JPH08215465A - Bobbin changer - Google Patents

Abstract

(57) [Abstract] [Purpose] At least one of the bobbin winding state and the bobbin case attached state of the opposing member to / from which the bobbin case is attached / detached by the bobbin case gripping means is detected. Allows normal restoration of the device. The detecting means 80 detects at least one of the bobbin case winding state and the bobbin case attaching state of the facing member 1 at the bobbin case attaching position, and based on the detection signal from the detecting means 80, the determining means 81a At least one of, for example, an empty bobbin mounting state as a bobbin winding state with respect to the facing member 1 and a bobbin case detaching / defective state as a bobbin case mounting state is determined, and the operator is notified of these abnormal states by, for example, an alarm 82. , Which enables the worker to intervene.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bobbin changing device for a sewing machine.

[0002]

2. Description of the Related Art In a sewing machine for sewing using an upper thread and a lower thread, particularly for an industrial sewing machine that performs high-speed sewing work, it is necessary to frequently replace a bobbin wound with a lower thread. is there. Generally, when the bobbin thread is consumed, the sewing machine operation is temporarily stopped, the bobbin case is removed from the hook, the bobbin thread is wound around the bobbin, and the bobbin on which this bobbin thread is newly wound is placed in the bobbin case. A series of operations for accommodating and mounting the bobbin case in the shuttle are performed manually.

[0003]

However, the manual operation of winding the bobbin around the bobbin and the replacement operation of the bobbin case are extremely inefficient and cause a decrease in productivity.

Therefore, the present applicant has attempted to solve the above problems in the bobbin thread feeder of the sewing machine described in Japanese Patent Application Laid-Open No. 5-192476, which has been previously filed. Japanese Patent Application No. 5-203612 proposes a device that can automatically remove residual yarn.

FIG. 23 shows the basic configuration of the above apparatus.
Is. This device is arranged in a space where the bottom of the sewing machine bed is an oil reservoir, and the bobbin case attachment / detachment position A, the residual thread removal position G, and the bobbin thread winding position H are located on the guide shaft 5.
They are arranged around 0 at 120 ° intervals. The shuttle 1 is provided at the bobbin case attaching / detaching position A, and the bobbin 7 is provided at the residual thread removing position G.
The residual thread removing device 61 for removing the residual thread of the
A bobbin winding device 62 that winds a bobbin around the bobbin 7 and hooks the bobbin case and cuts the bobbin is provided in each of the above.

Both ends of the guide shaft 50 are rotatably supported by respective upright portions (not shown) provided upright on the main base, and the guide shaft 50 extends along the guide shaft 50. A rotating arm 51 that is slidable and rotatable with the guide shaft 50 is supported. The forward / backward movement of the rotary arm 51 along the guide shaft 50 is performed by the forward / backward movement lever 52, and the forward or reverse rotation operation is performed in units of 60 ° by a rotary drive device (not shown).
A bobbin case gripping means capable of holding or releasing the bobbin case 2 containing the bobbin 7 is provided near each end of the rotating arm 51. The bobbin case gripping means and the rotating arm 51 allow the bobbin exchanging device. 60 are configured.

By appropriately rotating, advancing and retracting the rotary arm 51, the bobbin case in the shuttle is grasped by the bobbin case grasping means and pulled out from the shuttle, and the bobbin wound with the bobbin is accommodated. The bobbin case is gripped by the bobbin case gripping means and can be mounted in the shuttle. Further, by positioning the bobbin case at the residual thread removing position G, the residual thread of the bobbin 7 can be removed. By positioning the bobbin case at the lower thread winding position H, the lower thread is wound around the bobbin. Threading on the bobbin case and bobbin thread cutting can be performed.

As described above, in the above apparatus, the bobbin 7 is wound around the bobbin thread (including hooking the bobbin case and cutting the bobbin thread), the remaining thread removing operation, and the bobbin case 2.
All replacement work is done automatically,
Work efficiency and productivity are improved.

However, even the above device has the following problems. That is, in the above device, for example, a so-called empty bobbin mounted state in which the bobbin is not wound on the bobbin but is installed in the shuttle due to a bobbin winding failure caused by the bobbin winding device, or a bobbin case gripping, for example. The bobbin case falls off without being mounted in the hook due to the poor grip of the bobbin case by the means, or the bobbin case stops in the middle of the hook due to the poor grip of the bobbin case by the bobbin case gripping means. Since a so-called defective bobbin case attachment / detachment state cannot be detected, such as when the device is not properly attached / detached, there is a problem that the device does not return to normal thereafter.

Therefore, according to the present invention, at least one of the bobbin winding state and the bobbin case attached state of the opposing member to / from which the bobbin case is attached / detached is detected by the bobbin case gripping means. It is an object of the present invention to provide a bobbin exchanging device capable of various restorations.

[0011]

In order to achieve the above object, a bobbin exchanging device according to a first aspect of the present invention enables a bobbin case having a bobbin accommodated therein to be gripped or opened, and a bobbin case gripping a predetermined path. A bobbin exchanging device having means for detaching a bobbin case accommodating the bobbin inside a member facing the bobbin case gripping means, wherein the bobbin winding state and bobbin at the bobbin case mounting position of the facing member are provided. The detection means detects at least one of the case mounting states, and the determining means for determining at least one of the bobbin winding state and the bobbin case mounting state based on a detection signal from the detecting means.

In order to achieve the above object, the bobbin exchanging device according to a second aspect is the opening of the bobbin changing device according to the first aspect, in which the detecting means is formed on the peripheral surface of the bobbin case at the bobbin case mounting position of the facing member. Through, a detection rod that can be moved back and forth in and out of the bobbin case, a moving mechanism that moves the detection rod forward and backward, and position detection means that detects the position of the detection rod and sends a detection signal according to the position of the detection rod. Composed from.

In order to achieve the above object, the bobbin exchanging device according to a third aspect of the present invention is, in addition to the first aspect, an opening formed on the peripheral surface of the bobbin case at the bobbin case mounting position of the facing member. The light-emitting element and the light-receiving element that face the light-emitting element and receive the reflected light of the light emitted from the light-emitting element and send a detection signal according to the amount of the reflected light.

In order to achieve the above object, in the bobbin changing device according to a fourth aspect of the present invention, in addition to the first aspect, the detecting means is also used as a lower thread remaining amount detecting means for detecting the lower thread remaining amount of the bobbin. .

In order to achieve the above object, the bobbin exchanging device according to a fifth aspect of the present invention is, in addition to the first aspect, when the determining means determines at least one of an empty bobbin mounting state and a bobbin case detaching / defective state. A re-operation instruction means for instructing a re-operation as needed is provided.

