CN107177913B - A kind of intelligence doffs the wheel control device of robot and intelligence is doffed robot - Google Patents
A kind of intelligence doffs the wheel control device of robot and intelligence is doffed robot Download PDFInfo
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- CN107177913B CN107177913B CN201710423256.7A CN201710423256A CN107177913B CN 107177913 B CN107177913 B CN 107177913B CN 201710423256 A CN201710423256 A CN 201710423256A CN 107177913 B CN107177913 B CN 107177913B
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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
Abstract
The wheel control device of robot is doffed the invention discloses a kind of intelligence and intelligence is doffed robot, it is driven using ground, to push on ground, intelligence doffs robot and intelligence movement of the robot on spinning frame of doffing provides driving, meanwhile being easy to for the robot that intelligently doffs being loaded on spinning frame.The wheel control device includes power device, link mechanism, positioning plate and connection component；Power device one end is connect with link mechanism, and the power device other end is connect with connection component, and positioning plate is connect with connection component and link mechanism 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 technique
Currently, existing intelligence is doffed, robot uses integral frame-type structure.At work, in the robot that intelligently doffs
Body side be equipped with idler wheel, by idler wheel be embedded on the track of spinning frame.At this point, intelligence is doffed, robot is detached from ground.Intelligence
Robot can be doffed equipped with driving mechanism, rolled in orbit by driving mechanism driving idler wheel, 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, increases labor
Fatigue resistance.
Summary of the invention
The technical problems to be solved by the present invention are: providing wheel control device and intelligence that a kind of intelligence doffs robot
Can doff robot, and to push on ground, intelligence doffs robot and intelligence movement of the robot on spinning frame of doffing provides
Driving, meanwhile, it is easy to for the robot that intelligently doffs being loaded on spinning frame.
In order to solve the above technical problems, technical solution used in the embodiment of the present invention are as follows:
In a first aspect, the embodiment of the present invention provides the wheel control device that a kind of intelligence doffs robot, feature exists
In the wheel control device includes power device, link mechanism, positioning plate and connection component；Power device one end and connecting rod
Mechanism connection, the power device other end are connect with connection component, and positioning plate is connect with connection component and link mechanism respectively.
As preference, the connection component includes connecting plate, first connecting rod, the second connecting rod and the first connector；
The positioning plate is two, and opposite laying；First connecting rod both ends are rotatably connected on positioning plate, and the second connecting rod is outstanding
Sky, and the second connecting rod both ends are connect with link mechanism respectively；First connector one end is fixedly connected with first connecting 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 fixes with the first connector
Connection；First connecting rod in the power device other end and connection component is rotatablely connected.
As preference, the connection component further includes the second connector, and second connector one end and first connecting rod are solid
Fixed connection, the second connector other end are fixedly connected with the second connecting rod；Second connector is fixedly connected with connecting plate.
As preference, the link mechanism includes the first connecting rod and second connecting rod laid up and down, left and right lay the
Three-link and fourth link and the 5th connecting rod and six-bar linkage；The both ends for the first connecting rod being located above respectively with positioning plate
It is rotatably connected, first connecting rod, second connecting rod, third connecting rod and fourth link constitute four-bar mechanism；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 device one
End is rotatably connected with the second connecting rod in link mechanism.
As preference, the wheel control device, further includes wheel group, and wheel group is connect with connection component.
As preference, the wheel group includes the first loadwheel, the second loadwheel, driving wheel and driving motor, driving
Wheel is between the first loadwheel and the second loadwheel；Driving motor is connect with driving wheel；First loadwheel and the second loadwheel
It is rotatably connected respectively in connection board ends；Driving motor is connect with the first connector.
As preference, the wheel control device, further includes pressure assembly, and the pressure assembly includes motor branch
Frame, locating support and pressure elastic component, the driving motor are fixedly connected with electric machine support, and locating support passes through pressure elastic component
It is connect with electric machine support, locating support is fixedly connected with connecting plate.
As preference, the electric machine support be equipped with guide post, the locating support be equipped with guide sleeve, guide sleeve with
Guide post is adapted.
As preference, the positioning plate be two, two positioning plates between the first loadwheel and driving wheel, and
Between second loadwheel and driving wheel.
