CN107177913A - A kind of the doff wheel control device and intelligence of robot of intelligence doffs robot - Google Patents
A kind of the doff wheel control device and intelligence of robot of intelligence doffs robot Download PDFInfo
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- CN107177913A CN107177913A CN201710423256.7A CN201710423256A CN107177913A CN 107177913 A CN107177913 A CN 107177913A CN 201710423256 A CN201710423256 A CN 201710423256A CN 107177913 A CN107177913 A CN 107177913A
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- connecting rod
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
- D01H9/08—Doffing arrangements independent of spinning or twisting machines
- D01H9/10—Doffing carriages ; Loading carriages with cores
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- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
Abstract
Doffed robot the invention discloses a kind of the doff wheel control device and intelligence of robot of intelligence, driven using ground, to promote intelligent doff robot and intelligent mobile offer driving of the robot on spinning frame of doffing on ground, simultaneously, it is easy to which the robot that intelligently doffs is loaded on spinning frame.The wheel control device includes power set, linkage, location-plate and connection component；Power set one end is connected with linkage, and the power set other end is connected with connection component, and location-plate is connected with connection component and linkage respectively.
Description
Technical field
The present invention relates to doffer field, the wheel control device of robot it particularly relates to which a kind of intelligence is doffed
And the intelligent robot that doffs.
Background technology
At present, existing intelligence doffs robot using integral frame-type structure.Operationally, in the robot that intelligently doffs
Body side be provided with roller, roller is embedded on the track of spinning frame.Now, intelligently doff robot depart from ground.Intelligence
Robot can be doffed provided with drive mechanism, rolled in orbit by drive mechanism driving roller, so as to realize that intelligence is doffed
Robot is run on spinning frame.The intelligence doffs robot when walking on the ground, fully relies on Manual-pushing, adds labor
Fatigue resistance.
The content of the invention
The technical problems to be solved by the invention are：Wheel control device and intelligence that a kind of intelligence doffs robot are provided
Can be doffed robot, be that intelligent doff robot and intelligent mobile offer of the robot on spinning frame of doffing are promoted on ground
Driving, simultaneously, it is easy to which the robot that intelligently doffs is loaded on spinning frame.
In order to solve the above technical problems, the technical scheme that uses of the embodiment of the present invention for：
In a first aspect, the embodiment of the present invention provides the wheel control device that a kind of intelligence doffs robot, it is characterised in that institute
Stating wheel control device includes power set, linkage, location-plate and connection component；Power set one end connects with linkage
Connect, the power set other end is connected with connection component, location-plate is connected with connection component and linkage respectively.
As preference, the connection component includes connecting plate, head rod, the second connecting rod and the first connector；
The location-plate is two, and relative laying；Head rod two ends are rotatably connected on location-plate, and the second connecting rod is hanged
Sky, and the second connecting rod two ends are connected with linkage respectively；First connector one end is fixedly connected with head rod, and first
The connector other end is fixedly connected with the second connecting rod；Connecting plate is located at below the first connector, and is fixed with the first connector
Connection；The power set other end is rotated with the head rod in connection component and is connected.
As preference, the connection component also includes the second connector, and second connector one end is consolidated with head rod
Fixed connection, the second connector other end is fixedly connected with the second connecting rod；Second connector is fixedly connected with connecting plate.
As preference, the linkage includes the first connecting rod and second connecting rod laid up and down, left and right lay the
Three connecting rods and fourth link, and the 5th connecting rod and six-bar linkage；The two ends of first connecting rod above respectively with location-plate
It is rotatably connected, first connecting rod, second connecting rod, third connecting rod and fourth link constitute quadric chain；5th small end with
Second connecting rod one end is rotatably connected, and the 5th connecting rod lower end is rotatably connected with second connecting rod one end；Six-bar linkage upper end with
The second connecting rod other end is rotatably connected, and six-bar linkage lower end is rotatably connected with the second connecting rod other end；Power set one
End is rotatably connected with the second connecting rod in linkage.
As preference, described wheel control device, in addition to wheel group, wheel group are connected with connection component.
As preference, the wheel group includes the first loadwheel, the second loadwheel, driving wheel and motor, driving
Wheel is located between the first loadwheel and the second loadwheel；Motor is connected with driving wheel；First loadwheel and the second loadwheel
It is rotatably connected respectively at connecting plate two ends；Motor is connected with the first connector.
As preference, described wheel control device, in addition to pressure assembly, the pressure assembly include motor branch
Frame, locating support and pressure elastic component, the motor are fixedly connected with electric machine support, and locating support passes through the elastic component that presses
It is connected with electric machine support, locating support is fixedly connected with connecting plate.
