JPH035832B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a guide device for guiding a string such as a thread or wire to an action receiving position where it can receive an action from an action applying means.

(Prior Art) For example, in a sewing machine, an upper thread bobbin is attached to the upper thread stand of the sewing machine, and the thread is pulled out from there and guided to the needle via a predetermined guide, tensioner, thread take-up, etc. (hereinafter referred to as (called upper thread set). The type of thread used in a series of sewing operations using this sewing machine is usually not constant, but the thread color and
The thickness of the thread, the material of the thread, etc. are changed each time (hereinafter referred to as needle thread exchange).

Setting the upper thread is extremely troublesome, especially in sewing factories where the upper thread needs to be replaced frequently.If the upper thread is set according to the procedure every time the upper thread is replaced, work efficiency will decrease. It ends up. Therefore,
When replacing the upper thread, cut the previously used thread (hereinafter referred to as the old upper thread) at the upper thread bobbin, connect it with the thread from the new upper thread bobbin (hereinafter referred to as the new upper thread), and then The needle thread is replaced by pulling out the old needle thread at the needle and pulling in the new needle thread. As a result, the upper thread only needs to be set at the beginning. However, the operations of cutting the old upper thread, tying the new upper thread to it, and setting the bobbin for the new upper thread must all be performed by the operator. This is a task that is completely different in nature from a series of sewing operations, and is therefore painful for the operator, resulting in a new reduction in work efficiency. Further, as long as the operator has to set the needle thread when replacing the needle thread, the sewing work cannot be fully automated.

Therefore, it is conceivable to automate the work of cutting the old upper thread, tying the new upper thread to it, and setting the bobbin for the new upper thread on the sewing machine.

(Problem to be solved by the invention) However, in general, the shape of the upper thread bobbin is irregular, and the remaining amount is also not constant, so the position of the thread end is uncertain, and it is difficult to automate the extraction of the new upper thread end. It is extremely difficult to do so. Attempting to do this would result in a large and complicated device equipped with a complex actuator and many sensors that can perform delicate tasks.

The present invention guides or holds strings such as threads and wires in a predetermined position so as to be movable as necessary, regardless of the shape of the bobbin on which they are wound or the amount of winding. To provide a string guide device, for example, to provide a string guide device for use in an automatic string exchange device that automatically cuts a string, grasps and pulls out the cut end, and automatically connects it to another string. to do, to aim at.

[Structure of the invention]

(Means for solving the problem) In order to achieve the above object, in the present invention,
Action imparting means for applying an action such as cutting to the string; a bobbin around which the string is wound; bobbin support means for supporting the bobbin; applying the action to the string coupled to the bobbin support means and wound around the bobbin a guide shaft that guides the member to an action receiving position where the action can be received from the means; and a first member that is swingably engaged with the guide shaft and supports the string movably in the vicinity of the action receiving position.
and a string guiding means having a gripping means for obtaining a posture and a second posture for holding the string in the vicinity of the action receiving position.

(Function) According to this, the bobbin is supported by the bobbin support means, and the cord wound around the bobbin is guided by the guide shaft to the action receiving position where it can receive the action from the action applying means, and is also guided by the gripping means to the action receiving position. Since it is movably supported or fixed near the action receiving position, the string wound around the bobbin is always guided to the action receiving position, regardless of the shape of the bobbin or the amount of winding of the bobbin. . Therefore, for example, it is possible to easily automate the operation of replacing the string, such as cutting the string using the action means, grasping and pulling out the cut end, and connecting it to another string. Further, when the string is cut by the action applying means, by firmly holding the end thereof, it is possible to prevent the string from falling off from the above-mentioned position.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

(Embodiment) (1) Overview of machine configuration and mechanism operation FIG. 1 is a perspective view showing an automatic needle thread exchange device of a sewing machine embodying the present invention. First, an overview will be explained with reference to FIG.

This device is roughly divided into a table unit 1, bobbin units 2a, 2b, 2c, and 2.
d, finger unit 3, knot unit 4,
and a sewing machine 5.

In the table 135 of table unit 1,
Four bobbin units 2a, 2b, 2c and 2d are attached. These bobbin units are removable, and in FIG. 1, the bobbin unit 2a is removed. This table 135 is
It rotates and reciprocates toward the sewing machine 5.

Bobbin units 2a, 2b, 2c and 2d
all have the same configuration, and the threads THa,
Bobbin wound with THb, THc and THd
BOBa, BOBb, BOBc and BOBd are installed. However, the bobbin BOBa of this example,
BOBb, BOBc, and BOBd are yarns THa, THb, and yarns of different types (color, material, thickness, etc.), respectively.
TEc and THd are wound. 23a,2
3b, 23c and 23d are thread guide members, which guide the threads wound around the respective bobbins.
THa, THb, TEc, and THd are movably guided in the first state and held firmly in the second state. Note that the thread guide members 23a, 23b, 23c and/or 23d are set in the second state when they are mounted on the table 135 of the table unit 1.

FIG. 1 shows the state in which the bobbin unit 2a is installed on the sewing machine 5, and the thread of the bobbin unit 2a is
THa is guided to the tensioner 54 by the thread guide member 23a, the thread guide member 51 of the sewing machine 5, the first guide 52, and the second guide 53, and is guided from the thread take-up lever 55 to the needle 56. sewing machine 5
The thread guide member 51 movably guides the thread (THa in FIG. 1) supplied from the bobbin unit (2a in FIG. 1) mounted on the sewing machine 5 in a first state and stick to it. In addition,
The sewing machine 5 is used for normal sewing.

The finger unit 3 connects the thread guide member 23a of the bobbin unit 2a mounted on the sewing machine 5 and the first thread guide member 51 of the sewing machine 5 side.
It is provided with fingers 33 for setting the state or the second state, and scissors 34 for cutting the thread THa supplied to the sewing machine 5, and moves horizontally to approach the thread THa as necessary.

The knotter unit 4 collects the thread (e.g., THa) cut by the scissors 34 and held by the thread guide member 51 on the sewing machine 5 side, and the thread guide member of the bobbin unit (e.g., 2b) newly attached to the sewing machine 5. Knot 44 to tie the thread THb held by 23b (see Fig. 18)
, and moves vertically as necessary to approach those threads THa and THb.

Similarly, referring to FIG. 1, an overview of the mechanical operation of this automatic needle thread changing device will be explained.

First, the operator sets it to the state shown in FIG. That is, the bobbin unit 2a is attached to the sewing machine 5, and the thread THa is passed from the bobbin BOBa to the thread guide members 23a, 51, the first guide 52, the second guide 53, and the tensioner 5.
4. It is set on the needle 56 via the balance 55. At this time, the thread guide members 23a and 51
guides the thread THa in a movable manner.

In this state, if the operator instructs to change the thread, for example to thread THb, the finger unit 3
is advanced to the portion of the thread THa stretched by the thread guide members 23a and 51, and first, the thread guide members 23a and 51 are brought into the second state by the finger 33. This allows the thread
THa is held in that state. Subsequently, the thread THa of the stretched portion is cut by the scissors 34, and the finger unit 3 is retreated to its original position. thread
Since THa is firmly held by the thread guide members 23a and 51, it will not fall off.

Next, table 135 of table unit 1
is rotated to position the storage notch 1351a for storing the bobbin unit 2a at a position facing the bobbin unit 2a, and then the table 135 is driven toward the sewing machine 5. By this drive, the bobbin unit base 21a of the bobbin unit 2a mounted on the sewing machine 5 is fitted into the storage notch 1351a, and then the table 135 is moved back again to collect the bobbin unit 2a on the table 135.

Since it is a thread exchange to thread THa, table 1
35 is rotated 90 degrees in the normal direction to position the bobbin unit 2b at a position facing the sewing machine 5, and then the table 135 is driven toward the sewing machine 5. By this drive, when the bobbin unit 2b is installed on the sewing machine 5 (when the bobbin unit base 21b is fitted into the installation plug 581 of the bobbin unit installation member 58 of the sewing machine 5: see FIG. 6), the table 135 is moved back. and return it to its original position.

The finger unit 3 is moved forward again, and the scissors 34 are used to remove the end of the thread THa that is fixed to the thread guide member 51 and the end of the thread THb that is fixed to the thread guide member 23b of the newly installed bobbin unit 2b. Grasp and then,
After the thread guide members 23b and 51 are brought into the first state by the finger 33, the finger unit 3 is moved back and returned to its original position. This allows the thread
THa (sewing machine 5 side) and THb (bobbin unit 2b side) are pulled out.

Finally, the knotter unit 4 is raised to engage the drawn-out thread THa (sewing machine 5 side) and THb (bobbin unit 2b side) with the knotter 44 (see Fig. 18), and the knotter 44 is driven to thread the thread. Connect THa and THb and lower the knotter unit 4 to return it to its original position.

When the operator pulls the previously used thread THa from the needle 56, the threads THa and THb are connected, so the new thread THb is pulled from the needle 56.
be guided to. Therefore, the troublesome operation of setting the upper thread when replacing the thread is no longer necessary.

(2) Details of mechanical configuration and mechanism operation Next, the detailed configuration and mechanism operation of each part will be explained. 2 is a front view of the embodiment shown in FIG. 1, FIG. 3 is a plan view thereof, and FIG. 4 is a right side view thereof. In the following description, please also refer to these drawings.

Table unit: Figures 5, 6 and 7 show table unit 1 and bobbin units 2a and 2.
FIG. 4 is an enlarged view of the main parts of FIGS. 2, 3, and 4, with emphasis on the configurations and mechanism operations of components b, 2c, and 2d. First, details of the table unit 1 will be explained with reference to these drawings.

The table unit 1 can be roughly divided into three parts: a fixed part 11, a moving part 12, and a rotating part 13.

The fixed part 11 mainly includes a sewing machine table 6.
It consists of a brace 111 fixed to and a member fixed to this. brace 111
A piston rod fixing plate 113 and a sensor bracket 114 equipped with a sensor S1 are fixed to the piston rod.

In addition, a rail 1 is provided on the upper surface of the brace 111.
12 is formed, and a slide base 123 is mounted thereon via slide bearings 121 and 122 so as to be able to freely reciprocate.

The slide base 123 is an air cylinder
It includes CV1, CV2, sensors S2, S3, a stepping motor 127, and the like. The sensor S2 is fixed to the slide base 123 by a sensor bracket 125.
3 is attached to the sensor bracket 128 and connected to the slide base 1 via the air cylinder CV2.
It is fixed to 23.

The stepping motor 127 is fixed to a motor bracket 126 fixed to a slide base, and an output gear 12 is attached to the output shaft of the stepping motor 127.
71 is fixed. Air cylinder CV1
is fixed to the cylinder support plate 124 fixed to the slide base, and the cylinder CV
1 piston rod PT1 is brace 111
Since it is fixed to the piston rod fixing plate 113 fixed to the slide base 123
is reciprocated by air cylinder CY1.

In other words, the moving section 12 mainly consists of the rails 11
It consists of a slide base 123 that reciprocates on 2, and a member fixed to this.

The slide base 123 further includes a fixed shaft 1
29 is fixed, a sleeve shaft 131 is attached thereto, and the head is attached to an E-ring 1311.
It is stopped by The sleeve shaft 131 includes
An input gear 132 is integrally formed, and a slit plate 133, a table 135, etc. are fixed to the input gear 132, and is rotatably supported in the axial direction by a thrust bearing 134.

The input gear 132 is the stepping motor 1
Output gear 1271 fixed to the output shaft of 27
This is a pair of gears.

In other words, the rotating portion 13 mainly consists of a member fixed to the sleeve shaft.

Bobbin unit: Referring to FIG. 6, the table 135 has a disk shape, and storage notches 135 for storing the bobbin unit 2a are located at positions dividing the circumference into four.
1a, a storage notch (not shown) for storing the bobbin unit 2b, a storage notch (not shown) for storing the bobbin unit 2c, and a storage notch (not shown) for storing the bobbin unit 2d. The following is a description of the storage notch 1351a and the bobbin unit 2a, but it should be understood that the other storage notches and bobbin units 2b, 2c, and 2d all have the same configuration.