Second aspect, the embodiment of the present invention also provide a kind of intelligence and doff robot, including ontology and chassis, ontology and bottom
It is connected between disk by lifting device；The chassis includes that frame body, wheel control mechanism and universal wheel, universal wheel are connected to frame body
Bottom end；The wheel control device includes power device, link mechanism, wheel group, positioning plate and connection component；Power device one
End connect with link mechanism, the power device other end is connect with connection component, positioning plate respectively with connection component and link mechanism
Connection, wheel group are connect with connection component；Positioning plate is fixedly connected with frame body.
As preference, the connection component includes connecting plate, first connecting rod, the second connecting rod and the first connector；
The positioning plate is two, and opposite laying；First connecting rod both ends are rotatably connected on positioning plate, and the second connecting rod is outstanding
Sky, and the second connecting rod both ends are connect with link mechanism respectively；First connector one end is fixedly connected with first connecting 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 fixes with the first connector
Connection；First connecting rod in the power device other end and connection component is rotatablely connected.
As preference, the connection component further includes the second connector, and second connector one end and first connecting rod are solid
Fixed connection, the second connector other end are fixedly connected with the second connecting rod；Second connector is fixedly connected with connecting plate.
As preference, the link mechanism includes the first connecting rod and second connecting rod laid up and down, left and right lay the
Three-link and fourth link and the 5th connecting rod and six-bar linkage；The both ends for the first connecting rod being located above respectively with positioning plate
It is rotatably connected, first connecting rod, second connecting rod, third connecting rod and fourth link constitute four-bar mechanism；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 device one
End is rotatably connected with the second connecting rod in link mechanism.
As preference, the wheel group includes the first loadwheel, the second loadwheel, driving wheel and driving motor, driving
Wheel is between the first loadwheel and the second loadwheel；Driving motor is connect with driving wheel；First loadwheel and the second loadwheel
It is rotatably connected respectively in connection board ends；Driving motor is fixedly connected with the first connector.
As preference, it further includes device for exerting, the device for exerting includes motor branch that the intelligence, which is doffed robot,
Frame, locating support, elastic component, the driving motor are fixedly connected with electric machine support, and locating support passes through pressure elastic component and electricity
Machine support connection, locating support are fixedly connected with connecting plate.
As preference, the electric machine support be equipped with guide post, the locating support be equipped with guide sleeve, guide sleeve with
Guide post is adapted.
As preference, the positioning plate be two, two positioning plates between the first loadwheel and driving wheel, and
Between second loadwheel and driving wheel.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that the embodiment of the present invention
Driver, the intelligent robot traveling of doffing of driver driving are equipped in wheel control device.It is driven with existing with guide rail
The intelligence of the device robot that doffs compares, and the embodiment of the present invention intelligently doffs robot because ground drives, to be conducive to carry out.Intelligence
The robot that can doff also depends on the power of driving wheel when running on spinning frame guide rail, and the driving intelligence robot that doffs is in orbit
Operation.Meanwhile wheel control device can promote wheel group, disengage it from ground, exist conducive to the intelligent robot that doffs
Ground turns to when advancing.When especially the robot that intelligently doffs being pushed on spinning frame, wheel group is mentioned using wheel control device
It rises, is shifted the idler wheel for the robot that intelligently doffs on the track of spinning frame onto using universal wheel.
Detailed description of the invention
Fig. 1 is the assembling schematic diagram of wheel group and connection component in the embodiment of the present invention；
Fig. 2 is the assembling schematic diagram of power device in the embodiment of the present invention, link mechanism, positioning plate；
Fig. 3 is the assembling schematic diagram of power device in the embodiment of the present invention, link mechanism, positioning plate；
Fig. 4 is a kind of structural schematic diagram of the embodiment of the present invention；
Fig. 5 is the assembling schematic diagram of pressure assembly and driving wheel, driving motor in the embodiment of the present invention；
Fig. 6 is another structural schematic diagram of the embodiment of the present invention.