As preference, the electric machine support be provided with lead, the locating support be provided with guide sleeve, guide sleeve with
Lead is adapted.
As preference, the location-plate is two, and two location-plates are located between the first loadwheel and driving wheel, and
Between second loadwheel and driving wheel.
Second aspect, the embodiment of the present invention also provides a kind of intelligent doff robot, including body and chassis, body and bottom
Connected between disk by lowering or hoisting gear；The chassis includes support body, wheel controlling organization and universal wheel, and universal wheel is connected to support body
Bottom；The wheel control device includes power set, linkage, wheel group, location-plate and connection component；Power set one
End be connected with linkage, the power set other end is connected with connection component, location-plate respectively with connection component and linkage
Connection, wheel group is connected with connection component；Location-plate is fixedly connected with support body.
As preference, the connection component includes connecting plate, head rod, the second connecting rod and the first connector；
The location-plate is two, and relative laying；Head rod two ends are rotatably connected on location-plate, and the second connecting rod is hanged
Sky, and the second connecting rod two ends are connected with linkage respectively；First connector one end is fixedly connected with head rod, and first
The connector other end is fixedly connected with the second connecting rod；Connecting plate is located at below the first connector, and is fixed with the first connector
Connection；The power set other end is rotated with the head rod in connection component and is connected.
As preference, the connection component also includes the second connector, and second connector one end is consolidated with head rod
Fixed connection, the second connector other end is fixedly connected with the second connecting rod；Second connector is fixedly connected with connecting plate.
As preference, the linkage includes the first connecting rod and second connecting rod laid up and down, left and right lay the
Three connecting rods and fourth link, and the 5th connecting rod and six-bar linkage；The two ends of first connecting rod above respectively with location-plate
It is rotatably connected, first connecting rod, second connecting rod, third connecting rod and fourth link constitute quadric chain；5th small end with
Second connecting rod one end is rotatably connected, and the 5th connecting rod lower end is rotatably connected with second connecting rod one end；Six-bar linkage upper end with
The second connecting rod other end is rotatably connected, and six-bar linkage lower end is rotatably connected with the second connecting rod other end；Power set one
End is rotatably connected with the second connecting rod in linkage.
As preference, the wheel group includes the first loadwheel, the second loadwheel, driving wheel and motor, driving
Wheel is located between the first loadwheel and the second loadwheel；Motor is connected with driving wheel；First loadwheel and the second loadwheel
It is rotatably connected respectively at connecting plate two ends；Motor is fixedly connected with the first connector.
As preference, described intelligence is doffed robot, in addition to device for exerting, and the device for exerting includes motor branch
Frame, locating support, elastic component, the motor are fixedly connected with electric machine support, and locating support passes through elastic component and the electricity of pressing
Machine support is connected, and locating support is fixedly connected with connecting plate.
As preference, the electric machine support be provided with lead, the locating support be provided with guide sleeve, guide sleeve with
Lead is adapted.
As preference, the location-plate is two, and two location-plates are located between the first loadwheel and driving wheel, and
Between second loadwheel and driving wheel.
Compared with prior art, the technical scheme of the embodiment of the present invention has the advantages that：
Driver, the intelligent robot traveling of doffing of driver driving are provided with the wheel control device of the embodiment of the present invention.With
The existing intelligence with the guide rail drive device robot that doffs is compared, and the embodiment of the present invention intelligently doffs robot because ground is driven
It is dynamic, so that beneficial to implementation.Intelligence, which is doffed, also depends on the power of driving wheel when robot is run on spinning frame guide rail, driving intelligence
The robot that doffs orbits.Meanwhile, wheel control device can be lifted to wheel group, disengage it from ground, profit
Turned in the robot that intelligently doffs when ground is advanced.When especially the robot that intelligently doffs is pushed on spinning frame, wheel is utilized
Control device lifts wheel group, is shifted the roller for the robot that intelligently doffs on the track of spinning frame onto using universal wheel.
Brief description of the drawings
Fig. 1 is wheel group and the assembling schematic diagram of connection component in the embodiment of the present invention；
Fig. 2 is power set, linkage, the assembling schematic diagram of location-plate in the embodiment of the present invention；
Fig. 3 is power set, linkage, the assembling schematic diagram of location-plate in the embodiment of the present invention；
Fig. 4 is a kind of structural representation of the embodiment of the present invention；
Fig. 5 is pressure assembly and driving wheel, the assembling schematic diagram of motor in the embodiment of the present invention；
Fig. 6 is another structural representation of the embodiment of the present invention.