The storage notch 1351a is a U-shaped notch, and further small storage checks 1352a and 1353a are formed at symmetrical positions on its upper and lower sides.

The bobbin unit 2a consists of a bobbin unit base 21a, a bobbin receiving shaft 22a, a bobbin BOBa, and a thread guide member 23a.

The bobbin unit base 21a has a lower plate 21
It has a sandwich structure in which a first spacer 213a and a second spacer 214a are sandwiched between the upper plate 1a and the upper plate 212a. The first spacer 213a and the second spacer 214a are
Since they are symmetrical and have approximately the same thickness as the table 135, the bobbin unit base 2
There are storage notches 1 on 3 sides of 1a except the left side.
A guide groove following 351a is formed. 1st
The spacer 213a has a storage stopper pin 2131a that protrudes outward (lower side in FIG. 6).
It is equipped with the storage stopper pin 213.
1a includes a compression coil spring 2132a.
gives an outward force. Although not shown, the second spacer 214a is provided with a storage stopper pin that also protrudes outward (upper side in FIG. 6) at a position symmetrical to the storage stopper pin 2131a, and is driven by a compression coil spring. It is given an outward force. When the bobbin unit 2a is attached to the storage notch 1351a, the storage stopper pin 2131a is attached to the storage check 1353.
At (a), another storage stopper pin (not shown) engages with the storage check 1352a to fix the bobbin unit 2a.

The lower plate 211a, the upper plate 212a, the first spacer 213a, and the second spacer 214a are
Form a socket inside. When the bobbin unit 2a is mounted on the sewing machine 5, the mounting plug 581 of the mounting member 58 fixed to the sewing machine bed 57 is inserted into this socket.
Mounting checks are formed on the mounting plug 581 at symmetrical positions (vertically symmetrical in FIG. 6) (only 582 is shown). On the other hand, the first
The spacer 213a has a mounting stopper pin 2133a that protrudes inwardly (upper side in FIG. 6).
It is equipped with the storage stopper pin 213.
3a has a compression coil spring 2134a
gives an inward force. Also,
Although not shown, the second spacer 214a
At a position symmetrical to the mounting stopper pin 2133a, there is provided a mounting stopper pin that also protrudes inwardly (lower side in FIG. 6), and an inward force is applied by a compression coil spring. . The mounting plug 58 is inserted into the socket of the bobbin unit base 21a.
1 is inserted, the mounting stopper pin 213
3a engages with a mounting check 582, and another storage stopper pin 2131 (not shown) engages with a corresponding storage check (not shown) to fix the bobbin unit 2a. In this case, since the mounting stopper pin 2133a engages with the tapered portion of each mounting check 582,
A relative force is applied to press the bobbin unit 2a toward the sewing machine 5, thereby preventing the bobbin unit 2a from wobbling.

Note that the spring 2134a acting on the mounting stopper pin 2133a is the same as the spring 213a acting on the storage stopper pin 2131a.
The spring constant is larger than 2a. In other words, the mounting stopper pin 2133a is the storage stopper pin 2.
Stronger than 131a.

Further, a collection hole 2111a, which will be described later, is bored in the lower plate 211a.

The bobbin receiving shaft 22a is fixed to the upper plate 212a of the bobbin unit base 21a.
Referring to FIG. 10, a skirt 221a made of resin and having a flared hem is press-inserted therein. Bobbin BOBa is this skirt 221a
Fixed by

Referring to FIG. 5, the thread guide member 23a includes a pole 231a fixed to the bobbin unit base 21a, a guide plate 232a fixed to the upper end of the pole 231a, and a chuck 233a fixed to the guide plate 232a. The pole 231a is screwed together with the lower plate 211a, the second spacer 214a, and the upper plate 212a.

FIG. 8 is a sectional view taken along the line -- in FIG. 5.
The chuck 233a will be explained with reference to FIG.

The chuck 233a is a guide shaft 2331
a, taper socket 2332a, compression coil springs 2333a and 2334a, slide barrel 2335a, ball 2336a
and 2337a, presser ring 2338a,
and a nut 2339a.

The slide barrel 2335a is the guide shaft 2
331a, and moves back and forth on the first position (the first position).
position), taper socket 23
32a is opened and the thread THa is guided in a movable manner,
In the second position (the position in the second state), the taper socket 2332a is closed and the thread THa is
adhere to.

The guide shaft 2331a is shown in FIG. 9a, the taper socket 2332a is shown in FIG. 9b, and the slide barrel 2335a is shown in FIG. 9c. Please refer to these drawings together.

The guide shaft 2331a has a through hole 23311a formed in the center thereof through which the thread THa passes. Further, on its outer peripheral surface, there are two spring fixing holes 23313a and 23314a (blind holes) each having a circular vertical cross section in the axial direction, a circumferential receiving groove 23312a, a circumferential first check groove 23316a, and a circumferential first check groove 23316a. Second check groove 23315a, flange 23317
a, and mailscrew 23318a
are formed respectively.

The tapered socket 2332a has two claws of the same shape, 23321a and 23322a.
It becomes. Each claw is attached to a guide shaft 2331
It is swingably engaged with the receiving groove 23312a of a. During assembly, the compression coil spring 2333a is inserted into the spring fixing hole 23313a.
and spring receiver 2332 of claw 23321a
3a, the compression coil spring 2334a is connected to the spring fixing hole 23314a and the claw 2332.
They are respectively fitted into the spring receivers 23324a of 2a. In other words, the compression coil springs 2333a and 23324a apply force to the claws 23321a and 23322a in the direction of pushing them apart, and prevent them from rotating around the receiving groove 23312a.

The slide barrel 2335a is the guide shaft 2
It is a cylinder that reciprocates on the outer peripheral surface of 331a. There is a tapered part 23351a on its inner circumferential surface, which includes a guide shaft 2331a, a tapered socket 2332a, and a slide barrel 2335a.
When assembled, the tapered portion 23351
a follows the outer peripheral surface of the taper socket 2332a. A circumferential working pin receiving groove 23354a, which will be described later, is formed in the slide barrel 2335a, and two ball receiving grooves 2335 are formed at symmetrical positions at the bottom of the groove 23354a.
2a and 23353a are drilled.
Ball receivers 23352a and 23353a
are through holes with a circular cross section in the axial direction, and balls 2336a and 2 are inserted here, respectively.
337a is fitted. Ball 2336a
and 2337a has a presser ring 2338
A applies a force in the direction of the guide shaft 2331a, respectively. slide barrel 2335
When a is in the first position, the ball 2336
a and 2337a fit into the first check groove 23316a of the guide shaft 2331a to fix the slide barrel 2335a, and when the slide barrel 2335a is in the second position, the balls 2336a and 2337a fit into the second check groove 23315a of the guide shaft 2331a. engage. In the second position, the ball 2336a
and 2337a is the second check groove 2331
5a, so insert it into the slide barrel 2335a and taper socket 2.
Apply extrusion force to 332a side. Therefore, the thread THa is stably fixed to the tapered socket 2332a.

Upright surface of guide plate 232a (see Figure 5)
The female screw 23318a of the guide shaft 2331a passes through the flange 23.
A through hole with a smaller diameter than 317a is bored, and the female screw 23318a of the guide shaft 2331a is inserted into the through hole and screwed with the nut 2339a, and the flange 23
The upright surface is sandwiched between 317a and nut 2339a.

Furthermore, a thread guide 2321a made of resin is press-fitted into the horizontal surface of the guide plate 232a.

Sewing machine: Referring to FIGS. 5 and 8, the sewing machine bed 57 includes a sewing machine side thread guide member 51.
is fixed. This thread guide member 51
The pole 511, the guide plate 512 fixed to the upper end of the pole 511, and the guide plate 51
It consists of a chuck 513 fixed to 2.

The pole 511 and the guide plate 512 connect the chuck 513 to the bobbin unit (2 in FIGS. 5 and 8) attached to the attachment plug 581.
a: It is supported coaxially and oppositely to the chuck 233a of the thread guide member 23a of the thread guide member 23a (hereinafter referred to as a mounting bobbin unit).

The chuck 513 is attached to the installed bobbin unit 2.
It guides the thread THa from a or holds the upper thread left on the sewing machine 5, and has exactly the same configuration as the chuck 233a described above.
Guide shaft 5131, taper socket 513
2. Compression coil spring 5133 and 5
134, slide barrel 5135, ball 5
136 and 5137, presser ring 513
8, and a nut 5139. The slide barrel 5135 reciprocates on the outer circumferential surface of the guide shaft 5131, opens the taper socket 5132 at the first position (the position in the first state) and movably guides the thread THa, and moves to the second position (the position in the first state). In the second state position), the tapered socket 5132 is closed to hold the thread THa. For a more detailed explanation,
Since this is a repetition of the above, it will be omitted.

A female screw (233 shown in FIG. 9a) of the guide shaft 5131 is provided on the receiving side upright surface of the guide plate 512 (on the right side in FIG. 5).
18a) passes through, and a through hole with a smaller diameter than the flange (same as 23317a shown in Figure 9a) is bored, and the female screw of the guide plate 5131 is inserted through the through hole and the nut 5139 is inserted. They are screwed together and the upright surfaces are sandwiched between flanges and nuts 5139.

In addition, a thread guide 514 made of resin is provided on the feed side upright surface of the guide plate 512 (on the left side in FIG. 5).
is press-fitted.

Recovery and installation of bobbin unit: The mechanical operation of the table unit 1 will be explained with reference mainly to FIGS. 5, 6, and 7.

The table unit 1 is shown in FIGS. 5 and 6.
In the state shown by the solid line in the figure, the slide base 123 is retracted to the right end (standby position) in the figure, and the storage notch 13 of the table 135 is closed.
A state in which the sewing machine 51a faces the direction of the sewing machine 5 is defined as a reference state. At this time, the cylinder support plate 124 is located directly above the sensor S1, and the slit 1331 formed in the slit plate 133 is located between the sensors S2. Sensor S1 is a magnetic sensor that detects the cylinder support plate 124 in the standby position and turns on, and sensor S2
is a photo interrupter, which turns on when it detects the light transmitted through the slit 1331 in the standard state.

The rotational position of the table 135 from the reference state is determined by counting the number of steps of the stepping motor 127.

Now, the thread between chuck 233a and 513
See FIGS. 5 and 6, where THa has been cleaved.

When recovering the bobbin unit 2a attached to the sewing machine 5, first
The bobbin unit 2a rotates and collects the bobbin 35.
Sewing machine 5
point in the direction of When the storage notch 1351a facing the sewing machine 5 is empty (the bobbin unit is not stored), the magnetic sensor S3
is turned off.

Next, switch the air supply of air cylinder CY1 to the forward movement side. CY1 is a double-acting cylinder, and as will be described later, air is normally supplied to the double-acting side to press and fix the slide base 123 to the right end (standby position). With this air switching, the bobbin units 2b, 2c, and 2d mounted on the moving section 12, the rotating section 13, and the table 135 are integrated into the sewing machine 5.
move towards. When these have moved sufficiently toward the sewing machine 5 side and the bobbin unit 2a is completely attached to the storage notch 1351a as shown by the two-dot chain line in FIGS. 5 and 6, air is force-fed to the air cylinder CY2, Attach the piston rod PI2 to the bobbin unit base 21a.
Insert it into the recovery hole 2111a provided in the lower plate 211a. After this, switch the air supply of air cylinder CY1 to the double-acting side. As a result, the table 135 moves rightward with the bobbin unit 2a attached thereto, so that the bobbin unit 2a is recovered from the sewing machine 5.

When the moving part 12 is in the standby position, the sensor S
1 is turned on, the air supply to air cylinder CY2 is stopped and piston rod PI2 is returned to its original position.