Have in figure: power device 1, link mechanism 2, wheel group 3, positioning plate 4, connection component 5, electric machine support 6, positioning branch
Frame 7, pressure elastic component 8, connecting plate 501, first connecting 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, driving motor 304, first connecting rod 201, second connecting rod
202, third connecting rod 203, fourth link 204, the 5th connecting rod 205, six-bar linkage 206, guide post 601, guide sleeve 701.
Specific embodiment
With reference to the accompanying drawing, the technical solution of 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, link mechanism 2, positioning plate 4 and connection component 5.1 one end of power device is connect with link mechanism 2, and power device 1 is another
End is connect with connection component 5, and positioning plate 4 is connect with connection component 5 and link mechanism 2 respectively.
The wheel control device of above-described embodiment disengages it from ground to promote wheel.Power device 1 is for providing
Power, so that Wheel lifting.Connection component 5 is for connecting wheel.Link mechanism 2 is used for and power device 1, connection component 5 are matched
It closes, the power that power device 1 provides is applied on wheel by connection component, so that Wheel lifting.Positioning plate 4 is for positioning
With support connection component 5 and link mechanism 2.In the present embodiment, power device 1 can use cylinder.Certainly it can also be used
His power part, as long as being capable of providing power source.
In above-mentioned implementation, as preference, connection component 5 includes connecting plate 501, first connecting rod 502, the second connecting rod
503 and first connector 504.Positioning plate 4 is two, and opposite laying.502 both ends of first connecting rod, which are rotatably connected, to be positioned
On plate 4, the second connecting rod 503 is hanging, and 503 both ends of the second connecting rod are connect with link mechanism 2 respectively.First connector 504
One end is fixedly connected with first connecting rod 502, and 504 other end of the first connector is fixedly connected with the second connecting rod 503；Power dress
The first connecting rod 502 set in 1 other end and connection component 5 is rotatablely connected.Connecting plate 501 is located at 504 lower section of the first connector,
And it is fixedly connected with the first connector 504.
Connection component 5 is for connecting wheel group 3.The target of the present embodiment is exactly to promote 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 between the first loadwheel 301 and the second loadwheel 302；Driving motor 304 and driving wheel 303
Connection；First loadwheel 301 and the second loadwheel 302 are rotatably connected respectively at 501 both ends of connecting plate；Driving motor 304 with
First connector 504 is fixedly connected.
First loadwheel 301 and the second loadwheel 302 are mainly used for undertaking intelligent robot weight of doffing in wheel group 3.
Driving wheel 303 is advanced by the driving of driving motor 304.Driving wheel 303 drives the first loadwheel 301 and the second loadwheel
302 advance.Entire wheel group 3 is connected as one by connection component 5.
The connection component 5 of above-described embodiment includes connecting plate 501, first connecting rod 502, the second connecting rod 503 and first
Connector 504.First connector 504 is connect with first connecting rod 502 and the second connecting rod 503 respectively.Connecting plate 501 and first
Connector 504 connects.In this way, connection component 5 is whole can be rotated around first connecting rod 502.
For the reliability for increasing connection, the connection component 5 of above-described embodiment further includes the second connector 505, the second connection
505 one end of part is fixedly connected with first connecting rod 502, and 505 other end of the second connector is fixedly connected with the second connecting rod 503；
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 connect with first connecting rod 502 and the second connecting rod 503 simultaneously, to increase the reliable of the integrated connection of connection component 5
Property.
As preference, the link mechanism 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；The first connecting rod being located above
201 both ends are rotatably connected with positioning plate 4 respectively, and first connecting rod 201, second connecting rod 202, third connecting rod 203 and the 4th connect
Bar 204 constitutes four-bar mechanism；5th connecting rod, 205 upper end is rotatably connected with 202 one end of second connecting rod, under the 5th connecting rod 205
End is rotatably connected with 503 one end of the second connecting rod；206 upper end of six-bar linkage is rotatably connected with 202 other end of second connecting rod,
206 lower end of six-bar linkage is rotatably connected with 503 other end of the second connecting rod；The in 1 one end of power device and link mechanism 2
Two connecting rods 202 are rotatably connected.
In the link mechanism 2 of above-mentioned preference, including a four-bar mechanism, the 5th connecting rod 205 and six-bar linkage 206.Even
Linkage 2 is used under the driving of power device 1, is promoted wheel group 3, is disengaged it from ground.