[0016]

According to the bobbin changing device of the present invention, at least one of the bobbin case winding state and the bobbin case mounting state at the bobbin case mounting position of the facing member is detected by the detecting means. Based on the detection signal, the determination means determines at least one of, for example, an empty bobbin mounting state as a bobbin winding state with respect to the facing member and a bobbin case detaching / defective state as a bobbin case mounting state. Then, if the worker is notified of these abnormal states by, for example, an alarm, the worker is intervened.

According to the bobbin exchanging device according to the second aspect, at the bobbin case mounting position of the facing member, the detection rod which can move forward and backward through the opening formed in the peripheral surface of the bobbin case, The moving mechanism advances and retreats, and the position of the detection rod is detected by position detection means for detecting the position of the detection rod, and the position detection means sends a detection signal corresponding to the position of the detection rod to the determination means. It

According to the bobbin exchanging device of the third aspect, at the bobbin case mounting position of the facing member, the light is emitted from the light emitting element arranged so as to face the opening formed in the peripheral surface of the bobbin case. The light is reflected and received by the light receiving element, and the light receiving element sends a detection signal corresponding to the amount of reflected light to the determination means.

According to the bobbin changing device of the fourth aspect, the detecting means is also used as the lower thread remaining amount detecting means for detecting the lower thread remaining amount of the bobbin, and the number of parts is reduced.

According to the bobbin exchanging device of the fifth aspect, when it is determined that at least one of the empty bobbin mounting state and the bobbin case detaching / defective state is determined, the re-operation instructing means can perform a re-operation as necessary. Instructed, automatic recovery is performed without intervention by the operator.

[0021]

Embodiments of the present invention will now be described in detail with reference to the drawings. First, referring to FIGS. 17 to 22,
An outline of an automatic bobbin thread supplying device to which the bobbin changing device of the present invention is applied will be described.

In the figure, reference numeral 1 is a hook on which a bobbin case 2 is mounted, 1a is a hook shaft, and 3 is a base installed directly under the hook 1 while standing on a main base attached to the sewing machine main body. Each of the plates is shown, and the base plate 3 has:
A base end 4a of a carrier shaft 4 having an axis parallel to the shuttle shaft 1a is fixed, and the carrier shaft 4 is cantilevered by the base plate 3.

On the tip 4b side (opposite to the base plate side) of the conveying shaft 4, a conveying block 12 is formed so that the outer peripheral surface of the hollow cylinder is cut at two locations along the axial direction so that the cut surfaces face each other. 17) is rotatably and slidably supported on the transport shaft 4.

To each cut surface of the carrier block 12, one plate-like portion of the L-shaped carrier plates 10, 10 constituting the L-shape is fixed, and the other part constituting the L-shape is fixed. As shown in FIG. 17, the plate-shaped portions of the are opposed to each other with the axis interposed.

One end of each of the holding portions 11, 11 bent toward the shuttle along the axial direction is fixed to each of the transport plates 10, 10, and the other of the holding portions 11, 11 is fixed. A bobbin case gripping means (not shown) capable of gripping or releasing the bobbin case is provided at each end (end facing the shuttle). As the bobbin case gripping means, for example, an automatic bobbin thread feeder of Japanese Unexamined Patent Publication No. 5-192476 or Japanese Patent Application No. 5-12196 previously filed by the present applicant.
A pair of electromagnet adsorption heads described in the sewing machine bobbin exchanging device of No. 0 specification are described in, for example, the sewing machine bobbin exchanging device of Japanese Patent Application No. 5-116363 previously filed by the present applicant. A suitable one such as a lever claw can be adopted, and the point is that the bobbin case 2 can be attached to and detached from the facing member (for example, the shuttle 1) as needed.

A rotary gear 13 is fixed to the outer periphery of the carrying block 12, and the rotary gear 13 has a structure shown in FIG.
As shown in FIG. 5, a drive gear 19 having a long shape meshes with the direction of the shuttle shaft 1a. This drive gear 19
One end thereof is rotatably supported by a portion of the motor fixing plate 21 attached to the base plate 3 that projects to the other end side of the transport shaft, and the other end serves as a driving unit fixed to the motor fixing plate 21. It is in a state of being directly connected to the output shaft of the rotation motor 20.

Therefore, when the rotation motor 20 rotates, the transfer block 12 is moved through the drive gear 19 and the rotation gear 13.
A rotating arm 70 composed of the carrier plates 10, 10 and the holding portions 11, 11 is adapted to rotate. In the present embodiment, the rotating operation of the rotating arm 70 is performed when the rotating arm 70 is in the retracted position (see FIGS. 18 to 20). Also,
The transport shaft 4 is cantilevered, but since it is guided by the drive gear 19, its supporting strength is sufficient.

A not-illustrated stop ring, for example, is fixed to the outer periphery of the transport block 12 on the fixed end side of the transport shaft 4 with respect to the rotary gear 13, and the rotary gear 13 and the stop on the outer periphery of the transport block 12 are fixed. A linear motion collar 14 is rotatably supported between the ring and the ring.

As shown in FIG. 19, one end of a linear motion link 15 is pivotally attached to the linear motion collar 14. The other end of the linear motion link 15 has a dogleg-shaped drive link 16
The bent portion of the drive link 16 that is pivotally attached to one end of the drive link 16 is pivotally attached to a bracket fixed to the base plate 3. The other end of the drive link 16 is pivotally attached to a knuckle 17 of an air cylinder 18 as a moving means fixed to the base plate 3.

Therefore, when the air cylinder 18 is driven, the rotary arm 70 moves along with the linear motion collar 14 along the axial direction of the transport shaft 4 via the knuckle 17, the drive link 16, and the linear motion link 15. Has become. That is, the rotating arm 70 can rotate with respect to the transport shaft 4 and can slide along the transport shaft 4.

A sensor fixing plate 33 is rotatably attached to the open end side of the transport shaft 4, and a rotation sensor composed of a light emitting element 31a and a light receiving element 31b is mounted on the sensor fixing plate 33. 31 is attached. A sensor plate 32 is fixed to the rotating arm 70 as shown in FIGS.
The positions of the rotation sensor 31, the sensor fixing plate 33, and the sensor plate 32 are adjusted so that the sensor plate 32 can pass between the light emitting element 31a and the light receiving element 31b when rotating.

Further, as shown in FIG. 21, a dummy shaft 6 as a bobbin case holding means is provided at a position opposite to the rotation locus of the bobbin case gripping means on the base plate 3, for example, at positions D and E. Each is fixed.
This dummy shaft 6 is, as shown in FIG. 22, a shuttle shaft 1a.
It has the same structure as the tip, and if the bobbin case 2 accommodating the bobbin 7 is pushed in, the bobbin case 2 can be held. The existing bobbin locking claws 2d of the bobbin case 2 that have been pushed in are provided with protrusions 5d that are provided near the dummy shaft 6 as shown in FIG.
It is configured to engage with the locking groove of aa. That is, the bobbin case 2 is positioned and held at a predetermined position.