When installing a designated bobbin unit on the sewing machine 5, first, the bobbin unit is faced in the direction of the sewing machine 5. For example, when installing the bobbin unit 2b, the stepping motor 127 is rotated for a predetermined number of steps [N
(90)] to rotate the table 135 clockwise by 90 degrees.

When the bobbin unit 2b faces the direction of the sewing machine 5, the air supply of the air cylinder CY1 is switched to the forward movement side, and the moving part 12 and the rotating part 1
3 and the bobbin units 2a, 2b, 2c, and 2d mounted on the table 135 are moved together toward the sewing machine 5. These have sufficiently moved to the sewing machine 5 side and become in a state corresponding to the two-dot chain line shown in FIGS. 5 and 6,
When the bobbin unit 2b is attached to the attachment plug 581 of the sewing machine 5, the magnetic sensor S4 provided in the sewing machine bed 57 is turned on. In this state, the mounting stopper pins 2133b and 2143b of the bobbin unit 2b engage with the mounting check (582 and the notch located symmetrically thereto) of the mounting plug 581.

Therefore, when the air supply of the air cylinder CY1 is switched to the backward movement side and the table unit 1 (together with the attached bobbin unit) is driven toward the standby position, as described above,
Mounting stopper pins 2133b and 2143
b is a storage stopper pin (not shown, but 2132a of the bobbin unit 2a in Fig. 6).
and a pin in a symmetrical position)
Since the force is stronger (the spring is stronger), the bobbin unit 2b is peeled off from the storage notch (corresponding to 1351a) of the table 135 and attached to the attachment plug 581 of the sewing machine 5.

Finger unit: Fig. 11 is a right side view of the main parts of finger unit 3 and its surroundings (based on Fig. 2), Fig. 12 is a plan view of Fig. 11, and Fig. 13
The figure is a front view of the main parts of the finger unit 3. The finger unit 3 will be mainly explained with reference to these drawings.

The finger unit 3 mainly includes a fixing part 31, a conveying part 32, fingers 33, and scissors 3.
It is divided into 4 and 35 push rods.

The fixed part 31 mainly includes the sewing machine table 6
It consists of a support arm 311 fixed to and a member fixed to this (see Fig. 4).

A guide block 31 is attached to the support arm 311.
2 is fixed to the guide block 312, and the air cylinder CY3 and sensor bracket 3 are fixed to the guide block 312.
13 is fixed to the sensor bracket 313, and sensors S5 and S6 are fixed to the sensor bracket 313.
Sensors S5 and S6 are magnetic sensors.

Two slide bars 323 and 324 are slidably mounted on the guide block 312. Slide bars 323 and 32
The left end of 4 is connected to a support plate 321, and the right end is connected to a support plate 322, respectively.
A finger and scissor bracket 327 is fixed to the support plate 321 via bushings 325 and 326. In addition, the support plate 32
Since the piston rod PI3 of the air cylinder CY3 is fixed to the piston rod 1, the reciprocating movement of the piston rod PI3 moves the slide bars 323 and 324 and the support plates 321 and 3.
22 and the finger and scissor bracket 327 reciprocate together. In other words, the conveying section 32 includes slide bars 323, 324, support plates 321, 322, bushings 325, 32,
6 and finger & scissor bracket 327
It becomes.

The finger 33 consists of a left finger member 331 and a right finger member 332 symmetrical thereto, each having a shape in which only one side of a Γ-shape (L-shape) is shifted in parallel and connected at that angle (as shown in the perspective view of FIG. 1). ). The left finger member 331 and the right finger member 332 are portions corresponding to the corners of a Γ (L) shape, and are connected to pivot shafts 333 and 33, respectively.
4 to the bracket 327.

One end of the left finger member 331 (the end of the double side of the Γ shape) is provided with an upper working pin 3311 and a lower working pin 3312 facing each other, and the other end is provided with an upper working pin 3311 and a lower working pin 3312 that protrude upward (based on FIG. 13). A connecting pin 3313 is provided. An upper working pin 3321 and a lower working pin 3322 are provided at one end of the right finger member 332 (the end of the double side of the L-shape), and the other end is provided with an upper working pin 3321 and a lower working pin 3322, which protrude upward (based on FIG. 13). A connecting pin 3323 is provided.

Respective connecting pins 3313 and 332
3 is engaged with the finger action plate 335. The bracket 3 is attached to the part where the finger action plate 335 is bent on the lower side (inner side in FIG. 12).
Piston rod PI4 of air cylinder CY4 mounted on 27 is fixed. Therefore, when piston PI4 is pushed out,
The one ends of the left finger member 331 and the right finger member 332 are expanded laterally, and when the piston PI4 is retracted, the one ends are brought to the center.

An exploded perspective view of the scissors 34 is shown in FIG. 16. Referring to FIG. 16, the scissors 34 are
It consists of a first block 341, a first knife 342, a second block 343, a second knife 344, and support means for rotatably supporting these.

The first block 341 includes an occlusal surface 3411,
It has a first knife storage groove 3414, a long hole 3412, and a support hole although not shown in the drawings. The first knife 342 is installed in the first knife storage groove 3414. Further, the second block 343 has the same shape as the second block 341, and has an occlusal surface 3431 and a second knife storage groove 343.
434, long hole 3432 and support hole 3433
has. The second knife 344 is installed in the second knife storage groove 3414.

These, the assembly of the first block 341 and the first knife 342, and the second block 3
43 and the second knife 344 are rotatably supported with support pins 345 passing through their respective support holes. The support pin 345 is inserted into a support pin receiver 3461 of the support block 346 and fixed by a fixing bolt 3462.

First knife 342 and second knife 344
, the respective cutting edges are occlusal surfaces 3411, 34
31, and when the occlusal surfaces 3411 and 3431 engage, they enter into the opposing storage grooves 3434 and 3414, respectively. In other words, the first knife 342 and the second knife 344 form a pair of scissors.

Working pins 3472 and 3473 of the scissor action plate 347 pass through the elongated hole 3412 of the first block 341 and the elongated hole 3432 of the second block 343, respectively. In the assembled state, an E-ring 347 for preventing the scissor action plate 347 from shaking is attached to the tip of the action pin 3473.
4 is installed. A piston rod mounting hole 3471 is bored on the right side (lower side in FIG. 12) of the scissor action plate 347.
Piston rod PI5 of air cylinder CY5 mounted on bracket 327 is fixed there. Therefore, when the piston PI5 is pushed out, the occlusal surfaces 3411 and 343
When the piston rod PI4 is retracted and the cutting edges of the first knife 342 and the second knife 344 are slid together, the occlusal surface 3
411 and 3431 are opened, and the cutting edges of the first knife 342 and the second knife 344 are opened.

Referring again to FIGS. 11, 12 and 13, sensor & scissor bracket 3
A push rod 35 is pivotally attached to 27 by a pin 351. There are sensors &
A portion of the scissor bracket 327 is bent vertically to form a rod receiver 3271 and a rod stopper 3272. Rod receiver 3271 and rod stopper 3272
limits the rotation range of the push rod 35.

Push rod 35 is rod receiver 3271
When the push rod is in contact with the
5 is connected to the thread guide member 51 on the sewing machine 5 side.
The thread guided by the chuck 513 and the thread guide 514 (in Figs. 11 and 12, the thread is
THa) is supported in a position opposite to THa.

Next, the mechanical operation of the finger unit 3 will be explained with reference mainly to FIGS. 11, 12, 14, 15, and 16.

As shown in FIGS. 11 and 12, the piston rod PI3 of the air cylinder CV3 is fully retracted and the conveying section 32 is in the standby position, and the piston rod PI3 of the air cylinder CY4 is fully retracted.
The reference state is defined as a state in which the scissors 34 are opened vertically by the piston rod PI5 of the air cylinder CY5 being retracted and the fingers 33 are opened left and right when the scissors 4 are pushed out. When the transport section 32 is in the standby position, the sensor S5 detects the support plate 321 and is turned on, and the sensor S6 is turned off.

It is now assumed that the bobbin unit 2a is attached to the sewing machine 5 and thread THa is supplied to the sewing machine from the bobbin BOBa. Therefore,
The thread guide member 51 of the sewing machine 5 and the thread guide member 23a of the bobbin unit 2a are both in the first state, that is, the chuck 513
slide barrel 5135 and chuck 2
Both slide barrels 2335a of 33a are in the first position. The air cylinder CY3 is a double-acting cylinder, and normally air is supplied to the double-acting side to press and fix the conveying section 32 in the standby position, but when the air supply is switched to reciprocating, the piston rod PI3 is pushed out. Ru. As a result, each member mounted on the conveying section 32 and the finger & scissor bracket 327 moves forward (in the direction of the thread THa) as one.

With this advance, Pushrod 3
5 comes into contact with the thread THa in the portion of the thread guide member 51 guided by the chuck 513 and the thread guide member 514, and pulls out the thread THa in that portion as it moves forward. In this case, the thread THa extending toward the sewing machine 5 is connected to the thread guide 52,
53, tensioner 54, etc., so the resistance is large, so the thread THa is attached to the bobbin.
Unfolded from BOBa. In other words, the thread set on the needle 56 by this drawer
There is no way that THa will fall out.

When the piston rod PI3 is pushed out sufficiently, each member mounted on the conveyor section 32 and the finger & scissor bracket 327 advances to the operating position shown by the two-dot chain line in FIGS. 11 and 12, and the magnetic sensor S6 is activated. It detects the support plate 322 and turns on.

In the operating position, the upper working pin 3311 of the left finger member 331 of the finger 33
and the lower working pin 3312 is connected to the chuck 5.
The upper working pin 3321 and the lower working pin 3322 of the right finger member 332 of the finger 33 are attached to the working pin receiver 51354 of the slide barrel 5135 of No. 13;
The chuck 513 and the chuck 233a are respectively engaged with the working pin receivers 23354a of the slide barrel 2335a of the scissor 34; The thread guided by
THa enters.

Please refer to FIG. 14. Here, air is supplied to the reciprocating side to pull in the piston rod PI4 of the air cylinder CY4, and the finger 33
Therefore, as shown by the two-dot chain line in Fig. 14,
Slide barrel 5135 of chuck 513 and slide barrel 23 of chuck 233a
35a to the second position. This results in
Thread THa is held by chuck 513 and chuck 233a, respectively.

Next, air is forced into air cylinder CY5 to push out piston rod PI5, and scissor 3
4, the occlusal surface 3411 and the first knife 34
2, the occlusal surface 3431 and the second knife 34
4 and close chuck 513 and chuck 23.
Cut the thread held by 3a. In this cutting, each end of the cut thread THa is sandwiched between the occlusal surfaces 3411 and 3431 so as not to bend or hang down. After this, stop the air cylinder CY5 air, pull in the piston rod PI5, and move the scissor 34.
an occlusal surface 3411 and a first knife 342;
The occlusal surface 3431 and second knife 344 are opened.

After cutting the thread THa, switch the air supply of air cylinder CY3 to the double action side again,
The transport unit 32 is moved to the standby position (sensor S5
) until it turns on, resulting in the state shown by the solid line in Figure 14. At this time, the finger 33 remains centered, and the thread THa is held firmly by the chuck 513 and the chuck 233a.
Further, the portion pulled out by the push rod 35 hangs down.

Here, as described above, the bobbin unit 2a is replaced. For example, if the bobbin unit 2b is to be replaced at this time, the bobbin unit 2b will be installed in the sewing machine 5 in exactly the same state as shown by the solid line in FIG. The thread ends are all held in the second state).

When the bobbin unit 2b is attached to the sewing machine 5 (that is, the above-mentioned sensor S4 is turned on), the air supply of the air cylinder CY3 is switched to the forward movement side, the piston rod PI3 is pushed out, and the conveying section 32 and the finger & scissor bracket 327 Move each member mounted on the machine forward again. This time, the thread THa between the chuck 513 and the thread guide 514 of the thread guide member 51 is hanging down, so in this forward movement, the push rod 35
does not engage.