For using cylinder as power device 1, illustrate the process for promoting and declining wheel group 3.The cylinder body of cylinder and connection
First connecting rod 502 in component 5 is rotatably connected, and the piston rod of cylinder and the second connecting rod 202 in link mechanism 2 can be rotated
Connection.When needing to be promoted wheel group 3, when disengaging it from ground, piston rod stretches out, piston rod push second connecting rod 202 forward on
Fang Yidong.At this point, also forward upward is mobile for the 5th connecting rod 205 and six-bar linkage 206 that connect with second connecting rod 202.Due to
Two connecting rods 503 are hanging, and both 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 first connecting rod 502 can be turned by the first connector 504
Dynamic connection, and first connecting rod 502 is rotatably connected with positioning plate 4.Connecting plate 501 is fixedly connected with the first connector 504.It is fixed
Position 4 position of plate is fixed.Therefore, when the second connecting rod 503 is moved upward, entire connection component 5 around first connecting 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 is detached from ground.
When needing wheel group 3 to become when being contacted with ground from ground is detached from, the piston rod of cylinder is bounced back in cylinder body.Piston
Bar drives second connecting rod 202 to move downwards.At this point, the 5th connecting rod 205 and six-bar linkage 206 that are connect with second connecting rod 202
Also it moves downwards.Since the second connecting rod 503 is hanging, and both ends can be rotated with the 5th connecting rod 205 and six-bar linkage 206 respectively
Connection, so the second connecting rod 503 moves downwards.In connection component 5, the second connecting rod 503 and first connecting rod 502 are logical
It crosses the first connector 504 to be rotatably connected, and first connecting rod 502 is rotatably connected with positioning plate 4.Connecting plate 501 and first
Connector 504 is fixedly connected.4 position of positioning plate is fixed.Therefore, when the second connecting rod 503 moves downwards, entire connection group
Part 5 is rotated down around first connecting rod 502.Wheel group 3 is connected on connecting plate 501, is also rotated with connecting plate 501, to make
Wheel group 3 is obtained to drop down on ground.
As preference, as shown in Figure 5 and Figure 6, the wheel control device further includes pressure assembly, the pressure group
Part includes that electric machine support 6, locating support 7 and pressure elastic component 8, the driving motor 304 are fixedly connected with electric machine support 6, fixed
Position bracket 7 is connect 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 injustice
Smooth, when especially having pit, driving wheel be will be unable to and ground face contact.In this way, driving motor 304 also can not just drive driving to rotate
It is dynamic.This preference, pass through increase pressure assembly, it is ensured that driving wheel 303 always with ground face contact.When there is pit on ground, driving
Wheel 303 is hanging.At this point, pressure elastic component 8 applies pressure to electric machine support 6, so that electric machine support 6 moves down.Due to motor
Bracket 6 and driving motor 304 connect, and driving motor 304 and driving wheel 303 connect, so electric machine support 6 moves down, driving
Wheel 303 also moves down, so that driving wheel 303 and ground face contact.It is unobstructed this makes it possible to ensure to walk.It is raised when encountering ground
When, driving wheel 303 moves up, and electric machine support 6 also moves up, and compression pressure elastic component 8, locating support 7 is highly kept not
Become.
For the assembly and positioning convenient for electric machine support 6 and locating support 7, the electric machine support 6 is equipped with guide post 601,
The locating support 7 is equipped with guide sleeve 701, and guide sleeve 701 is adapted with guide post 601.By the way that guide sleeve 701 is arranged and leads
To column 601, the assembly of electric machine support 6 and locating support 7 is realized.
In the whole device course of work, when position of positioning plate 4 is constant always.Preferably, the positioning plate 4
Be two, two positioning plates 4 be located between the first loadwheel 301 and driving wheel 303 and the second loadwheel 302 and drive
Between driving wheel 303.