Further, as shown in FIG. 21, at a position opposite to the rotation locus of the bobbin case gripping means, for example, at a position C, the residual yarn removing device 61 described in the prior art is arranged. . As the residual thread removing device 61, a state in which the bobbin case 7 is held by a bobbin case holding means or a state in which the bobbin case is transferred to a holding shaft having the same configuration as the dummy shaft 6 and holds the bobbin case Any kind of device can be used as long as the bobbin 7 is rotated and the yarn wound on the bobbin 7 is pulled out by the yarn pulling-out operation of the pulling-out means that pulls out the yarn wound around the bobbin. Well, for example, Japanese Patent Application No. 5-203610 and Japanese Patent Application No.
Appropriate devices can be adopted, including the bobbin residual yarn removing device described in -40351.

The bobbin case winding device 62 described in the prior art is disposed at a position opposite to the rotation locus of the bobbin case gripping means, for example, at a position F, as shown in FIG. . As the lower thread winding device 62, what is necessary is that the lower thread can be automatically wound around the bobbin 7 by driving a motor or the like, and then the bobbin case 2 can be hooked and the lower thread can be cut. Can be anything,
For example, a bobbin exchanging device disclosed in Japanese Patent Application Laid-Open No. 5-192476, a bobbin exchanging device for a sewing machine disclosed in Japanese Patent Application No. 5-121960 previously filed by the applicant, and a Japanese Patent Application No. 5-116636.
Appropriate ones can be adopted including the bobbin winding device described in the bobbin changing device of the sewing machine in the specification No. 3.

When the residual yarn removing device 61 and the bobbin winding device 62 come into contact with the base plate 3, the base plate 3 is appropriately cut. In FIG. 21, the residual thread removing position C, the bobbin thread winding device F, the dummy shafts 6 and 6 are close to each other, and the holding portion 11 is exaggerated. Therefore, when the holding unit 11 moves to the shuttle 1 and the dummy shaft 6, there is a concern that the holding unit 11 may come into contact with the residual yarn removing device or the bobbin winding device. However, in practice, such contact should be avoided. Enough space is secured.

By the way, in the present embodiment, the bobbin case gripping means can be moved by the air cylinder 18 to the bobbin case attaching / detaching position (hook position) A and the retracted position moved to the opposite hook side. Then, the origin position is searched at the retracted position (see FIGS. 18 to 20). Therefore, one of the bobbin case gripping means is moved to the retracted position facing the shuttle 1 and then rotated, so that the sensor plate 32 shields the space between the light emitting element 31a and the light receiving element 31b with respect to the transport shaft 4. When the sensor fixing plate 33 is fixed, for example, when a pulse motor is used as the rotation motor 20, the number of pulses of the pulse motor is counted to move the bobbin case gripping means to the bobbin position A, the bobbin winding. The rotation can be controlled to the turning position F, the residual yarn removing position C, and the dummy positions D and E.

Below the shuttle 1 on the base plate 3, a bobbin thread remaining amount detector 8 as a detecting means characterizing this embodiment is provided.
0 is fixed, and this bobbin thread remaining amount detector 80 is shown in FIG.
Also, as shown in FIG. 2, a detection rod 80a protruding toward the shuttle is provided. The detection rod 80a can be moved forward and backward toward the shuttle shaft tip 1a by a moving mechanism (not shown) housed in the casing 80b.
Through the opening formed on the peripheral surface of the bobbin case and the bobbin case through the opening formed on the peripheral surface of the bobbin case so as to match the opening of the bobbin when the bobbin case is normally set in the shuttle. It is possible to move back and forth.

The lower thread remaining amount detector 80 has a detection rod 80a.
Position sensor S as position detecting means for detecting the position of the detection rod 80a and transmitting a detection signal corresponding to the position of the detection rod 80a.
1, S2 are provided. This position sensor S
1, S2 are turned on / off as follows according to the tip position of the detection rod 80a. That is, the position sensor S1
3 turns on when the tip of the detection rod 80a is located in the opening of the peripheral wall of the shuttle, and the position sensor S2 determines that the tip of the detection rod 80a is located near the outer circumference of the bobbin shaft. The position sensors S1 and S2 are turned off at other positions. If the tip of the detection rod 80a moves forward from the standby position and does not touch anything, the position sensor S1 is turned on after t1 seconds, the position sensor S1 is turned off after t2 seconds, and then after t3 seconds. The speed of the detection rod 80a and the positions of the position sensors S1 and S2 are set so that the position sensor S2 is turned on.

The bobbin thread remaining amount detector 80 is shown in FIG.
As shown in, it is possible to determine, for example, an empty bobbin mounting state as the bobbin winding state with respect to the hook 1 and a bobbin case mounting / demounting defective state as the bobbin case mounting state based on the detection signals from the position sensors S1 and S2. The determination means 81a is connected.

That is, after mounting the bobbin case on the hook, the detection rod 80a is moved forward from the standby position, and (t1 + t
2) If the position sensor S1 remains on after a second, in the determining means 81a, a part of the bobbin case is inside the hook, but the tip of the detection rod 80a hits the peripheral wall of the bobbin case, and the bobbin case is It is determined that the hook 1 has stopped midway and is not properly attached to the hook 1. Further, when the position sensor S2 is turned on after (t1 + t2 + t3) seconds, the bobbin is not wound on the bobbin or the bobbin case is not attached because the bobbin case is dropped in the determination means 81a. Is determined.

Further, after taking out the bobbin case from the shuttle, the detection rod 80a is moved forward from the standby position, and (t1 + t
2) If the position sensor S1 remains on after a second, in the judging means 81a, the bobbin case has a part of the bobbin case inside the hook, but the tip of the detection rod 80a hits the peripheral wall of the bobbin case. Is stopped in the middle of the hook 1 and is not normally taken out from the hook 1.

Further, the lower thread remaining amount detector 80 can of course detect the lower thread remaining amount. That is, when detecting the lower thread remaining amount, the detection rod 80a is moved forward from the standby position, and (t1 + t
If the position sensor S2 remains off after 2 + t3) seconds, the determining means 81a determines that the bobbin is still sufficiently wound with the bobbin thread.

When detecting the remaining amount of the lower thread, the detection rod 80
When the position sensor S2 is turned on after (t1 + t2 + t3) seconds by advancing a from the standby position, the determination unit 8
In 1a, it is determined that there is almost no lower thread on the bobbin and the bobbin needs to be replaced.

That is, the lower thread remaining amount detector 80 can detect the bobbin winding state and the bobbin case mounted state of the bobbin, and the judging means 81a detects the lower thread remaining amount detector 80 from the lower thread remaining amount detector 80. Based on the signal, it is possible to determine the bobbin replacement time, the re-operation (retry), and the like.