When the finger 33 moves forward to the operating position shown by the two-dot chain line in FIG.
and the lower working pin 3312 is connected to the chuck 5.
The upper working pin 3321 and the lower working pin 3322 of the right finger member 332 of the finger 33 are attached to the working pin receiver 51354 of the slide barrel 5135 of No. 13;
are engaged with the working pin receivers 23354b of the slide barrel 2335b of the scissors 34, and are held by the chuck 513 between the occlusal surface 3411 and the first knife 342 and the occlusal surface 3431 and the second knife 344 of the scissor 34. The end of the upper thread THa (that is, the upper thread that was being supplied before the bobbin unit was replaced) and
Thread THb held by chuck 233b
The end of is entered. Therefore, air cylinder CY
5, the piston rod PI5 is pushed out, and the occlusal surface 3411 (integrated with the first knife 342) and the occlusal surface 3431 of the scissor 34 are
(integrated with the second knife 344) and thread
Grasp the end of THa and the end of thread THb,
Next, supply air to the reciprocating side of air cylinder CY4 to push out piston rod PI4,
The finger 33 allows the slide barrel 5135 of the chuck 513 and the chuck 233b to
slide barrel 2335b to the first position. This results in thread THa and thread THb
are each movable. Occlusal surface 341
1 and the occlusal surface 3431, the thread THa
While holding the end of the thread and the end of the thread THb,
The air supply of the air cylinder CY3 is switched to the backward motion side, and the conveying section 32 is driven to the standby position (until the sensor S5 is turned on). In other words, as shown by the solid line in Figure 15, the thread
THa and thread THb are drawn out. At this time, the thread THa has been given sufficient extra length by the push rod 35 in advance as described above, so the thread THa is pulled out from the needle 56 with this pullout.
It will never come off.

The pulled out threads THa and THb are connected by a knotter 44 of a knotter unit 4, which will be described below. At this time, the air supply from the air cylinder CY5 is stopped, the piston rod PI5 is retracted, and the occlusal surface 3411 and first knife 342, and the occlusal surface 3431 and second knife 344 of the scissor 34 are opened again.

Notsuta unit: Figure 17 is a right side view of the main parts of Notsuta unit 4 and its surroundings (based on Fig. 2), and Fig. 18 is a rear view of the main parts of Notsuta unit 4 and its surroundings (based on Fig. 2). There is). The knotter unit 4 will be explained with reference to these drawings. Notsuta unit 4
It is broadly divided into a fixing part 41, a conveying part 42, a rotary solenoid 43, and a knotter 44.

The fixing part 41 is a support arm 4 fixed to the support arm 311 of the finger unit 3.
11 and members fixed thereto. A guide block 412 is fixed to the support arm 411, an air cylinder CY6 and a sensor bracket 413 are fixed to the guide block 412, and the sensor bracket 41
3 has a sensor S7 and a sensor S8 fixed to it.

Sensors S7 and S8 are magnetic sensors.

Two slide bars 422 and 423 are slidably mounted on the guide block 412. Slide bars 422 and 42
3 is connected to the lower end by a support plate 424 and the upper end by a knotter bracket 421, respectively. In addition, the piston rod PI of air cylinder CY6 is attached to the knot bracket 421.
6 is fixed, so the piston rod
Due to the reciprocating movement of PI6, the notuta bracket 4
21, the slide bars 422, 423 and the support plate 424 reciprocate integrally. In other words, the transport section 42 includes the knot bracket 421, the slide bars 422, 423, and the support plate 424.
It is.

The knotter 44 is mounted on a knotter bracket 421. In this embodiment, as the knot 44, a Wiverse knot made by Todo Seisakusho is used. This knotter 44 connects the thread on the sewing machine 5 side (for example, THa) and the thread on the newly installed bobbin unit (for example, 2b).
Connect to THb with a grouper knot.

Figure 19, Figure 20, Figure 21a, Figure 21
Figure b, Figure 21c, Figure 21d, Figure 21e
Figures 21f, 21g and 21h
The knotter 44 will be explained with reference to the drawings.

Figure 19 shows the front side (left side in Figure 17)
FIG. 4 is a front external view of the knotter 44 with the cover plate removed. The knotter 44 is the divider 44
1, trigger 442, first clother 443, second clother 444, tying head 44
5. The main components are a stripper 446, scissors 447, and a base plate 448.

Hereinafter, the two threads shown in the drawings will be referred to as black thread (filled in) and white thread (outlined), respectively.

Connect the ends of the two threads to divider 4
Distribute and place on both sides of 41. The relationship between the tying head 445 and each thread at this time is as shown in FIG. 21a when viewed from the right side.

When the trigger 442 is rotated clockwise, the push groove 4423 of the trigger 442 first acts on the first and second clothers 443, 444, and the crossing plates 4431 and 4432 of the first clother 443 and
The crossing plates 4441 and 4442 of the second clother 444 are respectively driven in the directions of the arrows to cross the two threads with the black thread facing down, and the knife edge 4421 of the trigger 442 connects the spiral 4451 to the tying head 445. The head 445 starts to rotate (FIG. 21b).

By further rotating the trigger 442, the nap edge 4421 and the spiral 4
The tying head 4451 is rotated by the action of 451, and the tying head 4451 is
The black thread and white thread are twisted as shown in figure e.

The tying head 445 has a structure in which the tip opens and closes when rotated, and grips the right end of the white thread at a predetermined position (FIG. 21f). At this time, the scissors 447 are driven by the trigger 445 to cut the black end.

After this, with the tying head 445 standing almost upright, the pusher 4422 of the trigger 442 acts on the lift lever 4461 of the stripper 446 to move the stripper 446 upward (counterclockwise in FIG. 19, in the direction of the arrow in FIG. 20). Jump up. As a result, the portions of the black thread and white thread that were wound around the tying head 445 are removed. Since the tying head 445 grips the end of the white thread, the end of the white thread is just passed through the ring of black thread and white thread (Figure 21g). The stripper 446 is pushed up further to tension the knot.

In this way, the black thread and the white thread are tied in a grouper knot and are joined as shown in Figure 21h.

When the force to rotate the trigger 442 is released,
The trigger 442 is rotated in the opposite direction by the spring 449, and each element is driven in the reverse order to return to its original state.

The rotary solenoid 43 is mounted on a knotter bracket 421, and its drive arm 431 is engaged with a trigger 442 of the knotter 44 via a leaf spring 4424. In other words, this rotary solenoid 43 allows
The trigger 442 of the knotter 44 is
49 as described above. The leaf spring 4424 prevents backlash due to the mechanical play of the knot 44 and the rotary solenoid 43.

The mechanical operation of the knotter unit 4 will be explained.
As shown by the solid line in Figure 17, the air cylinder
When the piston rod PI6 of CY6 is fully retracted, the conveying section 42 is in the standby position, and the sensor S7 detects the knotter bracket 421 and is turned on.

As shown by the solid line in FIG. 15 above, with the scissors 34 of the finger unit 3 pulling out the thread THa end on the sewing machine 5 side and the thread THb end on the newly installed bobbin unit 2b side, the air cylinder Switch the air of CY6 to the forward side to raise the knotter bracket 421, the knotter 44 mounted thereon, and the rotary solenoid 43 together. The air cylinder CY6 is a double-acting cylinder, and normally air is fed under pressure to the double-acting side to fix the conveying section in the standby position.

As a result, the divider 44 of the knotter 44
1 intervenes between the threads THa and THb and further rises to the operating position (sensor S8 is on), the threads THa and threads THb are placed on the knotter 44 in the state described above. In other words, the black thread mentioned above is the thread THa, and the white thread is the thread THa.
Equivalent to THb. At this time, the knot 44 is
Flip up the push rod 35 of finger unit 3.

When the rotary solenoid 43 is energized, the end of the thread THa and the end of the thread THb are
It is tied with a grouper knot. When this connection is completed, the air in the air cylinder CY6 is switched to the backward movement side, and the knotter bracket 421, the knotter 44 mounted thereon, and the rotary solenoid 43 are lowered together and returned to the standby position (sensor S7 is turned on).

(3) Drive mechanism The drive mechanism has already been explained in the previous section, but I will summarize it again here. Figure 22 shows air cylinders CY1, CY2, CY3, CY4,
This is a fluid circuit including CY5 and CY6. Second
This will be explained with reference to FIG.

In Fig. 22, Pmp is the air source, Con is the constant pressure adjustment unit, Val1, Val2, Val3, Val
4, Val5 and Val6 are switching valves, Sol1,
Sol2, Sol3, Sol41, Sol42, Sol5 and Sol6 are solenoids, SC11, SC12, SC
2, SC31, SC32, SC41, SC42, SC
5. SC61 and SC62 are throttle valves. This figure shows the steady state, ie, the piston rod of each cylinder is retracted and each solenoid is deenergized. In addition,
In the following description, the air source Pmp and the constant pressure adjustment unit Con are collectively referred to as an air source.

Slide base 123 of table unit 1
The air cylinder CY1 that drives The air supply port on the forward side (the air supply port on the side that pushes out the piston rod by air pressure: the same applies hereinafter) is a throttle valve.
It communicates with the atmosphere via SC12 and switching valve Val1.

When the solenoid Sol1 is energized, the switching valve Val1 moves in parallel to the left in Fig. 22, and the forward air supply port becomes the throttle valve SC1.
2 and the switching valve Val1, and the reciprocating side air supply port communicates with the atmosphere via the throttle valve SC11 and the switching valve Val1.
This pushes out the piston rod PI3.

After this, when solenoid Sol1 is deenergized,
The switching valve Val1 returns to the state shown in the figure due to the reaction force of the spring provided therein, and the reciprocating side air supply port communicates with the air source and the forward side air supply port communicates with the atmosphere, so the piston rod
PI1 is pulled in and returns to a steady state after a predetermined time.

Slide base 123 of table unit 1
The air cylinder CY2 for collecting the bobbin unit is a single-acting cylinder with a spring, and in steady state, the air supply port (forward movement) communicates with the atmosphere via the throttle valve SC2 and the switching valve Val2. There is. When the solenoid Sol1 is energized, the switching valve Val2 is moved in parallel to the left in FIG. 22, and the air supply port communicates with the air source via the throttle valve SC2 and the switching valve Val2. This allows the piston rod PI
2 is pushed out against the spring provided in cylinder CY2.

After this, when solenoid Sol1 is deenergized,
The switching valve Val2 returns to the state shown in the figure due to the reaction force of the spring provided in it, and the air supply port is communicated with the atmosphere again, so the reaction force of the spring provided in the cylinder CY2 causes the piston rod PI to
2 is pulled in and returns to a steady state after a predetermined time.

The air cylinder CY3 that drives the conveyance section 32 of the finger unit 3 is a double-acting cylinder,
In steady state, the air supply port on the double-acting side is the throttle valve SC.
31 and a switching valve Val3, and the forward air supply port communicates with the atmosphere via a throttle valve SC32 and a switching valve Val3.

When the solenoid Sol3 is energized, the switching valve Val3 moves in parallel to the left in Fig. 22, and the forward air supply port becomes the throttle valve SC3.
2 and a switching valve Val3, and the reciprocating side air supply port communicates with the atmosphere via a throttle valve SC32 and a switching valve Val3.
As a result, the piston rod PI3 is pushed out.

After this, when solenoid Sol3 is deenergized,
The switching valve Val3 returns to the state shown in the figure due to the reaction force of the spring provided therein, and the return air supply port communicates with the air source and the forward air supply port communicates with the atmosphere, so the piston rod
PI3 is pulled in and returns to a steady state after a predetermined time.