The embodiment of the present invention also provides a kind of intelligence and doffs robot, including ontology and chassis, leads between ontology and chassis
Cross lifting device connection；The chassis includes frame body, wheel control mechanism and universal wheel, and universal wheel is connected to frame body bottom end；Institute
Stating wheel control device includes power device 1, link mechanism 2, wheel group 3, positioning plate 4 and connection component 5；Power device 1 one
End connect with link mechanism 2,1 other end of power device is connect with connection component 5, positioning plate 4 respectively with connection component 5 and connecting rod
Mechanism 2 connects, and wheel group 3 is connect with connection component 5；Positioning plate 4 is fixedly connected with frame body.
The intelligence of above-described embodiment robot that doffs adopts a split structure.After ontology hangs upper spinning frame track, bottom
Disk still with ground face contact.Before suspension intelligence doffs robot, the direction of travel and spinning frame track of the robot that intelligently doffs
In parallel.When needs suspension intelligence doffs robot, the wheel group 3 that can only be kept straight on is promoted using wheel control device, is detached from
Ground recycles universal wheel to push intelligent robot steering of doffing, mobile to orbital direction, is suspended on ontology carefully 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 movement.
Doffing from existing intelligence, robot driving method is different, and the intelligence of the present embodiment doffs robot using ground drive
It is dynamic.It is driven using ground, is conducive to carry out the intelligent robot that doffs on the ground, reduces the resistance during carrying out, be convenient for work
People's operation.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 between the first loadwheel 301 and the second loadwheel 302；Driving motor 304 and driving wheel 303 connect
It connects；First loadwheel 301 and the second loadwheel 302 are rotatably connected respectively at 501 both ends of connecting plate；Driving motor 304 and
A connection piece 504 is fixedly connected.
Driving wheel 303 can drive entire intelligent robot traveling of doffing by driving motor 304.Meanwhile on the ground
Carry out intelligence doff robot when, and intelligence doffs during robot is suspended on and worked on spinning frame, driving wheel
303 always with ground face contact, and drive intelligence doff robot traveling.It only needs to turn in the robot that intelligently doffs, hang
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, first connecting rod
502, the second connecting rod 503 and the first connector 504；The positioning plate 4 is two, and opposite laying；502 liang of first connecting rod
End is rotatably connected on positioning plate 4, and the second connecting rod 503 is hanging, and 503 both ends of the second connecting rod respectively with link mechanism 2
Connection；First connector, 504 one end is rotatably connected with first connecting rod 502, and 504 other end of the first connector is connect with second
Bar 503 is rotatably connected；First connecting rod 502 in 1 other end of power device and connection component 5 is rotatablely connected.Connecting plate 501
Positioned at 504 lower section of the first connector, and it is fixedly connected with the first connector 504.
Connection component 5 is for connecting wheel group 3.Connection component 5 includes connecting plate 501, the company of first connecting rod 502, second
Extension bar 503 and the first connector 504.First connector 504 is connect with first connecting rod 502 and the second connecting rod 503 respectively.Even
Fishplate bar 501 and the connection of the first connector 504.In this way, connection component 5 is whole can be rotated around first connecting rod 502.
For the reliability for increasing connection, the connection component 5 further includes the second connector 505,505 one end of the second connector
It is rotatably connected with first connecting rod 502,505 other end of the second connector is rotatably connected with the second connecting rod 503；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 connect simultaneously with first connecting rod 502 and the second connecting rod 503, to increase the reliability of the integrated connection of connection component 5.
As preference, the link mechanism 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；The first connecting rod being located above
201 both ends are rotatably connected with positioning plate 4 respectively, and first connecting rod 201, second connecting rod 202, third connecting rod 203 and the 4th connect
Bar 204 constitutes four-bar mechanism；5th connecting rod, 205 upper end is rotatably connected with 202 one end of second connecting rod, under the 5th connecting rod 205
End is rotatably connected with 503 one end of the second connecting rod；206 upper end of six-bar linkage is rotatably connected with 202 other end of second connecting rod,
206 lower end of six-bar linkage is rotatably connected with 503 other end of the second connecting rod；The in 1 one end of power device and link mechanism 2
Two connecting rods 202 are rotatably connected.
In the link mechanism 2 of above-mentioned preference, including a four-bar mechanism, the 5th connecting rod 205 and six-bar linkage 206.Even
Linkage 2 is used under the driving of power device 1, is promoted wheel group 3, is disengaged it from ground.