As shown in FIG. 1, the judging means 81a performs a re-operation as necessary when judging the above-mentioned empty bobbin mounting state and defective bobbin case attachment / detachment state, for example, a bobbin exchanging device and a residual yarn. Removing device 61, bobbin winding device 6
The re-operation instruction means 81b for instructing No. 2 is connected.
The determination means 81a and the re-operation instruction means 81b are C
It constitutes a part of the PU 81, and the CPU 81 is further provided with a normal automatic bobbin thread feeder control means (not shown) for controlling the automatic bobbin thread feeder. Further, the CPU 81 has a ROM in which a program representing an operation procedure is stored.
A RAM (not shown) that stores and processes each set value and data table (not shown) is connected.

An error display means 82 is externally connected to the determination means 81a. This error display means 8
2 is, for example, an alarm buzzer or an error blinking lamp,
The error display means 82 can notify the operator of abnormal states such as an empty bobbin mounting state and a bobbin case improperly attached and detached state.

The bobbin thread remaining amount detector 80 is also provided on the side of the dummy shaft 6 shown in FIGS. 21 and 22 (not shown), and the bobbin thread winding state and the bobbin on the dummy shaft 6 are provided. It is possible to detect the case attachment state.

Next, the operation procedure of the apparatus thus configured will be described below with reference to the flow chart stored in the ROM. First, for convenience of explanation, as shown in FIG. 4, the state in which it is determined whether or not the thread trimming signal of the sewing machine is received is referred to as step 1. Then, in step 1, if the thread trimming signal is not received, the same determination is repeated until it is received, and if it is received, step 2
Then, in step 2, a sewing prohibition signal is transmitted to the sewing machine and the process proceeds to step 3.
The process proceeds to the forward routine a of the lower thread remaining amount detector 80 shown in FIG.

In this bobbin thread remaining amount detector advance routine a, first, in step 1, the detection rod 80a is advanced to proceed to step 2, and in step 2, wait t1 seconds and proceed to step 3 to proceed to step 3. In step 3, it is determined whether the position sensor S1 is on. If it is not on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4,
Set the operator intervention flag to 1 and return.

On the other hand, if it is determined in step 3 of the bobbin thread remaining amount detector advance routine a that the position sensor S1 is turned on, the process proceeds to step 5, in which step 5 waits for t2 seconds and proceeds to step 6, In step 6, it is determined whether or not the position sensor S1 is turned on. If the position sensor S1 is turned on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4, operator intervention is performed. Set the flag to 1 and return.

In step 6 of the bobbin thread remaining amount detector forward routine a, when the position sensor S1 is off, the process proceeds to step 7 and in step 7, t
After waiting for 3 seconds, the process proceeds to step 8, and in step 8, it is determined whether or not the position sensor S2 is on. If not, the bobbin is still sufficiently wound with bobbin thread. Then, in step 9, the S2 flag is set to 1 and the process returns.

In step 8 of the bobbin thread remaining amount detector advance routine a, when the position sensor S2 is turned on, there is almost no bobbin thread on the bobbin, and it is in a state where replacement is required. Judge and return. That is, in the bobbin thread remaining amount detector forward routine a, the bobbin thread remaining amount can be detected.

Then, the process proceeds to step 4 of the main flow shown in FIG. 4, and in step 4, the process goes to the backward routine b of the lower thread remaining amount detector 80 shown in FIG.

In the bobbin thread remaining amount detector retracting routine b, first, in step 1, the detecting rod 80a is retracted to proceed to step 2, and in step 2, wait t3 seconds and proceed to step 3 to proceed to step 3. In step 3, it is determined whether the position sensor S2 is on, and if it is on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4, operator intervention is performed. Set the flag to 1 and return.

On the other hand, in step 3 of the bobbin thread remaining amount detector retracting routine b, when it is determined that the position sensor S1 is off, the process proceeds to step 5, and in step 5, waits t2 seconds and proceeds to step 6, 6, it is determined whether or not the position sensor S1 is turned on. If it is not turned on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4 and step 4
At 1, the operator intervention flag is set to 1 and the process returns.

In step 6 of the bobbin thread remaining amount detector retracting routine b, if the position sensor S1 is turned on, the process proceeds to step 7 and in step 7, t
After waiting for one second, the process proceeds to step 8, and in step 8, it is determined whether or not the position sensor S1 is turned on. If it is turned on, it is determined that the bobbin thread remaining amount detector 80 has some trouble. 4, the operator intervention flag is set to 1 in step 4, and the process returns.

In step 8 of the bobbin thread remaining amount detector retracting routine b, if the position sensor S1 is not turned on, the routine returns without any abnormality.

Then, in step 5 of the main flow shown in FIG. 4, it is determined in step 5 whether or not the operator intervention flag is 1, and if it is not 1, that is, there is no failure in the lower thread remaining amount detector 80. If it has not occurred, the process proceeds to step 6, and in step 6, it is determined whether or not the S2 flag is 1, and when it is 1, that is, when the bobbin is still sufficiently wound with the bobbin thread. Proceeds to step 7, sets the S2 flag to 0 in step 7, proceeds to step 8, cancels the sewing prohibition signal of the sewing machine in step 8, returns to step 1, and waits for reception of a thread trimming signal.

On the other hand, in step 5, when the operator intervention flag is 1, that is, when the bobbin thread remaining amount detector 80 has some trouble, the process proceeds to step 9, and in step 9, the S2 flag is set to 0 10, the routine proceeds to step 10 where the operator intervention routine shown in FIG. 10 is entered.

In this operator intervention routine, first, in step 1, the operator intervention flag is set to 0 and the process proceeds to step 2. In step 2,
For example, the error display means 82 such as an alarm buzzer or an error blinking lamp is operated to inform the operator of the abnormal state, and the process proceeds to step 3. In step 3, the bobbin thread automatic feeder is stopped and the process proceeds to step 3 to step. In 3,
Wait for operator intervention.

Then, the process proceeds to step 11 of the main flow shown in FIG. 4, and in step 11, the operator intervention return routine shown in FIG. 13 is entered.

In this operator intervention return routine, first, at step 1, it is judged whether or not there is a start instruction again. This start instruction is given by the operator after repairing the defect. That is, the operator himself gives a start instruction after repairing some kind of failure (a failure of the bobbin thread remaining amount detector 80 in this flow). It should be noted that the start instruction given by the operator after repairing the defect is indicated by * in the flow in the drawings below.

Then, in step 1, if there is no start instruction, the same determination is repeated until there is a start instruction, and if there is a start instruction, the process returns and proceeds to step 12 of the main flow shown in FIG. .