The air cylinder CY4 that drives the finger 33 of the finger unit 3 is a double-acting cylinder,
Switching valve Val inserted in the air circuit of CY4
4 is a 3-position closed center valve. In a steady state, both the forward air supply port and the backward air supply port are closed.

Solenoid Sol4 is energized, solenoid Sol4
2 is de-energized, the switching valve Val4 is moved in parallel to the right in Fig. 22, and the reciprocating side air supply port communicates with the air source via the throttle valve SC41 and the switching valve Val4, and The moving side air supply port communicates with the atmosphere via a throttle valve SC42 and a switching valve Val4. This pushes out the piston rod PI4.

After this, when solenoid Sol41 is deenergized,
The switching valve Val4 returns to the illustrated state due to the spring reaction force provided therein, and the forward air supply port and the backward air supply port are closed again.
Therefore, the piston rod PI4 is positioned at that position. When solenoid Sol41 is de-energized and solenoid Sol42 is energized, the switching valve Val4 is moved in parallel to the left in Fig. 22, and the forward air supply port becomes the throttle valve.
It communicates with the air source via SC42 and the switching valve Val4, and the reciprocating side air supply port is connected to the throttle valve SC41,
It communicates with the atmosphere via a switching valve Val4. This draws the piston rod PI4.
When the solenoid Sol42 is deenergized after a predetermined period of time has elapsed, the steady state shown in the figure is achieved.

The air cylinder CY5 that drives the scissors 34 of the finger unit 3 is a single-acting cylinder with a spring, and in a steady state, the air supply port (forward movement) communicates with the atmosphere via the throttle valve SC5 and the switching valve Val5.

When the solenoid Sol5 is energized, the switching valve Val2 is moved in parallel to the left in FIG. 22, and the air supply port communicates with the air source via the throttle valve SC5 and the switching valve Val5.
As a result, the piston rod PI5 is pushed out against the spring provided in the air cylinder CY5.

After this, when solenoid Sol5 is deenergized,
The switching valve Val5 returns to the state shown in the figure due to the reaction force of the spring provided in it, and the air supply port is communicated with the atmosphere again, so the piston rod PI5 is changed due to the reaction force of the spring provided in the cylinder CY5.
is pulled in and returns to a steady state after a predetermined period of time.

The air cylinder CY6 that drives the conveyance section 42 of the knotter unit 4 is a double-acting cylinder, and in a steady state, the double-acting side air supply port is connected to the throttle valve SC6.
1 and a switching valve Val6, and the forward air supply port communicates with the atmosphere via a throttle valve SC62 and a switching valve Val6.

When the solenoid Sol6 is energized, the switching valve Val6 moves in parallel to the left in Figure 22, and the forward air supply port becomes the throttle valve SC6.
2 and a switching valve Val6, and the reciprocating side air supply port communicates with the atmosphere via a throttle valve SC61 and a switching valve Val6.
As a result, the piston rod PI3 is pushed out.

After this, when solenoid Sol3 is deenergized,
The switching valve Val3 returns to the state shown in the figure due to the reaction force of the spring provided therein, and the return air supply port communicates with the air source and the forward air supply port communicates with the atmosphere, so the piston rod
PI3 is pulled in and returns to a steady state after a predetermined time.

The stepping motor 127 is connected to the output gear 12
71 and the input gear 132, the table 135 is rotated forward (clockwise in FIG. 3) or reversed (rotated counterclockwise in FIG. 3).

The rotary solenoid 43 is a plate spring 4424
engages the trigger 442 of the knotter 44 via the
When energized, the trigger 442 rotates clockwise in FIG. 19, and when deenergized, it returns to a steady state due to the reaction force of the spring 449 engaged with the trigger.

(4) Configuration and operation of electrical system FIG. 23 is a block diagram showing a schematic configuration of the electrical system of the device of this embodiment. This electrical system is centered around a microprocessor CPU. The microprocessor CPU is a terminal of the host processor MPU, and each sensor S1, S2, S3, S4, S5, S6, S
7 and S8, stepping motor driver Drl that executes forward/reverse energization/deenergization of the stepping motor 127 according to instructions from the CPU, and each solenoid Sol1, Sol2, Sol3, Sol41,
A solenoid driver Dr2 that energizes/deenergizes Sol42, Sol5, and Sol6, and
Lights lamps LP1 and LP2 according to CPU instructions/
A lamp driver Dr3 that turns off the light is connected.

Lamps LP1 and LP2 are connected to the sewing machine head 57
(See Figures 1 and 2).

First, the operator installs the required thread type bobbins BOBa, BOBb, BOBc, and BOBd in each bobbin unit 2a, 2b, 2c, and 2d.
Attach each thread end to each chuck 233.
a, 233b, 233c, and 233d (that is, in the second state), and stored in the table 135 of the table unit 1. One of these days, take out the bobbin unit that holds the thread (upper thread) you are about to use, attach it to the sewing machine 5, and loosen its chuck (in other words, there is no need to attach this bobbin unit to the table 135 from the beginning, and the thread end (It is not necessary to fix the thread), the thread is fed out, guided through the thread guide member 51 of the sewing machine 5 and the thread guides 52, 53 of the sewing machine main body to the tensioner 54 and thread take-up 55, and attached to the needle 56 (in the following explanation, As will be clear, attachment of the upper thread to the sewing machine 5 is only necessary at the beginning, and is unnecessary thereafter.)

When the operator finishes sewing using this thread and replaces it with another thread, the operator displays the number corresponding to that thread from an operation board (not shown), i.e.,
The number (described later) associated with each storage notch in the table 135 and replacement instruction are input.

The host processor MPU receives this input and gives a predetermined instruction to the microprocessor CPU. The microprocessor CPU receives the instructions from the host processor MPU and processes the sensors S1,
S2, S3, S4, S5, S6, S7 and S
8 while monitoring the stepping driver Dr.
1. Forward and reverse biasing of the stepping motor 127/
Instructs solenoid driver Dr2 to de-energize solenoids Sol1, Sol2, Sol3, Sol41, Sol
42, Sol5 and Sol6 are selectively energized/deenergized to control needle thread exchange of the sewing machine 5.

If an error occurs while performing upper thread exchange control, the microprocessor CPU instructs the lamp driver Dr3 to turn on the lamp LP1 or lamp LP2 corresponding to the error, and also sends a message to that effect to the host processor. Notify MPU.

The flowchart shown in FIG. 24 is the main routine of needle thread exchange control performed by the microprocessor CPU. Generally speaking, when the current is turned on, the CPU sets the initial state and waits for a thread replacement instruction from the host processor MPU. Then, the installed bobbin unit is collected and the specified bobbin unit is installed on the sewing machine 5. If no bobbin unit is installed, the specified bobbin unit is installed on the sewing machine 5. The above will be explained in detail.

Initial state settings: When the power is turned on, the internal memory, registers and output ports are initialized, and the driver
Reset Dr1, Dr2 and Dr3.

The table 135 of the table unit 1 is in the home position (the position where the storage notch 1351a faces the sewing machine 5: that is, the sensor S2
is not in the position where sensor S2 is turned on)
While monitoring, stepper motor 1 is connected to driver Dr1 until sensor S2 turns on.
27 1-step forward rotation bias (table 135
(biased in the direction of normal rotation).

When the table 135 is set to the home position, the value of the register C is set to 1, and a loop waits for a thread exchange instruction from the host processor MPU.

The value of the register C indicates the rotational position of the table 135, and C=1 means that the table 135 is in the home position, that is, the storage notch 135 that stores the bobbin unit 2a, as described above.
1a indicates the position facing the sewing machine 5, and C=
2 indicates the position where the storage notch for storing the bobbin unit 2b faces the sewing machine 5, and C=3.
C=4 indicates the position where the storage notch that stores the bobbin unit 2c faces the sewing machine 5, and C=4 represents the position where the storage notch that stores the bobbin unit 2d faces the sewing machine 5.

Collection of bobbin unit: When the host processor MPU instructs thread replacement, the value indicating the designated bobbin unit is memorized in the B register and Busy is set.

The B register is set to bobbin unit 2 when B=1.
a, B=2 indicates the bobbin unit 2b, B=3 indicates the bobbin unit 2c, B
=4 indicates the bobbin unit 2d.

When a bobbin unit is attached to the sewing machine 5, the sensor S4 detects the bobbin unit base of the attached bobbin unit and is turned on.

A sensor S3 detects whether or not a bobbin unit is stored in a storage notch facing the sewing machine 5. Therefore, if sensor S3 is on, the table is rotated to search for an empty storage notch. As will become clear from the explanation that will be given later, normally, after the designated bobbin unit is installed in the sewing machine 5, the rotational position of the table 135 of the table unit 1 is not changed. is facing the sewing machine 5, and the sensor S3 is off. However, for example, when the operator first sets the upper thread, he selects and installs the bobbin unit at an arbitrary position, so in this case It is possible that sensor S3 is turned on.

In searching for a storage notch for collecting the installed bobbin unit, first, the value of the C register is saved in the D register. Since the C register stores the number indicating the storage notch facing the sewing machine 5 as described above, the search start position is stored here.

Next, execute the 90° forward rotation subroutine to rotate table 135 90° forward (clockwise in Figure 3).
do. The 90° normal rotation subroutine is shown in FIG. Referring to FIG. 25, the microprocessor CPU positions the table 135 by 90 degrees in the normal rotation by counting the number of steps in which the stepping motor 127 is urged to rotate in the normal direction. When the storage notch corresponding to the storage notch 1351a, that is, the storage notch 1351a, is opposed to the sewing machine 5, positioning is performed while monitoring the sensor S2, thereby preventing cumulative errors due to step-out of the stepping motor or the like.

Therefore, two types of control are executed depending on the value of the C register. In other words,
As mentioned above, each storage notch is formed at a position where the middle plate-shaped table 135 divides the circumference into four, so if the value of the C register is 4, then the table 135 rotates 90 degrees in the normal direction. teeth,
The storage notch 1351a corresponding to C=1 is made to face the sewing machine 5. Therefore, while monitoring the sensor S2, the driver Dr1 is sequentially instructed to energize the stepping motor 127 in one step forward rotation, and when the sensor S2 is turned on, the value of the C register is set to 1 and the process returns to the main routine.

If the value of the C register is not 4, after clearing the N register that counts the number of steps, stepper motor 1 is sent to driver Dr1.
N every time 1 step forward rotation bias of 27 is instructed.
The register is counted up by 1, and the process is repeated until the value of the N register reaches N (90), which is the number of steps required for the motor 127 to rotate 90 degrees forward as shown in the table 135. are the same). When the value of the N register becomes N (90), the value of the C register is incremented by 1 and the process returns to the main routine.

Please refer again to the main routine in FIG. When the 90° forward rotation subroutine is executed,
The sensor S3 checks whether the new storage notch facing the sewing machine 5 is empty. If it is not empty, rotate the table 135 90 degrees in the normal direction again.

If the operator accidentally attaches bobbin units to all four storage notches of table 135 even though the bobbin units are attached to sewing machine 5, the CPU will
At this time, even if the table 135 is rotated once, an empty storage notch cannot be found. Therefore, when the value of the C register and the value of the D register match, error 1 is set, the driver Dr3 is instructed to turn on the lamp LP1, and the host processor MPU is notified of the error 1.
It notifies that this has occurred, resets Busy, and enters a loop waiting for instructions from the host processor MPU.

In either case, if the storage notch for collecting and storing the installed bobbin unit is facing the sewing machine 5, or if the storage notch is located facing the sewing machine 5 after searching,
Next, the value of the C register and the value of the B register are compared. The value of the C register indicates the storage notch, and the value of the B register indicates the current sewing machine 5.
This shows the bobbin unit to be installed on the sewing machine 5 (in other words, the designated bobbin unit) after collecting the bobbin unit installed in the sewing machine 5 (in other words, the currently installed unit), so if these match, reinstall the collected bobbin unit into the sewing machine. 5 (as mentioned above, the storage notch and bobbin unit are 1:1).
), the thread replacement instruction of the host processor MPU at this time is canceled.