Have in figure：Power set 1, linkage 2, wheel group 3, location-plate 4, connection component 5, electric machine support 6, positioning branch
Frame 7, pressure elastic component 8, connecting plate 501, head rod 502, the second connecting rod 503, the connection of the first connector 504, second
Part 505, the first loadwheel 301, the second loadwheel 302, driving wheel 303, motor 304, first connecting rod 201, second connecting rod
202nd, third connecting rod 203, fourth link 204, the 5th connecting rod 205, six-bar linkage 206, lead 601, guide sleeve 701.
Embodiment
Below in conjunction with the accompanying drawings, the technical scheme to the embodiment of the present invention is described in detail.
As shown in Figures 1 to 4, the intelligence of the embodiment of the present invention is doffed the wheel control device of robot, including power
Device 1, linkage 2, location-plate 4 and connection component 5.The one end of power set 1 is connected with linkage 2, and power set 1 are another
End is connected with connection component 5, and location-plate 4 is connected with connection component 5 and linkage 2 respectively.
The wheel control device of above-described embodiment, to lift wheel, disengages it from ground.Power set 1 are used to provide
Power so that Wheel lifting.Connection component 5 is used to connect wheel.Linkage 2 is used for and power set 1, connection component 5 are matched somebody with somebody
Close, the power that power set 1 are provided is applied on wheel by connection component so that Wheel lifting.Location-plate 4 is used to position
With support connection component 5 and linkage 2.In the present embodiment, power set 1 can use cylinder.Certainly it can also be used
His power part, as long as power source can be provided.
In above-mentioned implementation, as preference, connection component 5 includes connecting plate 501, head rod 502, the second connecting rod
503 and first connector 504.Location-plate 4 is two, and relative laying.The two ends of head rod 502 are rotatably connected in positioning
On plate 4, the second connecting rod 503 is hanging, and the two ends of the second connecting rod 503 are connected with linkage 2 respectively.First connector 504
One end is fixedly connected with head rod 502, and the other end of the first connector 504 is fixedly connected with the second connecting rod 503；Power is filled
1 other end is put to be connected with the rotation of head rod 502 in connection component 5.Connecting plate 501 is located at the lower section of the first connector 504,
And be fixedly connected with the first connector 504.
Connection component 5 is used to connect wheel group 3.The target of the present embodiment is exactly to lift wheel group 3, disengages it from ground.
As preference, the wheel group 3 includes the first loadwheel 301, the second loadwheel 302, driving wheel 303 and driving
Motor 304, driving wheel 303 is located between the first loadwheel 301 and the second loadwheel 302；Motor 304 and driving wheel 303
Connection；First loadwheel 301 and the second loadwheel 302 are rotatably connected at the two ends of connecting plate 501 respectively；Motor 304 with
First connector 504 is fixedly connected.
First loadwheel 301 and the second loadwheel 302 are mainly used in undertaking intelligent robot weight of doffing in wheel group 3.
Driving wheel 303 is advanced by the driving of motor 304.Driving wheel 303 drives the first loadwheel 301 and the second loadwheel
302 advance.Whole wheel group 3 is connected as one by connection component 5.
The connection component 5 of above-described embodiment includes connecting plate 501, head rod 502, the second connecting rod 503 and first
Connector 504.First connector 504 is connected with the connecting rod 503 of head rod 502 and second respectively.Connecting plate 501 and first
Connector 504 is connected.So, connection component 5 is overall to be rotated around head rod 502.
For the reliability of increase connection, the connection component 5 of above-described embodiment also includes the second connector 505, the second connection
The one end of part 505 is fixedly connected with head rod 502, and the other end of the second connector 505 is fixedly connected with the second connecting rod 505；
Second connector 505 is fixedly connected with connecting plate 501.First connector 504 and the second connector 505 are set simultaneously, and second connects
Fitting 505 is also connected with the connecting rod 505 of head rod 502 and second simultaneously, to increase the reliable of the integrated connection of connection component 5
Property.