Also, in step 6 of the main flow shown in FIG. 4, if the S2 flag is not 1, that is, if the bobbin bobbin thread is running low, step 12
Then, in step 12, the bobbin exchanging device moves to a bobbin exchanging routine for exchanging bobbins.

In this bobbin exchange routine, as shown in FIG.
As shown in 4, first, in step 1, a bobbin take-out routine for taking out the bobbin from the shuttle is started.

In this bobbin take-out routine,
As shown in FIG. 15, first, in step 1,
The rotating arm 70 is rotated so that the bobbin case gripping means not gripping the bobbin case faces the shuttle 1 and is moved forward, so that the bobbin with less residual thread or the bobbin with aggravation due to operator intervention. Remove it from the inside, retract the rotating arm 70, and proceed to step 2,
In step 2, the lower thread remaining amount detector 8 shown in FIG.
The process proceeds to the 0 forward routine d.

In this bobbin thread remaining amount detector advance routine d, first, in step 1, the detection rod 80a is advanced to proceed to step 2, and in step 2, wait t1 seconds and proceed to step 3 to proceed to step 3. In step 3, it is determined whether the position sensor S1 is on. If it is not on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4,
Set the operator intervention flag to 1 and return.

On the other hand, in step 3 of the bobbin thread remaining amount detector forward routine d, when it is determined that the position sensor S1 is turned on, the process proceeds to step 5, and in step 5, waits t2 seconds and proceeds to step 6, 6, it is determined whether or not the position sensor S1 is turned on, and when it is turned on, the tip of the detection rod 80a is in contact with the peripheral wall of the bobbin case, and a part of the bobbin case is inside the kettle. It is determined that the operator intervention flag is set to 1
And return.

On the other hand, in step 6 of the bobbin thread remaining amount detector forward routine d, when it is determined that the position sensor S1 is off, the process proceeds to step 7, at step 7, waits t3 seconds and proceeds to step 8, In step 8, it is determined whether or not the position sensor S2 is on. If it is off, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4, operator intervention is performed. Set the flag to 1 and return.

On the other hand, in step 8 of the bobbin thread remaining amount detector advancing routine d, when it is determined that the position sensor S2 is turned on, the bobbin case in the shuttle is successfully taken out and the process returns.

Then, the routine proceeds to step 3 of the bobbin take-out routine shown in FIG. 15, and in step 3, the above-mentioned bobbin thread remaining amount detector retract routine b is carried out, and when returning, it proceeds to step 4, and in step 4,
It is determined whether the operator intervention flag is 1 and 1
In other words, when the bobbin case is partially inside the hook and cannot be taken out from the hook, or the bobbin thread remaining amount detector 80
If any failure occurs, the process proceeds to step 5, the operator intervention routine described above is performed in step 5, and if it returns, the process proceeds to step 6 and the operator intervention return routine described above is performed in step 6, and the return is performed. Then, the process returns to step 2 of the bobbin exchange routine.

If the operator intervention flag is not 1 in step 4 of the bobbin take-out routine, it is determined that there is no abnormality and the process returns to step 2 of the bobbin replacement routine.

Then, in step 2 of the bobbin exchange routine shown in FIG. 14, the rotating arm 70 is rotated to make the bobbin case accommodating the bobbin on which the bobbin thread has been wound face the shuttle 1 and proceed to step 3. In step 3, the rotating arm 70 is moved forward, the bobbin case accommodating the bobbin on which the bobbin thread has been wound is mounted in the shuttle, and the rotating arm 70 is retracted to return.

Then, the procedure proceeds to step 13 of the main flow shown in FIG. 4, and in step 13, the routine proceeds to the forward routine c of the lower thread remaining amount detector 80 shown in FIG.

In the bobbin thread remaining amount detector advance routine c, first, in step 1, the detection rod 80a is advanced to proceed to step 2, and in step 2, wait t1 seconds and proceed to step 3 to proceed to step 3. In step 3, it is determined whether the position sensor S1 is on. If it is not on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4,
Set the operator intervention flag to 1 and return.

On the other hand, in step 3 of the bobbin thread remaining amount detector forward routine c, when it is determined that the position sensor S1 is turned on, the process proceeds to step 5, and in step 5, waits t2 seconds and proceeds to step 6, 6, it is determined whether or not the position sensor S1 is turned on. When it is turned on, a part of the bobbin case is inside the hook, but the tip of the detection rod 80a hits the peripheral wall of the bobbin case. Assuming that the bobbin case has stopped midway in the shuttle 1 and is not normally attached to the shuttle 1, the process proceeds to step 7, and in step 7, the retry return flag is set to 1 and the process returns.

In step 6 of the bobbin thread remaining amount detector forward routine c, when it is determined that the position sensor S1 is off, the process proceeds to step 8, and in step 8, t3.
After waiting for a second, the process proceeds to step 9, and in step S9, it is determined whether or not the position sensor S2 is turned on. If it is determined that the position sensor S2 is turned on, the bobbin is not wound with the bobbin thread, or the bobbin case is dropped in the middle. It is determined that the state is one that is not attached due to the error, and the process proceeds to step 7 where the retry return flag is set to 1 and the process returns.

In step 9 of the bobbin thread remaining amount detector forward routine c, if the position sensor S2 is off,
The bobbin case that accommodates the bobbin around which the lower thread is wound returns as if the bobbin case was properly mounted in the shuttle.

Then, the process proceeds to step 14 of the main flow shown in FIG. 4, the process proceeds to step 14 where the above-mentioned bobbin thread remaining amount detector retracting routine b is performed, and when returning, the process proceeds to step 15 and in step 15, the operator It is determined whether or not the intervention flag is 1, and if the operator intervention flag is 1, that is, if the bobbin thread remaining amount detector 80 has some trouble, step 16
Go to step 16, set the retry return flag to 0 in step 16, and go to step 17,
If the operation shifts to the above-mentioned operator intervention routine and returns, proceed to step 18, and at step 18, move to the above-mentioned operator intervention return routine,
After returning, proceed to step 20.

If the operator intervention flag is not 1 in step 15, that is, if the bobbin thread remaining amount detector 80 has no failure, the process proceeds to step 19, and in step 19, the retry return flag is 1
If the retry return flag is not 1, that is, if the bobbin is normally attached to the hook, the process proceeds to step 20, in which the sewing prohibition signal is released and the process proceeds to step 21. In step 21, the bobbin with a small amount of residual thread taken out in step 12 is subjected to residual thread removal, bobbin winding, thread hooking, and thread cutting. That is, the rotating arm 70 is rotated, the bobbin case taken out from the shuttle is opposed to the residual thread removing device, and the residual thread removing device removes the residual thread of the bobbin accommodated in the bobbin case. Let be an empty bobbin without threads.