If the value of the C register and the value of the B register are not the same, a collection subroutine is executed to retrieve the bobbin unit currently installed in the sewing machine 5 (that is, the currently installed unit).
The collection subroutine is shown in FIG. 28th
This will be explained with reference to the figures.

In recovery, first, the driver Dr2 is instructed to energize the solenoid Sol3, the port of the switching valve Val3 is switched, and the piston rod PI3 of the air cylinder CY3 is pushed out.
As a result of this extrusion, the conveying section 32 of the finger unit 3, the fingers 33, scissors 34, etc. mounted thereon move forward together. At this time, as described above, the needle thread is let out by the push rod 35 at the portion guided by the sewing machine side thread guide member 51 (thread guide member 51 fixed to the sewing machine 5).

The switching valve Val4 inserted in the air circuit of the air cylinder CY4 is a 3-position closed center valve as described above, and when the solenoid Sol41 and the solenoid Sol42 are de-energized, the switching valve Val4 is inserted into the air circuit of the air cylinder CY4. Since the air supply port on the moving side is blocked,
Air cylinder CY4 is maintained in its previous used state. Therefore, as will become clear from the following explanation, the current state is that sewing machine 5
The bobbin unit is attached to the sewing machine 5, and the upper thread is being supplied from the bobbin of the bobbin unit to the sewing machine 5. At this time, the air cylinder is
CY4 is maintained in a state where piston rod PI4 is pushed out, that is, finger 3
3 is open to the left and right. Therefore, when the piston rod PI3 of the air cylinder CY3 is pushed out sufficiently, the finger 33 moves between the slide barrel 5135 of the chuck 513 of the sewing machine side thread guide member 51 and the attached bobbin unit side thread guide member (attached to the sewing machine 5). Thread guide member of bobbin unit: 12th
It engages with the slide barrel of the chuck (233a, 2335a in FIG. 12) of the chuck 23a in the figure. Further, in this state, the thread guided by these chucks enters between the scissors 24, and the sensor S6 detects the support plate 322 and turns on.

When sensor S6 is turned on, driver Dr
2 to energize solenoid Sol4. This allows the piston rod of cylinder CY4 to
As the PI 4 is retracted, the finger 33 is driven toward the center, and the slide barrels of the respective chucks (5135 and the slide barrel of the installed bobbin unit: 2 in Fig. 12) are moved toward the center.
335a) to the second position. As a result, each chuck holds the thread being supplied to the sewing machine 5 in place.

At this time, the driver Dr2 is instructed to energize the solenoid Sol5, and the air cylinder CY is activated.
Push out piston rod PI5. As a result, the scissors 34 are closed, and the thread supported by the chuck 513 of the sewing machine side thread guide member 51 and the chuck of the attached bobbin unit side thread guide member is cut. As mentioned above, the scissors 34 trim the ends of the yarn during this cutting.

Since the fingers 33 and scissors 34 are driven by air cylinders CY4 and CY5, respectively, there is a time lag (in this embodiment, this is referred to as t1) until each completes its operation. Therefore, clear and start the internal timer and wait for t1 time to elapse.

When time t1 has elapsed, the driver Dr2 issues an instruction to de-energize the solenoid Sol5, an instruction to de-energize the solenoid Sol3, an instruction to de-energize the solenoid Sol41, and an instruction to energize the solenoid Sol1, thereby clearing and starting the internal timer.

When the solenoid Sol5 is deenergized, the piston rod PI5 of the air cylinder CY5 reopens the scissor 34 that was retracted by the spring reaction force.

When solenoid Sol3 is energized, switching valve Val3 returns to its original state due to spring reaction force, switches the port, and connects air cylinder CY3.
Pull in the piston rod PI3. In other words,
Retraction of the transport section 32 of the finger unit 3 is started.

When the solenoid Sol41 is deenergized, the switching valve Val4 returns to its original state due to the spring reaction force, and closes the air supply ports on the forward and backward sides of the air cylinder CY4. Therefore,
Air cylinder CY4 is fixed and finger 3
3 is maintained in the center position, that is, the position when each slide barrel is driven to the second position.

When solenoid Sol1 is energized, switching valve Val1 is driven and air cylinder CY
Air is force-fed to the forward air supply port No. 1.
As a result, piston rod PPI1 is pushed out (in this case, piston rod PI1
is fixed, but can be considered to be pushed out relatively), and is housed in the movable section 12 of the table unit 1 and the table 135. The bobbin unit starts moving forward in the sewing machine direction 5 as a unit. The timer determines a sufficient time (for example, 21a and 13351a) for the movable part 12 of the table unit 1 to move forward and for the bobbin unit base of the installed bobbin unit to connect with the storage notch (for example, 21a and 13351a) that stores the bobbin unit of the table 135. When time t2 has elapsed, an instruction to energize solenoid Sol2 is given to driver Dr2, switching valve Val2 is switched, and piston rod PI is
2 is extruded, and the rod PI 2 enters the collection hole (2111a in FIG. 6 or a hole corresponding to this in another bobbin unit) in the bobbin unit base of the installed bobbin unit (in this embodiment, This is called t3)
Wait, solenoid Sol1 to driver Dr2
Give instructions to turn off the power.

When solenoid Sol1 is deenergized, switching valve Val1 returns to its original state due to spring reaction force, switches the port, and connects air cylinder CY1.
(relatively) pull in the piston rod PI1. As a result, the movable section 12 of the table unit 1 and the bobbin unit housed in the table 135 integrally start moving backward in the direction of the sewing machine 5, but at this time, the piston rod PI2 of the air cylinder CY2 moves against the bobbin unit of the installed bobbin unit. Since it has entered the collection hole of the base, it is peeled off against the bonding force between the bobbin unit base and the mounting plug 581 of the sewing machine 5, and retreats together with the table 135.

When the sensor S1 that detects the standby position of the moving part 12 of the table unit 1 detects the cylinder support plate 124 and turns on, the driver Dr.
Give an instruction to de-energize solenoid Sol1 to 2,
After completing the collection of the bobbin unit (attached to the sewing machine 5), the process returns to the main routine shown in FIG.

Installing the specified bobbin unit following collection of the bobbin unit: Currently, the bobbin unit that was previously installed in the sewing machine 5 (hereinafter referred to as the old bobbin unit) has been collected in the table unit 1, and the bobbin unit is installed in the sewing machine. It is facing 5. Therefore, when returning to the main routine, a designated number set subroutine is executed to make the designated bobbin unit (more accurately, a storage notch for storing the designated bobbin unit, which will be described later) face the sewing machine 5. designation
The No. set subroutine is shown in FIG. This will be explained with reference to FIG. 26.

When the designated bobbin unit is at a position of 90 degrees in the normal rotation direction (clockwise in Figure 3) with respect to the old bobbin unit, that is, when the old bobbin unit is at 2a and the designated bobbin unit is at 2d,
When the old bobbin unit is 2b and the designated bobbin unit is 2a, when the old bobbin unit is 2c and the designated bobbin unit is 2b, or when the old bobbin unit is 2d and the designated bobbin unit is 2c, the table 135 is reversed. It is more reasonable. In other words, since the old bobbin unit at this time is indicated by the value of the C register, subtract the value of the B register indicating the designated bobbin unit from the value of the C register.
If the value is 1 or -3, a 90° reversal subroutine is executed to reverse the table 135 by 90°. The 90° reversal subroutine is shown in FIG. This will be explained with reference to FIG. 27.

The microprocessor CPU calculates the number of steps in the table 135 by counting the number of steps that reversely energize the stepping motor 127.
Although the positioning is performed in a 90° reverse direction, when the storage notch 1351a (and the bobbin unit 2a stored therein) is opposed to the sewing machine 5, positioning is performed while monitoring the sensor S2 to prevent the stepping motor from stepping out. This prevents cumulative errors caused by such factors. Therefore, two types of control are selectively executed.

In other words, when the old bobbin unit is 2b and the designated bobbin unit is 2a, the value of the C register is 2, so while monitoring the sensor S2, the driver Dr1 is sequentially instructed to reverse energize the stepping motor 127 by one step. ,
When sensor S2 turns on, the value of the C register is decremented by 1 and the process returns to the main routine.

If the value of the C register is not 2, after clearing the N register that counts the number of steps, stepper motor 1 is sent to driver Dr1.
N every time 1-step reverse energization of 27 is instructed.
The register is counted down by 1, and the process is repeated until the value of the N register reaches N (90), the number of steps of the motor 127 required for 90° reverse rotation as shown in table 135 (this number of steps is the same as the 90° forward rotation described above). The value of the N register is N (90)
If so, the value of the C register is decremented by 1 and the process returns to the main routine.

However, the old bobbin unit is 2a (C=1)
When this 90° reversal subroutine is executed in the case of , the designated bobbin unit 2d faces the sewing machine 5, but by decrementing the value of the C register by 1, the value of the C register becomes -1. In that case, the value of the C register is set to 4 and then the process returns to the main routine.

In the specified number set subroutine shown in Fig. 26, if the value obtained by subtracting the value of the B register from the value of the C register is 3, 2, -1, or -2, the specified bobbin unit is set to the old bobbin unit. 90° position in reverse direction or
Since the position is 180°, the value of the C register is B.
Execute the 90° forward rotation subroutine until it matches the register value.

In other words, when the designated bobbin unit is at a position 90 degrees in the reverse direction with respect to the old bobbin unit (i.e., C-B=3 or -1),
Execute the 90° normal rotation subroutine shown in FIG. 25 mentioned above once to rotate the table 135 90° normal,
When the designated bobbin unit is at a position of 180° with respect to the old bobbin unit (i.e., C
-B=2 or -2), as shown in FIG.
The 90° forward rotation subroutine is executed twice to rotate the table 135 180° forward.

After executing the specified number set subroutine and returning to the main routine, sensor S3 is checked.

If the operator has correctly set the bobbin unit on table unit 1 as described above, sensor S3 will be turned on, but if there is a mistake in setting the bobbin unit, sensor S3 may not be turned on at this time. . In other words, if sensor S3 is not turned on,
Since the bobbin unit (specified bobbin unit) is not stored in the storage notch facing the sewing machine 5 by executing the specified No. set subroutine, set error 2 and set the driver.
It instructs Dr3 to turn on the lamp LP2, notifies the host processor MPU that error 2 has occurred, resets Busy, and sets a loop for the host processor MPU to wait for an instruction.

In this case, the bobbin unit (that is, the old bobbin unit) that was attached to the sewing machine 5 has been recovered; that is, the bobbin unit is not attached to the sewing machine 5.

At this time, if the sensor S3 is on, the specified bobbin unit is placed opposite the sewing machine 5 by executing the specified No. set subroutine, so the installation subroutine is subsequently executed to set the specified bobbin unit to the sewing machine. 5
Attach to. The mounting subroutine is shown in FIG. This will be explained with reference to FIG. 29.

To install, first instruct the driver Dr2 to energize the solenoid Sol1, switch the port of the switching valve Val1, and push out the piston rod PI1 of the air cylinder CY1 (since PU1 is fixed, push it out relatively). As a result, the movable section 12 of the table unit 1 and the bobbin unit housed in the table 135 start moving forward together, with the designated bobbin unit facing the sewing machine 5. When the bobbin unit base of the designated bobbin unit (for example, 21b) and the mounting plug 581 of the sewing machine 5 are properly connected, the sensor S4 detects the bobbin unit base and turns on, so that the solenoid is connected to the driver Dr2.
Gives an instruction to de-energize Sol1 and to energize solenoid Sol3.