As preference, the linkage 2 includes the first connecting rod 201 and second connecting rod 202 laid up and down, left and right cloth
If third connecting rod 203 and fourth link 204, and the 5th connecting rod 205 and six-bar linkage 206；First connecting rod above
201 two ends are rotatably connected with location-plate 4 respectively, and first connecting rod 201, second connecting rod 202, third connecting rod 203 and the 4th connect
Bar 204 constitutes quadric chain；The upper end of 5th connecting rod 205 is rotatably connected with the one end of second connecting rod 202, under the 5th connecting rod 205
End is rotatably connected with the one end of the second connecting rod 503；The upper end of six-bar linkage 206 is rotatably connected with the other end of second connecting rod 202,
The lower end of six-bar linkage 206 is rotatably connected with the other end of the second connecting rod 503；The in the one end of power set 1 and linkage 2
Two connecting rods 202 are rotatably connected.
In the linkage 2 of above-mentioned preference, including a quadric chain, the 5th connecting rod 205 and six-bar linkage 206.Even
Linkage 2 is used under the driving of power set 1, lifting wheel group 3, disengages it from ground.
Exemplified by using cylinder as power set 1, illustrate the process for lifting and declining wheel group 3.The cylinder body of cylinder and connection
Head rod 502 in component 5 is rotatably connected, and the piston rod of cylinder and the second connecting rod 202 in linkage 2 are rotatable
Connection.When needing lifting wheel group 3, when disengaging it from ground, piston rod stretches out, piston rod promote second connecting rod 202 forward on
Fang Yidong.Now, also forward upward is moved the 5th connecting rod 205 and six-bar linkage 206 being connected with second connecting rod 202.Due to
Two connecting rods 503 are hanging, and two ends are rotatably connected with the 5th connecting rod 205 and six-bar linkage 206 respectively, so the second connecting rod
503 are moved upward.In connection component 5, the second connecting rod 503 and head rod 502 can be turned by the first connector 504
Connection is moved, and head rod 502 is rotatably connected with location-plate 4.Connecting plate 501 is fixedly connected with the first connector 504.It is fixed
The position position of plate 4 is fixed.Therefore, when the second connecting rod 503 is moved upward, whole connection component 5 around head rod 502 to
Upper rotation.Wheel group 3 is connected on connecting plate 501, is also rotated with connecting plate 501, so that wheel group 3 departs from ground.
When needing wheel group 3 to be changed into contacting with ground from disengaging ground, the piston rod of cylinder is bounced back in cylinder body.Piston
Bar drives second connecting rod 202 to move downwards.Now, the 5th connecting rod 205 and six-bar linkage 206 being connected with second connecting rod 202
Also move downwards.Because the second connecting rod 503 is hanging, and two ends are rotatable with the 5th connecting rod 205 and six-bar linkage 206 respectively
Connection, so the second connecting rod 503 is moved downwards.In connection component 5, the second connecting rod 503 and head rod 502 are logical
The first connector 504 is crossed to be rotatably connected, and head rod 502 is rotatably connected with location-plate 4.Connecting plate 501 and first
Connector 504 is fixedly connected.The position of location-plate 4 is fixed.Therefore, when the second connecting rod 503 is moved downwards, whole connection group
Part 5 is rotated down around head rod 502.Wheel group 3 is connected on connecting plate 501, is also rotated with connecting plate 501, so that
Wheel group 3 is obtained to drop down onto on ground.
As preference, as shown in Figure 5 and Figure 6, described wheel control device also includes pressure assembly, the pressure group
Part includes electric machine support 6, locating support 7 and pressure elastic component 8, and the motor 304 is fixedly connected with electric machine support 6, fixed
Position support 7 is connected by the elastic component 8 that presses with electric machine support 6, and locating support 7 is fixedly connected with connecting plate 501.When ground is uneven
Smooth, when particularly having pit, driving wheel will be unable to contact with ground.So, motor 304 also can not just drive rotation
It is dynamic.This preference, by increasing pressure assembly, it is ensured that driving wheel 303 is contacted with ground all the time.When there is pit on ground, driving
Take turns 303 hanging.Now, pressure elastic component 8 applies pressure to electric machine support 6 so that electric machine support 6 is moved down.Due to motor
Support 6 and motor 304 are connected, and motor 304 and driving wheel 303 are connected, so electric machine support 6 is moved down, driving
Wheel 303 is also moved down so that driving wheel 303 is contacted with ground.This makes it possible to ensure that walking is unobstructed.It is raised when running into ground
When, driving wheel 303 is moved up, and electric machine support 6 is also moved up, and compression pressure elastic component 8, locating support 7 is highly kept not
Become.
For ease of the assembling and positioning of electric machine support 6 and locating support 7, the electric machine support 6 is provided with lead 601,
The locating support 7 is provided with guide sleeve 701, and guide sleeve 701 is adapted with lead 601.By setting guide sleeve 701 with leading
To post 601, the assembling of electric machine support 6 and locating support 7 is realized.
