing machine, comprising: the bobbin mechanical arm (1) is arranged at the bobbin body (3) on the lock stitch sewing machine, and the bobbin mechanical arm (1) is used for automatically assembling and disassembling the bobbin body (3); The coil mechanical arm (2) is arranged on the side surface of the shuttle-core mechanical arm (1), and the coil mechanical arm (2) is used for automatically selecting the specification of the coil body (4) and automatically assembling and disassembling the coil body (4); the control module is loaded on the shuttle-core mechanical arm (1) and is used for collecting position data and line storage quantity data of the coil body (4) on the coil mechanical arm (2); The control module collects the required thread quantity data of the bobbin body (3) through the lock stitch sewing machine, and controls the coil mechanical arm (2) to select the corresponding coil body (4) storing the thread quantity data according to the required thread quantity data, and the coil body is installed in the bobbin body (3).
  2. 2. The dynamic robot adjusting system of a lock stitch sewing machine according to claim 1, wherein the bobbin manipulator (1) comprises a hydraulic cylinder (11), an output end of the hydraulic cylinder (11) is connected with a detaching sleeve (12) through a hydraulic rod, and an unlocking mechanism (13) is arranged on the inner side of the detaching sleeve (12).
  3. 3. The dynamic robot adjusting system of a lock stitch sewing machine according to claim 2, wherein the unlocking mechanism (13) comprises a telescopic rod (131), the output end of the telescopic rod (131) is fixedly connected with a fixed block (132), and two ends of the fixed block (132) are inserted with telescopic heads (133).
  4. 4. The dynamic robot adjusting system of a lock stitch sewing machine according to claim 1, wherein the control coil mechanical arm (2) comprises a mounting seat (21), a rotating ring (22) is rotatably connected to the outer side of the mounting seat (21), the rotating ring (22) is fixedly connected with a plurality of equidistant telescopic arms (23) on the side surface of the rotating ring (22), and a coil loading and unloading disc (24) is rotatably connected to one end, far away from the rotating ring (22), of the telescopic arms (23).
  5. 5. The dynamic robot adjusting system of a lock stitch sewing machine according to claim 4, wherein the telescopic arm (23) comprises a hydraulic push rod (231), an output end of the hydraulic push rod (231) is fixedly connected with a telescopic seat (232), and a side surface of the telescopic seat (232) is fixedly connected with an arc-shaped track (233).
  6. 6. The dynamic robot adjusting system of a lock stitch sewing machine according to claim 5, wherein the coil handling disc (24) comprises a handling disc body (241), a rotating seat (243) is fixedly connected to one side of the handling disc body (241), at least two groups of electromagnetic lock bolts (247) are mounted on the inner side of the handling disc body (241), an induction groove (246) is formed in the surface of the rotating seat (243), an infrared receiver is arranged on the inner side of the induction groove (246), and infrared emitters matched with the infrared receiver are mounted on two ends of the arc-shaped track (233).
  7. 7. The dynamic robot adjusting system of lock stitch sewing machine as claimed in claim 6, wherein a rotation shaft (244) is installed at the middle position of the inner side of the rotation seat (243), a rotation groove matched with the rotation shaft (244) is formed at the position of the top end of the telescopic seat (232) close to the rotation shaft (244), and a driving block (245) is installed at the position of the inner side of the rotation seat (243) close to the arc-shaped track (233).
  8. 8. The dynamic robot adjusting system of a lock stitch sewing machine according to claim 6, wherein an elastic plate (242) is installed at an inner center position of the loading and unloading tray body (241) by a spring.
  9. 9. A method for the dynamic adjustment of a robot of a lock stitch sewing machine, based on the dynamic adjustment system of a robot according to claim 8, characterized in that it comprises the following steps: s1, a control module collects the required thread quantity data required by a shuttle core body (3) through a lock stitch sewing machine; S2, a hydraulic cylinder (11) drives a disassembly sleeve (12) to enable the disassembly sleeve (12) to be sleeved on the outer side of the shuttle core body (3), and meanwhile, an unlocking mechanism (13) releases locking of the shuttle core body (3); S3, the hydraulic cylinder (11) drives the dismounting sleeve (12) again to enable the shuttle core body (3) to be separated from the lock stitch sewing machine to move to the position of the coil mechanical arm (2); s4, the coil mechanical arm (2) firstly removes the coil body (4) inside the shuttle core body (3) through an empty coil removing disc (24), and then selects the corresponding coil body (4) storing the wire quantity data according to the wire quantity data to be placed inside the shuttle core body (3); S5, the hydraulic cylinder (11) drives the dismounting sleeve (12) again to drive the shuttle core body (3) so that the shuttle core body (3) is installed in the lock stitch sewing machine.