As preference, the wheel control device further includes pressure assembly, and the pressure assembly includes electric machine support
6, locating support 7 and pressure elastic component 8.Driving motor 304 is fixedly connected with electric machine support 6, and locating support 7 passes through pressure elasticity
Part 8 is connect with electric machine support 6, and locating support 7 is fixedly connected with connecting plate 501.This preference, by increasing pressure assembly, really
Protect driving wheel 303 always with ground face contact.When there is pit on ground, driving wheel 303 is hanging.At this point, pressure elastic component 8 is to motor
Bracket 6 applies pressure, so that electric machine support 6 moves down.Since electric machine support 6 and driving motor 304 connect, driving motor
304 and driving wheel 303 connect, so electric machine support 6 moves down, driving wheel 303 is also moved down so that driving wheel 303 with
Ground face contact.When encountering ground protrusion, driving wheel 303 is moved up, and electric machine support 6 also moves up, compression pressure elasticity
Part 8,7 height of locating support remain unchanged.Therefore, no matter whether ground is flat, and driving wheel 303 can be current with ground face contact.
For the assembly and positioning convenient for electric machine support 6 and locating support 7, the electric machine support 6 is equipped with guide post 601,
The locating support 7 is equipped with guide sleeve 701, and guide sleeve 701 is adapted with guide post 601.By the way that guide sleeve 701 is arranged and leads
To column 601, the assembly of electric machine support 6 and locating support 7 is realized.
In the whole device course of work, when position of positioning plate 4 is constant always.Preferably, the positioning plate 4
Be two, two positioning plates 4 be located between the first loadwheel 301 and driving wheel 303 and the second loadwheel 302 and drive
Between driving wheel 303.
The intelligence of the present embodiment is doffed machine man-hour, and intelligence is first pushed to doff robot to suitable position.It crosses herein
The first loadwheel 301, the second loadwheel 302, driving wheel 303 in Cheng Zhong, universal wheel and wheel group 3 equably face contact.
Driving wheel 303 drives universal wheel, the first loadwheel 301, the rotation of the second loadwheel 302.Then wheel control mechanism is utilized, by vehicle
Wheel group 3 is promoted, and is detached from ground.In the process, universal wheel still with ground face contact, by pushing intelligence to doff robot so that
Intelligence doff robot from keep straight on become to spinning frame advance, namely realize intelligence doff robot steering.When intelligent doffer
After idler wheel on device human body is fallen in spinning frame track, wheel control mechanism is utilized herein, declines wheel group 3, with ground
Contact.After starting intelligence doffs robot, the driving motor 304 in wheel group 3 provides power, so that driving wheel 303 rotates,
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 driving motor 304.
The basic principles, main features and advantages of the 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 illustrates the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
It improves, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention is wanted by right
Ask book and its equivalent thereof.
Claims (17)
- The wheel control device of robot 1. a kind of intelligence is doffed, which is characterized in that the wheel control device includes power Device (1), link mechanism (2), positioning plate (4) and connection component (5)；Power device (1) one end is connect with link mechanism (2), and power device (1) other end is connect with connection component (5), positioning Plate (4) is connect with connection component (5) and link mechanism (2) respectively；In use, the wheel control device is to promote wheel, Wheel is set to be detached from ground.
- 2. wheel control device described in accordance with the claim 1, which is characterized in that the connection component (5) includes connecting plate (501), first connecting rod (502), the second connecting rod (503) and the first connector (504)；The positioning plate (4) is two, and It is opposite to lay；First connecting rod (502) both ends are rotatably connected on positioning plate (4), the second connecting rod (503) vacantly, and second connection Bar (503) both ends are connect with link mechanism (2) respectively；First connector (504) one end is fixedly connected with first connecting rod (502), the first connector (504) other end and second Connecting rod (503) is fixedly connected；Connecting plate (501) is located at below the first connector (504), and is fixedly connected with the first connector (504)；First connecting rod (502) in power device (1) other end and connection component (5) is rotatablely connected.
- 3. wheel control device according to claim 2, which is characterized in that the connection component (5) further includes the second company Fitting (505), the second connector (505) one end are fixedly connected with first connecting rod (502), the second connector (505) other end It is fixedly connected with the second connecting rod (503)；Second connector (505) is fixedly connected with connecting plate (501).