Then, the rotating arm 70 is rotated so that the empty bobbin faces the bobbin winding device and the rotating arm 7 is rotated.
0 is advanced, the lower thread is wound around the empty bobbin by the lower thread winding device, and the thread is hooked on the bobbin case and the lower thread is cut. When the bobbin is wound around the bobbin in this way, the process returns to step 1.

In step 19, if the retry return flag is 1, that is, the bobbin case is in the hook 1
Check if the bobbin is not wound properly, or if the bobbin is not wound with bobbin thread.
In the case where the bobbin case is not attached due to falling off in the middle of the process, the process proceeds to step 22, and in step 22, the retry recovery routine shown in FIGS. 11 and 12 is performed.

In this retry recovery routine, first, in step 1, the retry recovery flag is set to 0, and the process proceeds to step 2. In step 2, the bobbin take-out routine described above is performed, and when returning, the process proceeds to step 3. In step 3, residual thread removal, bobbin thread winding, thread hooking, and thread trimming are performed on the other bobbin case located on the opposite side of the bobbin case facing the shuttle 1, and the process proceeds to step 4, and in step 4 , The bobbin case accommodating the bobbin wound with the lower thread is rotated in the hook to proceed to step 5, and in step 5, the bobbin setting routine shown in FIG. 16 is performed.

In this bobbin setting routine, first, in step 1, the rotating arm 70 is moved forward,
A bobbin case accommodating the bobbin on which the bobbin thread has been wound is mounted in the shuttle, the rotating arm 70 is retracted, and the process proceeds to step 2. In step 2, the bobbin thread remaining amount detector advance routine e shown in FIG. Transition.

In the bobbin thread remaining amount detector advance routine e, first, in step 1, the detection rod 80a is advanced to proceed to step 2, and in step 2, wait t1 seconds and proceed to step 3 to proceed to step 3. In step 3, it is determined whether the position sensor S1 is on. If it is not on, it is determined that the bobbin thread remaining amount detector 80 has some trouble, and the process proceeds to step 4, and in step 4,
Set the operator intervention flag to 1 and return.

On the other hand, in step 3 of the bobbin thread remaining amount detector forward routine e, when it is determined that the position sensor S1 is turned on, the process proceeds to step 5, and in step 5, waits t2 seconds and proceeds to step 6, 6, it is determined whether or not the position sensor S1 is turned on, and when it is turned on, the tip of the detection rod 80a is in contact with the peripheral wall of the bobbin case, and a part of the bobbin case exists in the hook. Assuming that it is not completely installed in the shuttle, the process proceeds to step 4, and in step 4, the operator intervention flag is set to 1 and the process returns.

On the other hand, if it is determined in step 6 of the bobbin thread remaining amount detector forward routine e that the position sensor S1 is off, the process proceeds to step 7, at which step 7 waits t3 seconds and then proceeds to step 8 8, it is determined whether or not the position sensor S2 is turned on. If the position sensor S2 is turned on, whether the lower thread is wound around the bobbin,
It is determined that the bobbin case is not attached due to falling off or the like in the middle, the process proceeds to step 4, and in step 4, the operator intervention flag is set to 1 and the process returns.

When it is determined in step 8 of the bobbin thread remaining amount detector forward routine e that the position sensor S2 is off, the process returns to step 3 of the bobbin setting routine, and in step 3, the above-mentioned bobbin thread remaining amount detection is performed. If the operator intervention flag is 1, it is determined whether the operator intervention flag is 1 or not.
If the bobbin case is partially installed in the hook and is not completely installed in the hook, or if the bobbin is not wound with bobbin thread, or if the bobbin case is dropped in the middle and installed. If any of the states is not present or if the bobbin thread remaining amount detector 80 has some trouble, step 5
Proceed to step 5 and proceed to the operator intervention routine described above in step 5, and if it returns, proceed to step 6 and proceed to the operator intervention return routine described above in step 6 and proceed to step 6 of the retry recovery routine shown in FIG. To return.

If the operator intervention flag is not 1 in step 4, that is, if the bobbin can be normally mounted in the shuttle, the process returns to step 6 of the retry recovery routine shown in FIG.

Then, in step 6 of the retry recovery routine, the sewing prohibition signal is released and the process proceeds to step 7. In step 7, the error display means 82 such as an alarm buzzer or an error blinking lamp is operated to detect an abnormal condition by the operator. In step 8, the bobbin thread automatic feeder is stopped.

Here, the reason why the apparatus is stopped is to early process any abnormality that has occurred by intervening the operator.

Then, in step 9, it is determined in step 9 whether or not there is a start instruction again. If there is a start instruction, the process proceeds to step 10, and in step 10, whether a thread trimming signal is received or not. If it is not received, the process proceeds to step 11. In step 11, it is determined whether or not there is a needle down signal. If there is a needle down signal, the process returns to step 10, while the step 1
If there is no needle down signal in step 1, the process proceeds to step 12.

Also, when the thread trimming signal is received in step 10, the process proceeds to step 12 and step 12
At step 1, send a sewing prohibition signal to the sewing machine.
3, the residual thread removal, bobbin thread winding, thread hooking, and thread trimming for the bobbin on the restarted side are performed in step 13, and the process proceeds to step 14, and in step 14, the sewing prohibition signal of the sewing machine is released, and Return to step 1 of the main flow shown in.

If there is no start instruction in step 9 shown in FIG. 12, the process proceeds to step 15, where it is determined whether or not a thread trimming signal has been received. Return to step 9.

When the thread trimming signal is received in step 15, the process proceeds to step 16, the sewing prohibition signal is transmitted to the sewing machine in step 16, and the process proceeds to step 17. In step 17, the lower thread remaining amount detection described above is detected. Move to the instrument advance routine a and return to step 1
8, the process proceeds to the bobbin thread remaining amount detector retract routine b described above in step 18, and if the process returns, the process proceeds to step 19, and in step 19, it is determined whether or not the S2 flag is 1, and if it is not 1, That is, if there is not much bobbin thread remaining in the bobbin, the process proceeds to step 20. In step 20, it is determined whether there is a start instruction again. If there is no start instruction, the same determination is repeated until there is a start instruction. If there is a start instruction, step 21
Then, in step 21, residual thread removal, bobbin thread winding, thread hooking, and thread cutting are performed on the bobbin on the restarted side, and the process returns to step 12 of the main flow shown in FIG.

On the other hand, in step 19, if the S2 flag is 1, that is, if the bobbin still has sufficient bobbin thread wound on, it proceeds to step 22. In step 22, the S2 flag is set to 0 and step 23 In step 23, the sewing prohibition signal of the sewing machine is released and the process returns to step 9.