It is constant all the time in the whole device course of work, during the position of location-plate 4.Preferably, the location-plate 4
For two, two location-plates 4 are located between the first loadwheel 301 and driving wheel 303 respectively, and the second loadwheel 302 and drive
Between driving wheel 303.
The embodiment of the present invention also provides a kind of intelligent doff robot, including body and chassis, leads between body and chassis
Cross lowering or hoisting gear connection；The chassis includes support body, wheel controlling organization and universal wheel, and universal wheel is connected to support body bottom；Institute
Stating wheel control device includes power set 1, linkage 2, wheel group 3, location-plate 4 and connection component 5；Power set 1 one
End be connected with linkage 2, the other end of power set 1 is connected with connection component 5, location-plate 4 respectively with connection component 5 and connecting rod
Mechanism 2 is connected, and wheel group 3 is connected with connection component 5；Location-plate 4 is fixedly connected with support body.
The intelligence of above-described embodiment robot that doffs uses split-type structural.In body suspension after spinning frame track, bottom
Disk is still contacted with ground.Before suspension intelligence doffs robot, the direct of travel and spinning frame track of the robot that intelligently doffs
It is parallel.When needs suspension intelligence doffs robot, the wheel group 3 that can only be kept straight on is lifted using wheel control device, departed from
Ground, recycles universal wheel to promote intelligent robot steering of doffing, moves, be suspended on body carefully to orbital direction so as to realize
Purpose on yarn machine track.Using the wheel control device in the present embodiment, turning for the intelligent robot that doffs cleverly is realized
To motion.
Being doffed from existing intelligence, robot type of drive is different, and the intelligence of the present embodiment doffs robot using ground drive
It is dynamic.Driven using ground, be conducive to carrying out the intelligent robot that doffs on the ground, reduce the resistance during carrying out, be easy to work
People operates.Specifically, the wheel group 3 includes the first loadwheel 301, the second loadwheel 302, driving wheel 303 and driving electricity
Machine 304, driving wheel 303 is located between the first loadwheel 301 and the second loadwheel 302；Motor 304 connects with driving wheel 303
Connect；First loadwheel 301 and the second loadwheel 302 are rotatably connected at the two ends of connecting plate 501 respectively；Motor 304 and
A connection piece 504 is fixedly connected.
Driving wheel 303 can drive whole intelligent robot traveling of doffing by motor 304.Meanwhile, on the ground
Carry out intelligence doff robot when, and intelligence doffs during robot is suspended on and is operated on spinning frame, driving wheel
303 contact with ground all the time, and the intelligent robot traveling of doffing of driving.Only steering, suspension are needed in the robot that intelligently doffs
During spinning frame track, driving wheel 303 is not contacted with ground.
The intelligence of above-described embodiment is doffed in robot, and the connection component 5 includes connecting plate 501, head rod
502nd, the second connecting rod 503 and the first connector 504；The location-plate 4 is two, and relative laying；502 liang of head rod
End is rotatably connected on location-plate 4, and the second connecting rod 503 is hanging, and the two ends of the second connecting rod 503 respectively with linkage 2
Connection；The one end of first connector 504 is rotatably connected with head rod 502, and the other end of the first connector 504 is connected with second
Bar 503 is rotatably connected；The other end of power set 1 is rotated with the head rod 502 in connection component 5 and is connected.Connecting plate 501
Positioned at the lower section of the first connector 504, and it is fixedly connected with the first connector 504.
Connection component 5 is used to connect wheel group 3.Connection component 5 includes connecting plate 501, head rod 502, second and connected
The connector 504 of extension bar 503 and first.First connector 504 is connected with the connecting rod 503 of head rod 502 and second respectively.Even
The connector 504 of fishplate bar 501 and first is connected.So, connection component 5 is overall to be rotated around head rod 502.
For the reliability of increase connection, the connection component 5 also includes the second connector 505, the one end of the second connector 505
It is rotatably connected with head rod 502, the other end of the second connector 505 is rotatably connected with the second connecting rod 505；Second connects
Fitting 505 is fixedly connected with connecting plate 501.First connector 504 and the second connector 505, the second connector 505 are set simultaneously
Also it is connected simultaneously with the connecting rod 505 of head rod 502 and second, to increase the reliability of the integrated connection of connection component 5.