- 4. wheel control device described in accordance with the claim 3, which is characterized in that the link mechanism (2) includes laying up and down First connecting rod (201) and second connecting rod (202), left and right lay third connecting rod (203) and fourth link (204), Yi Ji Five connecting rods (205) and six-bar linkage (206)；The both ends for the first connecting rod (201) being located above can be rotated with positioning plate (4) respectively Connection, first connecting rod (201), second connecting rod (202), third connecting rod (203) and fourth link (204) constitute four-bar mechanism； 5th connecting rod (205) upper end is rotatably connected with second connecting rod (202) one end, the 5th connecting rod (205) lower end and the second connecting rod (503) one end is rotatably connected；Six-bar linkage (206) upper end is rotatably connected with second connecting rod (202) other end, six-bar linkage (206) lower end is rotatably connected with the second connecting rod (503) other end；Power device (1) one end is connect with the second connecting rod (202) in link mechanism (2).
- 5. wheel control device according to claim 2, which is characterized in that further include wheel group (3), wheel group (3) with Connection component (5) connection.
- 6. wheel control device according to claim 5, which is characterized in that the wheel group (3) includes the first loadwheel (301), the second loadwheel (302), driving wheel (303) and driving motor (304), driving wheel (303) are located at the first loadwheel (301) between the second loadwheel (302)；Driving motor (304) is connect with driving wheel (303)；First loadwheel (301) and Two loadwheels (302) are rotatably connected respectively at connecting plate (501) both ends；Driving motor (304) and the first connector (504) are even It connects.
- 7. wheel control device according to claim 6, which is characterized in that it further include pressure assembly, the pressure assembly Including electric machine support (6), locating support (7) and pressure elastic component (8), the driving motor (304) and electric machine support (6) are fixed Connection, locating support (7) are connect by pressure elastic component (8) with electric machine support (6), and locating support (7) and connecting plate (501) are solid Fixed connection.
- 8. wheel control device according to claim 7, which is characterized in that the electric machine support (6) is equipped with guide post (601), the locating support (7) is equipped with guide sleeve (701), and guide sleeve (701) is adapted with guide post (601).
- 9. according to wheel control device described in claim 6,7 or 8, which is characterized in that the positioning plate (4) be two, two A positioning plate (4) is between the first loadwheel (301) and driving wheel (303) and the second loadwheel (302) and driving wheel (303) between.
- The robot 10. a kind of intelligence is doffed, which is characterized in that including ontology and chassis, pass through lifting dress between ontology and chassis Set connection；The chassis includes frame body, wheel control device and universal wheel, and universal wheel is connected to frame body bottom end；The wheel control Device processed includes power device (1), link mechanism (2), wheel group (3), positioning plate (4) and connection component (5)；Power device (1) one end is connect with link mechanism (2), and power device (1) other end is connect with connection component (5), positioning plate (4) respectively and even Connected components (5) and link mechanism (2) connection, wheel group (3) are connect with connection component (5)；Positioning plate (4) and the fixed company of frame body It connects；In use, the wheel control device can promote wheel group, wheel group is made to be detached from ground.
- 11. the intelligent robot that doffs according to claim 10, which is characterized in that the connection component (5) includes connection Plate (501), first connecting rod (502), the second connecting rod (503) and the first connector (504)；The positioning plate (4) is two, And opposite laying；First connecting rod (502) both ends are rotatably connected on positioning plate (4), the second connecting rod (503) vacantly, and second connection Bar (503) both ends are connect with link mechanism (2) respectively；First connector (504) one end is fixedly connected with first connecting rod (502), the first connector (504) other end and second Connecting rod (503) is fixedly connected；Connecting plate (501) is located at below the first connector (504), and solid with the first connector (504) Fixed connection；First connecting rod (502) in power device (1) other end and connection component (5) is rotatablely connected.
- 12. intelligence is doffed robot according to claim 11, which is characterized in that the connection component (5) further includes the Two connectors (505), the second connector (505) one end are fixedly connected with first connecting rod (502), and the second connector (505) is another One end is fixedly connected with the second connecting rod (503)；Second connector (505) is fixedly connected with connecting plate (501).