By the way, even in the above apparatus, first of all, manual work is required to mount the bobbin case on the bobbin case holding means. In such a case, first, without inserting the palm, the hand is inserted from the rotating arm side and the bobbin case accommodating the bobbin on which the bobbin has been wound is mounted on the shuttle shaft 1a. Push the bobbin cases into the dummy shafts 6 and 6, respectively.
Attach to 6.

Next, when the power switch is turned on, the rotary arm 70 is returned to the original position, and when the start switch is turned on, the rotary arm 70 is rotated and one bobbin case holding means is moved to the dummy position D or E. To face. Then, the rotating arm 70 is moved forward so that one bobbin case holding means holds the bobbin case holding the bobbin wound bobbin held by the dummy shaft 6, so that the bobbin case holding means is moved. A bobbin case can be attached.

Further, when the bobbin case held by the bobbin case holding means is taken out or when the bobbin case is temporarily held on the dummy shaft 6 in order to use the lower thread of different colors, When the bobbin case holding means holding the bobbin case faces the dummy shaft 6 and is moved forward, the bobbin case held by the bobbin case holding means can be transferred to the dummy shaft 6. When removing the bobbin case, the hook shaft 1a
Just like removing the bobbin case from the case, if you insert your hand from the side of the rotating arm, the dummy shaft 6
The bobbin case held in the can be taken out.

That is, in this embodiment, by providing the dummy shaft 6, the bobbin case 2 is returned to the dummy shaft 6 when the bobbin case 2 is attached to or detached from the bobbin case holding means. The bobbin case 2 can be easily attached and detached to and from the bobbin case holding means.

Moreover, in the present embodiment, as described above, the lower thread remaining amount detector 8 is also provided on the side of the dummy shaft 6.
0 is provided so that the lower thread winding state and the bobbin case mounting state of the dummy shaft 6 can be detected.

Thus, in this embodiment, the pot 1,
At the bobbin case mounting position of the dummy shaft 6, a detection rod 80a which can be moved in and out of the bobbin case is moved forward and backward by a moving mechanism through an opening formed in the peripheral surface of the bobbin case 2, and the position of the detection rod 80a is The position sensors S1, S2 for detecting the position of the detection rod 80a make it possible to detect the bobbin case winding state and the bobbin case mounting state of the shuttle 1 and the dummy shaft 6 at the bobbin case mounting position. By S2, the detection rod 80
A detection signal corresponding to the position of a is sent to the determination means 81a, and the determination means 81a causes, for example, an empty bobbin mounted state as a bobbin winding state with respect to the shuttle 1 and the dummy shaft 6 and a bobbin case mounted state as a bobbin case. Since it is possible to determine whether the case is not properly attached or detached and to notify the operator of these abnormal states by an alarm or the like so that the operator can intervene, it is possible to perform normal restoration of the device thereafter. It is possible.

Further, since the lower thread remaining amount detector 80 is also used as the lower thread remaining amount detecting means for detecting the remaining amount of the lower thread of the bobbin to reduce the number of parts, the cost of the apparatus is reduced. Is possible.

Further, when the empty bobbin mounting state and the bobbin case attachment / detachment failure state are determined, the re-operation instructing means 81b instructs the re-operation as necessary, and the operator automatically returns without intervention. Since it is configured, it is possible to improve work efficiency and productivity.

Although the invention made by the present inventor has been specifically described based on the embodiments, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention. Needless to say, for example, when the bobbin thread remaining amount detector 80 is disposed at the bobbin case mounting position of the shuttle 1 in such a manner as to face the opening formed in the peripheral surface of the bobbin case 2, It is also possible to replace with the light receiving element which receives the reflected light of the emitted light from this light emitting element and sends out the detection signal according to the reflected light amount.

That is, in the bobbin thread remaining amount detector consisting of this light emitting / receiving element, the light emitted from the light emitting element is emitted from the light emitting element when the bobbin case is normally mounted in the hook and the bobbin case. The light is reflected by the bobbin shaft or the bobbin thread wound around the bobbin shaft toward the bobbin axis through the opening formed in the peripheral surface of the second light, and is received by the light receiving element through the opening.

Therefore, when there is almost no amount of reflected light received by this light receiving element, it can be determined that the bobbin is sufficiently wound around the bobbin, and when there is a large amount of reflected light, the bobbin moves under the bobbin. It can be determined that it is time to replace the thread because it is running low. That is, it can function as a detector for detecting the remaining amount of the lower thread of the bobbin. A reflective seal is attached to the surface of the bobbin shaft and the inner wall surface of the shuttle.

On the other hand, when the operation is performed after the bobbin case is mounted, for example, when an empty bobbin is mounted or when the bobbin case is not mounted due to falling off in the middle, Total reflection is provided by the reflective seal on the bobbin shaft or the inner wall of the hook. Further, when the bobbin case is stopped from being attached to the hook halfway, the bobbin case is reflected by the wall surface of the bobbin case, and the reflected light amount is smaller than the total reflection. When the bobbin case is properly attached to the shuttle, it is reflected by the bobbin thread sufficiently wound around the bobbin, and hardly reflects.

When the bobbin case is operated after being taken out, for example, when the bobbin case is normally taken out from the hook, total reflection is caused by the reflection seal on the inner wall surface of the hook. Further, when the bobbin case is stopped from being attached to the hook halfway, the bobbin case is reflected by the wall surface of the bobbin case, and the reflected light amount is smaller than the total reflection.

That is, even if the lower thread remaining amount detector is composed of the light emitting / light receiving elements as described above, the same effect as in the above embodiment can be obtained. It is also possible to attach a lower thread remaining amount detector including such a light emitting / light receiving element to the dummy shaft 6. The bobbin thread remaining amount detector is not limited to the one described above.

Further, instead of the dummy shaft 6, bobbin case holding means for magnetically attracting the bobbin case 2 with a magnet and storing / holding it in the holder may be used. Even if the bobbin case holding means is constructed in this way, it goes without saying that the bobbin case winding state and the bobbin case mounting state can be detected as in the above embodiment.

Further, in the above embodiment, the bobbin case winding state and the bobbin case mounting state of the shuttle 1 and the dummy shaft 6 (including the above-mentioned magnetic attraction type bobbin case holding means of course) at the bobbin case mounting position are detected. Detector 80
Although it also has a function of detecting the remaining amount of the lower thread, a device for detecting the remaining amount of the lower thread may be separately provided.

Further, in the above embodiment, both the bobbin case winding state and the bobbin case attached state of the shuttle 1 and the dummy shaft 6 (including the magnetic attraction type bobbin case holding means described above of course) at the bobbin case attached position are set. Although it is detected, only one of them may be detected. That is, the determination means 81b may determine only one of the empty bobbin mounting state for the shuttle 1 and the dummy shaft 6 and the defective bobbin case attachment / detachment state.