As preference, the linkage 2 includes the first connecting rod 201 and second connecting rod 202 laid up and down, left and right cloth
If third connecting rod 203 and fourth link 204, and the 5th connecting rod 205 and six-bar linkage 206；First connecting rod above
201 two ends are rotatably connected with location-plate 4 respectively, and first connecting rod 201, second connecting rod 202, third connecting rod 203 and the 4th connect
Bar 204 constitutes quadric chain；The upper end of 5th connecting rod 205 is rotatably connected with the one end of second connecting rod 202, under the 5th connecting rod 205
End is rotatably connected with the one end of the second connecting rod 503；The upper end of six-bar linkage 206 is rotatably connected with the other end of second connecting rod 202,
The lower end of six-bar linkage 206 is rotatably connected with the other end of the second connecting rod 503；The in the one end of power set 1 and linkage 2
Two connecting rods 202 are rotatably connected.
In the linkage 2 of above-mentioned preference, including a quadric chain, the 5th connecting rod 205 and six-bar linkage 206.Even
Linkage 2 is used under the driving of power set 1, lifting wheel group 3, disengages it from ground.
As preference, described wheel control device also includes pressure assembly, and the pressure assembly includes electric machine support
6th, locating support 7 and pressure elastic component 8.Motor 304 is fixedly connected with electric machine support 6, and locating support 7 passes through the elasticity that presses
Part 8 is connected with electric machine support 6, and locating support 7 is fixedly connected with connecting plate 501.This preference, by increasing pressure assembly, really
Driving wheel 303 is protected to contact with ground all the time.When there is pit on ground, driving wheel 303 is hanging.Now, pressure elastic component 8 is to motor
Support 6 applies pressure so that electric machine support 6 is moved down.Because electric machine support 6 and motor 304 are connected, motor
304 and driving wheel 303 connect, so electric machine support 6 is moved down, driving wheel 303 is also moved down so that driving wheel 303 with
Ground is contacted.When running into ground projection, driving wheel 303 is moved up, and electric machine support 6 is also moved up, compression pressure elasticity
Part 8, locating support 7 highly keeps constant.Therefore, no matter whether ground is flat, and driving wheel 303 can contact current with ground.
For ease of the assembling and positioning of electric machine support 6 and locating support 7, the electric machine support 6 is provided with lead 601,
The locating support 7 is provided with guide sleeve 701, and guide sleeve 701 is adapted with lead 601.By setting guide sleeve 701 with leading
To post 601, the assembling of electric machine support 6 and locating support 7 is realized.
It is constant all the time in the whole device course of work, during the position of location-plate 4.Preferably, the location-plate 4
For two, two location-plates 4 are located between the first loadwheel 301 and driving wheel 303 respectively, and the second loadwheel 302 and drive
Between driving wheel 303.
The intelligence of the present embodiment is doffed machine man-hour, first promotes intelligence to doff robot to correct position.Cross herein
The first loadwheel 301, the second loadwheel 302, the contact of the uniform ground of driving wheel 303 in Cheng Zhong, universal wheel, and wheel group 3.
Driving wheel 303 drives universal wheel, the first loadwheel 301, the second loadwheel 302 to rotate.Then wheel controlling organization is utilized, by car
Wheel group 3 is lifted, and departs from ground.In the process, universal wheel is still contacted with ground, by promoting the intelligent robot that doffs so that
The intelligence robot that doffs is changed into advancing to spinning frame from keeping straight on, namely realizes that intelligence is doffed robot steering.When intelligent doffer
After roller on device human body falls in spinning frame track, herein using wheel controlling organization, decline wheel group 3, with ground
Contact.After the intelligent robot that doffs is started, the motor 304 in wheel group 3 provides power so that driving wheel 303 is rotated,
So as to drive other vehicle wheel rotations.This just realizes intelligent robot traveling of doffing.Intelligence doffs robot in whole work process
In, walking power source is improved by motor 304.
The basic principles, principal features and advantages of the present invention have been shown and described above.Those skilled in the art should
Understand, the present invention do not limited by above-mentioned specific embodiment, the description in above-mentioned specific embodiment and specification be intended merely into
One step illustrate the present invention principle, without departing from the spirit and scope of the present invention, the present invention also have various change and
Improve, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention will by right
Ask book and its equivalent thereof.
Claims (17)
- The wheel control device of robot 1. a kind of intelligence is doffed, it is characterised in that the wheel control device includes power Device（1）, linkage（2）, location-plate（4）And connection component（5）；Power set（1）One end and linkage（2）Connection, power set（1）The other end and connection component（5）Connection, positioning Plate（4）Respectively with connection component（5）And linkage（2）Connection.