When solenoid Sol1 is deenergized, switching valve Val1 returns to its original state due to spring reaction force, switches the port, and switches air cylinder CY1.
(relatively) pull in the piston rod PI1. As a result, the movable section 12 of the table unit 1 and the bobbin unit housed in the table 135 begin to move backward in the direction of the sewing machine 5 together. At this time, as mentioned above, attach the mounting plug 5 on the bobbin unit base.
81 is greater than the binding force to the storage notch (the spring of the stopper pin is strong), the designated bobbin unit is peeled off from the storage notch against the binding force and remains on the mounting plug 581 of the sewing machine 5 (i.e. (hereinafter, the newly installed designated bobbin unit will be referred to as the new bobbin unit).

When the solenoid Sol3 is energized, the switching valve Val3 is driven and the port is switched, and the piston rod PI of the air cylinder CY3 is activated.
3 is pushed out. Due to this extrusion, the conveying section 32 of the finger unit 3, the fingers 33, scissors 34, etc. mounted thereon move forward together. In this case, the upper thread (hereinafter referred to as the old upper thread) that was supplied from the old bobbin unit extending from the sewing machine side thread guide member 51 toward the sewing machine main body is loosened by the action of the aforementioned push rod 35. The push rod 35 does not engage the old needle thread.

Since the air cylinder CY4 is maintained in a state in which the air supply port is closed and the piston rod PI4 is retracted, the finger 33 is in a central position, that is, the sewing machine side thread guide member 51 and the thread guide member of the old bobbin unit, respectively. The chuck's slide barrel is maintained in the position it was in when it was driven to the second position (the state after execution of the recovery subroutine). Therefore, when the piston rod PI3 of the air cylinder CY3 is pushed out sufficiently, the finger 33 moves between the slide barrel 5135 of the chuck of the sewing machine side thread guide member 51 and the new bobbin unit side thread guide member (newly installed on the sewing machine 5). The thread guide member of the bobbin unit: 23b in Fig. 15) and the slide barrel of the chuck (233b in Fig. 15).
5b) (as mentioned above, the chuck of the new bobbin unit is in the second state).

Also, in this state, between the scissors 24,
The thread ends held by these chucks (the thread ends of the old needle thread and the thread ends of the new needle thread: the thread ends of the thread being paid out from the bobbin unit of the new bobbin unit) respectively enter the bobbin unit, and then the thread ends are moved into the bobbin unit by the sensor S6. detects the support plate 322 and turns on.

When sensor S6 is turned on, driver Dr
2 solenoid Sol5 and solenoid Sol4
Instruct the energization of 2.

When the solenoid Sol5 is energized, the switching valve Val5 is driven and the port is switched, and the piston rod PI of the air cylinder CY5 is activated.
5 is pushed out. This pushing-out causes the scissors 34 to close and grip the thread ends of the old needle thread and the new needle thread.

Also, when solenoid Sol42 is energized,
The switching valve Val4 is driven and the ports are switched, and the forward side air supply port of the air cylinder CY4, which had been blocked until then, is used as the air source.
Since the return air supply port is communicated with the atmosphere, the piston rod PI4 is pushed out. This extrusion drives the fingers 33 to spread left and right, driving the slide barrels of the respective chucks (5135 and the slide barrel of the new bobbin unit) to the first position. Thereby, each chuck movably supports the old upper thread and the new upper thread.

In driving the cylinders CY5 and CY4, an internal timer sets a delay step corresponding to the time lag (in this embodiment, this is referred to as t4) until each cylinder completes its operation.

After t4 time has passed, driver Dr2
Gives an instruction to de-energize solenoid Sol42 and a de-energize instruction to solenoid Sol3.

When the solenoid Sol42 is deenergized, the switching valve Val4 returns to its original state due to the spring reaction force, and closes the air supply ports on the forward and backward sides of the air cylinder CY4. Therefore,
Air cylinder CY4 is fixed and finger 3
3 is maintained in the left and right open position, that is, the position when each slide barrel is driven to the first position. The posture of the finger 33 at this time is the posture when starting execution of the above-mentioned collection subroutine.

When solenoid Sol3 is deenergized, switching valve Val3 returns to its original state due to spring reaction force, switches the port, and connects air cylinder CY3.
Pull in the piston rod PI3. In other words,
Retraction of the transport section 32 of the finger unit 3 is started. At this time, the scissors 34 move backward while holding the thread ends of the old needle thread and the new needle thread, so that the old needle thread and the new needle thread are pulled out.

When the conveyance section 32 of the finger unit 3 is sufficiently retreated and the sensor S5 detects the support plate 321 and turns on (that is, when the conveyance section 32 is in the standby position), an instruction to energize the solenoid Sol6 is given to the driver Dr2. . Solenoid Sol
6 is energized, the switching valve Val6 is driven to switch the port, and the air cylinder
Piston rod PI5 of CY6 is pushed out. Due to this extrusion, the knotter unit 4
The conveying section 42, the knotter 44 mounted thereon, and the rotary solenoid 43 start to rise together, and the divider 441 of the knotter 44 intervenes between the old needle thread and the new needle thread pulled out by the finger unit 3.

When the conveyor section 32 of the knotter unit 4 and the members mounted thereon rise sufficiently together and the sensor S8 detects the support plate 424 and turns on, a predetermined portion of the knotter 44 (that is, both sides of the divider 424) is moved. , the old upper thread and new upper thread are set, so the screwdriver
An instruction to deenergize the solenoid Sol5 and an instruction to energize the rotary solenoid 43 is given to Dr2. When the solenoid Sol5 is energized, the piston rod PI5 of the air cylinder CY5 is retracted by the spring reaction force and opens the scissor 34 again.

At this time, the rotary solenoid 43 is energized and rotates the trigger 442 of the knotter 44, so that the knotter 44 performs a group knot of the old upper thread and the new upper thread.

An internal timer delays the time required for this connection (t5 in this embodiment), and then instructs the driver Dr2 to de-energize the rotary solenoid 43 and the solenoid Sol6.

When the rotary solenoid 43 is deenergized,
The trigger 442 of the knotter 44 and the rotary solenoid 43 are returned to their original states by the reaction force of the spring 449 engaged with the trigger 442.

When solenoid Sol6 is deenergized, switching valve Val6 returns to its original state due to spring reaction force, switches the port, and connects air cylinder CY6.
Pull in piston rod PI6. With this retraction, the conveyor section 42 of the knotter unit 4 and the knotter 44 mounted thereon,
When the rotary solenoid 43 is lowered together and the sensor S7 detects the knob bracket 421 and turns on, the process returns to the main routine shown in FIG.

With the above, the old bobbin unit was collected and
After installing the specified new bobbin unit and completing the connection between the old upper thread and the new upper thread,
Reset Busy and restart the host processor.
Notify the MPU of completion and set up an instruction waiting loop.

Thereafter, the operator pulls out the old upper thread at the needle 56 of the sewing machine 5 and brings in the new upper thread.

Attaching the specified bobbin unit when no bobbin unit is attached: When the above-mentioned specified number set subroutine is completed and sensor S3 is pressed, it is not turned on and error 2 is set. , the sewing machine 5 is not equipped with a bobbin unit, and a host processor MPU instruction waiting loop is set. Therefore, the operator attaches a bobbin unit to the storage notch that was empty at that time and specifies the same bobbin unit (if the same bobbin unit is specified without attaching a bobbin unit, error 2 will be set again), or , specify another bobbin unit (it is not necessary to install a bobbin unit in an empty storage notch), and enter a replacement instruction.

Repeating the above, when the microprocessor CPU receives a thread exchange instruction from the host processor MPU, it stores a value indicating the designated bobbin unit in the B register and sets Busy.

In this case, since the bobbin unit is not installed in the sewing machine 5, the sensor S4 is off, and the specified number set subroutine is immediately executed to set the storage notch in which the specified bobbin unit is supposed to be stored in the sewing machine 5. make them face each other.

If the specified bobbin unit is not stored in the storage notch and sensor S3 is off, error 2 is set again, but if the specified bobbin unit is stored in the storage notch and sensor S3 is on, then error 2 is set again. , executes the attachment subroutine.

At this time, the sewing machine side thread guide member 51 holds the old upper thread (thread that was collected from the old bobbin unit when setting error 2 and was supplied to the sewing machine 5), and the finger 33 of the finger unit 3 is attached to the sewing machine side. Thread guide member 51
and the old bobbin unit are maintained in the position in which the chucks were driven to the second state, that is, in the central position, which is exactly the same as the state at the start of the above-mentioned mounting subroutine. Therefore, the specified bobbin unit is installed in the sewing machine 5 and the old upper thread and the new upper thread are connected using the same control as above.

Under the control of the microprocessor CPU,
When the designated bobbin unit is connected and the old upper thread and new upper thread are connected, the operator pulls out the old upper thread at the needle 56 of the sewing machine 5 and pulls in the new upper thread.

(5) Structural Features of the Embodiment The structural features of the automatic needle thread changing device of the sewing machine described above are summarized below.

a: Since the bobbin unit is detachable from the sewing machine 5, it is easy to replace.

b: The thread guide member of the bobbin unit freely guides or holds the thread at a predetermined position facing the sewing machine side thread guide member 51, regardless of the bobbin shape or the amount of thread wound around the bobbin. Easy to cut and connect threads,
Furthermore, even if the thread is cut after it has been used, the cut end of the thread will not fall off from the predetermined position.

c: Since the bonding force of the bobbin unit with the sewing machine 5 is greater than the bonding force with the table 135,
The bobbin unit can be mounted on the sewing machine 5 while the bobbin unit is stored in the table 135, and the bobbin unit can be mounted by simply pulling the table 135 apart, making the mounting control simple.

d: Since a plurality of bobbin units can be stored in the table 135, a bobbin unit can be prepared for each type of thread used for sewing at that time, such as thread thickness, thread color, and material.

e: The scissors 34 of the finger unit 3 accommodate scissors in the grooves of the occlusal surface, so they cut the thread and also trim the cut thread ends. Also,
You can grab the end of the thread and pull it out.

f: Table unit 1, finger unit 3
Since the knotter unit 4 and the knotter unit 4 are installed on the sewing machine table 6, the sewing machine 5 requires almost no modification other than installing the thread guide member 51, the bobbin unit mounting member 58, and the sensor S4 on the sewing machine bed 57.

(6) Operational characteristics of the embodiment device The operational characteristics of the automatic upper thread changing device of the sewing machine described above are summarized below.

a: The table 135 of the table unit 1 approaches the sewing machine 5 only when changing the thread.
Since the fingers 33 and scissors 34 of the finger unit 3 approach the sewing machine 5 and the knots 44 of the knotter unit 4 rise, these members do not interfere with the operator's work during normal sewing.

b: Before cutting the thread, sufficient extra length is provided by the push rod 35 of the finger unit 3, so even when the cut thread end is pulled out by the finger 33 and connected by the knotter 44, the thread is It will not fall out of the needle 56.

c: Before cutting the thread, the thread is held firmly by the chuck of the thread guide member, and before releasing the chuck, the cut thread end is grasped by the scissors 34, so the thread end does not fall off from the chuck. There isn't.

d: Since the thread exchange operation is not related to the function of the sewing machine 5, it can be applied to a normal sewing machine.

(7) Application In the above embodiment, the binding force of the bobbin unit to the sewing machine 5 is made larger than the binding force to the table 135, but this may be reversed. In this case, install the air cylinder (as described above).
(equivalent to CY2) at a suitable position where the piston rod can engage when the bobbin unit is installed on the sewing machine 5 (e.g., on the sewing machine head 57, on the sewing machine table 6, at the end of the rail 112), and collect the bobbin unit. In some cases, the table unit 1 may be moved back as it is, and when the bobbin unit is to be installed, the air cylinder may be used to move the bobbin unit to the sewing machine side.

In the above embodiment, the thread end of the old needle thread and the thread end of the new needle thread are tied by the knotter 44, but the two thread guide members support both thread ends facing each other.
In addition, since both ends are trimmed by the scissors 34, a bonding device for bonding both yarn ends with an adhesive can be used instead of the knotter. Moreover, when using a metal wire instead of a thread, a welding device or the like that welds both ends can be used.