  10. 10. The method for dynamically adjusting a robot of a lock stitch sewing machine as recited in claim 9, wherein S4 comprises the steps of: S401, rotating an empty coil loading and unloading disc (24) to the front surface of the disassembly sleeve (12); S402, one end of the arc-shaped track (233) is clamped into the induction groove (246), an infrared emitter on the arc-shaped track (233) is matched with an infrared receiver in the induction groove (246), and an electromagnetic lock tongue (247) is started to clamp the electromagnetic lock tongue (247) on the coil body (4) and take out of the coil body (4); s403, rotating a coil assembling and disassembling disc (24) corresponding to the coil body (4) storing the line quantity data to the front surface of the disassembling sleeve (12); S404, one end of the arc-shaped track (233) is clamped into the induction groove (246), an infrared emitter on the arc-shaped track (233) is matched with an infrared receiver in the induction groove (246), an electromagnetic lock tongue (247) is closed, and the locking of the loading and unloading disc body (241) to the coil body (4) is released; S405. An elastic plate (242) arranged on the inner side of the detachable disc body (241) pushes the coil body (4) to separate the coil body (4) from the detachable disc body (241), and then the detachable disc body (241) rotates to separate from the front surface of the detachable sleeve (12).

Description

Dynamic robot adjusting method and system for lock stitch sewing machine Technical Field The invention relates to the technical field of robots, in particular to a dynamic robot adjusting method and system of a lock stitch sewing machine. Background The utility model provides a lock stitch sewing machine is a common sewing machine type, its characteristics are that utilize two line sources (needle thread and shuttle thread) to form lock stitch, in traditional lock sewing machine, shuttle cock (the storage part of shuttle thread) often need be changed, in order to adapt to different sewing requirements, because the particularity of shuttle cock body structure, the current dynamic governing system of robot on the market can not accomplish the coil of changing when shuttle cock dismouting, a bionic robotic arm for loading and unloading raw materials such as disclosed in patent publication No. CN110014423A and the robotic arm of patent publication No. CN107877501B of grant, this kind of robotic arm can not accomplish the coil of changing when shuttle cock dismouting, lead to the dismouting of shuttle cock and the change of coil all to need manual handling, seriously influence lock stitch sewing machine's production efficiency. Disclosure of Invention In order to overcome the technical problems, the invention aims to provide a dynamic robot adjusting method and a dynamic robot adjusting system for a lock stitch sewing machine, which are used for solving the problem that in the prior art, due to the particularity of a shuttle core body structure, a mechanical arm can not complete the disassembly and assembly of a shuttle core and simultaneously replace a coil, so that the production efficiency of the lock stitch sewing machine is low. The aim of the invention can be achieved by the following technical scheme: The robot dynamic adjusting method comprises the steps that a shuttle core mechanical arm is arranged at a shuttle core body of the lock stitch sewing machine and used for automatically assembling and disassembling the shuttle core body, a coil mechanical arm is arranged on the side face of the shuttle core mechanical arm and used for automatically selecting the specification of the coil body and automatically assembling and disassembling the coil body, a control module is loaded on the shuttle core mechanical arm and used for collecting position data and line storage quantity data of the coil body on the coil mechanical arm, the control module is used for collecting line demand data required by the shuttle core body through the lock stitch sewing machine, and the coil mechanical arm is controlled to select the corresponding coil body with the line storage quantity data according to the line demand data and is installed in the shuttle core body. According to the invention, the shuttle-core mechanical arm comprises a hydraulic cylinder, the output end of the hydraulic cylinder is connected with a disassembling sleeve through a hydraulic rod, and an unlocking mechanism is arranged on the inner side of the disassembling sleeve. As a further scheme of the invention, the unlocking mechanism comprises a telescopic rod, the output end of the telescopic rod is fixedly connected with a fixed block, and two ends of the fixed block are inserted with telescopic heads. As a further scheme of the invention, the control coil mechanical arm comprises a mounting seat, a rotating ring is rotationally connected to the outer side of the mounting seat, a plurality of telescopic arms which are equidistantly arranged are fixedly connected to the side face of the rotating ring, and a coil loading and unloading disc is rotationally connected to one end of the telescopic arms, which is far away from the rotating ring. As a further scheme of the invention, the telescopic arm comprises a hydraulic push rod, the output end of the hydraulic push rod is fixedly connected with a telescopic seat, and the side surface of the telescopic seat is fixedly connected with an arc-shaped track. As a further scheme of the invention, the coil loading and unloading disc comprises a loading and unloading disc body, a rotating seat is fixedly connected to one side of the loading and unloading disc body, at least two groups of electromagnetic lock tongues are arranged on the inner side of the loading and unloading disc body, an induction groove is formed in the surface of the rotating seat, an infrared receiver is arranged on the inner side of the induction groove, and infrared emitters matched with the infrared receiver are arranged at two ends of an arc-shaped track. As a further scheme of the invention, a rotating shaft is arranged at the middle position of the inner side of the rotating seat, a rotating groove matched with the rotating shaft is arranged at the position of the top end of the telescopic seat close to the rotating shaft, and a driving block is arranged at the position of the inner side of the rotating seat close to the arc-shaped track.