In the above embodiment, the retry operation is performed after the bobbin case is attached to the shuttle 1 and the dummy shaft 6, but the bobbin case is taken out from the shuttle 1 and the dummy shaft 6. It is also possible to carry out after it.

It is also possible to use the dummy shaft 6 and the magnetic attraction type bobbin case holding means also as the bobbin case holding means of the residual yarn removing device. In addition, the dummy position D,
The position E, the bobbin thread winding position F, and the residual yarn removing position C are not limited to the positions in the above-described embodiment, and in short, these positions may be located at positions opposite to the locus along which the bobbin case gripping means moves.

[0116]

As described above, according to the bobbin exchanging device of the first or second aspect, for example, at the bobbin case mounting position of the facing member, the bobbin case inside and outside is passed through the opening formed in the peripheral surface of the bobbin case. A detection rod that can be moved back and forth is moved back and forth by a moving mechanism, and the position of this detection rod is detected by a position detection means that detects the position of the detection rod, and the bobbin thread winding state at the bobbin case mounting position of the facing member and At least one of the bobbin case mounting states can be detected, the position detecting means sends a detection signal corresponding to the position of the detection rod to the judging means, and the judging means determines, for example, that the bobbin thread is wound around the facing member. It is possible to determine at least one of the empty bobbin mounting state and the bobbin case mounting state, for example, the bobbin case detachment / removal failure state. If so as notify the operator by an alarm or the like, since it is intended to the acting skill is configured to intervene, it is possible to perform a normal return subsequent device.

Further, according to the bobbin exchanging device of the first or third aspect, the light emitting / receiving element is arranged facing the opening formed in the peripheral surface of the bobbin case, for example, at the bobbin case mounting position of the facing member. By receiving the reflected light from the light emitting element with the light receiving element, it is possible to detect at least one of the bobbin winding state and the bobbin case attached state of the opposing member at the bobbin case attached position, and the light is reflected by the light receiving element. A detection signal according to the amount of light is sent to the determination means, and the determination means determines at least one of, for example, an empty bobbin mounting state as a bobbin winding state and a bobbin case mounting state, for example, a bobbin case detaching / defective state with respect to the opposing member. Judgment can be made, and these abnormal conditions can be notified to the operator by, for example, an alarm so that the operator can intervene. Since it is that form, it is possible to perform a normal return subsequent device.

According to the bobbin exchanging device of claim 4, in addition to claim 1, the detecting means is also used as the lower thread remaining amount detecting means for detecting the lower thread remaining amount of the bobbin, and the number of parts is reduced. Since it is configured as described above, it is possible to achieve cost reduction in addition to the effect of claim 1.

According to the bobbin changing device of the fifth aspect, in addition to the first aspect, when it is determined at least one of the empty bobbin mounting state and the bobbin case detaching / defective state, the re-operation instructing means makes it necessary. In addition to the effect of claim 1, it is possible to improve the work efficiency and the productivity because the operator is instructed to perform a re-operation according to the instruction and automatically returns without the intervention of the operator. .

[Brief description of drawings]

FIG. 1 is a front view showing an extracted essential part of a bobbin changing device according to an embodiment of the present invention.

FIG. 2 is a right side view of FIG.

FIG. 3 is an explanatory diagram showing a relationship between a position of a detection rod and a detection signal of a position detecting means.

FIG. 4 is a flow chart showing an operation procedure of the above apparatus together with an operation procedure of a sewing machine and an operation procedure of an automatic bobbin thread feeder.

FIG. 5 is a flowchart showing a bobbin thread remaining amount detector forward routine a.

FIG. 6 is a flowchart showing a bobbin thread remaining amount detector retracting routine b.

FIG. 7 is a flowchart showing a bobbin thread remaining amount detector forward routine c.

FIG. 8 is a flowchart showing a bobbin thread remaining amount detector forward routine d.

FIG. 9 is a flowchart showing a bobbin thread remaining amount detector forward routine e.

FIG. 10 is a flowchart showing an operator intervention routine.

FIG. 11 is a flowchart showing a retry recovery routine.

FIG. 12 is a flowchart following FIG. 11.

FIG. 13 is a flowchart showing an operator intervention return routine.

FIG. 14 is a flowchart showing a bobbin replacement routine.

FIG. 15 is a flowchart showing a bobbin take-out routine.

FIG. 16 is a flowchart showing a bobbin setting routine.

FIG. 17 is a front view showing in detail the bobbin changing device of the above.

FIG. 18 is a plan view of FIG.

FIG. 19 is a left side view of FIG.

20 is a right side view of FIG.

FIG. 21 is a schematic front view for explaining dummy positions and dummy shafts of the bobbin changing device of the above.

FIG. 22 is a schematic side view for explaining a dummy position and a dummy shaft of the bobbin changing device of the above.

FIG. 23 is a schematic perspective view of an automatic bobbin thread supplying device to which a bobbin changing device in the prior art is applied.

[Explanation of symbols]

 1, 6 Facing member 2 Bobbin case 7 Bobbin 80 Detection means 80a Detection rod 81a Judgment means 81b Re-operation instruction means S1, S2 Position detection means

Claims (5)

[Claims] 1. A bobbin case holding means for allowing a bobbin case accommodating a bobbin to be held or opened and moving along a predetermined path, wherein the bobbin is provided inside a member facing the bobbin case holding means. In a bobbin exchanging device in which the accommodated bobbin case is detachable, a detection means for detecting at least one of a bobbin case winding state and a bobbin case mounting state at a bobbin case mounting position of the facing member, and a detection signal from the detecting means. A bobbin changing device including a judging means for judging at least one of a bobbin winding state and a bobbin case mounting state based on the bobbin winding state. 2. The bobbin exchanging device according to claim 1, wherein the detecting means is a detection rod capable of advancing and retracting into and out of the bobbin case through an opening formed in a peripheral surface of the bobbin case at a bobbin case mounting position of the facing member. And a moving mechanism for moving the detection rod forward and backward, and position detecting means for detecting the position of the detection rod and transmitting a detection signal according to the position of the detection rod. 3. The bobbin exchanging device according to claim 1, wherein the detecting means is a light emitting element disposed facing the opening formed on the peripheral surface of the bobbin case at the bobbin case mounting position of the facing member, and the light emitting element. A bobbin exchanging device, which is a light receiving element that receives reflected light of light emitted from a light emitting element and sends a detection signal according to the amount of reflected light. 4. The bobbin exchanging device according to claim 1, wherein the detecting means also functions as a lower thread remaining amount detecting means for detecting a lower thread remaining amount of the bobbin. 5. The bobbin changing device according to claim 1, wherein when the determining means determines at least one of an empty bobbin mounting state and a bobbin case detaching / defective state, a reactivating instruction is issued as necessary. Bobbin exchanging device having means.