In the above embodiment, the table 135 of the table unit 1 is circular, but for example, by using a linear table extending at right angles to the rail 112 toward the front and back of the sewing machine 5 (left and right in FIG. 4), More bobbin units can be stored.

In the above embodiment, one sewing machine 5 has one
One table unit 1 is given,
It can also be combined with multiple sewing machines. In this case, a rail or a corresponding path to each sewing machine is constructed, and the table unit 1 approaches a predetermined sewing machine as necessary to collect or mount the bobbin unit.

In the embodiments described above, the present invention is applied to a needle thread changing device for a sewing machine, but the present invention is not limited thereto. For example, it can be applied to a string exchange device for packaging equipment, a material exchange device for basket and net work equipment, a wire exchange device for wire bonding equipment, etc.

〔effect〕

As explained above, according to the string guide device of the present invention, the bobbin is supported by the bobbin support means, and the string wound around the bobbin is placed in the action receiving position where the guide shaft can receive the action from the action applying means. guided and held by the gripping means in the vicinity of the action receiving position;
Since it is movably supported or fixed, the string wound around the bobbin is always guided to the action receiving position, regardless of the shape of the bobbin or the amount of winding of the bobbin. Therefore, for example, it is possible to easily automate the operation of exchanging the string, such as cutting the string, grasping and pulling out the cut end, and connecting it to another string by using the action imparting means. Further, when the string is cut by the action applying means, by firmly holding the end thereof, it is possible to prevent the string from falling off from the above-mentioned position.

[Brief explanation of drawings]

FIG. 1 is a partially exploded perspective view showing the appearance of an automatic needle thread changing device of a sewing machine in which the present invention is implemented as an example. Figure 2 is a plan view of the device shown in Figure 1;
The figure is a plan view of FIG. 2, and FIG. 4 is a right side view of FIG. 2. 5 is a partially enlarged view of FIG. 2 focusing on table unit 1, FIG. 6 is a partially enlarged view of FIG. 3 focusing on table unit 1, and FIG. 7 is a partially enlarged view of FIG. 4 focusing on table unit 1. It is a partially enlarged view. Figure 8 is a sectional view taken along the - line in Figure 5, and Figure 9a.
The figure is an enlarged cross-sectional view in which only the guide shaft 2331a shown in FIG. 8 is extracted and enlarged, FIG. 9b is an enlarged cross-sectional view in which only the taper socket 2332a shown in FIG. 9 is an enlarged cross-sectional view of only the slide barrel 2335a shown in FIG. 8. FIG. Figure 10 shows bobbin receiving shaft 2
2a and a perspective view showing the appearance of the skirt 221a. FIG. 11 is a partial enlarged view of FIG. 4 focusing on finger unit 3, FIG. 12 is a partial enlarged view of FIG. 3 focusing on finger unit 3, and FIG. 13 is a partial enlarged view of FIG. 2 focusing on finger unit 3. It is. 14 and 15 are plan views showing the operation of the fingers 33 and scissors 34 of the finger unit 3. FIG. FIG. 16 is an exploded perspective view showing the structure of the scissors 34. Fig. 17 is a partially enlarged view of Fig. 4 focusing on Notsuta unit 4, and Fig. 1
FIG. 8 is a partially enlarged rear view of the knotter unit 4. FIG. 19 is an exploded front view showing the structure of the knotter 44. FIG. 20 is a partial perspective view showing the operation of the knotter 44, FIG. 21a, FIG. 21b, and FIG. 21c.
Fig. 21d, Fig. 21e, Fig. 21f, Fig. 2
1g and 21h are plan views showing the thread connecting operation of the knotter 44. FIG. 22 is an air circuit diagram showing the air circuit of the apparatus shown in FIG. 1. 23rd
This figure is a block diagram showing the electrical configuration of the apparatus shown in FIG. 1. FIG. 24 is a flowchart showing the control operation of the microprocessor CPU shown in FIG. 23, and FIGS. 25, 26, 27, 28, and 29 are the flowcharts shown in FIG. This is a flowchart showing a chart subroutine. 1: Table unit, 11: Fixed part, 11
1: Brace, 112: Rail, 113: Piston rod fixing plate, 114: Sensor bracket, 1
2: Moving part, 121, 122: Slide bearing, 123: Slide base, 124: Cylinder support plate, 125: Sensor bracket, 126: Motor bracket, 127: Stepping motor,
1271: Output gear, 128: Sensor bracket, 129: Fixed shaft, 13: Rotating part, 131: Sleeve shaft, 1311: E ring, 132: Input gear, 133: Slit plate, 1331: Detection slit, 134: Thrust bearing , 135: Table, 1351a: Storage notch, 1352a, 1
353a: Storage check, CY1, CY2: Air cylinder, PI1, PI2: Piston rod, S1,
S2, S3: Sensor, 2a, 2b, 2c, 2d:
Bobbin unit, 21a, 21b, 21c, 21
d: Bobbin unit base, 211a, 211
b, 211c, 211d: lower plate, 212a, 21
2b, 212c, 212d: upper plate, 213a, 2
13b, 213c: first spacer, 2131a:
Storage stopper pin, 2133a, 2133b, 2
143b: Mounting stopper pin, 2132a, 21
34a: Compression coil spring, 214a, 21
4b, 214c: second spacer, 22a, 22
b, 22c, 22d: bobbin receiving shaft, 221a:
Skirt, 21a, 21b, 21c, 21d, 2
2a, 22b, 22c, 22d, 221a: (bobbin support means), 23a, 23b, 23c, 23
d: Thread guide member (string guide means), 231a,
231b, 231c, 231d: Paul, 232
a, 232b, 232c, 232d: guide plate,
2321a, 2321b, 2321c, 2321
d: Thread guide, 233a, 233b, 233c,
233d: chuck, 2331a: guide shaft (guide shaft body), 23311a: through hole (through hole), 23
312a: Receiving groove, 23313a, 23314
a: Spring fixing hole, 23315a: First check groove (first groove), 23316a: Second check groove (second groove), 23317a: Flange, 233
18a: Mail screw, 2332a: Taper socket (gripping means), 23321a, 2332
2a: Claw (gripping means), 23323a, 2332
4a: Spring receiver, 2333a, 2334
a: compression coil spring (spring means),
2335a: Slide barrel (grip closing means),
23351a: Tapered part, 23352a, 233
53a: Ball receiver, 23354a: Working pin receiving groove, 2336a, 2337a: Ball (fitting means), 2338a: Holding ring (spring means for forcing the fitting means), 2339a: Nut,
BOBa, BOBb, BOBc, BOBd: Bobbin (bobbin), THa, THb, THc, THd: Thread (string),
3: Finger unit (action imparting means), 31:
Fixed part, 311: Support arm, 312: Guide block, 313: Sensor bracket, 32: Conveyance part, 321, 322: Support plate, 323, 324:
Slide bar, 325, 326: Bushing, 3
27: Finger & scissor bracket, 3271:
Rod receiver, 3272: Rod stopper, 33:
Finger, 331: Left finger member, 3311,
3312: Working pin, 3313: Connection pin, 33
2: Left finger member, 3321, 3322: Action pin, 3323: Connection pin, 333, 334: Pivot shaft, 335: Finger action plate, 34: Scissor,
341: 1st block, 3411: Occlusal surface, 34
12: Long hole, 3414: Knife storage groove, 343:
2nd block, 3411: Occlusal surface, 3412: Long hole, 3413: Support hole, 3414: Knife storage groove, 342, 344: Knife, 345: Support pin, 346: Support block, 3461: Support pin receiver, 3462: Support Pin fixing bolt, 347:
Scissor action plate, 3471: Piston rod mounting hole, 3472, 3473: Action pin, 3474:
E-ring, 35: Push rod, 351: Pin, CY3, CY4, CY5: Air cylinder, PI
3, PI4, PI5: Piston rod, S5, S
6: Sensor, 4: Knotter unit (action imparting means), 41: Fixed part, 411: Support arm, 41
2: Guide block, 413: Sensor bracket, 42: Conveyance section, 421: Knot bracket,
422, 423: Slide bar, 424: Support plate, 43: Rotary solenoid, 431: Drive arm, 44: Knot, 441: Divider, 44
2: Trigger, 4421: Knife Edge, 442
2: Pushu bar, 4423: Pushu groove, 44
24: Leaf spring, 443: First clover, 443
1,4432: Clothing plate, 444:
2nd clother, 4441, 4442: Clothing plate, 445: Tying head, 445
1: Spiral, 446: Stripper, 446
1: Lift lever, 447: Scissor, 448: Base plate, 449: Spring, CY6: Air cylinder, PI6: Piston rod, S7, S
8: sensor, 5: sewing machine, 51: thread guide member,
511: Pole, 512: Guide plate, 513: Chuck, 5131: Guide shaft, 5132: Taper socket, 5133, 5134: Compression coil spring, 5135: Slide barrel, 5135
4: Working pin receiving groove, 5136, 5137: Ball, 5138: Presser ring, 5139: Nut,
514: Thread guide, 52: First thread guide, 53:
2nd thread guide, 54: tensioner, 55: balance,
56: Needle, 57: Sewing machine bed, 58: Bobbin unit mounting member, 581: Mounting plug, 582:
Installation check, S4: Sensor, LP1, LP2: Lamp, 6: Sewing machine table, Pmp: Air source,
Con: Constant pressure adjustment unit, SC11, SC12, SC
2, SC31, SC32, SC41, SC42, SC5,
SC61, SC62: Throttle valve, Val1, Val2, Val
3, Val4, Val5, Val6: Switching valve, Sol
1, Sol2, Sol3, Sol4, Sol5, Sol6: Solenoid, MPU: Host processor, CPU: Microprocessor, Dr1: Stepping motor driver, Dr2: Solenoid driver, Dr3: Lamp driver.

Claims (1)

[Scope of Claims] 1. A means for imparting an action such as cutting on the string; A bobbin around which the string is wound; A bobbin support means for supporting the bobbin; A means connected to the bobbin support means and wound around the bobbin a guide shaft that guides the string from the action imparting means to an action receiving position where it can receive the action; and a guide shaft that is swingably engaged with the guide shaft and supports the string movably in the vicinity of the action receiving position. A string guiding device comprising: a string guiding means having a gripping means for obtaining a first posture in which the string is held in the vicinity of the action receiving position; and a second posture in which the string is held in the vicinity of the action receiving position. 2. The string guiding device according to claim 1, wherein the gripping means has a gripping portion that can be opened and closed and faces the string with the string therebetween. 3. The string guide device according to claim 2, wherein the string guide means further includes a spring means for applying a force to the gripping means in a direction to open the gripping portion. 4. The string guiding device according to claim 2, wherein the string guiding means further comprises gripping portion closing means for applying a force in a direction to close the gripping portion when the gripping means is in the second posture. 5. The string guiding means includes a guide shaft having a through hole for guiding the string; at least two guide shafts each having a gripping portion, each gripping portion facing the through hole, and a guide shaft having a through hole for guiding the string; a gripping means which is swingably engaged with the gripping means; a spring means which applies a force to the gripping means in the direction of opening the gripping portion; and a spring means which is slidably attached to the guide shaft and which is attached to the gripping means in the second position ,
The string guide device according to claim 1, further comprising a gripping portion closing means for applying a force in a direction to close the gripping portion. 6. The gripping means is formed with a tapered surface whose outer periphery increases toward the gripping portion; and the gripping portion closing means follows a small portion of the outer periphery of the tapered surface in the first posture. The string guide device according to item 5. 7. The guide shaft has a first groove and a second groove on the surface that engages with the gripping portion closing means;
It has a fitting means and a spring means for forcing the fitting means in the direction of the guide shaft: in the first position, the fitting means fits in the first groove, and in the second position, the fitting means fits in the second groove. Claim 6, which fits within
String guide device described in Section 1.