- 13. the intelligent robot that doffs according to claim 12, which is characterized in that the link mechanism (2) includes up and down The first connecting rod (201) and second connecting rod (202) of laying, the third connecting rod (203) and fourth link (204) that left and right is laid, with And the 5th connecting rod (205) and six-bar linkage (206)；It the both ends for the first connecting rod (201) being located above respectively can with positioning plate (4) Rotation 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 is rotatably connected with second connecting rod (202) one end, and the 5th connecting rod (205) lower end is connect with second Bar (503) one end is rotatably connected；Six-bar linkage (206) upper end is rotatably connected with second connecting rod (202) other end, and the 6th connects Bar (206) lower end is rotatably connected with the second connecting rod (503) other end；Power device (1) one end is fixedly connected with the second connecting rod (202) in link mechanism (2).
- 14. the intelligent robot that doffs according to claim 11, which is characterized in that the wheel group (3) includes first negative Wheel (301), the second loadwheel (302), driving wheel (303) and driving motor (304) are carried, driving wheel (303) is located at the first load It takes turns between (301) and the second loadwheel (302)；Driving motor (304) is connect with driving wheel (303)；First loadwheel (301) and Second loadwheel (302) is rotatably connected respectively at connecting plate (501) both ends；Driving motor (304) and the first connector (504) It is fixedly connected.
- The robot 15. intelligence according to claim 14 is doffed, which is characterized in that it further include device for exerting, the pressure Device includes electric machine support (6), locating support (7), presses elastic component (8), the driving motor (304) and electric machine support (6) It is fixedly connected, locating support (7) is connect by pressure elastic component (8) with electric machine support (6), locating support (7) and connecting plate (501) it is fixedly connected.
- 16. the intelligent robot that doffs according to claim 15, which is characterized in that the electric machine support (6) is equipped with and leads Xiang Zhu (601), the locating support (7) are equipped with guide sleeve (701), and guide sleeve (701) is adapted with guide post (601).
- 17. doffing robot according to intelligence described in claim 14,15 or 16, which is characterized in that the positioning plate (4) is two It is a, two positioning plates (4) between the first loadwheel (301) and driving wheel (303) and the second loadwheel (302) and drive Between driving wheel (303).
Priority Applications (1)
| 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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| 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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| Publication Number | Publication Date |
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| CN107177913A CN107177913A (en) | 2017-09-19 |
| CN107177913B true CN107177913B (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| CN2078753U (en) * | 1990-11-28 | 1991-06-12 | 唐遹 | Tumbler mechanism |
| JPH06184838A (en) * | 1992-12-07 | 1994-07-05 | Toyota Autom Loom Works Ltd | Safety device for working machine for spinning machinery |
| CN103556326A (en) * | 2013-11-13 | 2014-02-05 | 清华大学 | Doffing parent-subsidiary car device with four-bar lifting mechanism |
| CN104499125A (en) * | 2014-12-21 | 2015-04-08 | 晋中经纬泓鑫机械有限公司 | Combined automatic doffing trolley |
| CN204550882U (en) * | 2015-04-24 | 2015-08-12 | 余兴堰 | A kind of novel intelligent doffer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393052B (en) * | 2016-10-28 | 2019-04-16 | 深圳精智机器有限公司 | Climbing robot |
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2017
- 2017-06-07 CN CN201710423256.7A patent/CN107177913B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2078753U (en) * | 1990-11-28 | 1991-06-12 | 唐遹 | Tumbler mechanism |
| JPH06184838A (en) * | 1992-12-07 | 1994-07-05 | Toyota Autom Loom Works Ltd | Safety device for working machine for spinning machinery |
| CN103556326A (en) * | 2013-11-13 | 2014-02-05 | 清华大学 | Doffing parent-subsidiary car device with four-bar lifting mechanism |
| CN104499125A (en) * | 2014-12-21 | 2015-04-08 | 晋中经纬泓鑫机械有限公司 | Combined automatic doffing trolley |
| CN204550882U (en) * | 2015-04-24 | 2015-08-12 | 余兴堰 | A kind of novel intelligent doffer |
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| CN107177913A (en) | 2017-09-19 |
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