- 2. according to the wheel control device described in claim 1, it is characterised in that the connection component（5）Including connecting plate （501）, head rod（502）, the second connecting rod（503）With the first connector（504）；The location-plate（4）For two, and It is relative to lay；Head rod（502）Two ends are rotatably connected in location-plate（4）On, the second connecting rod（503）Vacantly, and second connection Bar（503）Two ends respectively with linkage（2）Connection；First connector（504）One end and head rod（502）It is fixedly connected, the first connector（504）The other end and second Connecting rod（503）It is fixedly connected；Connecting plate（501）Positioned at the first connector（504）Lower section, and with the first connector（504）It is fixedly connected；Power set（1）The other end and connection component（5）In head rod（502）Rotate connection.
- 3. according to the wheel control device described in claim 2, it is characterised in that the connection component（5）Also include second to connect Fitting（505）, the second connector（505）One end and head rod（502）It is fixedly connected, the second connector（505）The other end With the second connecting rod（503）It is fixedly connected；Second connector（505）With connecting plate（501）It is fixedly connected.
- 4. according to the wheel control device described in claim 3, it is characterised in that the linkage（2）Including laying up and down First connecting rod（201）And second connecting rod（202）, the third connecting rod that left and right is laid（203）And fourth link（204）, Yi Ji Five connecting rods（205）With six-bar linkage（206）；First connecting rod above（201）Two ends respectively with location-plate（4）Rotatably Connection, first connecting rod（201）, second connecting rod（202）, third connecting rod（203）And fourth link（204）Constitute quadric chain； 5th connecting rod（205）Upper end and second connecting rod（202）One end is rotatably connected, the 5th connecting rod（205）Lower end and the second connecting rod （503）One end is rotatably connected；Six-bar linkage（206）Upper end and second connecting rod（202）The other end is rotatably connected, six-bar linkage （206）Lower end and the second connecting rod（503）The other end is rotatably connected；Power set（1）One end and linkage（2）In second connecting rod（202）Connection.
- 5. according to the wheel control device described in claim 2, it is characterised in that also including wheel group（3）, wheel group（3）With Connection component（5）Connection.
- 6. according to the wheel control device described in claim 5, it is characterised in that the wheel group（3）Including the first loadwheel （301）, the second loadwheel（302）, driving wheel（303）And motor（304）, driving wheel（303）Positioned at the first loadwheel （301）With the second loadwheel（302）Between；Motor（304）With driving wheel（303）Connection；First loadwheel（301）With Two loadwheels（302）It is rotatably connected respectively in connecting plate（501）Two ends；Motor（304）With the first connector（504）Even Connect.
- 7. according to the wheel control device described in claim 6, it is characterised in that also including pressure assembly, the pressure assembly Including electric machine support（6）, locating support（7）With pressure elastic component（8）, the motor（304）With electric machine support（6）It is fixed Connection, locating support（7）Pass through the elastic component that presses（8）With electric machine support（6）Connection, locating support（7）With connecting plate（501）Gu Fixed connection.
- 8. according to the wheel control device described in claim 7, it is characterised in that the electric machine support（6）It is provided with lead （601）, the locating support（7）It is provided with guide sleeve（701）, guide sleeve（701）With lead（601）It is adapted.
- 9. according to the wheel control device described in claim 6,7 or 8, it is characterised in that the location-plate（4）For two, two Individual location-plate（4）Positioned at the first loadwheel（301）And driving wheel（303）Between, and the second loadwheel（302）And driving wheel （303）Between.
- The robot 10. a kind of intelligence is doffed, it is characterised in that including body and chassis, filled between body and chassis by lifting Put connection；The chassis includes support body, wheel controlling organization and universal wheel, and universal wheel is connected to support body bottom；The wheel control Device processed includes power set（1）, linkage（2）, wheel group（3）, location-plate（4）And connection component（5）；Power set （1）One end and linkage（2）Connection, power set（1）The other end and connection component（5）Connection, location-plate（4）Respectively with connecting Connected components（5）And linkage（2）Connection, wheel group（3）With connection component（5）Connection；Location-plate（4）Fix and connect with support body Connect.
- 11. doffed robot according to the intelligence described in claim 10, it is characterised in that the connection component（5）Including connection Plate（501）, head rod（502）, the second connecting rod（503）With the first connector（504）；The location-plate（4）For two, And relative laying；Head rod（502）Two ends are rotatably connected in location-plate（4）On, the second connecting rod（503）Vacantly, and second connection Bar（503）Two ends respectively with linkage（2）Connection；First connector（504）One end and head rod（502）It is fixedly connected, the first connector（504）The other end and second Connecting rod（503）It is fixedly connected；Connecting plate（501）Positioned at the first connector（504）Lower section, and with the first connector（504）Gu Fixed connection；Power set（1）The other end and connection component（5）In head rod（502）Rotate connection.
- 12. doffed robot according to the intelligence described in claim 11, it is characterised in that the connection component（5）Also include the Two connectors（505）, the second connector（505）One end and head rod（502）It is fixedly connected, the second connector（505）Separately One end and the second connecting rod（505）It is fixedly connected；Second connector（505）With connecting plate（501）It is fixedly connected.
- 13. doffed robot according to the intelligence described in claim 12, it is characterised in that the linkage（2）Including above and below The first connecting rod of laying（201）And second connecting rod（202）, the third connecting rod that left and right is laid（203）And fourth link（204）, with And the 5th connecting rod（205）With six-bar linkage（206）；First connecting rod above（201）Two ends respectively with location-plate（4）Can Rotate connection, first connecting rod（201）, second connecting rod（202）, third connecting rod（203）And fourth link（204）Constitute double leval jib machine Structure；5th connecting rod（205）Upper end and second connecting rod（202）One end is rotatably connected, the 5th connecting rod（205）Lower end is connected with second Bar（503）One end is rotatably connected；Six-bar linkage（206）Upper end and second connecting rod（202）The other end is rotatably connected, and the 6th connects Bar（206）Lower end and the second connecting rod（503）The other end is rotatably connected；Power set（1）One end and linkage（2）In second connecting rod（202）It is fixedly connected.
- 14. doffed robot according to the intelligence described in claim 11, it is characterised in that the wheel group（3）It is negative including first Carry wheel（301）, the second loadwheel（302）, driving wheel（303）And motor（304）, driving wheel（303）Positioned at the first load Wheel（301）With the second loadwheel（302）Between；Motor（304）With driving wheel（303）Connection；First loadwheel（301）With Second loadwheel（302）It is rotatably connected respectively in connecting plate（501）Two ends；Motor（304）With the first connector（504） It is fixedly connected.
- 15. doffed robot according to the intelligence described in claim 14, it is characterised in that also including device for exerting, the pressure Device includes electric machine support（6）, locating support（7）, elastic component（8）, the motor（304）With electric machine support（6）It is fixed Connection, locating support（7）Pass through the elastic component that presses（8）With electric machine support（6）Connection, locating support（7）With connecting plate（501）Gu Fixed connection.
- 16. doffed robot according to the intelligence described in claim 15, it is characterised in that the electric machine support（6）It is provided with and leads Xiang Zhu（601）, the locating support（7）It is provided with guide sleeve（701）, guide sleeve（701）With lead（601）It is adapted.
- 17. doffed robot according to the intelligence described in claim 14,15 or 16, it is characterised in that the location-plate（4）For two It is individual, two location-plates（4）Positioned at the first loadwheel（301）And driving wheel（303）Between, and the second loadwheel（302）And drive Driving wheel（303）Between.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710423256.7A CN107177913B (en) | 2017-06-07 | 2017-06-07 | A kind of intelligence doffs the wheel control device of robot and intelligence is doffed robot |
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|---|---|---|---|
| CN201710423256.7A CN107177913B (en) | 2017-06-07 | 2017-06-07 | A kind of intelligence doffs the wheel control device of robot and intelligence is doffed robot |
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| Publication Number | Publication Date |
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| CN107177913A true CN107177913A (en) | 2017-09-19 |
| CN107177913B CN107177913B (en) | 2019-09-27 |
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| CN201710423256.7A Active CN107177913B (en) | 2017-06-07 | 2017-06-07 | A kind of intelligence doffs the wheel control device of robot and intelligence is doffed robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108048971A (en) * | 2017-11-09 | 2018-05-18 | 铜陵松宝智能装备股份有限公司 | Drive disk device, doff robot and control method for the robot that doffs |
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| CN2078753U (en) * | 1990-11-28 | 1991-06-12 | 唐遹 | Tumbler mechanism |
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| CN108048971A (en) * | 2017-11-09 | 2018-05-18 | 铜陵松宝智能装备股份有限公司 | Drive disk device, doff robot and control method for the robot that doffs |
| CN108048971B (en) * | 2017-11-09 | 2019-11-15 | 铜陵松宝智能装备股份有限公司 | Drive disk device, doff robot and control method for the robot that doffs |
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| Publication number | Publication date |
|---|---|
| CN107177913B (en) | 2019-09-27 |
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